+ python -m lidar_slam --no-model /working/bb43672a-fa49-4450-9b16-01380da72ae4 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/bb43672a-fa49-4450-9b16-01380da72ae4 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 0.000371743 Adjusted end_distance from 9.223372036854776e+18 to 383.890371743 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000371743 meters 0.05758460319302195 Centerline is valid? [0, True] SLAMing on 0.030371743 meters 0.05497692569670846 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:0.00 [[ 9.99999561e-01 7.55600393e-04 -5.53429083e-04 3.06358311e-02] [-7.55578079e-04 9.99999714e-01 4.05267002e-05 1.84693799e-03] [ 5.53459547e-04 -4.01085236e-05 9.99999846e-01 3.55151366e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.060371743 meters 0.05396852764503531 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:-0.00 [[ 9.99991339e-01 4.07679131e-03 -8.37939660e-04 6.01646781e-02] [-4.07674157e-03 9.99991688e-01 6.10582154e-05 1.14208297e-03] [ 8.38181617e-04 -5.76416231e-05 9.99999647e-01 -3.65530382e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09037174299999999 meters 0.05327519407620795 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 9.99977749e-01 6.65551195e-03 -4.53891106e-04 9.02371974e-02] [-6.65549766e-03 9.99977851e-01 3.29860270e-05 -2.23389226e-04] [ 4.54100592e-04 -2.99644218e-05 9.99999896e-01 -6.51592372e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12037174299999999 meters 0.05270439881879384 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.00 [[ 9.99955968e-01 9.33797479e-03 -9.29934874e-04 1.19325782e-01] [-9.33791598e-03 9.99956398e-01 6.75659319e-05 -1.01017111e-03] [ 9.30525256e-04 -5.88793031e-05 9.99999565e-01 -1.34492655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.150371743 meters 0.046278308567154855 Centerline is valid? [True, True] Translation: X:0.15, Y:0.01, Z:0.00 [[ 9.99929196e-01 1.18874244e-02 -5.40032608e-04 1.50525470e-01] [-1.18874049e-02 9.99929342e-01 3.92460313e-05 9.21701096e-03] [ 5.40460984e-04 -3.28236663e-05 9.99999853e-01 1.40105231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180371743 meters 0.043816948005429124 Centerline is valid? [True, True] Translation: X:0.18, Y:0.01, Z:0.00 [[ 9.99812690e-01 1.93367206e-02 8.22818811e-04 1.81606511e-01] [-1.93366776e-02 9.99813027e-01 -6.01250665e-05 1.28005446e-02] [-8.23827588e-04 4.42032224e-05 9.99999660e-01 3.09232291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.210371743 meters 0.046681193516091804 Centerline is valid? [True, True] Translation: X:0.21, Y:0.00, Z:0.00 [[ 9.99724019e-01 2.34845159e-02 6.02829946e-04 2.09621122e-01] [-2.34844932e-02 9.99724200e-01 -4.48065337e-05 4.29469133e-03] [-6.03715945e-04 3.06370122e-05 9.99999817e-01 9.80079097e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.240371743 meters 0.041116590767855975 Centerline is valid? [True, True] Translation: X:0.24, Y:0.01, Z:0.00 [[ 9.99627354e-01 2.72632440e-02 1.36682535e-03 2.40096540e-01] [-2.72631322e-02 9.99628287e-01 -1.00354266e-04 1.46898917e-02] [-1.36905327e-03 6.30529291e-05 9.99999061e-01 4.00381608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.270371743 meters 0.03941491716543686 Centerline is valid? [True, True] Translation: X:0.27, Y:0.02, Z:0.00 [[ 9.99405712e-01 3.44417369e-02 1.41040424e-03 2.69332347e-01] [-3.44416254e-02 9.99406706e-01 -1.03302759e-04 1.58738334e-02] [-1.41312538e-03 5.46647529e-05 9.99999000e-01 4.15917817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30037174299999997 meters 0.03847986243864871 Centerline is valid? [True, True] Translation: X:0.30, Y:0.02, Z:0.00 [[ 9.99308529e-01 3.71370109e-02 1.81847821e-03 2.98297200e-01] [-3.71368291e-02 9.99310181e-01 -1.33666251e-04 1.53316877e-02] [-1.82218775e-03 6.60413100e-05 9.99998338e-01 3.82607863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33037174299999994 meters 0.03784733664082034 Centerline is valid? [True, True] Translation: X:0.33, Y:0.01, Z:0.00 [[ 9.99233161e-01 3.90847839e-02 2.33886621e-03 3.27223190e-01] [-3.90844895e-02 9.99235895e-01 -1.71465613e-04 1.43272985e-02] [-2.34378076e-03 7.99207348e-05 9.99997250e-01 4.09794231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36037174299999997 meters 0.03664485375996067 Centerline is valid? [True, True] Translation: X:0.36, Y:0.01, Z:0.00 [[ 9.99158842e-01 4.08716548e-02 3.33410406e-03 3.56016141e-01] [-4.08710686e-02 9.99164399e-01 -2.43801822e-04 1.47042851e-02] [-3.34128266e-03 1.07328351e-04 9.99994412e-01 4.58753167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.390371743 meters 0.03566983712698364 Centerline is valid? [True, True] Translation: X:0.39, Y:0.01, Z:0.00 [[ 9.99088848e-01 4.24734572e-02 4.18076948e-03 3.85027616e-01] [-4.24725452e-02 9.99097587e-01 -3.06735718e-04 1.15746605e-02] [-4.19002483e-03 1.28888315e-04 9.99991214e-01 4.88863154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42037174299999996 meters 0.035358864148655515 Centerline is valid? [True, True] Translation: X:0.41, Y:0.01, Z:0.00 [[ 9.99110004e-01 4.19100422e-02 4.76946768e-03 4.13371944e-01] [-4.19088634e-02 9.99121377e-01 -3.46881159e-04 8.63495015e-03] [-4.77981492e-03 1.46689467e-04 9.99988566e-01 4.51404231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45037174299999994 meters 0.03511488538683405 Centerline is valid? [True, True] Translation: X:0.44, Y:0.01, Z:0.00 [[ 9.99159459e-01 4.06752492e-02 5.08921647e-03 4.42433461e-01] [-4.06738932e-02 9.99172406e-01 -3.69707829e-04 5.34090736e-03] [-5.10004262e-03 1.62398827e-04 9.99986982e-01 4.01172334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48037174299999996 meters 0.03536346625838686 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.00, Z:0.00 [[ 9.99299265e-01 3.71353709e-02 4.68437191e-03 4.70718148e-01] [-3.71341852e-02 9.99310230e-01 -3.39867241e-04 -2.45986882e-03] [-4.69376187e-03 1.65678750e-04 9.99988971e-01 3.22546327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.510371743 meters 0.035331467478218706 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.01, Z:0.00 [[ 9.99366868e-01 3.52683415e-02 4.69124775e-03 4.99336339e-01] [-3.52671322e-02 9.99377863e-01 -3.40276111e-04 -6.83987854e-03] [-4.70033013e-03 1.74613816e-04 9.99988938e-01 3.11675530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.540371743 meters 0.03583473343092106 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.01, Z:0.00 [[ 9.99435484e-01 3.31816280e-02 5.26244709e-03 5.27129645e-01] [-3.31800772e-02 9.99449317e-01 -3.81737354e-04 -1.22454256e-02] [-5.27221581e-03 2.06913456e-04 9.99986080e-01 3.00095978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5703717429999999 meters 0.03654984228939817 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.02, Z:0.00 [[ 9.99592021e-01 2.81771435e-02 4.67326923e-03 5.56967860e-01] [-2.81758728e-02 9.99602924e-01 -3.37527846e-04 -1.98893707e-02] [-4.68092415e-03 2.05716703e-04 9.99989023e-01 3.16177903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.600371743 meters 0.03701120396413919 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.03, Z:0.00 [[ 9.99649143e-01 2.61907749e-02 3.95397341e-03 5.85696183e-01] [-2.61898485e-02 9.99656946e-01 -2.85894554e-04 -2.51488293e-02] [-3.96010479e-03 1.82240281e-04 9.99992142e-01 2.99122945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.630371743 meters 0.035826877030672145 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.03, Z:0.00 [[ 9.99695112e-01 2.43293581e-02 4.21488420e-03 6.14107681e-01] [-2.43282873e-02 9.99703977e-01 -3.05146030e-04 -2.62851199e-02] [-4.22106051e-03 2.02512081e-04 9.99991071e-01 3.25343203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6603717429999999 meters 0.03746323427579761 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.04, Z:0.00 [[ 9.99763396e-01 2.11803395e-02 4.95427684e-03 6.41731696e-01] [-2.11788281e-02 9.99775640e-01 -3.57335843e-04 -3.51266866e-02] [-4.96073379e-03 2.52325519e-04 9.99987664e-01 2.61703361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6903717429999999 meters 0.03661207327741319 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.04, Z:0.00 [[ 9.99785349e-01 1.99801393e-02 5.48181071e-03 6.70800791e-01] [-1.99782734e-02 9.99800336e-01 -3.94934884e-04 -3.65574503e-02] [-5.48860704e-03 2.85332998e-04 9.99984897e-01 2.68725371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.720371743 meters 0.0364628182859406 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.04, Z:0.00 [[ 9.99799150e-01 1.90465034e-02 6.23625982e-03 6.99776443e-01] [-1.90440741e-02 9.99818544e-01 -4.48701500e-04 -3.95040291e-02] [-6.24367441e-03 3.29847584e-04 9.99980454e-01 2.83301786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.750371743 meters 0.03747679319958297 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.05, Z:0.00 [[ 9.99831598e-01 1.71056742e-02 6.64610658e-03 7.27876804e-01] [-1.71028768e-02 9.99853621e-01 -4.77511092e-04 -4.50970991e-02] [-6.65330187e-03 3.63763136e-04 9.99977800e-01 2.89845217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.780371743 meters 0.03785639758967165 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.05, Z:0.00 [[ 9.99853470e-01 1.57528361e-02 6.69982319e-03 7.56731238e-01] [-1.57499647e-02 9.99875846e-01 -4.81132480e-04 -4.81517047e-02] [-6.70657058e-03 3.75540001e-04 9.99977440e-01 2.62465718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8103717429999999 meters 0.03691723539607172 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.05, Z:0.00 [[ 9.99871926e-01 1.46349951e-02 6.47683869e-03 7.85675255e-01] [-1.46322909e-02 9.99892834e-01 -4.64702552e-04 -4.98587890e-02] [-6.48294551e-03 3.69872048e-04 9.99978917e-01 3.34523429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.840371743 meters 0.039579772994415244 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.06, Z:0.00 [[ 9.99904833e-01 1.22841299e-02 6.27892043e-03 8.13819379e-01] [-1.22815458e-02 9.99924478e-01 -4.49940769e-04 -5.78596153e-02] [-6.28397336e-03 3.72783101e-04 9.99980186e-01 2.24894350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.870371743 meters 0.040637282418785774 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.06, Z:0.00 [[ 9.99924710e-01 1.08699865e-02 5.69366066e-03 8.41983582e-01] [-1.08678403e-02 9.99940860e-01 -4.07755235e-04 -6.20160836e-02] [-5.69775623e-03 3.45846740e-04 9.99983708e-01 1.17832001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9003717429999999 meters 0.03814321893055619 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.06, Z:0.00 [[ 9.99934422e-01 1.03315122e-02 4.94086527e-03 8.71224934e-01] [-1.03298894e-02 9.99946583e-01 -3.53859866e-04 -6.06489742e-02] [-4.94425725e-03 3.02798069e-04 9.99987731e-01 1.28218897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9303717429999999 meters 0.03797030639791158 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.06, Z:0.00 [[ 9.99949317e-01 9.17545897e-03 4.14410570e-03 9.00585162e-01] [-9.17430944e-03 9.99957871e-01 -2.96313197e-04 -6.21707228e-02] [-4.14664992e-03 2.58278871e-04 9.99991369e-01 5.09552067e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9603717429999999 meters 0.03835734110247086 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.06, Z:-0.00 [[ 9.99960864e-01 8.46436533e-03 2.57385198e-03 9.30192880e-01] [-8.46391931e-03 9.99964163e-01 -1.84131070e-04 -6.45962503e-02] [-2.57531830e-03 1.62338989e-04 9.99996671e-01 -3.34189979e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.990371743 meters 0.038817314737914596 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.07, Z:-0.00 [[ 9.99962922e-01 8.39076969e-03 1.93638972e-03 9.58908654e-01] [-8.39051618e-03 9.99964789e-01 -1.39006127e-04 -6.64718812e-02] [-1.93748790e-03 1.22753664e-04 9.99998116e-01 -7.56298458e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.020371743 meters 0.03892771355417298 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.07, Z:-0.00 [[ 9.99966270e-01 8.11092597e-03 1.29316827e-03 9.87636852e-01] [-8.11081237e-03 9.99967102e-01 -9.30665639e-05 -6.72590082e-02] [-1.29388059e-03 8.25747795e-05 9.99999160e-01 -9.87594945e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0503717430000001 meters 0.03933502589948141 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.07, Z:-0.00 [[ 9.99961547e-01 8.63954084e-03 1.50415271e-03 1.01605513e+00] [-8.63938816e-03 9.99962674e-01 -1.07975643e-04 -6.69176198e-02] [-1.50502942e-03 9.49765320e-05 9.99998863e-01 -3.70206981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0803717430000002 meters 0.038920543429978256 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.07, Z:-0.00 [[ 9.99959595e-01 8.78399085e-03 1.91039864e-03 1.04490003e+00] [-8.78374558e-03 9.99961413e-01 -1.36738077e-04 -6.65459798e-02] [-1.91152603e-03 1.19952097e-04 9.99998166e-01 -7.93743752e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.110371743 meters 0.040313059686415374 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.07, Z:-0.00 [[ 9.99957481e-01 9.00409178e-03 1.99081802e-03 1.07273973e+00] [-9.00382582e-03 9.99959455e-01 -1.42514959e-04 -6.91717249e-02] [-1.99202052e-03 1.24583921e-04 9.99998008e-01 -4.84386062e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.140371743 meters 0.040156051046601623 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.07, Z:-0.00 [[ 9.99952560e-01 9.44385879e-03 2.38569732e-03 1.10148565e+00] [-9.44347967e-03 9.99955395e-01 -1.70127227e-04 -6.92774377e-02] [-2.38719756e-03 1.47589872e-04 9.99997140e-01 -8.10095138e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.170371743 meters 0.040938596758780706 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.07, Z:0.00 [[ 9.99948500e-01 9.62239018e-03 3.22605099e-03 1.12922723e+00] [-9.62169909e-03 9.99953684e-01 -2.29674003e-04 -6.81237787e-02] [-3.22811158e-03 1.98622083e-04 9.99994770e-01 6.40769308e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.200371743 meters 0.05670377870987506 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.09, Z:-0.00 [[ 9.99943861e-01 9.94524492e-03 3.65598647e-03 1.15607394e+00] [-9.94436189e-03 9.99950520e-01 -2.59629989e-04 -8.92597523e-02] [-3.65838765e-03 2.23258962e-04 9.99993283e-01 -4.13273633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.230371743 meters 0.04110999180698017 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.07, Z:0.00 [[ 9.99953724e-01 9.17925114e-03 2.87958507e-03 1.18698333e+00] [-9.17870068e-03 9.99957854e-01 -2.04317358e-04 -6.79525830e-02] [-2.88133918e-03 1.77877053e-04 9.99995833e-01 9.93206164e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.260371743 meters 0.04137743680182029 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.07, Z:0.00 [[ 9.99960674e-01 8.30811962e-03 3.10244186e-03 1.21613843e+00] [-8.30747713e-03 9.99965468e-01 -2.19921000e-04 -6.80445928e-02] [-3.10416186e-03 1.94138886e-04 9.99995163e-01 1.38259462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2903717430000001 meters 0.04137743680182029 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.07, Z:0.00 [[ 9.99961226e-01 8.24140132e-03 3.10243992e-03 1.24443004e+00] [-8.24075842e-03 9.99966020e-01 -2.19948803e-04 -6.99764497e-02] [-3.10414718e-03 1.94373817e-04 9.99995163e-01 9.84026843e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.320371743 meters 0.04337878848869872 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.07, Z:0.00 [[ 9.99979072e-01 5.90798433e-03 2.63663407e-03 1.27392274e+00] [-5.90751352e-03 9.99982533e-01 -1.86316251e-04 -7.17521731e-02] [-2.63768877e-03 1.70736400e-04 9.99996507e-01 2.60893587e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.350371743 meters 0.045459957208796906 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.08, Z:-0.00 [[ 9.99988096e-01 4.50120717e-03 1.88312859e-03 1.30245120e+00] [-4.50096372e-03 9.99989862e-01 -1.33500581e-04 -7.53589674e-02] [-1.88371041e-03 1.25023098e-04 9.99998218e-01 -8.70277219e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.380371743 meters 0.04712765708592603 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.08, Z:-0.00 [[ 9.99998685e-01 1.58981473e-03 3.19327071e-04 1.33258010e+00] [-1.58980756e-03 9.99998736e-01 -2.26957977e-05 -7.61257609e-02] [-3.19362749e-04 2.21880992e-05 9.99999949e-01 -2.55206589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.410371743 meters 0.038652090677954484 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.06, Z:-0.00 [[ 9.99999503e-01 6.24861307e-04 -7.76546341e-04 1.36410900e+00] [-6.24818973e-04 9.99999803e-01 5.47573994e-05 -6.37083794e-02] [ 7.76580404e-04 -5.42721713e-05 9.99999697e-01 -7.60652365e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.440371743 meters 0.039202295841364844 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.06, Z:-0.00 [[ 9.99998812e-01 4.09503069e-04 -1.48578832e-03 1.39374565e+00] [-4.09348674e-04 9.99999911e-01 1.04216598e-04 -6.46297245e-02] [ 1.48583087e-03 -1.03608269e-04 9.99998891e-01 -2.12198934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.470371743 meters 0.04176299701493996 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.07, Z:-0.00 [[ 9.99996259e-01 9.38684435e-04 -2.56923904e-03 1.42288251e+00] [-9.38223799e-04 9.99999544e-01 1.80488346e-04 -6.53151672e-02] [ 2.56940728e-03 -1.78077150e-04 9.99996683e-01 -4.15917502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.500371743 meters 0.04938433251930391 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.08, Z:-0.01 [[ 9.99995162e-01 2.11768136e-03 -2.27862292e-03 1.45119790e+00] [-2.11732237e-03 9.99997746e-01 1.59948382e-04 -7.50701588e-02] [ 2.27895651e-03 -1.55123029e-04 9.99997391e-01 -7.42102511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5303717430000001 meters 0.036506370110927965 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.05, Z:-0.00 [[ 9.99962958e-01 8.11082731e-03 -2.88062325e-03 1.48333050e+00] [-8.11027708e-03 9.99967091e-01 2.02639506e-04 -5.28844913e-02] [ 2.88217203e-03 -1.79269347e-04 9.99995830e-01 -3.83636456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5603717430000001 meters 0.03500846587245756 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.05, Z:-0.00 [[ 9.99921968e-01 1.23495211e-02 -1.88318174e-03 1.51425484e+00] [-1.23492933e-02 9.99923736e-01 1.32517932e-04 -4.98020293e-02] [ 1.88467465e-03 -1.09251628e-04 9.99998218e-01 -3.50502284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.590371743 meters 0.033383951576706 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.05, Z:-0.00 [[ 9.99864814e-01 1.64121560e-02 -9.97389211e-04 1.54538401e+00] [-1.64120942e-02 9.99865310e-01 7.01438548e-05 -4.63327943e-02] [ 9.98406084e-04 -5.37651267e-05 9.99999500e-01 -2.72912205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.620371743 meters 0.031534979227891405 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.04, Z:-0.00 [[ 9.99701797e-01 2.44180869e-02 2.71209140e-04 1.57571561e+00] [-2.44180826e-02 9.99701834e-01 -1.93129593e-05 -3.94136542e-02] [-2.71599860e-04 1.26847930e-05 9.99999963e-01 -1.30968628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.650371743 meters 0.03095694451191472 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.04, Z:-0.00 [[ 9.99648720e-01 2.65035064e-02 2.10930353e-05 1.60479810e+00] [-2.65035063e-02 9.99648720e-01 -2.44141636e-06 -3.74869799e-02] [-2.11503318e-05 1.88151935e-06 1.00000000e+00 -1.32947050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.680371743 meters 0.03000565696720367 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.04, Z:-0.00 [[ 9.99583119e-01 2.88701352e-02 3.20937382e-04 1.63382840e+00] [-2.88701291e-02 9.99583171e-01 -2.34972913e-05 -3.56232678e-02] [-3.21481975e-04 1.42219921e-05 9.99999948e-01 -1.12649231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.710371743 meters 0.029335305162726758 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.03, Z:-0.00 [[ 9.99530185e-01 3.06478028e-02 -3.47481194e-04 1.66302525e+00] [-3.06477965e-02 9.99530246e-01 2.34280915e-05 -3.48523345e-02] [ 3.48035983e-04 -1.27675517e-05 9.99999939e-01 -1.98214143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.740371743 meters 0.026685269421057187 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.03, Z:-0.00 [[ 9.99494601e-01 3.17670126e-02 -1.18285607e-03 1.69189810e+00] [-3.17669379e-02 9.99495300e-01 8.19017216e-05 -3.03914472e-02] [ 1.18486085e-03 -4.42846133e-05 9.99999297e-01 -1.21741368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.770371743 meters 0.02612630821803637 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.03, Z:-0.00 [[ 9.99464183e-01 3.26810587e-02 -1.81509956e-03 1.72107191e+00] [-3.26808835e-02 9.99465829e-01 1.26088644e-04 -3.03283279e-02] [ 1.81825070e-03 -6.67020262e-05 9.99998345e-01 -1.74062930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.800371743 meters 0.02889985908782631 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.04, Z:-0.00 [[ 9.99466233e-01 3.26433043e-02 -1.29002350e-03 1.74817820e+00] [-3.26432166e-02 9.99467064e-01 8.89641238e-05 -3.77581248e-02] [ 1.29224008e-03 -4.68061212e-05 9.99999164e-01 -4.04093079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.830371743 meters 0.027283795049507238 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.04, Z:-0.00 [[ 9.99504663e-01 3.14364826e-02 -1.47551872e-03 1.77741451e+00] [-3.14363698e-02 9.99505750e-01 9.96310193e-05 -3.69100597e-02] [ 1.47792149e-03 -5.31967163e-05 9.99998906e-01 -2.27068942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.860371743 meters 0.027109727783215087 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.04, Z:-0.00 [[ 9.99578272e-01 2.90390620e-02 -1.08642294e-04 1.80565248e+00] [-2.90390614e-02 9.99578278e-01 6.55266008e-06 -4.13713679e-02] [ 1.08786760e-04 -3.39502638e-06 9.99999994e-01 -2.67782488e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.890371743 meters 0.028024003171971585 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.05, Z:-0.00 [[ 9.99623733e-01 2.74208397e-02 7.00486872e-04 1.83328103e+00] [-2.74208114e-02 9.99623978e-01 -4.99626765e-05 -4.71509977e-02] [-7.01593492e-04 3.07359588e-05 9.99999753e-01 -6.39423671e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.920371743 meters 0.02799979123130086 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.05, Z:0.00 [[ 9.99664333e-01 2.58959325e-02 7.89240574e-04 1.86195610e+00] [-2.58958964e-02 9.99664643e-01 -5.58388461e-05 -5.09512607e-02] [-7.90421896e-04 3.53820106e-05 9.99999687e-01 1.11254432e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.950371743 meters 0.029435229136745258 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.06, Z:0.00 [[ 9.99728260e-01 2.32924201e-02 9.32779828e-04 1.89021497e+00] [-2.32923691e-02 9.99728694e-01 -6.55036652e-05 -5.74172530e-02] [-9.34052498e-04 4.37592132e-05 9.99999563e-01 1.32309124e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.980371743 meters 0.02901289001427041 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.06, Z:-0.00 [[ 9.99740905e-01 2.27582198e-02 4.30675555e-04 1.91856039e+00] [-2.27582087e-02 9.99740998e-01 -3.08653435e-05 -5.97062875e-02] [-4.31266449e-04 2.10559423e-05 9.99999907e-01 -4.97561193e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.010371743 meters 0.02997695567799854 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.06, Z:-0.00 [[ 9.99766557e-01 2.16031264e-02 -3.69725874e-04 1.94602977e+00] [-2.16031189e-02 9.99766625e-01 2.43688317e-05 -6.36166383e-02] [ 3.70166032e-04 -1.63759109e-05 9.99999931e-01 -1.40150944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.040371743 meters 0.02992817882193857 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.07, Z:-0.00 [[ 9.99809141e-01 1.94957144e-02 -1.26449381e-03 1.97481211e+00] [-1.94956207e-02 9.99809939e-01 8.64265800e-05 -6.78650398e-02] [ 1.26593843e-03 -6.17579930e-05 9.99999197e-01 -2.12840560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.070371743 meters 0.03152693334343362 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.07, Z:-0.00 [[ 9.99827628e-01 1.84766489e-02 -1.82412229e-03 2.00180346e+00] [-1.84764525e-02 9.99829288e-01 1.24507287e-04 -7.36816298e-02] [ 1.82611137e-03 -9.07825167e-05 9.99998329e-01 -3.48602527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.100371743 meters 0.031876578626318965 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.08, Z:-0.00 [[ 9.99848743e-01 1.72316587e-02 -2.35817338e-03 2.03066024e+00] [-1.72313251e-02 9.99851517e-01 1.61740254e-04 -7.72319854e-02] [ 2.36061029e-03 -1.21081337e-04 9.99997206e-01 -3.66050346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.130371743 meters 0.032167527797687015 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.08, Z:-0.00 [[ 9.99873501e-01 1.57663611e-02 -2.09838064e-03 2.05913814e+00] [-1.57660943e-02 9.99875697e-01 1.43661265e-04 -8.10707846e-02] [ 2.10038482e-03 -1.10559825e-04 9.99997788e-01 -3.12099996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1603717430000002 meters 0.03251532652627821 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.08, Z:-0.00 [[ 9.99884137e-01 1.51335801e-02 -1.63947488e-03 2.08730910e+00] [-1.51334174e-02 9.99885477e-01 1.11634025e-04 -8.37259559e-02] [ 1.64097655e-03 -8.68102331e-05 9.99998650e-01 -2.50575101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.190371743 meters 0.03435483611984192 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.09, Z:-0.00 [[ 9.99889336e-01 1.48402023e-02 -1.04078685e-03 2.11369205e+00] [-1.48401376e-02 9.99889877e-01 6.98087261e-05 -8.83785593e-02] [ 1.04170821e-03 -5.43555808e-05 9.99999456e-01 -2.62792689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.220371743 meters 0.03325621025093432 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.09, Z:-0.00 [[ 9.99892309e-01 1.46719625e-02 -3.23474862e-04 2.14239595e+00] [-1.46719564e-02 9.99892361e-01 2.12322985e-05 -8.86876413e-02] [ 3.23751563e-04 -1.64840029e-05 9.99999947e-01 -1.09360332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.250371743 meters 0.03194681864543574 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.09, Z:0.00 [[ 9.99878472e-01 1.55454364e-02 1.17471682e-03 2.17155718e+00] [-1.55453513e-02 9.99879160e-01 -8.15575759e-05 -8.95095788e-02] [-1.17584272e-03 6.32862788e-05 9.99999307e-01 7.77748910e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.280371743 meters 0.030538585958077926 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.09, Z:0.00 [[ 9.99867649e-01 1.61537238e-02 1.93448783e-03 2.20010459e+00] [-1.61534955e-02 9.99869515e-01 -1.33542917e-04 -8.97803519e-02] [-1.93639263e-03 1.02276501e-04 9.99998120e-01 1.59041604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.310371743 meters 0.030270891439048455 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.09, Z:0.00 [[ 9.99857587e-01 1.67476900e-02 2.07837570e-03 2.22913760e+00] [-1.67474283e-02 9.99859742e-01 -1.43248542e-04 -9.18001799e-02] [-2.08048327e-03 1.08420694e-04 9.99997830e-01 2.16204882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.340371743 meters 0.029775802893710453 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.09, Z:0.00 [[ 9.99814685e-01 1.89491008e-02 3.39503584e-03 2.25923767e+00] [-1.89484202e-02 9.99820436e-01 -2.32544860e-04 -9.40429623e-02] [-3.39883273e-03 1.68171201e-04 9.99994210e-01 2.88261254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.370371743 meters 0.0296198583541971 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.10, Z:0.00 [[ 9.99789050e-01 2.02511416e-02 3.42720976e-03 2.28773666e+00] [-2.02504538e-02 9.99794911e-01 -2.35248785e-04 -9.57715729e-02] [-3.43127093e-03 1.65796607e-04 9.99994099e-01 2.75839316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.400371743 meters 0.029033451803109823 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.10, Z:0.00 [[ 9.99755453e-01 2.17689137e-02 3.89220382e-03 2.31673898e+00] [-2.17680398e-02 9.99763013e-01 -2.66756449e-04 -9.71415794e-02] [-3.89708841e-03 1.81965567e-04 9.99992390e-01 2.48943739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.430371743 meters 0.02895621359102251 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.10, Z:0.00 [[ 9.99670488e-01 2.53792937e-02 3.84808448e-03 2.34585832e+00] [-2.53784686e-02 9.99677880e-01 -2.63105906e-04 -9.96220339e-02] [-3.85352238e-03 1.65360718e-04 9.99992561e-01 1.58334747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.460371743 meters 0.026490153258551266 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.10, Z:0.00 [[ 9.99616009e-01 2.73923199e-02 4.18266472e-03 2.37549703e+00] [-2.73913627e-02 9.99624745e-01 -2.85973574e-04 -9.78418166e-02] [-4.18892863e-03 1.71294876e-04 9.99991212e-01 2.06266605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.490371743 meters 0.026476166810096274 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.10, Z:0.00 [[ 9.99568727e-01 2.90869564e-02 4.03843658e-03 2.40331174e+00] [-2.90860758e-02 9.99576872e-01 -2.76638605e-04 -9.96595037e-02] [-4.04477438e-03 1.59057026e-04 9.99991807e-01 1.25605640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.520371743 meters 0.027507776764812086 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.10, Z:0.00 [[ 9.99507078e-01 3.11092910e-02 4.22054958e-03 2.43125636e+00] [-3.11083521e-02 9.99515977e-01 -2.87960492e-04 -1.03718341e-01] [-4.22746498e-03 1.56524208e-04 9.99991052e-01 4.34837879e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.550371743 meters 0.025153278913595176 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.10, Z:0.00 [[ 9.99410506e-01 3.40413009e-02 4.45306136e-03 2.46028016e+00] [-3.40402863e-02 9.99420415e-01 -3.03462943e-04 -1.01466926e-01] [-4.46081071e-03 1.51700570e-04 9.99990039e-01 1.40178846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.580371743 meters 0.024594641363984693 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.10, Z:0.00 [[ 9.99374590e-01 3.50982613e-02 4.30599382e-03 2.48929373e+00] [-3.50973235e-02 9.99383856e-01 -2.93174402e-04 -1.02112284e-01] [-4.31363062e-03 1.41862190e-04 9.99990686e-01 1.20740377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.610371743 meters 0.023977596704974357 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.10, Z:0.00 [[ 9.99340276e-01 3.61100209e-02 3.88306041e-03 2.51841125e+00] [-3.61092602e-02 9.99347813e-01 -2.65865004e-04 -1.03758607e-01] [-3.89012831e-03 1.25475168e-04 9.99992426e-01 5.48048543e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6403717429999998 meters 0.02425422049302785 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.11, Z:-0.00 [[ 9.99277665e-01 3.78634045e-02 3.24210042e-03 2.54644754e+00] [-3.78628899e-02 9.99282919e-01 -2.19983411e-04 -1.07447166e-01] [-3.24810490e-03 9.70692181e-05 9.99994720e-01 -1.44756655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.670371743 meters 0.024011099116611707 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.11, Z:-0.00 [[ 9.99256432e-01 3.84157747e-02 3.28793285e-03 2.57552682e+00] [-3.84152436e-02 9.99261837e-01 -2.24538262e-04 -1.10293744e-01] [-3.29413163e-03 9.80645614e-05 9.99994570e-01 -2.37360574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.700371743 meters 0.023386060280210598 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.11, Z:-0.00 [[ 9.99249578e-01 3.86031119e-02 3.17499370e-03 2.60417465e+00] [-3.86026251e-02 9.99254618e-01 -2.14496691e-04 -1.11188199e-01] [-3.18090735e-03 9.17726365e-05 9.99994937e-01 -2.27789684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.730371743 meters 0.023910793488810846 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.12, Z:-0.00 [[ 9.99225144e-01 3.91947539e-02 3.58939633e-03 2.63140094e+00] [-3.91941362e-02 9.99231585e-01 -2.42281031e-04 -1.15369226e-01] [-3.59613433e-03 1.01410009e-04 9.99993529e-01 -2.67615312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.760371743 meters 0.023404169163748344 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.12, Z:-0.00 [[ 9.99203305e-01 3.96482682e-02 4.55740894e-03 2.66039765e+00] [-3.96472814e-02 9.99213690e-01 -3.06688912e-04 -1.17571294e-01] [-4.56598509e-03 1.25755700e-04 9.99989568e-01 -1.42459403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.790371743 meters 0.023725253910414777 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.12, Z:-0.00 [[ 9.99210444e-01 3.94157792e-02 4.98843009e-03 2.68758356e+00] [-3.94145940e-02 9.99222887e-01 -3.35718599e-04 -1.20601942e-01] [-4.99778613e-03 1.38836583e-04 9.99987501e-01 -1.10089472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.820371743 meters 0.023689692365277022 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.12, Z:-0.00 [[ 9.99213112e-01 3.93025314e-02 5.33546449e-03 2.71529944e+00] [-3.93011789e-02 9.99227346e-01 -3.58139438e-04 -1.23629725e-01] [-5.34541781e-03 1.48167578e-04 9.99985702e-01 -9.71335195e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.850371743 meters 0.024049728159765204 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.13, Z:-0.00 [[ 9.99227721e-01 3.89264040e-02 5.35697183e-03 2.74336224e+00] [-3.89250391e-02 9.99242069e-01 -3.58852694e-04 -1.27325611e-01] [-5.36688046e-03 1.50055222e-04 9.99985587e-01 -1.49471791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.880371743 meters 0.024127510712625273 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.13, Z:-0.00 [[ 9.99245026e-01 3.85253574e-02 5.01746833e-03 2.77231186e+00] [-3.85241576e-02 9.99257613e-01 -3.35589057e-04 -1.31995716e-01] [-5.02667212e-03 1.42041955e-04 9.99987356e-01 -1.70195962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.910371743 meters 0.02414058817720859 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.13, Z:-0.00 [[ 9.99254262e-01 3.82739222e-02 5.10157310e-03 2.80101170e+00] [-3.82726805e-02 9.99267274e-01 -3.40846068e-04 -1.34782030e-01] [-5.11088056e-03 1.45341009e-04 9.99986929e-01 -2.29850564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.940371743 meters 0.0247475490346697 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.14, Z:-0.00 [[ 9.99259605e-01 3.81540755e-02 4.95049375e-03 2.82808254e+00] [-3.81529040e-02 9.99271858e-01 -3.30902644e-04 -1.39450757e-01] [-4.95951437e-03 1.41781932e-04 9.99987691e-01 -3.16658132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.970371743 meters 0.02406088328716841 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.14, Z:-0.00 [[ 9.99273014e-01 3.77700653e-02 5.18314703e-03 2.85648039e+00] [-3.77687820e-02 9.99286445e-01 -3.45291300e-04 -1.43378397e-01] [-5.19249024e-03 1.49279128e-04 9.99986508e-01 -3.56850013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.000371743 meters 0.024140379337409368 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.15, Z:-0.00 [[ 9.99282091e-01 3.74332982e-02 5.83527420e-03 2.88388062e+00] [-3.74316673e-02 9.99299114e-01 -3.88491816e-04 -1.47196937e-01] [-5.84572687e-03 1.69788871e-04 9.99982899e-01 -3.86010182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.030371743 meters 0.023798216703534245 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.15, Z:-0.00 [[ 9.99295746e-01 3.67583709e-02 7.53881072e-03 2.91262285e+00] [-3.67556405e-02 9.99324158e-01 -5.00447304e-04 -1.52840700e-01] [-7.55211130e-03 2.23001045e-04 9.99971458e-01 -3.20312723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.060371743 meters 0.02523556841814835 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.16, Z:-0.00 [[ 9.99304637e-01 3.64141107e-02 8.01593268e-03 2.93960786e+00] [-3.64110170e-02 9.99336758e-01 -5.31583635e-04 -1.59664924e-01] [-8.02997332e-03 2.39345730e-04 9.99967731e-01 -4.03096529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.090371743 meters 0.024234678517304965 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.16, Z:-0.00 [[ 9.99302593e-01 3.65036062e-02 7.86219849e-03 2.96861743e+00] [-3.65006390e-02 9.99333494e-01 -5.20608189e-04 -1.60744350e-01] [-7.87596237e-03 2.33269844e-04 9.99968957e-01 -3.86898204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.120371743 meters 0.023603241335940293 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.16, Z:-0.00 [[ 9.99232173e-01 3.84501533e-02 7.52662225e-03 2.99782072e+00] [-3.84474936e-02 9.99260498e-01 -4.97790262e-04 -1.63639015e-01] [-7.54019641e-03 2.08028284e-04 9.99971551e-01 -4.51052466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.150371743 meters 0.023603241335940293 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.17, Z:-0.00 [[ 9.99236243e-01 3.83442506e-02 7.52662596e-03 3.02522603e+00] [-3.83415884e-02 9.99264567e-01 -4.97734584e-04 -1.65358902e-01] [-7.54017590e-03 2.08771640e-04 9.99971551e-01 -4.89650911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.180371743 meters 0.023197543801383013 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.17, Z:-0.01 [[ 9.99171200e-01 4.00738918e-02 7.14116175e-03 3.05397539e+00] [-4.00715461e-02 9.99196702e-01 -4.71314006e-04 -1.68095568e-01] [-7.15431265e-03 1.84765989e-04 9.99974391e-01 -5.64277875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.210371743 meters 0.023330152362588792 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.17, Z:-0.01 [[ 9.99087411e-01 4.21336121e-02 7.00741044e-03 3.08162541e+00] [-4.21314045e-02 9.99111971e-01 -4.62414999e-04 -1.71863018e-01] [-7.02067087e-03 1.66760960e-04 9.99975341e-01 -6.76804647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.240371743 meters 0.021968956061634667 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.17, Z:-0.01 [[ 9.98871544e-01 4.69023564e-02 7.47039969e-03 3.11039657e+00] [-4.68999916e-02 9.98899469e-01 -4.91516553e-04 -1.72844844e-01] [-7.48523157e-03 1.40600215e-04 9.99971975e-01 -6.93142841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.270371743 meters 0.02133227387850298 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.18, Z:-0.01 [[ 9.98753320e-01 4.92283437e-02 8.26902296e-03 3.13872073e+00] [-4.92255232e-02 9.98787541e-01 -5.44400054e-04 -1.75038423e-01] [-8.28579702e-03 1.36674380e-04 9.99965663e-01 -7.50823208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.300371743 meters 0.02133399845620438 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.18, Z:-0.01 [[ 9.98659245e-01 5.11367760e-02 8.04627270e-03 3.16591744e+00] [-5.11341907e-02 9.98691653e-01 -5.26831673e-04 -1.78112252e-01] [-8.06268585e-03 1.14685678e-04 9.99967489e-01 -8.23483028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.330371743 meters 0.02096100572223402 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.18, Z:-0.01 [[ 9.98515842e-01 5.38678511e-02 8.02300496e-03 3.19485375e+00] [-5.38653679e-02 9.98548069e-01 -5.25423517e-04 -1.82335663e-01] [-8.03965955e-03 9.24815907e-05 9.99967677e-01 -9.57150770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.360371743 meters 0.02080267430506731 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.19, Z:-0.01 [[ 9.98455704e-01 5.49792364e-02 7.96804729e-03 3.22309342e+00] [-5.49768444e-02 9.98487495e-01 -5.19081086e-04 -1.85710001e-01] [-7.98453426e-03 8.02213759e-05 9.99968120e-01 -1.07780717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3903717429999998 meters 0.020725131145036886 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.19, Z:-0.01 [[ 9.98431966e-01 5.54552323e-02 7.63721026e-03 3.25105907e+00] [-5.54530509e-02 9.98461172e-01 -4.97256363e-04 -1.89634354e-01] [-7.65303337e-03 7.29700394e-05 9.99970712e-01 -1.19882977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.420371743 meters 0.020777382063251148 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.20, Z:-0.01 [[ 9.98395312e-01 5.62084967e-02 6.88519569e-03 3.27890854e+00] [-5.62067455e-02 9.98419051e-01 -4.47736384e-04 -1.95974403e-01] [-6.89947714e-03 6.00234654e-05 9.99976197e-01 -1.38120729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.450371743 meters 0.020708972575154045 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.20, Z:-0.01 [[ 9.98412967e-01 5.59407623e-02 6.49450926e-03 3.30611958e+00] [-5.59392034e-02 9.98434088e-01 -4.21576055e-04 -2.00532379e-01] [-6.50792271e-03 5.76093254e-05 9.99978822e-01 -1.47046442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.480371743 meters 0.020623183331158274 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.20, Z:-0.01 [[ 9.98433625e-01 5.55360404e-02 6.78564969e-03 3.33376119e+00] [-5.55343329e-02 9.98456681e-01 -4.39942814e-04 -2.04879037e-01] [-6.79960995e-03 6.24171699e-05 9.99976880e-01 -1.49100678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.510371743 meters 0.02107009425138591 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.21, Z:-0.02 [[ 9.98516620e-01 5.40536989e-02 6.53894557e-03 3.36129684e+00] [-5.40520866e-02 9.98538028e-01 -4.23164606e-04 -2.13404871e-01] [-6.55225943e-03 6.90932394e-05 9.99978531e-01 -1.54426794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.540371743 meters 0.021079189747471187 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.22, Z:-0.02 [[ 9.98567264e-01 5.30828924e-02 6.75471768e-03 3.38971294e+00] [-5.30811549e-02 9.98590106e-01 -4.36373055e-04 -2.17951265e-01] [-6.76835820e-03 7.71996321e-05 9.99977091e-01 -1.54250617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.570371743 meters 0.021442591943796573 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.22, Z:-0.02 [[ 9.98609936e-01 5.22314830e-02 7.07585201e-03 3.41739631e+00] [-5.22295581e-02 9.98635001e-01 -4.56683074e-04 -2.23748508e-01] [-7.09004671e-03 8.64796316e-05 9.99974862e-01 -1.59326432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6003717429999997 meters 0.02173423420010364 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.23, Z:-0.02 [[ 9.98716927e-01 5.00012861e-02 8.02315357e-03 3.44538035e+00] [-4.99987473e-02 9.98749147e-01 -5.16828852e-04 -2.32480578e-01] [-8.03895989e-03 1.15018096e-04 9.99967680e-01 -1.60663559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.630371743 meters 0.021790036347003244 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.24, Z:-0.02 [[ 9.98768539e-01 4.88496156e-02 8.66724755e-03 3.47347734e+00] [-4.88466154e-02 9.98806136e-01 -5.57633268e-04 -2.37161029e-01] [-8.68414020e-03 1.33580857e-04 9.99962283e-01 -1.61055303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.660371743 meters 0.021886267938146128 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.24, Z:-0.02 [[ 9.98826136e-01 4.76210665e-02 8.86474844e-03 3.50063371e+00] [-4.76178827e-02 9.98865463e-01 -5.69988368e-04 -2.42176877e-01] [-8.88183451e-03 1.47198728e-04 9.99960545e-01 -1.63185321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.690371743 meters 0.021912945683041814 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.25, Z:-0.02 [[ 9.98902898e-01 4.60028852e-02 8.75989902e-03 3.52904383e+00] [-4.59997265e-02 9.98941294e-01 -5.61832515e-04 -2.46573567e-01] [-8.77647079e-03 1.58263169e-04 9.99961474e-01 -1.71732977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.720371743 meters 0.02263858620715219 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.26, Z:-0.02 [[ 9.99087844e-01 4.20941029e-02 7.18093544e-03 3.55673963e+00] [-4.20918818e-02 9.99113638e-01 -4.60227687e-04 -2.56603511e-01] [-7.19394340e-03 1.57548803e-04 9.99974111e-01 -1.91493824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.750371743 meters 0.023158235322031085 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.26, Z:-0.02 [[ 9.99192765e-01 3.96332095e-02 6.55952948e-03 3.58535087e+00] [-3.96313057e-02 9.99214283e-01 -4.20012232e-04 -2.62597750e-01] [-6.57102198e-03 1.59710465e-04 9.99978398e-01 -2.05249739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.780371743 meters 0.02376577452342048 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.27, Z:-0.02 [[ 9.99306122e-01 3.67212448e-02 6.23090216e-03 3.61421715e+00] [-3.67194728e-02 9.99325533e-01 -3.98594307e-04 -2.68329759e-01] [-6.24133650e-03 1.69522290e-04 9.99980508e-01 -2.14090027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.810371743 meters 0.02636746635580939 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.28, Z:-0.02 [[ 9.99475157e-01 3.16443235e-02 6.93155628e-03 3.64170624e+00] [-3.16420126e-02 9.99499168e-01 -4.42821498e-04 -2.80491873e-01] [-6.94209752e-03 2.23260695e-04 9.99975878e-01 -2.15418458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.840371743 meters 0.024027458197521452 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.28, Z:-0.02 [[ 9.99537231e-01 2.93843684e-02 7.86653773e-03 3.67035074e+00] [-2.93813273e-02 9.99568150e-01 -5.01902620e-04 -2.79845065e-01] [-7.87788865e-03 2.70541035e-04 9.99968932e-01 -1.97177185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8703717429999998 meters 0.02570097808210956 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.29, Z:-0.02 [[ 9.99583089e-01 2.74912825e-02 8.82482607e-03 3.69746009e+00] [-2.74873876e-02 9.99621992e-01 -5.62365852e-04 -2.86559070e-01] [-8.83695037e-03 3.19559981e-04 9.99960902e-01 -1.98342072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.900371743 meters 0.0252384717906586 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.29, Z:-0.02 [[ 9.99630540e-01 2.55259118e-02 9.33865054e-03 3.72592822e+00] [-2.55214738e-02 9.99674098e-01 -5.94107805e-04 -2.89327484e-01] [-9.35077219e-03 3.55552181e-04 9.99956217e-01 -1.91857827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.930371743 meters 0.02974666577032986 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.30, Z:-0.02 [[ 9.99699274e-01 2.25876796e-02 9.54767076e-03 3.75355232e+00] [-2.25829145e-02 9.99744789e-01 -6.06612407e-04 -3.02107682e-01] [-9.55893606e-03 3.90815751e-04 9.99954236e-01 -2.01748520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.960371743 meters 0.027062745690444184 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.30, Z:-0.02 [[ 9.99739370e-01 2.08759442e-02 9.24050684e-03 3.78277871e+00] [-2.08714114e-02 9.99781996e-01 -5.86709660e-04 -3.00398431e-01] [-9.25074049e-03 3.93694326e-04 9.99957133e-01 -2.03130124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.990371743 meters 0.027207509485293026 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.30, Z:-0.02 [[ 9.99756537e-01 1.99972074e-02 9.32623284e-03 3.81160521e+00] [-1.99925583e-02 9.99799954e-01 -5.91475450e-04 -3.04496987e-01] [-9.33619502e-03 4.04876194e-04 9.99956335e-01 -2.10655184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.020371742999999 meters 0.02895553529303116 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.31, Z:-0.02 [[ 9.99794105e-01 1.81584088e-02 9.05648066e-03 3.83952590e+00] [-1.81539558e-02 9.99835039e-01 -5.73660313e-04 -3.11582512e-01] [-9.06540345e-03 4.09131250e-04 9.99958825e-01 -2.27278954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0503717429999995 meters 0.028964696172056083 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.31, Z:-0.02 [[ 9.99806528e-01 1.74278242e-02 9.12013706e-03 3.86855192e+00] [-1.74232826e-02 9.99848036e-01 -5.77199112e-04 -3.14812417e-01] [-9.12881046e-03 4.18184715e-04 9.99958244e-01 -2.30516741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.080371743 meters 0.02906721058837861 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.32, Z:-0.02 [[ 9.99810990e-01 1.70291490e-02 9.38046736e-03 3.89741503e+00] [-1.70243309e-02 9.99854900e-01 -5.93243175e-04 -3.17578529e-01] [-9.38920868e-03 4.33434865e-04 9.99955826e-01 -2.31733102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.110371742999999 meters 0.028538146086058615 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.32, Z:-0.02 [[ 9.99817021e-01 1.64271976e-02 9.80158354e-03 3.92590276e+00] [-1.64219154e-02 9.99864960e-01 -6.19152542e-04 -3.19153465e-01] [-9.81043087e-03 4.58078474e-04 9.99951772e-01 -2.29867262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.140371742999999 meters 0.02878701087862609 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.32, Z:-0.02 [[ 9.99820305e-01 1.61702658e-02 9.89343785e-03 3.95557382e+00] [-1.61648801e-02 9.99869145e-01 -6.24095427e-04 -3.21862381e-01] [-9.90223503e-03 4.64057043e-04 9.99950864e-01 -2.34319186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.170371743 meters 0.02820547406719377 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.32, Z:-0.02 [[ 9.99821910e-01 1.59780123e-02 1.00424335e-02 3.98494772e+00] [-1.59724571e-02 9.99872232e-01 -6.33134136e-04 -3.23384064e-01] [-1.00512666e-02 4.72619044e-04 9.99949373e-01 -2.38745211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.200371743 meters 0.02801407829775374 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.33, Z:-0.03 [[ 9.99854138e-01 1.48356297e-02 8.46205002e-03 4.01477847e+00] [-1.48316465e-02 9.99889863e-01 -5.33276697e-04 -3.25384652e-01] [-8.46902953e-03 4.07692777e-04 9.99964054e-01 -2.59083185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.230371742999999 meters 0.027189178004152992 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.33, Z:-0.03 [[ 9.99861447e-01 1.43682501e-02 8.40479465e-03 4.04444777e+00] [-1.43643066e-02 9.99896688e-01 -5.29372315e-04 -3.26108178e-01] [-8.41153249e-03 4.08569921e-04 9.99964539e-01 -2.71658080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.260371742999999 meters 0.027685456441138238 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.33, Z:-0.03 [[ 9.99872049e-01 1.37984636e-02 8.09246341e-03 4.07430898e+00] [-1.37947914e-02 9.99904718e-01 -5.09420504e-04 -3.29024474e-01] [-8.09872156e-03 3.97721479e-04 9.99967126e-01 -2.83370302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.290371743 meters 0.028401468107125967 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.33, Z:-0.03 [[ 9.99903071e-01 1.21264767e-02 6.84089896e-03 4.10432606e+00] [-1.21238167e-02 9.99926411e-01 -4.30176358e-04 -3.30808424e-01] [-6.84561207e-03 3.47196856e-04 9.99976508e-01 -2.98486994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.320371743 meters 0.028365104230441918 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.33, Z:-0.03 [[ 9.99919137e-01 1.08438975e-02 6.64293694e-03 4.13425532e+00] [-1.08413598e-02 9.99941143e-01 -4.17913129e-04 -3.31793639e-01] [-6.64707777e-03 3.45860866e-04 9.99977848e-01 -3.03432136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.350371742999999 meters 0.03463808375852116 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.34, Z:-0.03 [[ 9.99930522e-01 9.69829382e-03 6.70037532e-03 4.16315582e+00] [-9.69568720e-03 9.99952907e-01 -4.21400123e-04 -3.42894114e-01] [-6.70414665e-03 3.56406102e-04 9.99977463e-01 -3.22238290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3803717429999995 meters 0.02962731821706914 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.34, Z:-0.03 [[ 9.99944770e-01 8.29217404e-03 6.45734127e-03 4.19446192e+00] [-8.28972545e-03 9.99965557e-01 -4.05868356e-04 -3.36780336e-01] [-6.46048439e-03 3.52316354e-04 9.99979069e-01 -3.13103590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.410371743 meters 0.03207207261330787 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.34, Z:-0.03 [[ 9.99964960e-01 4.59924653e-03 6.99462762e-03 4.22393667e+00] [-4.59628701e-03 9.99989341e-01 -4.39129966e-04 -3.40981449e-01] [-6.99657273e-03 4.06965263e-04 9.99975441e-01 -3.13776498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.440371742999999 meters 0.03295465227631362 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.34, Z:-0.03 [[ 9.99966086e-01 2.79512564e-03 7.74691919e-03 4.25511957e+00] [-2.79143432e-03 9.99995985e-01 -4.87260169e-04 -3.43910400e-01] [-7.74825004e-03 4.65618628e-04 9.99969873e-01 -3.14916937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.470371742999999 meters 0.03314731441861607 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.35, Z:-0.03 [[ 9.99969131e-01 1.48986188e-03 7.71469721e-03 4.28677666e+00] [-1.48617004e-03 9.99998778e-01 -4.84257267e-04 -3.45330138e-01] [-7.71540926e-03 4.72776967e-04 9.99970124e-01 -3.13915213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.500371743 meters 0.032916182672281184 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.34, Z:-0.03 [[ 9.99972731e-01 2.29693417e-04 7.38139468e-03 4.31893062e+00] [-2.26259880e-04 9.99999866e-01 -4.65992646e-04 -3.44633134e-01] [-7.38150072e-03 4.64309825e-04 9.99972649e-01 -3.10843407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.530371743 meters 0.032466016120091215 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.34, Z:-0.03 [[ 9.99971474e-01 3.58785681e-04 7.54470817e-03 4.35185885e+00] [-3.55199700e-04 9.99999823e-01 -4.76632102e-04 -3.44225662e-01] [-7.54487785e-03 4.73938627e-04 9.99971425e-01 -3.14318357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.560371742999999 meters 0.03817580150349654 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.35, Z:-0.03 [[ 9.99972459e-01 1.10236595e-03 7.33929285e-03 4.38284553e+00] [-1.09898414e-03 9.99999288e-01 -4.64798707e-04 -3.51463370e-01] [-7.33980001e-03 4.56720140e-04 9.99972959e-01 -3.24792459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5903717429999995 meters 0.03319361791256476 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.34, Z:-0.03 [[ 9.99969773e-01 2.01694942e-03 7.50893943e-03 4.41538274e+00] [-2.01343278e-03 9.99997860e-01 -4.75856686e-04 -3.44836101e-01] [-7.50988313e-03 4.60723558e-04 9.99971694e-01 -3.22332218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.620371743 meters 0.033128140746800684 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.35, Z:-0.03 [[ 9.99969222e-01 3.09022185e-03 7.21152539e-03 4.44725401e+00] [-3.08700259e-03 9.99995131e-01 -4.57493745e-04 -3.45332532e-01] [-7.21290403e-03 4.35217667e-04 9.99973892e-01 -3.33006694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.650371742999999 meters 0.03211333575928474 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.34, Z:-0.04 [[ 9.99968895e-01 5.57236252e-03 5.58194683e-03 4.47866499e+00] [-5.57046969e-03 9.99984422e-01 -3.54589737e-04 -3.41871679e-01] [-5.58383578e-03 3.23484642e-04 9.99984358e-01 -3.50163522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.680371742999999 meters 0.03256703662744719 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.34, Z:-0.04 [[ 9.99959466e-01 7.19091924e-03 5.41812495e-03 4.50893109e+00] [-7.18915772e-03 9.99974098e-01 -3.44521679e-04 -3.42414511e-01] [-5.42046204e-03 3.05555960e-04 9.99985263e-01 -3.60663547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.710371743 meters 0.029898117784434394 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.34, Z:-0.04 [[ 9.99951026e-01 8.58883470e-03 4.91713161e-03 4.53971143e+00] [-8.58739962e-03 9.99963079e-01 -3.12891245e-04 -3.37431352e-01] [-4.91963743e-03 2.70650548e-04 9.99987862e-01 -3.58658919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.740371743 meters 0.03163750792066224 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.34, Z:-0.04 [[ 9.99922055e-01 1.15030113e-02 4.85439266e-03 4.56910906e+00] [-1.15016461e-02 9.99933806e-01 -3.09065816e-04 -3.36461198e-01] [-4.85762652e-03 2.53208220e-04 9.99988170e-01 -3.66552502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.770371742999999 meters 0.029666572532793242 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.33, Z:-0.04 [[ 9.99895552e-01 1.33319577e-02 5.58064309e-03 4.59901595e+00] [-1.33301817e-02 9.99911086e-01 -3.55313492e-04 -3.32360820e-01] [-5.58488392e-03 2.80885394e-04 9.99984365e-01 -3.60305163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8003717429999995 meters 0.029408196211369357 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.33, Z:-0.04 [[ 9.99879436e-01 1.43316885e-02 5.97628215e-03 4.62851481e+00] [-1.43296702e-02 9.99897253e-01 -3.80396069e-04 -3.30628244e-01] [-5.98111982e-03 2.94712055e-04 9.99982070e-01 -3.56023358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.830371743 meters 0.030537684144517747 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.33, Z:-0.03 [[ 9.99820756e-01 1.71856107e-02 7.94416649e-03 4.65726721e+00] [-1.71821417e-02 9.99852249e-01 -5.04723208e-04 -3.29171898e-01] [-7.95166671e-03 3.68134945e-04 9.99968317e-01 -3.45912695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.860371742999999 meters 0.028222092876037504 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.33, Z:-0.03 [[ 9.99794520e-01 1.82363313e-02 8.85178067e-03 4.68688406e+00] [-1.82320645e-02 9.99833624e-01 -5.62487821e-04 -3.25085174e-01] [-8.86056566e-03 4.00986006e-04 9.99960664e-01 -3.39670600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.890371742999999 meters 0.027152855494602272 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.32, Z:-0.03 [[ 9.99759036e-01 1.97828737e-02 9.51357460e-03 4.71585900e+00] [-1.97780195e-02 9.99804213e-01 -6.04058472e-04 -3.21106482e-01] [-9.52366199e-03 4.15753251e-04 9.99954562e-01 -3.43668010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.920371743 meters 0.027538214646218563 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.32, Z:-0.04 [[ 9.99755272e-01 2.02348087e-02 8.94136751e-03 4.74354010e+00] [-2.02305435e-02 9.99795181e-01 -5.67224680e-04 -3.21736846e-01] [-8.95101383e-03 3.86197140e-04 9.99959864e-01 -3.52281383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.950371743 meters 0.027658016017725308 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.32, Z:-0.04 [[ 9.99763993e-01 2.02103721e-02 7.96867172e-03 4.77205108e+00] [-2.02069891e-02 9.99795691e-01 -5.04825292e-04 -3.22098196e-01] [-7.97724635e-03 3.43683287e-04 9.99968122e-01 -3.67862323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.980371742999999 meters 0.027747978982548178 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.32, Z:-0.04 [[ 9.99777297e-01 2.00594126e-02 6.55561745e-03 4.80045324e+00] [-2.00571218e-02 9.99798750e-01 -4.15013453e-04 -3.23036480e-01] [-6.56262306e-03 2.83434210e-04 9.99978426e-01 -3.85862265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.010371742999999 meters 0.028014448849975483 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.32, Z:-0.04 [[ 9.99812995e-01 1.88888462e-02 4.14570173e-03 4.82896457e+00] [-1.88879197e-02 9.99821573e-01 -2.62522559e-04 -3.23146701e-01] [-4.14992078e-03 1.84169785e-04 9.99991372e-01 -4.09401627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.040371743 meters 0.028884148115322167 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.33, Z:-0.04 [[ 9.99830969e-01 1.81127043e-02 3.15646502e-03 4.85641972e+00] [-1.81121627e-02 9.99835941e-01 -2.00080494e-04 -3.25151906e-01] [-3.15957117e-03 1.42876267e-04 9.99994998e-01 -4.23813790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.070371742999999 meters 0.028884148115322167 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.33, Z:-0.04 [[ 9.99832241e-01 1.80423393e-02 3.15649513e-03 4.88469843e+00] [-1.80417988e-02 9.99837214e-01 -1.99602828e-04 -3.26872399e-01] [-3.15958260e-03 1.42620492e-04 9.99994998e-01 -4.27797588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.100371742999999 meters 0.02862030901680565 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.33, Z:-0.04 [[ 9.99850545e-01 1.70052680e-02 3.11593733e-03 4.91324427e+00] [-1.70047369e-02 9.99855390e-01 -1.96844398e-04 -3.25520904e-01] [-3.11883412e-03 1.43829284e-04 9.99995126e-01 -4.26132962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1303717429999995 meters 0.028319884061725205 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.33, Z:-0.04 [[ 9.99859077e-01 1.64036505e-02 3.57026319e-03 4.94241174e+00] [-1.64029509e-02 9.99865437e-01 -2.25149948e-04 -3.25388541e-01] [-3.57347604e-03 1.66555367e-04 9.99993601e-01 -4.25530820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.160371743 meters 0.02910000747702909 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.33, Z:-0.04 [[ 9.99853300e-01 1.66667209e-02 3.94949604e-03 4.96966994e+00] [-1.66658677e-02 9.99861084e-01 -2.48844734e-04 -3.27271813e-01] [-3.95309482e-03 1.82986450e-04 9.99992170e-01 -4.28336518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.190371742999999 meters 0.029244261902349224 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.33, Z:-0.04 [[ 9.99840835e-01 1.71500847e-02 4.91728097e-03 4.99904550e+00] [-1.71487733e-02 9.99852901e-01 -3.08732936e-04 -3.27129325e-01] [-4.92185244e-03 2.24358460e-04 9.99987862e-01 -4.31270247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.220371742999999 meters 0.02922889661868275 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.33, Z:-0.04 [[ 9.99839828e-01 1.71845502e-02 5.00103569e-03 5.02785649e+00] [-1.71831947e-02 9.99852309e-01 -3.13877743e-04 -3.27427021e-01] [-5.00569093e-03 2.27893698e-04 9.99987445e-01 -4.37443969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.250371743 meters 0.029608959954734337 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.33, Z:-0.04 [[ 9.99844540e-01 1.69221198e-02 4.95360229e-03 5.05634257e+00] [-1.69207884e-02 9.99856785e-01 -3.10554718e-04 -3.27704826e-01] [-4.95814810e-03 2.26687583e-04 9.99987683e-01 -4.46707609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.280371742999999 meters 0.02832381220032773 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.33, Z:-0.04 [[ 9.99860328e-01 1.61619791e-02 4.25607994e-03 5.08564776e+00] [-1.61609901e-02 9.99869367e-01 -2.66682122e-04 -3.26100323e-01] [-4.25983406e-03 1.97862408e-04 9.99990907e-01 -4.46037069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.310371742999999 meters 0.030390406552385972 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.33, Z:-0.05 [[ 9.99875079e-01 1.51931164e-02 4.35845066e-03 5.11316903e+00] [-1.51920707e-02 9.99884557e-01 -2.72923571e-04 -3.29702317e-01] [-4.36209406e-03 2.06675587e-04 9.99990465e-01 -4.54740921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3403717429999995 meters 0.028984367843921353 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.33, Z:-0.04 [[ 9.99909188e-01 1.30811483e-02 3.24013984e-03 5.14269673e+00] [-1.30805605e-02 9.99914425e-01 -2.02547721e-04 -3.26315239e-01] [-3.24251213e-03 1.60146482e-04 9.99994730e-01 -4.49935897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.370371743 meters 0.029846095445295723 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.33, Z:-0.05 [[ 9.99919300e-01 1.23037494e-02 3.16415568e-03 5.17062050e+00] [-1.23031842e-02 9.99924293e-01 -1.98029544e-04 -3.28797550e-01] [-3.16635263e-03 1.59084373e-04 9.99994974e-01 -4.57915514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.400371742999999 meters 0.031058184778074933 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.33, Z:-0.05 [[ 9.99927836e-01 1.16655469e-02 2.87006167e-03 5.19815002e+00] [-1.16650793e-02 9.99931945e-01 -1.79597538e-04 -3.31437366e-01] [-2.87196145e-03 1.46105080e-04 9.99995865e-01 -4.68160014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.430371742999999 meters 0.03053367642555138 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.33, Z:-0.05 [[ 9.99922801e-01 1.17192551e-02 4.12938408e-03 5.22714824e+00] [-1.17182931e-02 9.99931305e-01 -2.57072890e-04 -3.30433856e-01] [-4.13211312e-03 2.08663711e-04 9.99991441e-01 -4.63496071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.460371743 meters 0.03186780996840473 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.33, Z:-0.05 [[ 9.99910677e-01 1.24211090e-02 4.93501150e-03 5.25472484e+00] [-1.24197455e-02 9.99922825e-01 -3.06835040e-04 -3.32950979e-01] [-4.93844187e-03 2.45516046e-04 9.99987776e-01 -4.66809585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.490371743 meters 0.029642632051029367 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.33, Z:-0.05 [[ 9.99896048e-01 1.33384317e-02 5.47540961e-03 5.28434178e+00] [-1.33367695e-02 9.99911004e-01 -3.39983517e-04 -3.29389672e-01] [-5.47945717e-03 2.66923899e-04 9.99984952e-01 -4.62271946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.520371742999999 meters 0.02904837143136543 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.33, Z:-0.05 [[ 9.99880400e-01 1.43137095e-02 5.85696177e-03 5.31336692e+00] [-1.43118303e-02 9.99897515e-01 -3.62637710e-04 -3.28499095e-01] [-5.86155221e-03 2.78770495e-04 9.99982782e-01 -4.66291097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5503717429999995 meters 0.02918561335614618 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.33, Z:-0.05 [[ 9.99850485e-01 1.61469430e-02 6.18731593e-03 5.34139379e+00] [-1.61448832e-02 9.99869590e-01 -3.82721759e-04 -3.28313265e-01] [-6.19268883e-03 2.82771043e-04 9.99980785e-01 -4.78331422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.580371743 meters 0.029130678803634593 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.33, Z:-0.05 [[ 9.99845292e-01 1.66820212e-02 5.57695291e-03 5.37002881e+00] [-1.66803590e-02 9.99860814e-01 -3.44433342e-04 -3.28334297e-01] [-5.58192252e-03 2.51354479e-04 9.99984389e-01 -4.84427365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.610371742999999 meters 0.029556828550356157 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.33, Z:-0.05 [[ 9.99837025e-01 1.71279588e-02 5.70577961e-03 5.39767098e+00] [-1.71262278e-02 9.99853273e-01 -3.52103278e-04 -3.29346624e-01] [-5.71097323e-03 2.54327412e-04 9.99983660e-01 -4.88701171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.640371742999999 meters 0.02812387176995131 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.32, Z:-0.05 [[ 9.99813539e-01 1.84456164e-02 5.71371930e-03 5.42721122e+00] [-1.84439066e-02 9.99829835e-01 -3.51804941e-04 -3.24733664e-01] [-5.71923628e-03 2.46356038e-04 9.99983615e-01 -4.82787593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.670371743 meters 0.027967404105220337 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.32, Z:-0.05 [[ 9.99808764e-01 1.88276753e-02 5.28721636e-03 5.45648587e+00] [-1.88262169e-02 9.99822718e-01 -3.25472968e-04 -3.24345050e-01] [-5.29240693e-03 2.25872444e-04 9.99985970e-01 -4.84953358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700371743 meters 0.027881263477593843 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.32, Z:-0.05 [[ 9.99797013e-01 1.94634331e-02 5.20643622e-03 5.48564133e+00] [-1.94620294e-02 9.99810546e-01 -3.20141615e-04 -3.24318372e-01] [-5.21168089e-03 2.18748816e-04 9.99986395e-01 -4.89439775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.730371742999999 meters 0.026871461715779386 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.32, Z:-0.05 [[ 9.99782638e-01 2.03958780e-02 4.32250499e-03 5.51473452e+00] [-2.03949197e-02 9.99791967e-01 -2.65663668e-04 -3.21457895e-01] [-4.32702421e-03 1.77448781e-04 9.99990623e-01 -5.00390922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760371742999999 meters 0.028345347289848288 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.32, Z:-0.05 [[ 9.99777195e-01 2.07561942e-02 3.83934841e-03 5.54259943e+00] [-2.07554402e-02 9.99784555e-01 -2.36121447e-04 -3.24433934e-01] [-3.84342222e-03 1.56381471e-04 9.99992602e-01 -5.19889095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.790371743 meters 0.027032558888559887 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.32, Z:-0.05 [[ 9.99761750e-01 2.15357356e-02 3.55738203e-03 5.57138361e+00] [-2.15350954e-02 9.99768069e-01 -2.18191406e-04 -3.22190101e-01] [-3.56125587e-03 1.41530860e-04 9.99993649e-01 -5.21791298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820371742999999 meters 0.025866556644860424 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.32, Z:-0.05 [[ 9.99710298e-01 2.36762269e-02 4.33078606e-03 5.60091096e+00] [-2.36753011e-02 9.99719666e-01 -2.64916313e-04 -3.19528581e-01] [-4.33584421e-03 1.62306902e-04 9.99990587e-01 -5.23118663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.850371742999999 meters 0.027067765069587493 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.32, Z:-0.05 [[ 9.99671779e-01 2.50410571e-02 5.41098547e-03 5.62915922e+00] [-2.50396337e-02 9.99686405e-01 -3.30650707e-04 -3.22383996e-01] [-5.41756845e-03 1.95053087e-04 9.99985306e-01 -5.27584900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8803717429999995 meters 0.0254280011908022 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.32, Z:-0.05 [[ 9.99586542e-01 2.77944858e-02 7.36285332e-03 5.65873170e+00] [-2.77919294e-02 9.99613629e-01 -4.49310603e-04 -3.18231483e-01] [-7.37249688e-03 2.44496932e-04 9.99972793e-01 -5.11176894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.910371743 meters 0.02519094880610096 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.32, Z:-0.05 [[ 9.99535408e-01 2.94012861e-02 8.03326174e-03 5.68699134e+00] [-2.93983055e-02 9.99567657e-01 -4.88895894e-04 -3.18256041e-01] [-8.04416278e-03 2.52504474e-04 9.99967613e-01 -5.05007486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940371742999999 meters 0.024577431907101037 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.32, Z:-0.05 [[ 9.99484113e-01 3.10288888e-02 8.28950251e-03 5.71629027e+00] [-3.10257760e-02 9.99518458e-01 -5.03875406e-04 -3.17093181e-01] [-8.30114546e-03 2.46427215e-04 9.99965515e-01 -5.02387685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.970371742999999 meters 0.023689995892702227 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.31, Z:-0.05 [[ 9.99357412e-01 3.47591862e-02 8.74991791e-03 5.74568839e+00] [-3.47558676e-02 9.99395691e-01 -5.31089068e-04 -3.14778880e-01] [-8.76309048e-03 2.26636809e-04 9.99961578e-01 -4.99424953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000371743 meters 0.02370358787258081 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.32, Z:-0.05 [[ 9.99297891e-01 3.65415970e-02 8.27264315e-03 5.77386931e+00] [-3.65386941e-02 9.99332113e-01 -5.01819237e-04 -3.15897524e-01] [-8.28545524e-03 1.99195327e-04 9.99965655e-01 -5.07919509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.030371742999999 meters 0.023122962664677334 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.32, Z:-0.05 [[ 9.99239347e-01 3.82389291e-02 7.64935740e-03 5.80290487e+00] [-3.82365004e-02 9.99268610e-01 -4.63545000e-04 -3.15763124e-01] [-7.66148820e-03 1.70707745e-04 9.99970636e-01 -5.17339355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060371742999999 meters 0.022796019148701618 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.32, Z:-0.05 [[ 9.99168933e-01 4.02263541e-02 6.57902113e-03 5.83130478e+00] [-4.02246027e-02 9.99190584e-01 -3.98367164e-04 -3.16357519e-01] [-6.58972082e-03 1.33397583e-04 9.99978279e-01 -5.39799854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0903717429999995 meters 0.022651793904604874 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.32, Z:-0.06 [[ 9.99174910e-01 4.01589747e-02 6.06266751e-03 5.86036209e+00] [-4.01574883e-02 9.99193295e-01 -3.66750865e-04 -3.18459801e-01] [-6.07250507e-03 1.22986763e-04 9.99981555e-01 -5.51855433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.120371743 meters 0.022359908125353052 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.32, Z:-0.06 [[ 9.99186786e-01 3.98685184e-02 6.02224541e-03 5.88879929e+00] [-3.98670489e-02 9.99204927e-01 -3.63896114e-04 -3.19914094e-01] [-6.03196529e-03 1.23511037e-04 9.99981800e-01 -5.59062177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.150371742999999 meters 0.022663437715749114 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.32, Z:-0.06 [[ 9.99282926e-01 3.74275763e-02 5.72805554e-03 5.91693515e+00] [-3.74262081e-02 9.99299334e-01 -3.45914479e-04 -3.23478565e-01] [-5.73698883e-03 1.31287035e-04 9.99983535e-01 -5.62900361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.180371742999999 meters 0.022900817400418532 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.33, Z:-0.06 [[ 9.99354679e-01 3.54808729e-02 5.59763976e-03 5.94555326e+00] [-3.54795392e-02 9.99370346e-01 -3.37400740e-04 -3.27336481e-01] [-5.60608645e-03 1.38581329e-04 9.99984276e-01 -5.68088121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.210371743 meters 0.02337367852447436 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.33, Z:-0.06 [[ 9.99433051e-01 3.31877093e-02 5.67039221e-03 5.97393929e+00] [-3.31863063e-02 9.99449125e-01 -3.41359796e-04 -3.31308232e-01] [-5.67859748e-03 1.52986889e-04 9.99983865e-01 -5.72864944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240371743 meters 0.024891605486378834 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.34, Z:-0.06 [[ 9.99599189e-01 2.77637425e-02 5.53500836e-03 6.00217641e+00] [-2.77623256e-02 9.99614497e-01 -3.32677171e-04 -3.38131942e-01] [-5.54211096e-03 1.78879126e-04 9.99984626e-01 -5.77410885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.270371742999999 meters 0.02564926400546938 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.34, Z:-0.06 [[ 9.99675428e-01 2.49333379e-02 5.23144318e-03 6.03190329e+00] [-2.49320355e-02 9.99689099e-01 -3.14039194e-04 -3.42498856e-01] [-5.23764676e-03 1.83506739e-04 9.99986267e-01 -5.82887873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3003717429999995 meters 0.02678693646883902 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.35, Z:-0.06 [[ 9.99747621e-01 2.17848699e-02 5.48758800e-03 6.06161534e+00] [-2.17833907e-02 9.99762660e-01 -3.29194311e-04 -3.47215455e-01] [-5.49345703e-03 2.09572956e-04 9.99984889e-01 -5.88677112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.330371743 meters 0.02661020226070308 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.35, Z:-0.06 [[ 9.99808546e-01 1.88269611e-02 5.33066950e-03 6.09096818e+00] [-1.88255241e-02 9.99822733e-01 -3.19615526e-04 -3.49589885e-01] [-5.33574194e-03 2.19201687e-04 9.99985741e-01 -5.83609593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360371742999999 meters 0.02792246268961806 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.35, Z:-0.06 [[ 9.99897785e-01 1.32506088e-02 5.37031427e-03 6.12051640e+00] [-1.32490720e-02 9.99912175e-01 -3.21635904e-04 -3.54977730e-01] [-5.37410449e-03 2.50451348e-04 9.99985528e-01 -5.85107417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.390371742999999 meters 0.029658884288036664 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.36, Z:-0.06 [[ 9.99930924e-01 1.05989719e-02 5.08016295e-03 6.14871309e+00] [-1.05975613e-02 9.99943798e-01 -3.04506494e-04 -3.60473120e-01] [-5.08310489e-03 2.50648122e-04 9.99987050e-01 -5.92045423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420371743 meters 0.02984088914308115 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.36, Z:-0.06 [[ 9.99952626e-01 8.32314425e-03 5.04691927e-03 6.17801615e+00] [-8.32172532e-03 9.99965328e-01 -3.02082939e-04 -3.63409327e-01] [-5.04925856e-03 2.60069552e-04 9.99987219e-01 -5.95839867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.450371743 meters 0.032223103671772585 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.37, Z:-0.06 [[ 9.99972007e-01 4.83694966e-03 5.70871503e-03 6.20670657e+00] [-4.83507911e-03 9.99988253e-01 -3.41420669e-04 -3.70070541e-01] [-5.71029940e-03 3.13809022e-04 9.99983647e-01 -5.99371009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480371742999999 meters 0.03135755006797213 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.37, Z:-0.06 [[ 9.99975569e-01 3.76569777e-03 5.88899393e-03 6.23758683e+00] [-3.76369174e-03 9.99992855e-01 -3.51685929e-04 -3.70534381e-01] [-5.89027620e-03 3.29512980e-04 9.99982598e-01 -5.97355340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.510371742999999 meters 0.03204447750219282 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.37, Z:-0.06 [[ 9.99971585e-01 3.41750150e-03 6.71934466e-03 6.26840761e+00] [-3.41488379e-03 9.99994089e-01 -4.01013015e-04 -3.73142197e-01] [-6.72067540e-03 3.78055839e-04 9.99977345e-01 -5.89608259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.540371743 meters 0.031640865362164504 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.37, Z:-0.06 [[ 9.99968189e-01 4.17653413e-03 6.79542336e-03 6.30006942e+00] [-4.17387260e-03 9.99991207e-01 -4.05800185e-04 -3.73824264e-01] [-6.79705845e-03 3.77424045e-04 9.99976829e-01 -5.86300204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.570371742999999 meters 0.03066836131631994 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.37, Z:-0.06 [[ 9.99958638e-01 6.23871785e-03 6.61825750e-03 6.33127635e+00] [-6.23623596e-03 9.99980476e-01 -3.95577615e-04 -3.71421278e-01] [-6.62059618e-03 3.54288237e-04 9.99978021e-01 -5.81397992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.600371742999999 meters 0.030331189240470673 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.37, Z:-0.06 [[ 9.99953004e-01 7.37033540e-03 6.29820671e-03 6.36146252e+00] [-7.36810861e-03 9.99972784e-01 -3.76689133e-04 -3.71791239e-01] [-6.30081163e-03 3.30265560e-04 9.99980095e-01 -5.90312119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6303717429999995 meters 0.03035849648197427 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.37, Z:-0.06 [[ 9.99947599e-01 8.70022819e-03 5.39501976e-03 6.39224899e+00] [-8.69861358e-03 9.99962114e-01 -3.22670470e-04 -3.72653329e-01] [-5.39762267e-03 2.75724369e-04 9.99985395e-01 -6.04393966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660371743 meters 0.030057123391319922 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.37, Z:-0.06 [[ 9.99940199e-01 9.69476585e-03 5.06069278e-03 6.42187946e+00] [-9.69335625e-03 9.99952972e-01 -3.02993871e-04 -3.73105652e-01] [-5.06339224e-03 2.53920653e-04 9.99987149e-01 -6.17368941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.690371742999999 meters 0.030166472512197624 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.37, Z:-0.06 [[ 9.99934339e-01 1.05551582e-02 4.46170624e-03 6.45087425e+00] [-1.05540700e-02 9.99944269e-01 -2.67367766e-04 -3.73927982e-01] [-4.46427969e-03 2.20261050e-04 9.99990011e-01 -6.30428949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720371742999999 meters 0.029451047179163973 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.37, Z:-0.06 [[ 9.99920555e-01 1.21542068e-02 3.34049575e-03 6.47954858e+00] [-1.21536057e-02 9.99926122e-01 -2.00193063e-04 -3.71839328e-01] [-3.34268215e-03 1.59578091e-04 9.99994400e-01 -6.48438746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.750371743 meters 0.02925219911966149 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.37, Z:-0.07 [[ 9.99910819e-01 1.29860920e-02 3.11707045e-03 6.50843506e+00] [-1.29855731e-02 9.99915666e-01 -1.86646518e-04 -3.71708897e-01] [-3.11923138e-03 1.46152926e-04 9.99995125e-01 -6.54462377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780371742999999 meters 0.027946551898057222 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.37, Z:-0.06 [[ 9.99898517e-01 1.40085293e-02 2.59185966e-03 6.53725950e+00] [-1.40081740e-02 9.99901869e-01 -1.55195635e-04 -3.68591273e-01] [-2.59377938e-03 1.18872664e-04 9.99996629e-01 -6.49886038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.810371742999999 meters 0.027728639995735334 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.37, Z:-0.06 [[ 9.99888725e-01 1.44652164e-02 3.64621934e-03 6.56569214e+00] [-1.44645187e-02 9.99895360e-01 -2.17655305e-04 -3.68961063e-01] [-3.64898623e-03 1.64890277e-04 9.99993329e-01 -6.47950083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8403717429999995 meters 0.02961306303128496 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.37, Z:-0.07 [[ 9.99878416e-01 1.50308523e-02 4.15059464e-03 6.59353530e+00] [-1.50299542e-02 9.99887013e-01 -2.47492200e-04 -3.72788595e-01] [-4.15384569e-03 1.85078862e-04 9.99991356e-01 -6.52139303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.870371743 meters 0.027719659853947354 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.37, Z:-0.06 [[ 9.99860828e-01 1.57859384e-02 5.39717967e-03 6.62271972e+00] [-1.57844362e-02 9.99875367e-01 -3.20815096e-04 -3.70118796e-01] [-5.40157136e-03 2.35579009e-04 9.99985384e-01 -6.47076133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900371742999999 meters 0.027599677118973768 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.37, Z:-0.07 [[ 9.99861011e-01 1.59425116e-02 4.87803399e-03 6.65152834e+00] [-1.59412876e-02 9.99872888e-01 -2.89711603e-04 -3.70406797e-01] [-4.88203266e-03 2.11909194e-04 9.99988060e-01 -6.53916513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.930371742999999 meters 0.027739916622950604 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.37, Z:-0.07 [[ 9.99857031e-01 1.62568609e-02 4.65093816e-03 6.68025389e+00] [-1.62557529e-02 9.99867828e-01 -2.75936603e-04 -3.71496991e-01] [-4.65480930e-03 2.00292652e-04 9.99989146e-01 -6.60205147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960371743 meters 0.027739916622950604 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.37, Z:-0.07 [[ 9.99858177e-01 1.61862488e-02 4.65095761e-03 6.70853187e+00] [-1.61851415e-02 9.99868974e-01 -2.75608046e-04 -3.73107293e-01] [-4.65480927e-03 2.00292552e-04 9.99989146e-01 -6.64187616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.990371742999999 meters 0.027989938599326393 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.37, Z:-0.07 [[ 9.99852884e-01 1.66157751e-02 4.25754553e-03 6.73760780e+00] [-1.66148520e-02 9.99861932e-01 -2.52074974e-04 -3.73022975e-01] [-4.26114612e-03 1.81299400e-04 9.99990905e-01 -6.64662759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020371742999999 meters 0.02666672209715403 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.37, Z:-0.07 [[ 9.99846670e-01 1.68630325e-02 4.71952300e-03 6.76610261e+00] [-1.68619030e-02 9.99857789e-01 -2.79000770e-04 -3.72265693e-01] [-4.72355663e-03 1.99377851e-04 9.99988824e-01 -6.59715377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0503717429999995 meters 0.02733813644039746 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.37, Z:-0.07 [[ 9.99845448e-01 1.68429625e-02 5.03927455e-03 6.79405565e+00] [-1.68416760e-02 9.99858125e-01 -2.97625131e-04 -3.73951069e-01] [-5.04357249e-03 2.12709304e-04 9.99987258e-01 -6.65585864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.080371743 meters 0.027275956252518545 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.37, Z:-0.07 [[ 9.99851591e-01 1.66040383e-02 4.59370899e-03 6.82288059e+00] [-1.66029689e-02 9.99862125e-01 -2.70840986e-04 -3.74849163e-01] [-4.59757268e-03 1.94531583e-04 9.99989412e-01 -6.73226964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.110371742999999 meters 0.027132322686464823 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.38, Z:-0.07 [[ 9.99854188e-01 1.65491089e-02 4.21076646e-03 6.85152775e+00] [-1.65482108e-02 9.99863038e-01 -2.48048445e-04 -3.75978893e-01] [-4.21429473e-03 1.78331625e-04 9.99991104e-01 -6.83216456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.140371742999999 meters 0.02804809037224401 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.38, Z:-0.07 [[ 9.99872886e-01 1.56679351e-02 2.95414453e-03 6.87899824e+00] [-1.56674880e-02 9.99877242e-01 -1.74439625e-04 -3.78270660e-01] [-2.95651499e-03 1.28133428e-04 9.99995621e-01 -7.04496585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.170371743 meters 0.028150213174534214 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.38, Z:-0.07 [[ 9.99875400e-01 1.55608358e-02 2.65430403e-03 6.90762219e+00] [-1.55604758e-02 9.99878916e-01 -1.56260494e-04 -3.79937135e-01] [-2.65641419e-03 1.14938791e-04 9.99996465e-01 -7.13761932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200371742999999 meters 0.027746508780964445 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.38, Z:-0.07 [[ 9.99880827e-01 1.52979099e-02 2.07524486e-03 6.93599814e+00] [-1.52976890e-02 9.99882976e-01 -1.22247634e-04 -3.80336139e-01] [-2.07687214e-03 9.04866144e-05 9.99997839e-01 -7.16754781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.230371742999999 meters 0.02711669145629998 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.38, Z:-0.07 [[ 9.99876341e-01 1.56958360e-02 9.71675108e-04 6.96455986e+00] [-1.56957873e-02 9.99876812e-01 -5.77113184e-05 -3.79593819e-01] [-9.72461237e-04 4.24529761e-05 9.99999526e-01 -7.20698726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260371742999999 meters 0.027586289427483975 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.38, Z:-0.07 [[ 9.99870467e-01 1.60606572e-02 1.05105252e-03 6.99234121e+00] [-1.60606003e-02 9.99871018e-01 -6.24985361e-05 -3.81370941e-01] [-1.05192072e-03 4.56099060e-05 9.99999446e-01 -7.28661763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.290371743 meters 0.02873447808736307 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.38, Z:-0.07 [[ 9.99867818e-01 1.62077943e-02 1.28588911e-03 7.02018798e+00] [-1.62077097e-02 9.99868644e-01 -7.62045046e-05 -3.84137274e-01] [-1.28695530e-03 5.53531144e-05 9.99999170e-01 -7.37807193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320371742999999 meters 0.027189169339721913 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.38, Z:-0.07 [[ 9.99860990e-01 1.65704608e-02 1.84920540e-03 7.04879190e+00] [-1.65702886e-02 9.99862697e-01 -1.08421300e-04 -3.82516392e-01] [-1.85074809e-03 7.77643608e-05 9.99998284e-01 -7.29710776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.350371742999999 meters 0.026481328636936814 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.38, Z:-0.07 [[ 9.99843671e-01 1.73073559e-02 3.61785559e-03 7.07776140e+00] [-1.73067058e-02 9.99850206e-01 -2.10924949e-04 -3.81257721e-01] [-3.62096421e-03 1.48278813e-04 9.99993433e-01 -7.19455484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3803717429999995 meters 0.026447840635166787 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.38, Z:-0.07 [[ 9.99824432e-01 1.81702102e-02 4.57706632e-03 7.10602276e+00] [-1.81691815e-02 9.99834891e-01 -2.66244077e-04 -3.82724224e-01] [-4.58114832e-03 1.83035784e-04 9.99989490e-01 -7.21279922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.410371743 meters 0.026333695318580288 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.38, Z:-0.07 [[ 9.99812283e-01 1.86851316e-02 5.12499546e-03 7.13455999e+00] [-1.86838511e-02 9.99825397e-01 -2.97624969e-04 -3.83181801e-01] [-5.12966179e-03 2.01814447e-04 9.99986823e-01 -7.22698948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440371742999999 meters 0.027042901371966063 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.38, Z:-0.07 [[ 9.99795418e-01 1.92886482e-02 6.08849590e-03 7.16208423e+00] [-1.92868551e-02 9.99813929e-01 -3.53085493e-04 -3.84909993e-01] [-6.09417355e-03 2.35585320e-04 9.99981403e-01 -7.33707869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.470371742999999 meters 0.026317265935090425 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.38, Z:-0.07 [[ 9.99805278e-01 1.88677956e-02 5.78029283e-03 7.19122204e+00] [-1.88661758e-02 9.99821962e-01 -3.34629744e-04 -3.84394458e-01] [-5.78557745e-03 2.25512564e-04 9.99983238e-01 -7.36766623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500371743 meters 0.027293201627451028 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.39, Z:-0.08 [[ 9.99839605e-01 1.75231742e-02 3.70175990e-03 7.21881366e+00] [-1.75224996e-02 9.99846446e-01 -2.14579129e-04 -3.87190413e-01] [-3.70495158e-03 1.49680625e-04 9.99993125e-01 -7.60987595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.530371742999999 meters 0.027755156360008696 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.39, Z:-0.08 [[ 9.99857747e-01 1.66637340e-02 2.60879543e-03 7.24747056e+00] [-1.66633963e-02 9.99861145e-01 -1.51130718e-04 -3.89957969e-01] [-2.61095159e-03 1.07637827e-04 9.99996586e-01 -7.70779382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560371742999999 meters 0.027324257714004575 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.39, Z:-0.08 [[ 9.99876589e-01 1.55485422e-02 2.24713687e-03 7.27596091e+00] [-1.55482888e-02 9.99879110e-01 -1.30176946e-04 -3.90364778e-01] [-2.24888927e-03 9.52217478e-05 9.99997467e-01 -7.76059983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5903717429999995 meters 0.02827885930396313 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.39, Z:-0.08 [[ 9.99905577e-01 1.36483609e-02 1.59978023e-03 7.30562578e+00] [-1.36482305e-02 9.99906854e-01 -9.24020469e-05 -3.92964683e-01] [-1.60089235e-03 7.05591527e-05 9.99998716e-01 -7.77208945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.620371743 meters 0.029221041117634572 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.40, Z:-0.08 [[ 9.99913644e-01 1.30097746e-02 1.85757486e-03 7.33339114e+00] [-1.30095968e-02 9.99915366e-01 -1.07787631e-04 -3.95876212e-01] [-1.85881994e-03 8.36120229e-05 9.99998269e-01 -7.84536027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.650371742999999 meters 0.031007826907829526 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.40, Z:-0.08 [[ 9.99920032e-01 1.25073414e-02 1.86952852e-03 7.36119409e+00] [-1.25071607e-02 9.99921777e-01 -1.08289553e-04 -3.99761096e-01] [-1.87073670e-03 8.48983999e-05 9.99998247e-01 -7.92764147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.680371742999999 meters 0.029465956507057363 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.40, Z:-0.08 [[ 9.99920418e-01 1.23459432e-02 2.59534788e-03 7.38974039e+00] [-1.23455969e-02 9.99923779e-01 -1.49438198e-04 -3.98404833e-01] [-2.59699501e-03 1.17385187e-04 9.99996621e-01 -7.86489278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.710371743 meters 0.028093448447321194 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.40, Z:-0.08 [[ 9.99914298e-01 1.26033521e-02 3.54291039e-03 7.41886237e+00] [-1.26027103e-02 9.99920562e-01 -2.03412045e-04 -3.96303751e-01] [-3.54519262e-03 1.58744339e-04 9.99993703e-01 -7.73374445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740371742999999 meters 0.030032536431917972 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.40, Z:-0.08 [[ 9.99911251e-01 1.27003871e-02 4.02367276e-03 7.44678112e+00] [-1.26995609e-02 9.99919331e-01 -2.30810566e-04 -4.00604038e-01] [-4.02627955e-03 1.79691204e-04 9.99991878e-01 -7.84243623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.770371742999999 meters 0.029240367193632166 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.40, Z:-0.08 [[ 9.99913116e-01 1.25010240e-02 4.18146133e-03 7.47585431e+00] [-1.25001328e-02 9.99921842e-01 -2.39178096e-04 -4.00373100e-01] [-4.18412449e-03 1.86888493e-04 9.99991229e-01 -7.87815563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8003717429999995 meters 0.028723019238227926 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.40, Z:-0.08 [[ 9.99918831e-01 1.22271019e-02 3.58182831e-03 7.50415985e+00] [-1.22264460e-02 9.99925233e-01 -2.04967078e-04 -4.00922857e-01] [-3.58406666e-03 1.61157411e-04 9.99993564e-01 -7.99682627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.830371743 meters 0.029686659918227533 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.40, Z:-0.08 [[ 9.99921832e-01 1.19698686e-02 3.61271339e-03 7.53145892e+00] [-1.19692005e-02 9.99928345e-01 -2.06478440e-04 -4.04158477e-01] [-3.61492604e-03 1.63221009e-04 9.99993453e-01 -8.11348514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860371742999999 meters 0.029480404227305374 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.41, Z:-0.08 [[ 9.99930477e-01 1.11422534e-02 3.85893764e-03 7.56043587e+00] [-1.11414878e-02 9.99937908e-01 -2.19814011e-04 -4.06325900e-01] [-3.86114725e-03 1.76804422e-04 9.99992530e-01 -8.21653913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.890371742999999 meters 0.0299184550934285 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.41, Z:-0.08 [[ 9.99938984e-01 1.03990182e-02 3.72676066e-03 7.58864764e+00] [-1.03982993e-02 9.99945914e-01 -2.12229127e-04 -4.08846723e-01] [-3.72876607e-03 1.73464205e-04 9.99993033e-01 -8.26618914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920371743 meters 0.030224751003689192 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.41, Z:-0.08 [[ 9.99947196e-01 9.62168698e-03 3.60961253e-03 7.61704289e+00] [-9.62100916e-03 9.99953696e-01 -2.05098416e-04 -4.10951141e-01] [-3.61141879e-03 1.70359471e-04 9.99993464e-01 -8.30004372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.950371742999999 meters 0.029981031722872437 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.41, Z:-0.08 [[ 9.99952686e-01 9.09377660e-03 3.45376528e-03 7.64593684e+00] [-9.09315357e-03 9.99958637e-01 -1.96053201e-04 -4.13646620e-01] [-3.45540529e-03 1.64638307e-04 9.99994017e-01 -8.39950816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980371742999999 meters 0.030161612036697663 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.42, Z:-0.09 [[ 9.99959984e-01 8.45014945e-03 2.93690841e-03 7.67416021e+00] [-8.44969577e-03 9.99964287e-01 -1.66851756e-04 -4.16109492e-01] [-2.93821345e-03 1.42029096e-04 9.99995673e-01 -8.50688524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.010371743 meters 0.030251853789221652 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.42, Z:-0.09 [[ 9.99970073e-01 7.44629943e-03 2.09908483e-03 7.70329474e+00] [-7.44606555e-03 9.99972271e-01 -1.19210422e-04 -4.18192140e-01] [-2.09991430e-03 1.03576931e-04 9.99997790e-01 -8.56597230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040371743 meters 0.031157480584441982 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.42, Z:-0.09 [[ 9.99981178e-01 5.93907522e-03 1.54013790e-03 7.73126345e+00] [-5.93894731e-03 9.99982360e-01 -8.76128088e-05 -4.22637970e-01] [-1.54063107e-03 7.84643619e-05 9.99998810e-01 -8.69888156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.070371743 meters 0.02984604414111212 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.42, Z:-0.09 [[ 9.99982461e-01 5.73805186e-03 1.46732304e-03 7.75977270e+00] [-5.73793560e-03 9.99983534e-01 -8.34291682e-05 -4.22331261e-01] [-1.46777760e-03 7.50082998e-05 9.99998920e-01 -8.69215408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.100371743 meters 0.030365184565599376 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.42, Z:-0.09 [[ 9.99977561e-01 6.46652287e-03 1.74999488e-03 7.78867092e+00] [-6.46635957e-03 9.99979088e-01 -9.89556302e-05 -4.24767034e-01] [-1.75059818e-03 8.76373135e-05 9.99998464e-01 -8.72744839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.130371743 meters 0.03059365469185612 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.43, Z:-0.09 [[ 9.99968306e-01 7.62889274e-03 2.27734403e-03 7.81713687e+00] [-7.62861954e-03 9.99970893e-01 -1.28629083e-04 -4.26633716e-01] [-2.27825904e-03 1.11252015e-04 9.99997399e-01 -8.72476980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.160371743 meters 0.029685170726300978 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.43, Z:-0.09 [[ 9.99956262e-01 8.86092563e-03 2.99288285e-03 7.84600162e+00] [-8.86046080e-03 9.99960731e-01 -1.68534403e-04 -4.26386517e-01] [-2.99425869e-03 1.42008710e-04 9.99995507e-01 -8.67754750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.190371743 meters 0.02772057272405589 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.42, Z:-0.09 [[ 9.99919524e-01 1.16707885e-02 4.97372756e-03 7.87571762e+00] [-1.16695461e-02 9.99931870e-01 -2.78745777e-04 -4.23810854e-01] [-4.97664188e-03 2.20682202e-04 9.99987592e-01 -8.50159490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.220371743 meters 0.02781551389767411 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.43, Z:-0.09 [[ 9.99892309e-01 1.32691901e-02 6.26884588e-03 7.90386989e+00] [-1.32672483e-02 9.99911924e-01 -3.51243334e-04 -4.25726950e-01] [-6.27295447e-03 2.68035173e-04 9.99980289e-01 -8.51256054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.250371743 meters 0.026669549506582013 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.42, Z:-0.08 [[ 9.99863686e-01 1.51025978e-02 6.67244679e-03 7.93332209e+00] [-1.51004410e-02 9.99885912e-01 -3.73501856e-04 -4.24590486e-01] [-6.67732640e-03 2.72694053e-04 9.99977669e-01 -8.49735511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280371743 meters 0.0265775609204808 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.43, Z:-0.09 [[ 9.99832760e-01 1.68961153e-02 6.99804144e-03 7.96207091e+00] [-1.68937933e-02 9.99857213e-01 -3.90792123e-04 -4.25434684e-01] [-7.00364508e-03 2.72503301e-04 9.99975437e-01 -8.50790694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.310371743000001 meters 0.026154517302711493 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.43, Z:-0.09 [[ 9.99796515e-01 1.89736954e-02 6.85029149e-03 7.99038772e+00] [-1.89715224e-02 9.99819951e-01 -3.82069323e-04 -4.26400794e-01] [-6.85630738e-03 2.52031119e-04 9.99976463e-01 -8.55605372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340371743 meters 0.024351806929298517 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.42, Z:-0.09 [[ 9.99720901e-01 2.28878450e-02 5.85379099e-03 8.02050407e+00] [-2.28863293e-02 9.99738021e-01 -3.25787145e-04 -4.23345707e-01] [-5.85971398e-03 1.91724430e-04 9.99982813e-01 -8.59565325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.370371743 meters 0.024373537444116262 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.42, Z:-0.09 [[ 9.99673127e-01 2.50240093e-02 5.23811885e-03 8.04790817e+00] [-2.50228220e-02 9.99686837e-01 -2.92085035e-04 -4.24204837e-01] [-5.24378760e-03 1.60917045e-04 9.99986238e-01 -8.68050101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400371743000001 meters 0.02349490809158747 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.42, Z:-0.09 [[ 9.99530775e-01 3.02344714e-02 4.90985802e-03 8.07798997e+00] [-3.02334961e-02 9.99542826e-01 -2.72761126e-04 -4.23814734e-01] [-4.91586015e-03 1.24190966e-04 9.99987909e-01 -8.78427006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.430371743 meters 0.023025409878569193 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.42, Z:-0.09 [[ 9.99449811e-01 3.27762853e-02 5.07850355e-03 8.10677969e+00] [-3.27752727e-02 9.99462707e-01 -2.82511119e-04 -4.24440950e-01] [-5.08503457e-03 1.15906346e-04 9.99987064e-01 -8.79134445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460371743 meters 0.022725850965188584 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.43, Z:-0.09 [[ 9.99360097e-01 3.53320612e-02 5.57150558e-03 8.13462583e+00] [-3.53308841e-02 9.99375621e-01 -3.09583348e-04 -4.25457119e-01] [-5.57896507e-03 1.12539027e-04 9.99984431e-01 -8.80134504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.490371743 meters 0.02201883973509918 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.43, Z:-0.09 [[ 9.99167542e-01 4.00953360e-02 7.52248719e-03 8.16386779e+00] [-4.00933320e-02 9.99195852e-01 -4.17074422e-04 -4.25250072e-01] [-7.53316073e-03 1.15125649e-04 9.99971619e-01 -8.68545666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520371743 meters 0.02194322820191633 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.43, Z:-0.09 [[ 9.99079296e-01 4.21241954e-02 8.13098456e-03 8.19137678e+00] [-4.21219315e-02 9.99112376e-01 -4.49555075e-04 -4.26491149e-01] [-8.14270445e-03 1.06648393e-04 9.99966842e-01 -8.65784051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.550371743 meters 0.02159077901391313 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.43, Z:-0.09 [[ 9.98971931e-01 4.44962774e-02 8.66958858e-03 8.22006587e+00] [-4.44938011e-02 9.99009546e-01 -4.78395210e-04 -4.28581307e-01] [-8.68228855e-03 9.21604372e-05 9.99962304e-01 -8.67629697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580371743 meters 0.02177084762551779 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.43, Z:-0.09 [[ 9.98960837e-01 4.47899967e-02 8.43218625e-03 8.24802656e+00] [-4.47876677e-02 9.98996421e-01 -4.64927702e-04 -4.31066795e-01] [-8.44454799e-03 8.67866102e-05 9.99964340e-01 -8.75925067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.610371743 meters 0.0216941972103598 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.43, Z:-0.09 [[ 9.98975629e-01 4.45835639e-02 7.74589223e-03 8.27524450e+00] [-4.45815937e-02 9.99005655e-01 -4.26927268e-04 -4.34446836e-01] [-7.75722408e-03 8.11657156e-05 9.99969909e-01 -8.87558546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.640371743000001 meters 0.0219546629216134 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.44, Z:-0.09 [[ 9.99023642e-01 4.36014697e-02 7.11854988e-03 8.30422464e+00] [-4.35997949e-02 9.99049001e-01 -3.90362861e-04 -4.37985111e-01] [-7.12880054e-03 7.96144124e-05 9.99974587e-01 -8.98696449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.670371743 meters 0.022234472256286986 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.44, Z:-0.09 [[ 9.99149509e-01 4.08252822e-02 5.79265340e-03 8.33255059e+00] [-4.08241278e-02 9.99166297e-01 -3.17440829e-04 -4.44271450e-01] [-5.80078366e-03 8.06908255e-05 9.99983172e-01 -9.12185302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700371743 meters 0.022138924177527927 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.45, Z:-0.09 [[ 9.99225419e-01 3.89808342e-02 5.39034005e-03 8.36113692e+00] [-3.89798094e-02 9.99239955e-01 -2.95078606e-04 -4.48680750e-01] [-5.39774556e-03 8.47356160e-05 9.99985428e-01 -9.17045260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.730371743000001 meters 0.022717539559963383 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.45, Z:-0.09 [[ 9.99313009e-01 3.67409019e-02 4.85971067e-03 8.38866934e+00] [-3.67400410e-02 9.99324821e-01 -2.66349781e-04 -4.53781199e-01] [-4.86621542e-03 8.76208325e-05 9.99988156e-01 -9.25608163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760371743 meters 0.022642319160221226 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.46, Z:-0.09 [[ 9.99386347e-01 3.47424334e-02 4.46021251e-03 8.41685674e+00] [-3.47416921e-02 9.99396296e-01 -2.43603296e-04 -4.57577721e-01] [-4.46598323e-03 8.84984787e-05 9.99990024e-01 -9.26681637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.790371743 meters 0.023638112753707568 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.47, Z:-0.09 [[ 9.99498761e-01 3.13335696e-02 4.52039794e-03 8.44424633e+00] [-3.13327753e-02 9.99508978e-01 -2.46450668e-04 -4.66593216e-01] [-4.52590050e-03 1.04690525e-04 9.99989753e-01 -9.39802765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820371743 meters 0.023489912091456004 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.47, Z:-0.09 [[ 9.99543890e-01 2.98214280e-02 4.76392909e-03 8.47286060e+00] [-2.98205318e-02 9.99555235e-01 -2.59044401e-04 -4.70241012e-01] [-4.76953534e-03 1.16863349e-04 9.99988619e-01 -9.36355653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.850371743 meters 0.024134267816961538 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.48, Z:-0.09 [[ 9.99582298e-01 2.84260533e-02 5.21438644e-03 8.50042668e+00] [-2.84249624e-02 9.99595889e-01 -2.83217893e-04 -4.75629536e-01] [-5.22033001e-03 1.34880854e-04 9.99986365e-01 -9.39055224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880371743 meters 0.024134267816961538 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.48, Z:-0.09 [[ 9.99585331e-01 2.83191984e-02 5.21440356e-03 8.52784805e+00] [-2.83181076e-02 9.99598922e-01 -2.82902241e-04 -4.77023639e-01] [-5.22032374e-03 1.35122889e-04 9.99986365e-01 -9.42916993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.910371743 meters 0.024734809078297004 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.48, Z:-0.09 [[ 9.99653397e-01 2.56061448e-02 6.11650356e-03 8.55577453e+00] [-2.56045997e-02 9.99672094e-01 -3.30789210e-04 -4.84860189e-01] [-6.12296815e-03 1.74063932e-04 9.99981239e-01 -9.36322596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.940371743 meters 0.024886574169173465 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.49, Z:-0.09 [[ 9.99683513e-01 2.42373627e-02 6.73970198e-03 8.58480077e+00] [-2.42354615e-02 9.99706212e-01 -3.63631740e-04 -4.89463619e-01] [-6.74653541e-03 2.00176868e-04 9.99977222e-01 -9.34460109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.970371743 meters 0.025508275830325514 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.50, Z:-0.09 [[ 9.99703655e-01 2.27233507e-02 8.73219695e-03 8.61180709e+00] [-2.27201087e-02 9.99741754e-01 -4.70301321e-04 -4.97598420e-01] [-8.74062872e-03 2.71765485e-04 9.99961763e-01 -9.32360969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000371743 meters 0.02607105152233374 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.50, Z:-0.09 [[ 9.99700429e-01 2.24379758e-02 9.77703712e-03 8.63935541e+00] [-2.24339075e-02 9.99748190e-01 -5.25590917e-04 -5.03004586e-01] [-9.78636837e-03 3.06096318e-04 9.99952066e-01 -9.31083424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.030371743 meters 0.02583271672935812 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.51, Z:-0.09 [[ 9.99693391e-01 2.24808901e-02 1.03794522e-02 8.66809941e+00] [-2.24763198e-02 9.99747221e-01 -5.56780664e-04 -5.06588657e-01] [-1.03893454e-02 3.23318063e-04 9.99945977e-01 -9.31775469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060371743000001 meters 0.026701175075901154 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.52, Z:-0.10 [[ 9.99705291e-01 2.23276417e-02 9.52927373e-03 8.69572852e+00] [-2.23237874e-02 9.99750663e-01 -5.10659669e-04 -5.15135714e-01] [-9.53829955e-03 2.97779692e-04 9.99954465e-01 -9.51134040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.090371743 meters 0.026896968725321713 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.52, Z:-0.10 [[ 9.99725730e-01 2.18459742e-02 8.43903564e-03 8.72443106e+00] [-2.18429402e-02 9.99761313e-01 -4.51532739e-04 -5.19904098e-01] [-8.44688552e-03 2.67075547e-04 9.99964289e-01 -9.67909656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120371743 meters 0.027179770265312292 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.52, Z:-0.10 [[ 9.99749206e-01 2.13595248e-02 6.73027947e-03 8.75330230e+00] [-2.13575859e-02 9.99771836e-01 -3.59838144e-04 -5.24887160e-01] [-6.73642984e-03 2.16005377e-04 9.99977287e-01 -9.86217450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.150371743000001 meters 0.025680388853887886 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.53, Z:-0.10 [[ 9.99785768e-01 1.99459468e-02 5.52966932e-03 8.78212033e+00] [-1.99446173e-02 9.99801043e-01 -2.95477928e-04 -5.28920813e-01] [-5.53446274e-03 1.85127489e-04 9.99984668e-01 -9.94551031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.180371743 meters 0.02577910900536732 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.53, Z:-0.10 [[ 9.99797680e-01 1.94022032e-02 5.30590552e-03 8.81039853e+00] [-1.94009733e-02 9.99811743e-01 -2.83182518e-04 -5.33242807e-01] [-5.31040102e-03 1.80185493e-04 9.99985883e-01 -9.99926007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.210371743 meters 0.02590078639832362 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.54, Z:-0.10 [[ 9.99808649e-01 1.89504944e-02 4.85215575e-03 8.83836881e+00] [-1.89494610e-02 9.99820409e-01 -2.58863844e-04 -5.39986968e-01] [-4.85618994e-03 1.66868574e-04 9.99988195e-01 -1.00368521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240371743 meters 0.026046778563492346 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.54, Z:-0.10 [[ 9.99803640e-01 1.92155587e-02 4.84185599e-03 8.86670411e+00] [-1.92145357e-02 9.99815351e-01 -2.57711815e-04 -5.43960108e-01] [-4.84591402e-03 1.64627196e-04 9.99988245e-01 -1.00972512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.270371743 meters 0.025006444467776397 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.55, Z:-0.10 [[ 9.99809498e-01 1.89801253e-02 4.55219315e-03 8.89579360e+00] [-1.89792197e-02 9.99819849e-01 -2.42052160e-04 -5.45498920e-01] [-4.55596725e-03 1.55608975e-04 9.99989609e-01 -1.01099613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300371743 meters 0.02552249503510179 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.55, Z:-0.10 [[ 9.99802441e-01 1.92299534e-02 5.02877797e-03 8.92319179e+00] [-1.92288531e-02 9.99815073e-01 -2.67074431e-04 -5.52446026e-01] [-5.03298384e-03 1.70324035e-04 9.99987320e-01 -1.02211548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.330371743 meters 0.02547281310225445 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.56, Z:-0.10 [[ 9.99792128e-01 1.95704490e-02 5.71824669e-03 8.95147631e+00] [-1.95690367e-02 9.99808462e-01 -3.02829137e-04 -5.55898634e-01] [-5.72307793e-03 1.90865608e-04 9.99983605e-01 -1.01933024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360371743 meters 0.025218869835776158 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.56, Z:-0.10 [[ 9.99793140e-01 1.92979849e-02 6.42377190e-03 8.97971250e+00] [-1.92962007e-02 9.99813753e-01 -3.39615395e-04 -5.58746790e-01] [-6.42912939e-03 2.15590750e-04 9.99979310e-01 -1.01382205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.390371743 meters 0.025395895648445455 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.56, Z:-0.10 [[ 9.99783161e-01 1.94375763e-02 7.47076042e-03 9.00717735e+00] [-1.94351714e-02 9.99811041e-01 -3.94380314e-04 -5.62823754e-01] [-7.47701455e-03 2.49099287e-04 9.99972016e-01 -1.01318297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.420371743 meters 0.02554577435202779 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.57, Z:-0.10 [[ 9.99784240e-01 1.88010296e-02 8.83148428e-03 9.03528788e+00] [-1.87976539e-02 9.99823200e-01 -4.65099582e-04 -5.69062652e-01] [-8.83866722e-03 2.98988047e-04 9.99960894e-01 -1.01117352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.450371743 meters 0.025531791896506274 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.57, Z:-0.10 [[ 9.99792722e-01 1.80259237e-02 9.46467135e-03 9.06400548e+00] [-1.80220188e-02 9.99837466e-01 -4.97707412e-04 -5.72549697e-01] [-9.47210466e-03 3.27031763e-04 9.99955085e-01 -1.01055252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.480371743000001 meters 0.025792009874353275 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.58, Z:-0.10 [[ 9.99809051e-01 1.68668704e-02 9.86764794e-03 9.09233525e+00] [-1.68625769e-02 9.99857682e-01 -5.18152631e-04 -5.76287954e-01] [-9.87498321e-03 3.51659718e-04 9.99951179e-01 -1.01363189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.510371743 meters 0.025580284380270973 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.58, Z:-0.10 [[ 9.99846827e-01 1.44988807e-02 9.80334482e-03 9.12129878e+00] [-1.44945369e-02 9.99894817e-01 -5.14002016e-04 -5.81768115e-01] [-9.80976612e-03 3.71828341e-04 9.99951814e-01 -1.01254172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540371743 meters 0.026175725268233443 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.59, Z:-0.10 [[ 9.99866275e-01 1.31873745e-02 9.67080493e-03 9.15035878e+00] [-1.31830933e-02 9.99912971e-01 -5.06313653e-04 -5.87163931e-01] [-9.67664024e-03 3.78754823e-04 9.99953108e-01 -1.01718517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.570371743 meters 0.02586400582137643 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.59, Z:-0.10 [[ 9.99888937e-01 1.12251731e-02 9.80355649e-03 9.18048382e+00] [-1.12206786e-02 9.99936914e-01 -5.13344286e-04 -5.92897829e-01] [-9.80870040e-03 4.03284716e-04 9.99951812e-01 -1.02474897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.600371743 meters 0.02668250671093645 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.60, Z:-0.10 [[ 9.99896713e-01 1.04695360e-02 9.84643299e-03 9.21092367e+00] [-1.04649662e-02 9.99945108e-01 -5.15513595e-04 -5.97998081e-01] [-9.85128968e-03 4.12417760e-04 9.99951390e-01 -1.02902273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.630371743 meters 0.02685396576949109 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.60, Z:-0.10 [[ 9.99898262e-01 1.02471960e-02 9.92273979e-03 9.24222667e+00] [-1.02425431e-02 9.99947409e-01 -5.19618150e-04 -6.01405521e-01] [-9.92754257e-03 4.17931195e-04 9.99950633e-01 -1.03478336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660371743 meters 0.02652174946858166 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.60, Z:-0.10 [[ 9.99896454e-01 1.01833296e-02 1.01676939e-02 9.27327864e+00] [-1.01784370e-02 9.99948056e-01 -5.32821228e-04 -6.03863547e-01] [-1.01725916e-02 4.29274824e-04 9.99948166e-01 -1.03701273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.690371743 meters 0.02656161781215037 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.61, Z:-0.10 [[ 9.99897344e-01 1.03233005e-02 9.93629589e-03 9.30427440e+00] [-1.03186315e-02 9.99946626e-01 -5.21043815e-04 -6.08168353e-01] [-9.94114444e-03 4.18461351e-04 9.99950498e-01 -1.04505642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720371743 meters 0.02735701532485619 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.61, Z:-0.11 [[ 9.99892848e-01 1.06760513e-02 1.00157074e-02 9.33434525e+00] [-1.06713207e-02 9.99942922e-01 -5.25643802e-04 -6.12101016e-01] [-1.00207476e-02 4.18706652e-04 9.99949703e-01 -1.05378725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.750371743 meters 0.026855887264893564 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.61, Z:-0.11 [[ 9.99889896e-01 1.12706511e-02 9.65235681e-03 9.36523377e+00] [-1.12662836e-02 9.99936405e-01 -5.06738064e-04 -6.14180711e-01] [-9.65745424e-03 3.97936080e-04 9.99953287e-01 -1.06067448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780371743 meters 0.0257058847858618 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.61, Z:-0.11 [[ 9.99884241e-01 1.13747812e-02 1.01054188e-02 9.39570154e+00] [-1.13699967e-02 9.99935219e-01 -5.30783141e-04 -6.13942421e-01] [-1.01108017e-02 4.15823119e-04 9.99948798e-01 -1.06380372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.810371743000001 meters 0.02573196285321077 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.62, Z:-0.11 [[ 9.99871969e-01 1.20993927e-02 1.04713768e-02 9.42653753e+00] [-1.20942950e-02 9.99926710e-01 -5.50004937e-04 -6.16341732e-01] [-1.04772640e-02 4.23290600e-04 9.99945022e-01 -1.06451602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840371743 meters 0.026011100414079173 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.62, Z:-0.11 [[ 9.99864725e-01 1.23071307e-02 1.09117758e-02 9.45689744e+00] [-1.23016082e-02 9.99924168e-01 -5.73080838e-04 -6.19430088e-01] [-1.09180014e-02 4.38770923e-04 9.99940301e-01 -1.06290710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.870371743 meters 0.02628875990627416 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.62, Z:-0.11 [[ 9.99864899e-01 1.19444055e-02 1.12922622e-02 9.48740332e+00] [-1.19384651e-02 9.99928558e-01 -5.93324351e-04 -6.22960212e-01] [-1.12985423e-02 4.58431915e-04 9.99936064e-01 -1.07170390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.900371743000001 meters 0.026347294902700314 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.63, Z:-0.11 [[ 9.99882715e-01 1.12407129e-02 1.04020707e-02 9.51881693e+00] [-1.12356355e-02 9.99936729e-01 -5.46422673e-04 -6.25775778e-01] [-1.04075548e-02 4.29484711e-04 9.99945748e-01 -1.08260982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.930371743 meters 0.028434246828849735 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.63, Z:-0.11 [[ 9.99909434e-01 9.53444947e-03 9.49826710e-03 9.54871224e+00] [-9.53013785e-03 9.99954463e-01 -4.99095729e-04 -6.32251433e-01] [-9.50259318e-03 4.08530733e-04 9.99954766e-01 -1.10515913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.960371743 meters 0.027290167801244745 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.63, Z:-0.11 [[ 9.99916862e-01 8.61453047e-03 9.59468860e-03 9.58021678e+00] [-8.61008094e-03 9.99962805e-01 -5.04959725e-04 -6.33371711e-01] [-9.59868172e-03 4.22306699e-04 9.99953842e-01 -1.11127714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.990371743 meters 0.02733166279379341 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.64, Z:-0.11 [[ 9.99927742e-01 7.37182109e-03 9.49566631e-03 9.61137858e+00] [-7.36740387e-03 9.99972735e-01 -5.00079118e-04 -6.35203234e-01] [-9.49909390e-03 4.30084574e-04 9.99954790e-01 -1.11208516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020371743 meters 0.026781233478771677 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.64, Z:-0.11 [[ 9.99930887e-01 5.49554247e-03 1.03932642e-02 9.64242864e+00] [-5.49014517e-03 9.99984779e-01 -5.47767092e-04 -6.36774205e-01] [-1.03961163e-02 4.90668704e-04 9.99945839e-01 -1.11208995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.050371743 meters 0.02878850369473614 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.64, Z:-0.11 [[ 9.99931786e-01 4.86589114e-03 1.06181965e-02 9.67345595e+00] [-4.86022526e-03 9.99988033e-01 -5.59339810e-04 -6.41749706e-01] [-1.06207911e-02 5.07694828e-04 9.99943469e-01 -1.11917025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080371743 meters 0.02952805998549857 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.65, Z:-0.11 [[ 9.99934151e-01 4.07170543e-03 1.07291143e-02 9.70463953e+00] [-4.06584695e-03 9.99991573e-01 -5.67791282e-04 -6.45322211e-01] [-1.07313358e-02 5.24130957e-04 9.99942280e-01 -1.12109941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.110371743 meters 0.02914385130419533 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.65, Z:-0.11 [[ 9.99944970e-01 1.39861561e-03 1.03971142e-02 9.73560688e+00] [-1.39293817e-03 9.99998877e-01 -5.53280716e-04 -6.46734125e-01] [-1.03978763e-02 5.38767732e-04 9.99945795e-01 -1.13206313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140371743 meters 0.03141645764159342 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.65, Z:-0.11 [[ 9.99945840e-01 -1.00156113e-04 1.04070547e-02 9.76599239e+00] [ 1.05923264e-04 9.99999841e-01 -5.53608174e-04 -6.52333017e-01] [-1.04069976e-02 5.54680540e-04 9.99945692e-01 -1.14335046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.170371743 meters 0.03148106017274509 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.65, Z:-0.11 [[ 9.99942353e-01 -1.94995116e-03 1.05588294e-02 9.79787987e+00] [ 1.95600100e-03 9.99997929e-01 -5.62668394e-04 -6.54403654e-01] [-1.05577104e-02 5.83289039e-04 9.99944096e-01 -1.14580324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200371743 meters 0.0347386425252252 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.66, Z:-0.12 [[ 9.99929163e-01 -6.11019785e-03 1.02144153e-02 9.82717524e+00] [ 6.11610687e-03 9.99981147e-01 -5.47360867e-04 -6.60741891e-01] [-1.02108782e-02 6.09794549e-04 9.99947682e-01 -1.15771910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.230371743000001 meters 0.03480692564378236 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.66, Z:-0.12 [[ 9.99917867e-01 -7.92820058e-03 1.00699164e-02 9.85938677e+00] [ 7.93403649e-03 9.99968379e-01 -5.39722661e-04 -6.62464771e-01] [-1.00653189e-02 6.19573416e-04 9.99949151e-01 -1.16650529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260371743 meters 0.03660638685674809 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.67, Z:-0.12 [[ 9.99890844e-01 -1.17300679e-02 8.98368313e-03 9.88952831e+00] [ 1.17348731e-02 9.99931028e-01 -4.82359968e-04 -6.66123825e-01] [-8.97740539e-03 5.87729697e-04 9.99959530e-01 -1.18368991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.290371743 meters 0.03798972206320673 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.67, Z:-0.12 [[ 9.99880270e-01 -1.29282504e-02 8.50330323e-03 9.92060980e+00] [ 1.29325936e-02 9.99916267e-01 -4.55969808e-04 -6.68979647e-01] [-8.49669632e-03 5.65884979e-04 9.99963742e-01 -1.19215984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320371743 meters 0.035211003030368324 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.67, Z:-0.12 [[ 9.99863369e-01 -1.40742292e-02 8.66942085e-03 9.95295068e+00] [ 1.40787978e-02 9.99900780e-01 -4.66179786e-04 -6.65688833e-01] [-8.66199955e-03 5.88171115e-04 9.99962311e-01 -1.19477537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.350371743 meters 0.040171578733178795 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.67, Z:-0.12 [[ 9.99855192e-01 -1.45650274e-02 8.80082371e-03 9.98365592e+00] [ 1.45697612e-02 9.99893743e-01 -4.73998982e-04 -6.73743044e-01] [-8.79298475e-03 6.02156243e-04 9.99961160e-01 -1.20016331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380371743 meters 0.03605574873469383 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.67, Z:-0.12 [[ 9.99844346e-01 -1.49693521e-02 9.33819766e-03 1.00161116e+01] [ 1.49747036e-02 9.99887746e-01 -5.03409787e-04 -6.67221957e-01] [-9.32961369e-03 6.43168171e-04 9.99956271e-01 -1.19833154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.410371743 meters 0.037072649372044825 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.67, Z:-0.12 [[ 9.99845425e-01 -1.48428407e-02 9.42421613e-03 1.00473286e+01] [ 1.48482929e-02 9.99889629e-01 -5.08824009e-04 -6.69357040e-01] [-9.41562357e-03 6.48678879e-04 9.99955462e-01 -1.20305554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440371743 meters 0.03768601456860855 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.67, Z:-0.12 [[ 9.99850693e-01 -1.43485005e-02 9.62874546e-03 1.00789900e+01] [ 1.43541744e-02 9.99896838e-01 -5.20406049e-04 -6.68729424e-01] [-9.62028509e-03 6.58541039e-04 9.99953507e-01 -1.20311819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.470371743 meters 0.04279605604285563 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.68, Z:-0.12 [[ 9.99853425e-01 -1.42153365e-02 9.54215047e-03 1.01109192e+01] [ 1.42209059e-02 9.99898745e-01 -5.16070333e-04 -6.75909758e-01] [-9.53384816e-03 6.51692714e-04 9.99954339e-01 -1.21243836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500371743 meters 0.035285533371272944 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.67, Z:-0.12 [[ 9.99855378e-01 -1.38216585e-02 9.90886805e-03 1.01436696e+01] [ 1.38276548e-02 9.99904249e-01 -5.36889432e-04 -6.65555402e-01] [-9.90049856e-03 6.73828193e-04 9.99950762e-01 -1.20737236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.530371743 meters 0.03898186795392653 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.67, Z:-0.12 [[ 9.99839745e-01 -1.44594918e-02 1.05550003e-02 1.01749041e+01] [ 1.44663405e-02 9.99895193e-01 -5.72795187e-04 -6.69338767e-01] [-1.05456117e-02 7.25395622e-04 9.99944130e-01 -1.21040070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560371743 meters 0.036882564158404546 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.67, Z:-0.12 [[ 9.99828142e-01 -1.49903728e-02 1.09075293e-02 1.02070442e+01] [ 1.49977242e-02 9.99887352e-01 -5.92486434e-04 -6.66919866e-01] [-1.08974190e-02 7.55972726e-04 9.99940336e-01 -1.21125348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.590371743 meters 0.039114628904892146 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.67, Z:-0.12 [[ 9.99798848e-01 -1.67906114e-02 1.09699408e-02 1.02375422e+01] [ 1.67981643e-02 9.99858723e-01 -5.96729919e-04 -6.69009150e-01] [-1.09583715e-02 7.80884753e-04 9.99939650e-01 -1.21953009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.620371743 meters 0.0401352736943194 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.67, Z:-0.12 [[ 9.99785211e-01 -1.76357285e-02 1.08864092e-02 1.02695626e+01] [ 1.76432222e-02 9.99844171e-01 -5.92686219e-04 -6.71175945e-01] [-1.08742603e-02 7.84630252e-04 9.99940566e-01 -1.22617826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.650371743000001 meters 0.03983168025427137 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.67, Z:-0.12 [[ 9.99770711e-01 -1.87602110e-02 1.03237539e-02 1.03018746e+01] [ 1.87670166e-02 9.99823726e-01 -5.62727505e-04 -6.71191126e-01] [-1.03113772e-02 7.56344538e-04 9.99946550e-01 -1.23494136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680371743 meters 0.04136081512610376 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.67, Z:-0.13 [[ 9.99741148e-01 -2.08233484e-02 9.16649968e-03 1.03333944e+01] [ 2.08288065e-02 9.99782932e-01 -5.00361737e-04 -6.72790196e-01] [-9.15409072e-03 6.91159465e-04 9.99957862e-01 -1.25131525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.710371743 meters 0.04316833406777758 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.68, Z:-0.13 [[ 9.99721571e-01 -2.21469108e-02 8.14211444e-03 1.03646673e+01] [ 2.21512589e-02 9.99754532e-01 -4.44217450e-04 -6.75688532e-01] [-8.13027777e-03 6.24451852e-04 9.99966754e-01 -1.26439595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740371743 meters 0.04088164079727293 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.67, Z:-0.13 [[ 9.99699119e-01 -2.33608223e-02 7.47953679e-03 1.03967576e+01] [ 2.33645303e-02 9.99726929e-01 -4.08748924e-04 -6.73135111e-01] [-7.46794563e-03 5.83381803e-04 9.99971944e-01 -1.27290997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.770371743 meters 0.04088164079727293 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.68, Z:-0.13 [[ 9.99701649e-01 -2.32522969e-02 7.47948456e-03 1.04293428e+01] [ 2.32560089e-02 9.99729459e-01 -4.09701411e-04 -6.75015630e-01] [-7.46793455e-03 5.83522136e-04 9.99971944e-01 -1.27748887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800371743 meters 0.041975821214424607 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.68, Z:-0.13 [[ 9.99658736e-01 -2.53556678e-02 6.28509560e-03 1.04602093e+01] [ 2.53583375e-02 9.99678366e-01 -3.45420851e-04 -6.75541501e-01] [-6.27431572e-03 5.04682547e-04 9.99980189e-01 -1.28451708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.830371743 meters 0.04210019367540277 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.68, Z:-0.13 [[ 9.99655822e-01 -2.55325259e-02 6.02730879e-03 1.04925460e+01] [ 2.55349823e-02 9.99673874e-01 -3.30919820e-04 -6.76178244e-01] [-6.01689391e-03 4.84713148e-04 9.99981781e-01 -1.29226280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860371743 meters 0.04086893050141902 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.67, Z:-0.13 [[ 9.99660594e-01 -2.53942573e-02 5.81615083e-03 1.05260063e+01] [ 2.53965427e-02 9.99677405e-01 -3.19401911e-04 -6.74780121e-01] [-5.80616360e-03 4.67003627e-04 9.99983035e-01 -1.29437239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.890371743 meters 0.04182316769572709 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.67, Z:-0.13 [[ 9.99679913e-01 -2.43922102e-02 6.71498050e-03 1.05581073e+01] [ 2.43952424e-02 9.99702323e-01 -3.70008276e-04 -6.74684462e-01] [-6.70395629e-03 5.33703419e-04 9.99977386e-01 -1.29723231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920371743 meters 0.038237050587469845 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.67, Z:-0.13 [[ 9.99700632e-01 -2.33806472e-02 7.21058095e-03 1.05908404e+01] [ 2.33841215e-02 9.99726475e-01 -3.97888366e-04 -6.69665315e-01] [-7.19930579e-03 5.66382352e-04 9.99973924e-01 -1.29389966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.950371743 meters 0.037830847394922255 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.67, Z:-0.13 [[ 9.99721972e-01 -2.21910846e-02 7.97079715e-03 1.06228100e+01] [ 2.21952990e-02 9.99753557e-01 -4.40658971e-04 -6.69354446e-01] [-7.95905410e-03 6.17450682e-04 9.99968136e-01 -1.29477260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980371743000001 meters 0.037926627104667654 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.67, Z:-0.13 [[ 9.99768218e-01 -1.96352920e-02 8.82978829e-03 1.06527511e+01] [ 1.96403724e-02 9.99806990e-01 -4.89013323e-04 -6.67072274e-01] [-8.81848213e-03 6.62320308e-04 9.99960897e-01 -1.29094465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.010371743 meters 0.03781450339701742 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.67, Z:-0.13 [[ 9.99798001e-01 -1.80985049e-02 8.74080791e-03 1.06848262e+01] [ 1.81034214e-02 9.99836003e-01 -4.83673970e-04 -6.66305022e-01] [-8.73062067e-03 6.41814797e-04 9.99961681e-01 -1.29015189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040371743 meters 0.03692840940439188 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.66, Z:-0.13 [[ 9.99836474e-01 -1.53969203e-02 9.48469683e-03 1.07159168e+01] [ 1.54025987e-02 9.99881235e-01 -5.25940221e-04 -6.63247421e-01] [-9.47547251e-03 6.71943196e-04 9.99954881e-01 -1.28462445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.070371743 meters 0.03768146321914154 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.66, Z:-0.13 [[ 9.99845705e-01 -1.45735337e-02 9.80709233e-03 1.07470942e+01] [ 1.45795657e-02 9.99893565e-01 -5.43851444e-04 -6.64588882e-01] [-9.79812267e-03 6.86750677e-04 9.99951761e-01 -1.28683501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100371743 meters 0.038148997989469774 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.67, Z:-0.13 [[ 9.99844236e-01 -1.42777378e-02 1.03754336e-02 1.07781036e+01] [ 1.42844764e-02 9.99897806e-01 -5.75658728e-04 -6.65788342e-01] [-1.03661542e-02 7.23776698e-04 9.99946008e-01 -1.29328430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.130371743 meters 0.03783535809384017 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.67, Z:-0.13 [[ 9.99847763e-01 -1.43383297e-02 9.94295910e-03 1.08101281e+01] [ 1.43445371e-02 9.99896959e-01 -5.53268947e-04 -6.65805910e-01] [-9.93400161e-03 6.95811865e-04 9.99950414e-01 -1.30184626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160371743 meters 0.03739387301720456 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.67, Z:-0.13 [[ 9.99851392e-01 -1.44555139e-02 9.39318524e-03 1.08418991e+01] [ 1.44610648e-02 9.99895296e-01 -5.23294321e-04 -6.66227206e-01] [-9.38463725e-03 6.59052015e-04 9.99955746e-01 -1.31205162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.190371743 meters 0.039270859738793844 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.67, Z:-0.13 [[ 9.99846091e-01 -1.52189108e-02 8.72805444e-03 1.08725441e+01] [ 1.52237347e-02 9.99883994e-01 -4.86517782e-04 -6.68149497e-01] [-8.71963766e-03 6.19316488e-04 9.99961791e-01 -1.33183492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220371743 meters 0.039490387900464656 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.67, Z:-0.13 [[ 9.99849830e-01 -1.55054261e-02 7.73947352e-03 1.09046968e+01] [ 1.55092363e-02 9.99879631e-01 -4.32525032e-04 -6.68865520e-01] [-7.73183544e-03 5.52493403e-04 9.99969956e-01 -1.34402030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.250371743 meters 0.04005216465539682 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.67, Z:-0.14 [[ 9.99845606e-01 -1.60906907e-02 7.06070393e-03 1.09366193e+01] [ 1.60938793e-02 9.99870407e-01 -3.95006412e-04 -6.69305587e-01] [-7.05343299e-03 5.08579542e-04 9.99974995e-01 -1.36193501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280371743 meters 0.04087855054777187 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.67, Z:-0.14 [[ 9.99843287e-01 -1.64560910e-02 6.52679585e-03 1.09686748e+01] [ 1.64588259e-02 9.99864478e-01 -3.65525845e-04 -6.70763345e-01] [-6.51989620e-03 4.72891959e-04 9.99978633e-01 -1.37052932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.310371743 meters 0.042099332482575656 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.67, Z:-0.14 [[ 9.99840542e-01 -1.65849847e-02 6.62028945e-03 1.09995150e+01] [ 1.65878053e-02 9.99862344e-01 -3.71372297e-04 -6.73015855e-01] [-6.61321893e-03 4.81129151e-04 9.99978017e-01 -1.37805362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340371743 meters 0.0435562561811293 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.67, Z:-0.14 [[ 9.99842400e-01 -1.65242446e-02 6.49034818e-03 1.10318862e+01] [ 1.65269548e-02 9.99863354e-01 -3.64150401e-04 -6.74210978e-01] [-6.48344399e-03 4.71358702e-04 9.99978871e-01 -1.38279062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370371743 meters 0.0428363317470601 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.67, Z:-0.14 [[ 9.99850558e-01 -1.61571818e-02 6.14868957e-03 1.10640866e+01] [ 1.61596110e-02 9.99869365e-01 -3.45587065e-04 -6.73424340e-01] [-6.14230263e-03 4.44895852e-04 9.99981037e-01 -1.38949277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400371743000001 meters 0.046359051688416586 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.68, Z:-0.14 [[ 9.99860996e-01 -1.54384903e-02 6.29610959e-03 1.10952934e+01] [ 1.54410269e-02 9.99880717e-01 -3.54464511e-04 -6.77023205e-01] [-6.28988617e-03 4.51633636e-04 9.99980116e-01 -1.40180726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.430371743 meters 0.03848520434389683 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.67, Z:-0.14 [[ 9.99865390e-01 -1.50134475e-02 6.61806551e-03 1.11282185e+01] [ 1.50162424e-02 9.99887180e-01 -3.72811042e-04 -6.66638288e-01] [-6.61172168e-03 4.72139333e-04 9.99978031e-01 -1.39220917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460371743 meters 0.038912760363814164 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.67, Z:-0.14 [[ 9.99869305e-01 -1.45228687e-02 7.10344959e-03 1.11603386e+01] [ 1.45260804e-02 9.99894411e-01 -4.00748734e-04 -6.67841424e-01] [-7.09687952e-03 5.03881638e-04 9.99974690e-01 -1.39605425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.490371743 meters 0.03927611816581616 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.67, Z:-0.14 [[ 9.99868043e-01 -1.40434162e-02 8.16571193e-03 1.11930456e+01] [ 1.40476496e-02 9.99901220e-01 -4.61307373e-04 -6.68149555e-01] [-8.15842700e-03 5.75955561e-04 9.99966554e-01 -1.39293055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520371743 meters 0.038507280455878326 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.67, Z:-0.14 [[ 9.99864033e-01 -1.42279336e-02 8.33556118e-03 1.12255308e+01] [ 1.42323585e-02 9.99898604e-01 -4.71764349e-04 -6.67661229e-01] [-8.32800375e-03 5.90334900e-04 9.99965147e-01 -1.39624465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.550371743 meters 0.038704533109910046 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.67, Z:-0.14 [[ 9.99861157e-01 -1.43381135e-02 8.49027596e-03 1.12572977e+01] [ 1.43427135e-02 9.99897022e-01 -4.81151968e-04 -6.69073376e-01] [-8.48250284e-03 6.02858759e-04 9.99963841e-01 -1.40247535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580371743 meters 0.03850429321366011 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.67, Z:-0.14 [[ 9.99862171e-01 -1.47768436e-02 7.56859999e-03 1.12892775e+01] [ 1.47805148e-02 9.99890670e-01 -4.29352629e-04 -6.68443545e-01] [-7.56142804e-03 5.41161256e-04 9.99971266e-01 -1.41492594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.610371743 meters 0.03898756400765265 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.67, Z:-0.14 [[ 9.99859691e-01 -1.49462550e-02 7.56361061e-03 1.13213545e+01] [ 1.49499303e-02 9.99888151e-01 -4.29618293e-04 -6.69939509e-01] [-7.55634345e-03 5.42633465e-04 9.99971303e-01 -1.42532405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640371743 meters 0.039250515420976316 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.67, Z:-0.14 [[ 9.99860835e-01 -1.50889287e-02 7.11583111e-03 1.13530070e+01] [ 1.50921894e-02 9.99886025e-01 -4.04757588e-04 -6.71451362e-01] [-7.10891272e-03 5.12094730e-04 9.99974600e-01 -1.43413420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.670371743 meters 0.04008653389774491 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.67, Z:-0.15 [[ 9.99888148e-01 -1.36997006e-02 6.00087425e-03 1.13832043e+01] [ 1.37019976e-02 9.99906065e-01 -3.41829654e-04 -6.72754380e-01] [-5.99562759e-03 4.24015384e-04 9.99981936e-01 -1.45662980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700371743 meters 0.039701777021639156 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.67, Z:-0.15 [[ 9.99912417e-01 -1.21866344e-02 5.16186943e-03 1.14143583e+01] [ 1.21883134e-02 9.99925677e-01 -2.93938184e-04 -6.72820667e-01] [-5.15790366e-03 3.56826923e-04 9.99986634e-01 -1.46932280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.730371743000001 meters 0.039665931107662325 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.67, Z:-0.15 [[ 9.99930646e-01 -1.07021943e-02 4.91591766e-03 1.14458276e+01] [ 1.07037000e-02 9.99942675e-01 -2.80084718e-04 -6.72944051e-01] [-4.91263833e-03 3.32683800e-04 9.99987878e-01 -1.47825594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760371743 meters 0.03889622785133538 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.67, Z:-0.15 [[ 9.99962962e-01 -7.01424853e-03 4.98753453e-03 1.14758026e+01] [ 7.01575569e-03 9.99975349e-01 -2.84752307e-04 -6.70180693e-01] [-4.98541426e-03 3.19733084e-04 9.99987522e-01 -1.48331284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.790371743 meters 0.03628469640993775 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.67, Z:-0.15 [[ 9.99974150e-01 -5.03769950e-03 5.13037019e-03 1.15072112e+01] [ 5.03926596e-03 9.99987260e-01 -2.92449741e-04 -6.66341006e-01] [-5.12883156e-03 3.18295482e-04 9.99986797e-01 -1.48312924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820371743 meters 0.035658163856464385 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.66, Z:-0.15 [[ 9.99983937e-01 -8.24341528e-04 5.60765294e-03 1.15373398e+01] [ 8.26150633e-04 9.99999607e-01 -3.20304906e-04 -6.63857316e-01] [-5.60738670e-03 3.24932527e-04 9.99984226e-01 -1.49027731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.850371743 meters 0.03167454998028501 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.66, Z:-0.15 [[ 9.99983074e-01 1.49458818e-03 5.62306130e-03 1.15697065e+01] [-1.49280925e-03 9.99998834e-01 -3.20546591e-04 -6.57764119e-01] [-5.62353383e-03 3.12147008e-04 9.99984139e-01 -1.48693937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880371743 meters 0.030889008174720164 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.66, Z:-0.15 [[ 9.99975644e-01 3.87380238e-03 5.80563325e-03 1.16017639e+01] [-3.87194403e-03 9.99992449e-01 -3.31298611e-04 -6.56744252e-01] [-5.80687280e-03 3.08811455e-04 9.99983092e-01 -1.48761350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.910371743 meters 0.029866562889453076 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.65, Z:-0.15 [[ 9.99934992e-01 8.97561880e-03 7.03209961e-03 1.16329040e+01] [-8.97301185e-03 9.99959661e-01 -4.02184840e-04 -6.53206641e-01] [-7.03542579e-03 3.39059582e-04 9.99975194e-01 -1.48394485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940371743 meters 0.02910171697082789 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.65, Z:-0.15 [[ 9.99912362e-01 1.10088911e-02 7.35337298e-03 1.16629627e+01] [-1.10060932e-02 9.99939343e-01 -4.20858870e-04 -6.51662652e-01] [-7.35756013e-03 3.39890079e-04 9.99972875e-01 -1.48309651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.970371743 meters 0.030161075047811327 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.65, Z:-0.15 [[ 9.99892616e-01 1.25829052e-02 7.51184319e-03 1.16914099e+01] [-1.25800325e-02 9.99920776e-01 -4.29552027e-04 -6.53555219e-01] [-7.51665309e-03 3.35006668e-04 9.99971693e-01 -1.49034220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000371743 meters 0.02893318937596122 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.65, Z:-0.15 [[ 9.99865722e-01 1.49277375e-02 6.76022016e-03 1.17210443e+01] [-1.49254645e-02 9.99888534e-01 -3.86555372e-04 -6.52116216e-01] [-6.76523702e-03 2.85604040e-04 9.99977075e-01 -1.50487622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.030371743 meters 0.027770701953966685 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.65, Z:-0.15 [[ 9.99855094e-01 1.57053619e-02 6.56749446e-03 1.17502629e+01] [-1.57032330e-02 9.99876626e-01 -3.75587949e-04 -6.51400804e-01] [-6.57258295e-03 2.72402628e-04 9.99978363e-01 -1.51395739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060371743 meters 0.026418120227346714 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.65, Z:-0.15 [[ 9.99834618e-01 1.73215101e-02 5.54098878e-03 1.17796645e+01] [-1.73200216e-02 9.99849947e-01 -3.16500640e-04 -6.50145486e-01] [-5.54563960e-03 2.20478251e-04 9.99984599e-01 -1.52682975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.090371743 meters 0.02689239665529332 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.65, Z:-0.15 [[ 9.99817083e-01 1.83941402e-02 5.23988483e-03 1.18084312e+01] [-1.83928244e-02 9.99830793e-01 -2.99212990e-04 -6.51285409e-01] [-5.24450197e-03 2.02781978e-04 9.99986227e-01 -1.53311921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120371743 meters 0.026229186146076385 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.65, Z:-0.15 [[ 9.99791738e-01 1.97906784e-02 4.98089688e-03 1.18371479e+01] [-1.97895082e-02 9.99804128e-01 -2.84123313e-04 -6.50466473e-01] [-4.98554425e-03 1.85494642e-04 9.99987555e-01 -1.53294502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.150371743000001 meters 0.02575631435750432 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.65, Z:-0.15 [[ 9.99725375e-01 2.29522990e-02 4.72941736e-03 1.18649520e+01] [-2.29512800e-02 9.99736548e-01 -2.69642995e-04 -6.48989336e-01] [-4.73436031e-03 1.61022762e-04 9.99988780e-01 -1.52969890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180371743 meters 0.02565160778674704 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.65, Z:-0.15 [[ 9.99682328e-01 2.46937261e-02 5.04614892e-03 1.18923887e+01] [-2.46925908e-02 9.99695050e-01 -2.87161017e-04 -6.49690110e-01] [-5.05170117e-03 1.62467304e-04 9.99987227e-01 -1.53305043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.210371743 meters 0.025419335249649403 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.65, Z:-0.15 [[ 9.99646001e-01 2.61283694e-02 5.01815767e-03 1.19215832e+01] [-2.61272677e-02 9.99658584e-01 -2.84970541e-04 -6.50291622e-01] [-5.02389021e-03 1.53758912e-04 9.99987368e-01 -1.53547123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240371743 meters 0.025186445670787115 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.65, Z:-0.15 [[ 9.99617441e-01 2.71541092e-02 5.25613895e-03 1.19503906e+01] [-2.71529169e-02 9.99631247e-01 -2.98070733e-04 -6.51210281e-01] [-5.26229458e-03 1.55237199e-04 9.99986142e-01 -1.54004434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.270371743 meters 0.024197666232741683 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.65, Z:-0.15 [[ 9.99578595e-01 2.86129993e-02 4.89173968e-03 1.19798270e+01] [-2.86119861e-02 9.99590555e-01 -2.76991334e-04 -6.49982350e-01] [-4.89766233e-03 1.36912221e-04 9.99987997e-01 -1.54508613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300371743 meters 0.025278176435438178 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.65, Z:-0.16 [[ 9.99566024e-01 2.90480149e-02 4.89649629e-03 1.20069889e+01] [-2.90470047e-02 9.99578008e-01 -2.77315633e-04 -6.53720440e-01] [-4.90248548e-03 1.34966734e-04 9.99987974e-01 -1.56309710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.330371743 meters 0.02462866066241791 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.65, Z:-0.16 [[ 9.99560333e-01 2.93365944e-02 4.30166894e-03 1.20354941e+01] [-2.93358192e-02 9.99569583e-01 -2.43211739e-04 -6.53041907e-01] [-4.30695243e-03 1.16911825e-04 9.99990718e-01 -1.56764334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360371743 meters 0.024377205234378443 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.65, Z:-0.16 [[ 9.99555340e-01 2.95233388e-02 4.18276540e-03 1.20647294e+01] [-2.95226086e-02 9.99564085e-01 -2.36232035e-04 -6.54039175e-01] [-4.18791643e-03 1.12640846e-04 9.99991224e-01 -1.56962711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.390371743 meters 0.02445683718349999 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.66, Z:-0.16 [[ 9.99564033e-01 2.92431318e-02 4.07213298e-03 1.20938699e+01] [-2.92424384e-02 9.99572322e-01 -2.29730110e-04 -6.55156675e-01] [-4.07710945e-03 1.10550857e-04 9.99991682e-01 -1.57459989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420371743 meters 0.024574597252739087 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.66, Z:-0.16 [[ 9.99592345e-01 2.82953417e-02 3.81015068e-03 1.21229919e+01] [-2.82947286e-02 9.99599601e-01 -2.14740283e-04 -6.57395776e-01] [-3.81470125e-03 1.06845564e-04 9.99992718e-01 -1.57522154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.450371743 meters 0.025152793943973503 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.66, Z:-0.16 [[ 9.99622216e-01 2.72783840e-02 3.36382842e-03 1.21505827e+01] [-2.72778987e-02 9.99627871e-01 -1.90076414e-04 -6.60202618e-01] [-3.36776162e-03 9.82464354e-05 9.99994324e-01 -1.58340222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480371743000001 meters 0.024855388789606334 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.66, Z:-0.16 [[ 9.99653117e-01 2.61094119e-02 3.45593631e-03 1.21794888e+01] [-2.61088965e-02 9.99659086e-01 -1.94177677e-04 -6.62715898e-01] [-3.45982800e-03 1.03879637e-04 9.99994009e-01 -1.58553965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.510371743 meters 0.02567854052197826 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.67, Z:-0.16 [[ 9.99728553e-01 2.30455066e-02 3.42424685e-03 1.22084754e+01] [-2.30449841e-02 9.99734411e-01 -1.91966332e-04 -6.68487868e-01] [-3.42776137e-03 1.13002509e-04 9.99994119e-01 -1.59187652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540371743 meters 0.026009672728593256 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.67, Z:-0.16 [[ 9.99747794e-01 2.20451090e-02 4.28496087e-03 1.22375408e+01] [-2.20442827e-02 9.99756966e-01 -2.39971954e-04 -6.72182362e-01] [-4.28920968e-03 1.45452543e-04 9.99990791e-01 -1.58872574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.570371743 meters 0.02665424365826549 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.68, Z:-0.16 [[ 9.99771240e-01 2.08355176e-02 4.83199546e-03 1.22665282e+01] [-2.08344551e-02 9.99782903e-01 -2.70134742e-04 -6.75441358e-01] [-4.83657485e-03 1.69400954e-04 9.99988289e-01 -1.58869543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600371743 meters 0.026504031359904142 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.68, Z:-0.16 [[ 9.99783304e-01 1.99692397e-02 5.88000700e-03 1.22951691e+01] [-1.99676549e-02 9.99800573e-01 -3.28097889e-04 -6.78777766e-01] [-5.88538624e-03 2.10616840e-04 9.99982659e-01 -1.57735798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.630371743 meters 0.026694469782929546 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.68, Z:-0.16 [[ 9.99793385e-01 1.94415546e-02 5.93402560e-03 1.23235955e+01] [-1.94399340e-02 9.99810972e-01 -3.30680348e-04 -6.81184291e-01] [-5.93933284e-03 2.15254959e-04 9.99982339e-01 -1.57688763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660371743 meters 0.027110766973947726 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.68, Z:-0.16 [[ 9.99799020e-01 1.92780642e-02 5.50240553e-03 1.23524642e+01] [-1.92766700e-02 9.99814141e-01 -3.06306753e-04 -6.84963306e-01] [-5.50728786e-03 2.00177136e-04 9.99984815e-01 -1.58406211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.690371743 meters 0.027110766973947726 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.69, Z:-0.16 [[ 9.99801057e-01 1.91721101e-02 5.50241038e-03 1.23798930e+01] [-1.91707148e-02 9.99816178e-01 -3.06220334e-04 -6.86393141e-01] [-5.50726980e-03 2.00674274e-04 9.99984815e-01 -1.58792407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720371743 meters 0.026589086417827403 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.69, Z:-0.16 [[ 9.99800255e-01 1.92836161e-02 5.25273890e-03 1.24091173e+01] [-1.92823502e-02 9.99814036e-01 -2.91531713e-04 -6.87627571e-01] [-5.25738387e-03 1.90188330e-04 9.99986162e-01 -1.59115384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.750371743 meters 0.027751728304426175 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.69, Z:-0.16 [[ 9.99795816e-01 1.94250272e-02 5.56735555e-03 1.24368494e+01] [-1.94236091e-02 9.99811296e-01 -3.08676758e-04 -6.91830438e-01] [-5.57230102e-03 2.00475594e-04 9.99984455e-01 -1.60012533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780371743 meters 0.027166000874261353 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.69, Z:-0.16 [[ 9.99763896e-01 2.09682937e-02 5.69944948e-03 1.24659803e+01] [-2.09668365e-02 9.99780122e-01 -3.15309409e-04 -6.93221977e-01] [-5.70480780e-03 1.95735537e-04 9.99983708e-01 -1.59655572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.810371743 meters 0.026360609712650904 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.69, Z:-0.16 [[ 9.99743909e-01 2.18282757e-02 5.97020601e-03 1.24950809e+01] [-2.18266948e-02 9.99761715e-01 -3.29832699e-04 -6.94246064e-01] [-5.97598307e-03 1.99438367e-04 9.99982124e-01 -1.59883729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840371743 meters 0.0261377311019076 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.70, Z:-0.16 [[ 9.99720780e-01 2.29111460e-02 5.78293234e-03 1.25242287e+01] [-2.29096805e-02 9.99737488e-01 -3.19540218e-04 -6.96214464e-01] [-5.78873528e-03 1.86965864e-04 9.99983228e-01 -1.60358951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.870371743 meters 0.026114628217697066 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.70, Z:-0.16 [[ 9.99666100e-01 2.54429426e-02 4.51048684e-03 1.25522486e+01] [-2.54420792e-02 9.99676267e-01 -2.48713951e-04 -6.98679436e-01] [-4.51535466e-03 1.33874742e-04 9.99989797e-01 -1.61987688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900371743000001 meters 0.026137061120354816 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.70, Z:-0.16 [[ 9.99650375e-01 2.60735860e-02 4.39260400e-03 1.25797672e+01] [-2.60727748e-02 9.99660018e-01 -2.41854332e-04 -7.01732713e-01] [-4.39741660e-03 1.27242399e-04 9.99990323e-01 -1.63465559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.930371743 meters 0.025055575007242443 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.70, Z:-0.16 [[ 9.99636454e-01 2.67365162e-02 3.48110343e-03 1.26090843e+01] [-2.67360091e-02 9.99642511e-01 -1.92146440e-04 -7.01615975e-01] [-3.48499630e-03 9.90057733e-05 9.99993922e-01 -1.63508429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960371743 meters 0.02416809149361028 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.70, Z:-0.16 [[ 9.99581450e-01 2.87394493e-02 3.31203734e-03 1.26376359e+01] [-2.87390047e-02 9.99586933e-01 -1.81762284e-04 -7.02981771e-01] [-3.31589300e-03 8.65015503e-05 9.99994499e-01 -1.64438638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990371743 meters 0.02424558789045719 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.71, Z:-0.17 [[ 9.99530669e-01 3.04328905e-02 3.50443400e-03 1.26654759e+01] [-3.04324036e-02 9.99536809e-01 -1.92189807e-04 -7.05294282e-01] [-3.50865967e-03 8.54512564e-05 9.99993841e-01 -1.65234147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020371743 meters 0.024003847794021916 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.71, Z:-0.17 [[ 9.99465708e-01 3.24119569e-02 4.21469650e-03 1.26934596e+01] [-3.24112730e-02 9.99474590e-01 -2.30491320e-04 -7.07038882e-01] [-4.21995273e-03 9.37644918e-05 9.99991092e-01 -1.65510571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050371743 meters 0.022828847839869798 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.71, Z:-0.17 [[ 9.99286898e-01 3.72881327e-02 5.94057407e-03 1.27219789e+01] [-3.72868670e-02 9.99304551e-01 -3.23714775e-04 -7.07065740e-01] [-5.94851342e-03 1.01978539e-04 9.99982302e-01 -1.65201337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080371743 meters 0.022540474877274723 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.71, Z:-0.17 [[ 9.99214513e-01 3.91139791e-02 6.36036657e-03 1.27495288e+01] [-3.91125677e-02 9.99234751e-01 -3.46194881e-04 -7.09070393e-01] [-6.36904036e-03 9.71526816e-05 9.99979713e-01 -1.65089349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110371743 meters 0.02244160955480475 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.71, Z:-0.17 [[ 9.99165498e-01 4.02973714e-02 6.66561058e-03 1.27783175e+01] [-4.02958528e-02 9.99187727e-01 -3.62026558e-04 -7.10644706e-01] [-6.67478500e-03 9.31279828e-05 9.99977719e-01 -1.65647457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140371743 meters 0.02222336817306554 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.71, Z:-0.17 [[ 9.99102684e-01 4.19040234e-02 6.15466275e-03 1.28064854e+01] [-4.19027614e-02 9.99121638e-01 -3.33913025e-04 -7.14991634e-01] [-6.16324903e-03 7.57160351e-05 9.99981004e-01 -1.66443945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170371743 meters 0.02210738872560295 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.72, Z:-0.17 [[ 9.99113132e-01 4.15889506e-02 6.58100017e-03 1.28334728e+01] [-4.15874984e-02 9.99134802e-01 -3.57413318e-04 -7.18952430e-01] [-6.59017075e-03 8.34090047e-05 9.99978281e-01 -1.67307573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200371743 meters 0.022295385697595437 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.73, Z:-0.17 [[ 9.99158127e-01 4.04832950e-02 6.64375795e-03 1.28608848e+01] [-4.04818024e-02 9.99180211e-01 -3.59044741e-04 -7.26527126e-01] [-6.65284679e-03 8.97911748e-05 9.99977866e-01 -1.68722551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230371743 meters 0.022358136619137166 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.73, Z:-0.17 [[ 9.99201979e-01 3.93287984e-02 6.97507747e-03 1.28896920e+01] [-3.93271348e-02 9.99226318e-01 -3.75563875e-04 -7.31612526e-01] [-6.98445146e-03 1.00954355e-04 9.99975603e-01 -1.69148117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260371743 meters 0.02206748374915871 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.74, Z:-0.17 [[ 9.99248642e-01 3.81212848e-02 6.99427228e-03 1.29184183e+01] [-3.81195856e-02 9.99273114e-01 -3.76141991e-04 -7.35013370e-01] [-7.00352726e-03 1.09240612e-04 9.99975469e-01 -1.68761888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290371743 meters 0.0222359404495119 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.74, Z:-0.17 [[ 9.99295087e-01 3.67621416e-02 7.60744574e-03 1.29470741e+01] [-3.67600968e-02 9.99324036e-01 -4.08485992e-04 -7.39623423e-01] [-7.61732019e-03 1.28547603e-04 9.99970980e-01 -1.69085386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320371743 meters 0.022621963358637063 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.75, Z:-0.17 [[ 9.99398412e-01 3.37783461e-02 7.86370960e-03 1.29753035e+01] [-3.37760736e-02 9.99429337e-01 -4.21648854e-04 -7.47296386e-01] [-7.87346467e-03 1.55789961e-04 9.99968992e-01 -1.69074686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.350371743 meters 0.022922126603527715 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.75, Z:-0.17 [[ 9.99456282e-01 3.20319387e-02 7.81636366e-03 1.30035884e+01] [-3.20296444e-02 9.99486832e-01 -4.18562624e-04 -7.52176251e-01] [-7.82575992e-03 1.67979696e-04 9.99969364e-01 -1.69268098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380371743 meters 0.023571813781071208 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.76, Z:-0.17 [[ 9.99577497e-01 2.81118690e-02 7.38584008e-03 1.30321482e+01] [-2.81097179e-02 9.99604766e-01 -3.94921965e-04 -7.61751606e-01] [-7.39402294e-03 1.87141229e-04 9.99972646e-01 -1.70862127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.410371743 meters 0.024001252579236073 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.77, Z:-0.17 [[ 9.99641797e-01 2.57143978e-02 7.41933263e-03 1.30606785e+01] [-2.57121632e-02 9.99669309e-01 -3.96430871e-04 -7.67830230e-01] [-7.42707311e-03 2.05521777e-04 9.99972398e-01 -1.71745496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440371743 meters 0.024941245425000567 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.77, Z:-0.17 [[ 9.99705377e-01 2.29695474e-02 7.84591900e-03 1.30895337e+01] [-2.29669688e-02 9.99736137e-01 -4.18611167e-04 -7.74040920e-01] [-7.85346406e-03 2.38290858e-04 9.99969133e-01 -1.72332578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.470371743 meters 0.0259739040786607 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.78, Z:-0.17 [[ 9.99794424e-01 1.80714181e-02 9.19425532e-03 1.31181596e+01] [-1.80676784e-02 9.99836646e-01 -4.89653606e-04 -7.83840425e-01] [-9.20160214e-03 3.23434097e-04 9.99957612e-01 -1.71839959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500371743 meters 0.02638805547578341 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.79, Z:-0.17 [[ 9.99829672e-01 1.58291533e-02 9.49027599e-03 1.31470995e+01] [-1.58250729e-02 9.99874648e-01 -5.04898866e-04 -7.88030225e-01] [-9.49707849e-03 3.54628558e-04 9.99954839e-01 -1.71510028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.530371743 meters 0.029253149517643993 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.80, Z:-0.17 [[ 9.99862806e-01 1.27136156e-02 1.06175797e-02 1.31760686e+01] [-1.27083410e-02 9.99919087e-01 -5.64099351e-04 -7.99832723e-01] [-1.06238923e-02 4.29090136e-04 9.99943473e-01 -1.71916828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560371743 meters 0.030108799704872135 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.81, Z:-0.17 [[ 9.99876026e-01 1.13337906e-02 1.09305656e-02 1.32065371e+01] [-1.13281209e-02 9.99935666e-01 -5.80474236e-04 -8.05016804e-01] [-1.09364414e-02 4.56579504e-04 9.99940091e-01 -1.72421094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.590371743 meters 0.02700166184866654 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.80, Z:-0.17 [[ 9.99885905e-01 1.05243281e-02 1.08358730e-02 1.32379396e+01] [-1.05187100e-02 9.99944511e-01 -5.75330858e-04 -8.03361740e-01] [-1.08413267e-02 4.61285810e-04 9.99941125e-01 -1.72756184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620371743 meters 0.026867111751057503 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.81, Z:-0.17 [[ 9.99897443e-01 9.70247184e-03 1.05340095e-02 1.32692504e+01] [-9.69711309e-03 9.99952825e-01 -5.59667973e-04 -8.08462839e-01] [-1.05389427e-02 4.57461094e-04 9.99944359e-01 -1.73690289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.650371743000001 meters 0.031295088476325894 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.82, Z:-0.18 [[ 9.99908404e-01 9.59395412e-03 9.54673762e-03 1.32997416e+01] [-9.58955344e-03 9.99953891e-01 -5.06631058e-04 -8.18245082e-01] [-9.55115802e-03 4.15035702e-04 9.99954301e-01 -1.75206643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680371743 meters 0.027142761853716946 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.81, Z:-0.18 [[ 9.99913133e-01 9.80464815e-03 8.80879645e-03 1.33309087e+01] [-9.80088481e-03 9.99951860e-01 -4.70292501e-04 -8.14097423e-01] [-8.81298345e-03 3.83917649e-04 9.99961091e-01 -1.75238658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.710371743 meters 0.026595175039065635 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.82, Z:-0.18 [[ 9.99894420e-01 1.14233483e-02 8.98091682e-03 1.33614360e+01] [-1.14194970e-02 9.99934680e-01 -4.79994426e-04 -8.16406983e-01] [-8.98581333e-03 3.77386195e-04 9.99959556e-01 -1.76144974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740371743 meters 0.026326612133625412 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.82, Z:-0.18 [[ 9.99878907e-01 1.28335230e-02 8.80178103e-03 1.33905775e+01] [-1.28298798e-02 9.99917583e-01 -4.70253843e-04 -8.18354217e-01] [-8.80709063e-03 3.57271106e-04 9.99961153e-01 -1.76466073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.770371743 meters 0.02612940886371661 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.82, Z:-0.18 [[ 9.99855278e-01 1.46753856e-02 8.60562230e-03 1.34199798e+01] [-1.46719657e-02 9.99892255e-01 -4.60402038e-04 -8.19717041e-01] [-8.61145167e-03 3.34074012e-04 9.99962865e-01 -1.77056192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800371743 meters 0.025017184851569445 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.82, Z:-0.18 [[ 9.99801000e-01 1.84881613e-02 7.49325747e-03 1.34501127e+01] [-1.84856764e-02 9.99829045e-01 -4.00756642e-04 -8.18992551e-01] [-7.49938572e-03 2.62158958e-04 9.99971845e-01 -1.78279966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830371743 meters 0.02458323683134323 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.82, Z:-0.18 [[ 9.99765037e-01 2.00701044e-02 8.18914038e-03 1.34787479e+01] [-2.00671918e-02 9.99798538e-01 -4.37686888e-04 -8.19411389e-01] [-8.19627500e-03 2.73250997e-04 9.99966373e-01 -1.79119360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860371743 meters 0.024296116551942935 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.82, Z:-0.18 [[ 9.99730113e-01 2.17791246e-02 8.08524229e-03 1.35075338e+01] [-2.17763458e-02 9.99762774e-01 -4.31575867e-04 -8.19847136e-01] [-8.09272360e-03 2.55392359e-04 9.99967221e-01 -1.79278300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.890371743 meters 0.02351846176784033 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.82, Z:-0.18 [[ 9.99689535e-01 2.35129378e-02 8.24476610e-03 1.35361030e+01] [-2.35101120e-02 9.99723503e-01 -4.39499009e-04 -8.19256684e-01] [-8.25282035e-03 2.45527185e-04 9.99965915e-01 -1.79097420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920371743 meters 0.022489666157208623 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.82, Z:-0.18 [[ 9.99586946e-01 2.70461218e-02 9.71825664e-03 1.35655645e+01] [-2.70423717e-02 9.99634154e-01 -5.17104458e-04 -8.18088550e-01] [-9.72868693e-03 2.54086158e-04 9.99952643e-01 -1.78807242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950371743 meters 0.022386213587733912 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.82, Z:-0.18 [[ 9.99538947e-01 2.84022096e-02 1.07334939e-02 1.35938120e+01] [-2.83977196e-02 9.99596541e-01 -5.70518564e-04 -8.19560917e-01] [-1.07453674e-02 2.65448774e-04 9.99942232e-01 -1.79176342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980371743 meters 0.02222000074534267 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.82, Z:-0.18 [[ 9.99502317e-01 2.94694404e-02 1.12547568e-02 1.36223842e+01] [-2.94645810e-02 9.99565646e-01 -5.97364103e-04 -8.21458662e-01] [-1.12674723e-02 2.65450111e-04 9.99936485e-01 -1.79312819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010371743 meters 0.021962386024342327 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.82, Z:-0.18 [[ 9.99483283e-01 3.00804747e-02 1.13283595e-02 1.36509753e+01] [-3.00756001e-02 9.99547446e-01 -6.00457209e-04 -8.23053737e-01] [-1.13412948e-02 2.59439733e-04 9.99935652e-01 -1.79291712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040371743 meters 0.022243735793587394 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.83, Z:-0.18 [[ 9.99487295e-01 3.00124618e-02 1.11534316e-02 1.36792051e+01] [-3.00077410e-02 9.99549492e-01 -5.90400900e-04 -8.25836234e-01] [-1.11661263e-02 2.55408912e-04 9.99937624e-01 -1.80156889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070371743 meters 0.022829666646760928 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.83, Z:-0.18 [[ 9.99520806e-01 2.91328098e-02 1.04612754e-02 1.37069242e+01] [-2.91286149e-02 9.99575519e-01 -5.53175558e-04 -8.31804481e-01] [-1.04729504e-02 2.48188016e-04 9.99945126e-01 -1.81897026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100371743 meters 0.02185258767585659 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.83, Z:-0.18 [[ 9.99541138e-01 2.86000577e-02 9.97752346e-03 1.37362293e+01] [-2.85962254e-02 9.99590906e-01 -5.26580882e-04 -8.32077717e-01] [-9.98850195e-03 2.41019745e-04 9.99950085e-01 -1.82297713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130371743 meters 0.02250465127680309 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.84, Z:-0.18 [[ 9.99560456e-01 2.79990576e-02 9.74407160e-03 1.37638667e+01] [-2.79953799e-02 9.99607921e-01 -5.13645616e-04 -8.36622538e-01] [-9.75463274e-03 2.40630860e-04 9.99952393e-01 -1.83403222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160371743 meters 0.02195641660086622 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.84, Z:-0.18 [[ 9.99592864e-01 2.69747286e-02 9.29896784e-03 1.37926749e+01] [-2.69713431e-02 9.99636087e-01 -4.89308176e-04 -8.39665267e-01] [-9.30878278e-03 2.38303309e-04 9.99956644e-01 -1.83256415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.190371743 meters 0.022414528946766727 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.84, Z:-0.18 [[ 9.99596092e-01 2.69262098e-02 9.09025661e-03 1.38202383e+01] [-2.69229776e-02 9.99637397e-01 -4.77774924e-04 -8.42522009e-01] [-9.09982513e-03 2.32845172e-04 9.99958569e-01 -1.83860023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220371743 meters 0.02207689512950287 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.84, Z:-0.18 [[ 9.99586288e-01 2.72913695e-02 9.07931683e-03 1.38491114e+01] [-2.72881684e-02 9.99627495e-01 -4.76294978e-04 -8.43712813e-01] [-9.08893348e-03 2.28340003e-04 9.99958669e-01 -1.84025821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.250371743 meters 0.022143019889478838 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.85, Z:-0.18 [[ 9.99562664e-01 2.80067344e-02 9.49225891e-03 1.38774525e+01] [-2.80032746e-02 9.99607708e-01 -4.97220890e-04 -8.45921402e-01] [-9.50246071e-03 2.31189104e-04 9.99954824e-01 -1.84419964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280371743 meters 0.022076315516756196 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.85, Z:-0.18 [[ 9.99507863e-01 2.97362642e-02 9.98930474e-03 1.39050352e+01] [-2.97325260e-02 9.99557754e-01 -5.22555325e-04 -8.48955423e-01] [-1.00004259e-02 2.25290894e-04 9.99949969e-01 -1.84648313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.310371743 meters 0.022237997032753247 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.85, Z:-0.18 [[ 9.99499320e-01 3.00045037e-02 1.00418320e-02 1.39339903e+01] [-3.00007494e-02 9.99549739e-01 -5.24327625e-04 -8.50665934e-01] [-1.00530427e-02 2.22802619e-04 9.99949442e-01 -1.84840418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340371743 meters 0.021768645358304944 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.85, Z:-0.18 [[ 9.99478407e-01 3.04982552e-02 1.06192935e-02 1.39624811e+01] [-3.04940931e-02 9.99534794e-01 -5.53677628e-04 -8.52012046e-01] [-1.06312396e-02 2.29563108e-04 9.99943460e-01 -1.84173988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.370371743 meters 0.021768645358304944 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.85, Z:-0.18 [[ 9.99480591e-01 3.04266036e-02 1.06193332e-02 1.39907547e+01] [-3.04224455e-02 9.99536977e-01 -5.52916382e-04 -8.53425432e-01] [-1.06312395e-02 2.29563107e-04 9.99943460e-01 -1.84571947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400371743 meters 0.022156390702044892 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.86, Z:-0.18 [[ 9.99499263e-01 2.96868125e-02 1.09505971e-02 1.40187205e+01] [-2.96823550e-02 9.99559220e-01 -5.69398862e-04 -8.57381260e-01] [-1.09626740e-02 2.44074232e-04 9.99939878e-01 -1.84351351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.430371743 meters 0.022014513765707323 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.86, Z:-0.19 [[ 9.99522055e-01 2.88444568e-02 1.11201972e-02 1.40478153e+01] [-2.88398198e-02 9.99583879e-01 -5.77154845e-04 -8.60068253e-01] [-1.11322176e-02 2.56174513e-04 9.99938002e-01 -1.85240000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460371743 meters 0.022902369409630238 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.87, Z:-0.19 [[ 9.99594972e-01 2.61426190e-02 1.12452631e-02 1.40748761e+01] [-2.61377149e-02 9.99658182e-01 -5.82879820e-04 -8.66567155e-01] [-1.12566573e-02 2.88718257e-04 9.99936600e-01 -1.86241277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490371743 meters 0.023103878108592185 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.87, Z:-0.19 [[ 9.99634330e-01 2.45938770e-02 1.12404741e-02 1.41030517e+01] [-2.45888903e-02 9.99697478e-01 -5.81639036e-04 -8.69645744e-01] [-1.12513784e-02 3.05035562e-04 9.99936655e-01 -1.86744882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520371743 meters 0.024357378040847658 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.88, Z:-0.19 [[ 9.99695236e-01 2.21790964e-02 1.08408249e-02 1.41315122e+01] [-2.21743272e-02 9.99753963e-01 -5.59942416e-04 -8.75457965e-01] [-1.08505767e-02 3.19383766e-04 9.99941080e-01 -1.87744621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.550371743 meters 0.024680012411870823 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.88, Z:-0.19 [[ 9.99718982e-01 2.14131793e-02 1.01701722e-02 1.41604609e+01] [-2.14089466e-02 9.99770664e-01 -5.24881857e-04 -8.78709024e-01] [-1.01790792e-02 3.07001683e-04 9.99948145e-01 -1.89053396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580371743 meters 0.0250570396188198 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.88, Z:-0.19 [[ 9.99750566e-01 2.03662957e-02 9.16627428e-03 1.41889681e+01] [-2.03628184e-02 9.99792545e-01 -4.72535790e-04 -8.82477822e-01] [-9.17399650e-03 2.85766744e-04 9.99957877e-01 -1.90568018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.610371743 meters 0.0250570396188198 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.88, Z:-0.19 [[ 9.99751954e-01 2.02980196e-02 9.16630642e-03 1.42172525e+01] [-2.02945451e-02 9.99793933e-01 -4.71911452e-04 -8.83869430e-01] [-9.17399641e-03 2.85768377e-04 9.99957877e-01 -1.90966077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640371743 meters 0.02325426952693424 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.88, Z:-0.19 [[ 9.99772790e-01 1.96280174e-02 8.31319977e-03 1.42462550e+01] [-1.96251402e-02 9.99807317e-01 -4.27534923e-04 -8.83624938e-01] [-8.31998962e-03 2.64290071e-04 9.99965353e-01 -1.92018140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.670371743 meters 0.025848375452829066 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.89, Z:-0.19 [[ 9.99785661e-01 1.91936185e-02 7.76129340e-03 1.42736634e+01] [-1.91910999e-02 9.99815754e-01 -3.98852800e-04 -8.92419554e-01] [-7.76751885e-03 2.49819553e-04 9.99969801e-01 -1.93903263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700371743 meters 0.024047821226629545 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.89, Z:-0.19 [[ 9.99781826e-01 1.93227605e-02 7.93298427e-03 1.43021061e+01] [-1.93201417e-02 9.99813266e-01 -4.06613678e-04 -8.91080019e-01] [-7.93935981e-03 2.53258585e-04 9.99968451e-01 -1.93337865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.730371743 meters 0.024147163398646358 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.89, Z:-0.19 [[ 9.99770234e-01 1.97484171e-02 8.33544433e-03 1.43312193e+01] [-1.97455461e-02 9.99804947e-01 -4.26599449e-04 -8.92826560e-01] [-8.34224314e-03 2.61913530e-04 9.99965169e-01 -1.93651975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760371743 meters 0.023616642553885393 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.89, Z:-0.19 [[ 9.99736634e-01 2.12913385e-02 8.56402318e-03 1.43603654e+01] [-2.12883699e-02 9.99773281e-01 -4.37666249e-04 -8.94136011e-01] [-8.57140006e-03 2.55236889e-04 9.99963232e-01 -1.93751842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790371743 meters 0.023245547269216325 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.90, Z:-0.19 [[ 9.99717504e-01 2.22426987e-02 8.37697932e-03 1.43896101e+01] [-2.22398973e-02 9.99752572e-01 -4.27430606e-04 -8.95239926e-01] [-8.38441383e-03 2.41006699e-04 9.99964821e-01 -1.94302003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820371743 meters 0.023200233438416314 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.90, Z:-0.20 [[ 9.99699468e-01 2.31209588e-02 8.14831005e-03 1.44169206e+01] [-2.31183393e-02 9.99732649e-01 -4.15536469e-04 -8.97256340e-01] [-8.15573920e-03 2.27036190e-04 9.99966716e-01 -1.95008764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850371743 meters 0.0237589258950437 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.90, Z:-0.20 [[ 9.99659693e-01 2.47756297e-02 8.16490059e-03 1.44445322e+01] [-2.47730604e-02 9.99693014e-01 -4.15682559e-04 -9.00287691e-01] [-8.17269288e-03 2.13271524e-04 9.99966580e-01 -1.96502360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880371743 meters 0.022508445049385383 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.90, Z:-0.20 [[ 9.99656358e-01 2.48705949e-02 8.28365228e-03 1.44731019e+01] [-2.48679605e-02 9.99690656e-01 -4.20889879e-04 -8.99416394e-01] [-8.29155756e-03 2.14747706e-04 9.99965601e-01 -1.96827577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.910371743 meters 0.022477309929404898 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.90, Z:-0.20 [[ 9.99695325e-01 2.35041331e-02 7.53748702e-03 1.45022353e+01] [-2.35019165e-02 9.99723719e-01 -3.82528954e-04 -9.01981330e-01] [-7.54439557e-03 2.05267016e-04 9.99971520e-01 -1.98259969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940371743 meters 0.023156774287940277 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.91, Z:-0.20 [[ 9.99733412e-01 2.18993475e-02 7.31597267e-03 1.45299126e+01] [-2.18972192e-02 9.99760158e-01 -3.70898093e-04 -9.05904872e-01] [-7.32234042e-03 2.10599758e-04 9.99973169e-01 -1.99367559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.970371743 meters 0.02368101121243761 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.91, Z:-0.20 [[ 9.99786323e-01 1.95369584e-02 6.75389782e-03 1.45582992e+01] [-1.95350951e-02 9.99809113e-01 -3.41745798e-04 -9.08862090e-01] [-6.75928526e-03 2.09734739e-04 9.99977134e-01 -1.99882327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000371743 meters 0.024812286692279785 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.91, Z:-0.20 [[ 9.99833401e-01 1.67624694e-02 7.22421387e-03 1.45866542e+01] [-1.67602704e-02 9.99859470e-01 -3.64826412e-04 -9.13588082e-01] [-7.22931405e-03 2.43685855e-04 9.99973838e-01 -2.00542764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.030371743 meters 0.02634886458361925 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.92, Z:-0.20 [[ 9.99916770e-01 1.05566649e-02 7.41684937e-03 1.46163547e+01] [-1.05541815e-02 9.99944233e-01 -3.73898583e-04 -9.20078791e-01] [-7.42038288e-03 2.95588689e-04 9.99972425e-01 -2.00978622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060371743 meters 0.02767439394312267 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.92, Z:-0.20 [[ 9.99945469e-01 7.19676345e-03 7.56742635e-03 1.46468377e+01] [-7.19408490e-03 9.99974050e-01 -3.81120043e-04 -9.24942254e-01] [-7.56997280e-03 3.26658552e-04 9.99971294e-01 -2.01278692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.090371743 meters 0.028626909647291376 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.93, Z:-0.20 [[ 9.99956214e-01 4.69439888e-03 8.09527046e-03 1.46780068e+01] [-4.69125132e-03 9.99988913e-01 -4.07760384e-04 -9.28969155e-01] [-8.09709490e-03 3.69765581e-04 9.99967150e-01 -2.01493102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120371743 meters 0.03047173446232154 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.93, Z:-0.20 [[ 9.99958020e-01 2.33652419e-03 8.86001047e-03 1.47089231e+01] [-2.33266711e-03 9.99997180e-01 -4.45644874e-04 -9.33689203e-01] [-8.86102674e-03 4.24958710e-04 9.99960650e-01 -2.01101162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.150371743 meters 0.030758139798037636 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.94, Z:-0.20 [[ 9.99945057e-01 3.44706065e-03 9.89954851e-03 1.47398921e+01] [-3.44226637e-03 9.99993950e-01 -5.01290945e-04 -9.35409699e-01] [-9.90121659e-03 4.67186520e-04 9.99950873e-01 -2.01027150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180371743 meters 0.030788031663391863 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.94, Z:-0.20 [[ 9.99938801e-01 5.01778999e-03 9.85978101e-03 1.47718848e+01] [-5.01310597e-03 9.99987309e-01 -4.99720810e-04 -9.36059913e-01] [-9.86216337e-03 4.50262101e-04 9.99951266e-01 -2.01397833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.210371743 meters 0.030011794272767473 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.94, Z:-0.20 [[ 9.99928119e-01 6.91916172e-03 9.79192856e-03 1.48033909e+01] [-6.91462503e-03 9.99975970e-01 -4.97088685e-04 -9.35432963e-01] [-9.79513270e-03 4.29345440e-04 9.99951934e-01 -2.01840333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240371743 meters 0.028485480336339138 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.93, Z:-0.20 [[ 9.99908985e-01 9.26040933e-03 9.81154624e-03 1.48354151e+01] [-9.25596436e-03 9.99957038e-01 -4.98347412e-04 -9.33350765e-01] [-9.81573962e-03 4.07486733e-04 9.99951741e-01 -2.02701905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.270371743 meters 0.028058492583902812 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.93, Z:-0.20 [[ 9.99856874e-01 1.36739810e-02 9.96264892e-03 1.48656407e+01] [-1.36696094e-02 9.99906438e-01 -5.06760232e-04 -9.32223545e-01] [-9.96864623e-03 3.70502182e-04 9.99950243e-01 -2.04019376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300371743 meters 0.02503308593659918 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.93, Z:-0.20 [[ 9.99821389e-01 1.57674412e-02 1.04200316e-02 1.48961672e+01] [-1.57627708e-02 9.99875619e-01 -5.30189375e-04 -9.27093936e-01] [-1.04270952e-02 3.65846108e-04 9.99945569e-01 -2.03996479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.330371743 meters 0.026292229992734704 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.93, Z:-0.20 [[ 9.99784537e-01 1.74665227e-02 1.12160241e-02 1.49253400e+01] [-1.74612255e-02 9.99847379e-01 -5.70054087e-04 -9.30465895e-01] [-1.12242692e-02 3.74085736e-04 9.99936936e-01 -2.04293045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360371743 meters 0.0237234890811906 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.93, Z:-0.20 [[ 9.99752685e-01 1.89134589e-02 1.16982532e-02 1.49553217e+01] [-1.89077972e-02 9.99821055e-01 -5.94389565e-04 -9.25386617e-01] [-1.17074018e-02 3.73054363e-04 9.99931396e-01 -2.04161447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.390371743 meters 0.022236697004966444 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.92, Z:-0.21 [[ 9.99701043e-01 2.17441929e-02 1.11810069e-02 1.49848219e+01] [-2.17392020e-02 9.99763514e-01 -5.67730439e-04 -9.21842716e-01] [-1.11907076e-02 3.24494543e-04 9.99937329e-01 -2.05195906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420371743 meters 0.022446823972519542 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.92, Z:-0.21 [[ 9.99685593e-01 2.31717309e-02 9.58050914e-03 1.50127931e+01] [-2.31681324e-02 9.99731464e-01 -4.86434165e-04 -9.22299056e-01] [-9.58920795e-03 2.64318723e-04 9.99953988e-01 -2.06334945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450371743 meters 0.021990076648467097 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.92, Z:-0.21 [[ 9.99660676e-01 2.44113747e-02 9.08939815e-03 1.50413278e+01] [-2.44081949e-02 9.99701970e-01 -4.60613209e-04 -9.22015191e-01] [-9.09793343e-03 2.38601110e-04 9.99958584e-01 -2.07721215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480371743 meters 0.021297204599979695 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.92, Z:-0.21 [[ 9.99578099e-01 2.80319505e-02 7.60491024e-03 1.50693933e+01] [-2.80298316e-02 9.99607013e-01 -3.85081451e-04 -9.21020265e-01] [-7.61271620e-03 1.71754631e-04 9.99971008e-01 -2.09601416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.510371743 meters 0.020815895739660643 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.92, Z:-0.21 [[ 9.99511905e-01 3.03661978e-02 7.33797360e-03 1.50981292e+01] [-3.03642929e-02 9.99538830e-01 -3.70886807e-04 -9.20829215e-01] [-7.34585197e-03 1.47893399e-04 9.99973008e-01 -2.10715907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540371743 meters 0.020694425014190453 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.92, Z:-0.21 [[ 9.99435211e-01 3.27989316e-02 7.31363408e-03 1.51269306e+01] [-3.27971083e-02 9.99461962e-01 -3.69132446e-04 -9.20469293e-01] [-7.32180622e-03 1.29057916e-04 9.99973187e-01 -2.11142252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.570371743 meters 0.020071888316741157 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.92, Z:-0.21 [[ 9.99342954e-01 3.54428652e-02 7.58042622e-03 1.51556458e+01] [-3.54409868e-02 9.99371698e-01 -3.82028154e-04 -9.19428341e-01] [-7.58920359e-03 1.13119358e-04 9.99971195e-01 -2.11335915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600371743 meters 0.01958570060219851 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.92, Z:-0.21 [[ 9.99149132e-01 4.02983342e-02 8.77817563e-03 1.51838542e+01] [-4.02960088e-02 9.99187688e-01 -4.41688512e-04 -9.17808278e-01] [-8.78884432e-03 8.75872509e-05 9.99961374e-01 -2.11256268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.630371743 meters 0.0195468791985191 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.92, Z:-0.21 [[ 9.99054613e-01 4.24237517e-02 9.49242808e-03 1.52126830e+01] [-4.24211381e-02 9.99099705e-01 -4.76593060e-04 -9.17733536e-01] [-9.50410095e-03 7.34628927e-05 9.99954832e-01 -2.11014383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660371743 meters 0.019149639982384004 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.92, Z:-0.21 [[ 9.98846226e-01 4.64766579e-02 1.20887564e-02 1.52417082e+01] [-4.64727296e-02 9.98919375e-01 -6.05812574e-04 -9.17622904e-01] [-1.21038492e-02 4.33160935e-05 9.99926745e-01 -2.09720397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.690371743 meters 0.01935268630055854 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.92, Z:-0.21 [[ 9.98784812e-01 4.75105743e-02 1.31013266e-02 1.52701681e+01] [-4.75060629e-02 9.98870735e-01 -6.55519339e-04 -9.19133358e-01] [-1.31176758e-02 3.23303169e-05 9.99913959e-01 -2.09667746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720371743 meters 0.019120865384766983 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.92, Z:-0.21 [[ 9.98766398e-01 4.77683507e-02 1.35597746e-02 1.52977028e+01] [-4.77635553e-02 9.98858440e-01 -6.77463112e-04 -9.21318573e-01] [-1.35766566e-02 2.89643466e-05 9.99907833e-01 -2.10010303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.750371743 meters 0.01918119419483066 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.92, Z:-0.21 [[ 9.98795358e-01 4.71928346e-02 1.34412894e-02 1.53251765e+01] [-4.71880898e-02 9.98885797e-01 -6.70107543e-04 -9.24232863e-01] [-1.34579373e-02 3.50315335e-05 9.99909437e-01 -2.10541196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780371743 meters 0.019070741588577543 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.93, Z:-0.21 [[ 9.98962884e-01 4.36983376e-02 1.27910683e-02 1.53533106e+01] [-4.36937715e-02 9.99044768e-01 -6.36340959e-04 -9.30416934e-01] [-1.28066569e-02 7.67909824e-05 9.99917988e-01 -2.11714804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.810371743 meters 0.019334792914935582 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.93, Z:-0.21 [[ 9.99083649e-01 4.09460402e-02 1.24613072e-02 1.53814443e+01] [-4.09415030e-02 9.99161353e-01 -6.19094895e-04 -9.34922429e-01] [-1.24762060e-02 1.08342942e-04 9.99922163e-01 -2.12444671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840371743 meters 0.019728362706818575 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.94, Z:-0.21 [[ 9.99333796e-01 3.46138041e-02 1.15692799e-02 1.54094776e+01] [-3.46094793e-02 9.99400748e-01 -5.73880691e-04 -9.42490518e-01] [-1.15822111e-02 1.73091617e-04 9.99932909e-01 -2.13217112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.870371743 meters 0.020448259269909688 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.95, Z:-0.21 [[ 9.99448267e-01 3.13285522e-02 1.10309774e-02 1.54368825e+01] [-3.13244331e-02 9.99509120e-01 -5.46030338e-04 -9.48160196e-01] [-1.10426689e-02 2.00189961e-04 9.99939008e-01 -2.14035599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900371743 meters 0.021216204480691392 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.95, Z:-0.22 [[ 9.99550067e-01 2.79423807e-02 1.09034953e-02 1.54647455e+01] [-2.79381675e-02 9.99609508e-01 -5.38564845e-04 -9.53693252e-01] [-1.09142864e-02 2.33698849e-04 9.99940410e-01 -2.15052223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930371743 meters 0.021114497508806646 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.96, Z:-0.22 [[ 9.99641673e-01 2.46141348e-02 1.05199737e-02 1.54928514e+01] [-2.46100393e-02 9.99696993e-01 -5.18608146e-04 -9.57540693e-01] [-1.05295511e-02 2.59525349e-04 9.99944529e-01 -2.15469017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960371743 meters 0.02242601939832001 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.97, Z:-0.22 [[ 9.99768083e-01 1.86137892e-02 1.08308659e-02 1.55225560e+01] [-1.86091122e-02 9.99826694e-01 -5.32449445e-04 -9.65914680e-01] [-1.08388997e-02 3.30773162e-04 9.99941203e-01 -2.16082369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990371743 meters 0.022965043771195025 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.97, Z:-0.22 [[ 9.99807195e-01 1.59233349e-02 1.14900379e-02 1.55522628e+01] [-1.59178958e-02 9.99873143e-01 -5.64677373e-04 -9.70136609e-01] [-1.14975718e-02 3.81671275e-04 9.99933828e-01 -2.15857766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020371743 meters 0.024205294019086148 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.98, Z:-0.22 [[ 9.99839159e-01 1.35809323e-02 1.17138674e-02 1.55819656e+01] [-1.35751248e-02 9.99907688e-01 -5.75155556e-04 -9.75839255e-01] [-1.17205972e-02 4.16045835e-04 9.99931225e-01 -2.15869466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.050371743 meters 0.025763249940294664 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.98, Z:-0.22 [[ 9.99878520e-01 1.00824210e-02 1.18865242e-02 1.56114062e+01] [-1.00761963e-02 9.99949064e-01 -5.83444673e-04 -9.83282475e-01] [-1.18918013e-02 4.63602845e-04 9.99929183e-01 -2.16305625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080371742999997 meters 0.02667242518992035 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.99, Z:-0.22 [[ 9.99886621e-01 8.96682136e-03 1.20971854e-02 1.56430777e+01] [-8.96028271e-03 9.99959679e-01 -5.94601366e-04 -9.87399910e-01] [-1.21020293e-02 4.86139750e-04 9.99926650e-01 -2.16482919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110371742999998 meters 0.02686962667425018 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.99, Z:-0.22 [[ 9.99885983e-01 8.40597244e-03 1.25443716e-02 1.56756033e+01] [-8.39886030e-03 9.99964537e-01 -6.19533795e-04 -9.90897246e-01] [-1.25491345e-02 5.14104733e-04 9.99921124e-01 -2.16288764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140371743 meters 0.027503978392284013 Centerline is valid? [True, True] Translation: X:15.71, Y:-1.00, Z:-0.22 [[ 9.99877296e-01 7.79024986e-03 1.35906086e-02 1.57072972e+01] [-7.78179583e-03 9.99969494e-01 -6.74821326e-04 -9.95059070e-01] [-1.35954510e-02 5.68979181e-04 9.99907416e-01 -2.16563053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170371742999997 meters 0.02754057510603763 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.00, Z:-0.22 [[ 9.99880265e-01 7.62853313e-03 1.34633360e-02 1.57392881e+01] [-7.62017837e-03 9.99970740e-01 -6.71746913e-04 -9.96922961e-01] [-1.34680666e-02 5.69073460e-04 9.99909140e-01 -2.17235877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200371742999998 meters 0.027046820110636388 Centerline is valid? [True, True] Translation: X:15.77, Y:-1.00, Z:-0.22 [[ 9.99882166e-01 7.66499359e-03 1.33004308e-02 1.57727903e+01] [-7.65680063e-03 9.99970464e-01 -6.66804939e-04 -9.98354265e-01] [-1.33051490e-02 5.64887620e-04 9.99911323e-01 -2.18397207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230371743 meters 0.02808751034402151 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.00, Z:-0.22 [[ 9.99890401e-01 7.26544457e-03 1.28996209e-02 1.58040536e+01] [-7.25765825e-03 9.99973451e-01 -6.50319199e-04 -1.00219955e+00] [-1.29040033e-02 5.56626884e-04 9.99916585e-01 -2.19649211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260371742999997 meters 0.028190028778680164 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.00, Z:-0.22 [[ 9.99915191e-01 6.41260219e-03 1.13353399e-02 1.58366044e+01] [-6.40651071e-03 9.99979314e-01 -5.73617754e-04 -1.00429251e+00] [-1.13387838e-02 5.00949129e-04 9.99935588e-01 -2.21923855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.290371742999998 meters 0.030085518198039084 Centerline is valid? [True, True] Translation: X:15.87, Y:-1.01, Z:-0.22 [[ 9.99924338e-01 5.89646161e-03 1.07958092e-02 1.58679603e+01] [-5.89087872e-03 9.99982498e-01 -5.48861276e-04 -1.00896499e+00] [-1.07988566e-02 4.85222945e-04 9.99941573e-01 -2.23398827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320371743 meters 0.03083358896180818 Centerline is valid? [True, True] Translation: X:15.90, Y:-1.01, Z:-0.22 [[ 9.99936342e-01 6.07695265e-03 9.50692758e-03 1.59001031e+01] [-6.07261577e-03 9.99981444e-01 -4.84981208e-04 -1.01158951e+00] [-9.50969838e-03 4.27218417e-04 9.99954691e-01 -2.24932398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350371742999997 meters 0.026569867788284948 Centerline is valid? [True, True] Translation: X:15.93, Y:-1.01, Z:-0.22 [[ 9.99935691e-01 6.92700227e-03 8.97942881e-03 1.59324336e+01] [-6.92314893e-03 9.99975929e-01 -4.60141729e-04 -1.00518509e+00] [-8.98240007e-03 3.97946215e-04 9.99959578e-01 -2.24626487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380371742999998 meters 0.026380654000171887 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.01, Z:-0.22 [[ 9.99925769e-01 8.56674064e-03 8.66415050e-03 1.59638273e+01] [-8.56319137e-03 9.99963235e-01 -4.46664871e-04 -1.00589281e+00] [-8.66765843e-03 3.72438936e-04 9.99962366e-01 -2.24990097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.410371743 meters 0.02492744994468196 Centerline is valid? [True, True] Translation: X:15.99, Y:-1.00, Z:-0.22 [[ 9.99890145e-01 1.26157340e-02 7.78086819e-03 1.59947653e+01] [-1.26129805e-02 9.99920372e-01 -4.02845183e-04 -1.00193274e+00] [-7.78533080e-03 3.04660990e-04 9.99969647e-01 -2.24874135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440371742999996 meters 0.024293085371517534 Centerline is valid? [True, True] Translation: X:16.02, Y:-1.00, Z:-0.23 [[ 9.99814321e-01 1.82146306e-02 6.28897870e-03 1.60248541e+01] [-1.82129412e-02 9.99834078e-01 -3.25810147e-04 -9.99394057e-01] [-6.29386973e-03 2.11208851e-04 9.99980171e-01 -2.25984095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470371742999998 meters 0.023586750686205863 Centerline is valid? [True, True] Translation: X:16.05, Y:-1.00, Z:-0.23 [[ 9.99766483e-01 2.07661620e-02 5.97885243e-03 1.60543017e+01] [-2.07646781e-02 9.99784343e-01 -3.10169155e-04 -9.98220594e-01] [-5.98400407e-03 1.85947779e-04 9.99982078e-01 -2.26340419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500371743 meters 0.023586750686205863 Centerline is valid? [True, True] Translation: X:16.08, Y:-1.00, Z:-0.23 [[ 9.99767940e-01 2.06958730e-02 5.97886146e-03 1.60825869e+01] [-2.06943888e-02 9.99785800e-01 -3.09995025e-04 -9.99624016e-01] [-5.98399641e-03 1.86194203e-04 9.99982078e-01 -2.26738412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530371743 meters 0.023178250831695425 Centerline is valid? [True, True] Translation: X:16.11, Y:-1.00, Z:-0.23 [[ 9.99706839e-01 2.32612224e-02 6.71945548e-03 1.61104255e+01] [-2.32594089e-02 9.99729403e-01 -3.47921479e-04 -9.99345367e-01] [-6.72573029e-03 1.91528919e-04 9.99977364e-01 -2.27202289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560371742999997 meters 0.021736318085569344 Centerline is valid? [True, True] Translation: X:16.14, Y:-1.00, Z:-0.23 [[ 9.99643605e-01 2.57129075e-02 7.17703752e-03 1.61392283e+01] [-2.57109075e-02 9.99669351e-01 -3.70801595e-04 -9.96708955e-01] [-7.18419883e-03 1.86141295e-04 9.99974176e-01 -2.26256747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590371743 meters 0.02095207999694415 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.99, Z:-0.23 [[ 9.99507133e-01 3.03256392e-02 8.11456651e-03 1.61686050e+01] [-3.03232385e-02 9.99540057e-01 -4.18749089e-04 -9.94736409e-01] [-8.12353310e-03 1.72482766e-04 9.99966989e-01 -2.25065144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620371743 meters 0.020586440870063612 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.99, Z:-0.22 [[ 9.99456397e-01 3.15559808e-02 9.54620484e-03 1.61975625e+01] [-3.15527288e-02 9.99501968e-01 -4.91106878e-04 -9.94792835e-01] [-9.55694788e-03 1.89631099e-04 9.99954313e-01 -2.24591560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.650371742999997 meters 0.02046106539865483 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.00, Z:-0.22 [[ 9.99417923e-01 3.24499711e-02 1.05268614e-02 1.62258476e+01] [-3.24460755e-02 9.99473341e-01 -5.40682465e-04 -9.96725913e-01] [-1.05388625e-02 1.98812406e-04 9.99944445e-01 -2.24013736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680371743 meters 0.020262322618787954 Centerline is valid? [True, True] Translation: X:16.25, Y:-1.00, Z:-0.22 [[ 9.99394893e-01 3.27744023e-02 1.16484324e-02 1.62548368e+01] [-3.27696654e-02 9.99462752e-01 -5.97341857e-04 -9.97800910e-01] [-1.16617518e-02 2.15265169e-04 9.99931976e-01 -2.23731413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.710371743 meters 0.020787662799119526 Centerline is valid? [True, True] Translation: X:16.28, Y:-1.00, Z:-0.22 [[ 9.99427242e-01 3.16894931e-02 1.18728039e-02 1.62821038e+01] [-3.16845055e-02 9.99497735e-01 -6.07998107e-04 -1.00125378e+00] [-1.18861078e-02 2.31465952e-04 9.99929331e-01 -2.24182961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740371742999997 meters 0.02082575680268662 Centerline is valid? [True, True] Translation: X:16.31, Y:-1.00, Z:-0.23 [[ 9.99473657e-01 3.04521919e-02 1.11835662e-02 1.63104859e+01] [-3.04477003e-02 9.99536198e-01 -5.71712601e-04 -1.00409761e+00] [-1.11957891e-02 2.30897813e-04 9.99937299e-01 -2.25695471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.770371743 meters 0.021481820449719146 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.01, Z:-0.23 [[ 9.99532117e-01 2.87801000e-02 1.03562611e-02 1.63379341e+01] [-2.87761645e-02 9.99585741e-01 -5.28850141e-04 -1.00818733e+00] [-1.03671913e-02 2.30589227e-04 9.99946233e-01 -2.27419830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800371743 meters 0.022225040155757526 Centerline is valid? [True, True] Translation: X:16.37, Y:-1.01, Z:-0.23 [[ 9.99672445e-01 2.38240856e-02 9.34961621e-03 1.63666167e+01] [-2.38206712e-02 9.99716134e-01 -4.76404833e-04 -1.01414688e+00] [-9.35831209e-03 2.53534651e-04 9.99956178e-01 -2.28965217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830371742999997 meters 0.024056070768863617 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.02, Z:-0.23 [[ 9.99738764e-01 2.09633566e-02 9.10722179e-03 1.63950859e+01] [-2.09600026e-02 9.99780208e-01 -4.63579041e-04 -1.02029839e+00] [-9.11493827e-03 2.72570546e-04 9.99958421e-01 -2.30076539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860371742999998 meters 0.023794191228067477 Centerline is valid? [True, True] Translation: X:16.42, Y:-1.02, Z:-0.23 [[ 9.99794037e-01 1.81812257e-02 9.01807863e-03 1.64242708e+01] [-1.81778283e-02 9.99834664e-01 -4.58564992e-04 -1.02239697e+00] [-9.02492490e-03 2.94541459e-04 9.99959231e-01 -2.30232057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890371743 meters 0.02616707797500223 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.03, Z:-0.23 [[ 9.99882069e-01 1.29292539e-02 8.28754310e-03 1.64535936e+01] [-1.29262094e-02 9.99916365e-01 -4.20826219e-04 -1.03007599e+00] [-8.29229094e-03 3.13650073e-04 9.99965569e-01 -2.31728004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920371742999997 meters 0.026869225254607432 Centerline is valid? [True, True] Translation: X:16.48, Y:-1.03, Z:-0.23 [[ 9.99911529e-01 1.06511274e-02 7.96794412e-03 1.64835148e+01] [-1.06482420e-02 9.99943224e-01 -4.04463393e-04 -1.03405831e+00] [-7.97179973e-03 3.19583012e-04 9.99968174e-01 -2.32588927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.950371742999998 meters 0.02798368069905129 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.04, Z:-0.23 [[ 9.99946211e-01 7.09708851e-03 7.56348187e-03 1.65144891e+01] [-7.09438974e-03 9.99974761e-01 -3.83585685e-04 -1.03779610e+00] [-7.56601331e-03 3.29906764e-04 9.99971323e-01 -2.33649631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980371743 meters 0.028935187221192264 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.04, Z:-0.23 [[ 9.99957956e-01 5.71036993e-03 7.17481612e-03 1.65458244e+01] [-5.70791528e-03 9.99983644e-01 -3.62550652e-04 -1.04108411e+00] [-7.17676907e-03 3.21582167e-04 9.99974195e-01 -2.34431436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.010371742999997 meters 0.029007277958917527 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.04, Z:-0.24 [[ 9.99967192e-01 4.47637441e-03 6.75106339e-03 1.65776174e+01] [-4.47416408e-03 9.99989932e-01 -3.42472264e-04 -1.04260374e+00] [-6.75252846e-03 3.12255663e-04 9.99977153e-01 -2.35153090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040371742999998 meters 0.028022317371115348 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.04, Z:-0.24 [[ 9.99977269e-01 3.15968702e-03 5.95638915e-03 1.66094210e+01] [-3.15793759e-03 9.99994968e-01 -3.03089034e-04 -1.04210775e+00] [-5.95731684e-03 2.84272239e-04 9.99982215e-01 -2.35592097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070371743 meters 0.029190649723202056 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.05, Z:-0.24 [[ 9.99989821e-01 -6.84681384e-05 4.51150371e-03 1.66401604e+01] [ 6.95150797e-05 9.99999971e-01 -2.31903988e-04 -1.04554409e+00] [-4.51148770e-03 2.32215245e-04 9.99989796e-01 -2.37079120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100371742999997 meters 0.030345086804376625 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.05, Z:-0.24 [[ 9.99989957e-01 -1.64210404e-03 4.17004581e-03 1.66712980e+01] [ 1.64300352e-03 9.99998628e-01 -2.12282239e-04 -1.04867886e+00] [-4.16969150e-03 2.19131507e-04 9.99991283e-01 -2.37930715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130371742999998 meters 0.03223739986062284 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.05, Z:-0.24 [[ 9.99983926e-01 -3.74919228e-03 4.25338568e-03 1.67019403e+01] [ 3.75015615e-03 9.99992944e-01 -2.18657703e-04 -1.05274015e+00] [-4.25253588e-03 2.34605049e-04 9.99990930e-01 -2.38538561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160371743 meters 0.03289214221235362 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.05, Z:-0.24 [[ 9.99956997e-01 -8.07885378e-03 4.55365049e-03 1.67325798e+01] [ 8.08001130e-03 9.99967328e-01 -2.35856300e-04 -1.05318140e+00] [-4.55159627e-03 2.72639705e-04 9.99989604e-01 -2.37714401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190371742999996 meters 0.033584869960321735 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.05, Z:-0.24 [[ 9.99938938e-01 -1.01736013e-02 4.31489965e-03 1.67637925e+01] [ 1.01746592e-02 9.99948212e-01 -2.23282749e-04 -1.05497797e+00] [-4.31240460e-03 2.67171749e-04 9.99990666e-01 -2.37914494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220371742999998 meters 0.03494042537984865 Centerline is valid? [True, True] Translation: X:16.80, Y:-1.06, Z:-0.24 [[ 9.99923245e-01 -1.17573457e-02 3.90750169e-03 1.67957075e+01] [ 1.17582242e-02 9.99930849e-01 -2.01933080e-04 -1.05728635e+00] [-3.90485729e-03 2.47862861e-04 9.99992345e-01 -2.38310287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250371743 meters 0.03515602533396315 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.06, Z:-0.24 [[ 9.99913028e-01 -1.25109129e-02 4.17285086e-03 1.68280211e+01] [ 1.25119229e-02 9.99921699e-01 -2.16008734e-04 -1.05800238e+00] [-4.16982166e-03 2.68200336e-04 9.99991270e-01 -2.38453590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280371743 meters 0.035457938916596786 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.06, Z:-0.24 [[ 9.99924453e-01 -1.15171455e-02 4.29455078e-03 1.68595877e+01] [ 1.15182083e-02 9.99933638e-01 -2.22823282e-04 -1.05626510e+00] [-4.29169950e-03 2.72271979e-04 9.99990754e-01 -2.38557125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310371742999997 meters 0.035028883434632854 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.05, Z:-0.24 [[ 9.99949024e-01 -9.31648227e-03 3.89263795e-03 1.68913367e+01] [ 9.31733940e-03 9.99956572e-01 -2.02114924e-04 -1.05487443e+00] [-3.89058590e-03 2.38373650e-04 9.99992403e-01 -2.38751900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340371743 meters 0.02931036368547829 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.04, Z:-0.24 [[ 9.99990647e-01 -1.81529245e-03 3.92567363e-03 1.69227938e+01] [ 1.81610896e-03 9.99998330e-01 -2.04436297e-04 -1.04159184e+00] [-3.92529597e-03 2.11563836e-04 9.99992274e-01 -2.37149528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370371743 meters 0.030430178264585953 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.04, Z:-0.24 [[ 9.99988293e-01 2.77341751e-03 3.96519516e-03 1.69528432e+01] [-2.77261967e-03 9.99996135e-01 -2.06694839e-04 -1.04121731e+00] [-3.96575309e-03 1.95698441e-04 9.99992117e-01 -2.38077905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400371742999997 meters 0.029092476828752677 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.04, Z:-0.24 [[ 9.99962545e-01 7.16277489e-03 4.85821982e-03 1.69839742e+01] [-7.16162966e-03 9.99974323e-01 -2.53085154e-04 -1.03754585e+00] [-4.85990787e-03 2.18282903e-04 9.99988167e-01 -2.37823936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430371743 meters 0.028252519020179008 Centerline is valid? [True, True] Translation: X:17.01, Y:-1.03, Z:-0.24 [[ 9.99914566e-01 1.15512991e-02 6.11787283e-03 1.70141097e+01] [-1.15495632e-02 9.99933251e-01 -3.19011323e-04 -1.03497397e+00] [-6.12114946e-03 2.48325310e-04 9.99981235e-01 -2.37642746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460371743 meters 0.02562447914502284 Centerline is valid? [True, True] Translation: X:17.04, Y:-1.03, Z:-0.24 [[ 9.99772543e-01 1.93673231e-02 8.93134585e-03 1.70439485e+01] [-1.93639338e-02 9.99812393e-01 -4.65817604e-04 -1.02654740e+00] [-8.93869190e-03 2.92765661e-04 9.99960006e-01 -2.35755390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.490371742999997 meters 0.022448219139147622 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.02, Z:-0.23 [[ 9.99696608e-01 2.28267287e-02 9.25382244e-03 1.70731044e+01] [-2.28232376e-02 9.99739399e-01 -4.82697505e-04 -1.01831148e+00] [-9.26242929e-03 2.71348869e-04 9.99957066e-01 -2.34985618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520371743 meters 0.02347102425846083 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.02, Z:-0.24 [[ 9.99571810e-01 2.79617860e-02 8.62180219e-03 1.71015930e+01] [-2.79589530e-02 9.99608971e-01 -4.48972669e-04 -1.01691084e+00] [-8.63098490e-03 2.07723861e-04 9.99962731e-01 -2.36608085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550371743 meters 0.021802887379718205 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.01, Z:-0.24 [[ 9.99522415e-01 2.98672028e-02 7.93041235e-03 1.71304649e+01] [-2.98648660e-02 9.99553860e-01 -4.12943898e-04 -1.01204227e+00] [-7.93920776e-03 1.75905980e-04 9.99968469e-01 -2.36515519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580371742999997 meters 0.0215670715914388 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.01, Z:-0.24 [[ 9.99494061e-01 3.09198126e-02 7.45565023e-03 1.71586986e+01] [-3.09177782e-02 9.99521856e-01 -3.87996668e-04 -1.01171541e+00] [-7.46408214e-03 1.57288226e-04 9.99972131e-01 -2.37546277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.610371742999998 meters 0.021118992314001557 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.01, Z:-0.24 [[ 9.99457656e-01 3.22264478e-02 6.77121423e-03 1.71872558e+01] [-3.22248055e-02 9.99480584e-01 -3.51523817e-04 -1.00969321e+00] [-6.77902552e-03 1.33132108e-04 9.99977013e-01 -2.38761658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640371743 meters 0.02088960483854473 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.01, Z:-0.24 [[ 9.99469852e-01 3.19708724e-02 6.15448950e-03 1.72164039e+01] [-3.19695130e-02 9.99488794e-01 -3.19156996e-04 -1.01111192e+00] [-6.16154701e-03 1.22231763e-04 9.99981010e-01 -2.39807629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670371742999997 meters 0.021375021438153893 Centerline is valid? [True, True] Translation: X:17.24, Y:-1.01, Z:-0.24 [[ 9.99505164e-01 3.09489052e-02 5.62079486e-03 1.72437820e+01] [-3.09477553e-02 9.99520961e-01 -2.91473631e-04 -1.01360569e+00] [-5.62712307e-03 1.17378416e-04 9.99984161e-01 -2.41395786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700371742999998 meters 0.021258720009629327 Centerline is valid? [True, True] Translation: X:17.27, Y:-1.02, Z:-0.24 [[ 9.99577649e-01 2.86547114e-02 4.84051162e-03 1.72727954e+01] [-2.86538348e-02 9.99589363e-01 -2.50359347e-04 -1.01519335e+00] [-4.84569791e-03 1.11554387e-04 9.99988253e-01 -2.42472852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.730371743 meters 0.021445064787526006 Centerline is valid? [True, True] Translation: X:17.30, Y:-1.02, Z:-0.24 [[ 9.99614934e-01 2.73474961e-02 4.70086576e-03 1.73012648e+01] [-2.73466564e-02 9.99625981e-01 -2.42821137e-04 -1.01762573e+00] [-4.70574810e-03 1.14174674e-04 9.99988921e-01 -2.43413980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760371742999997 meters 0.022091490113199056 Centerline is valid? [True, True] Translation: X:17.33, Y:-1.02, Z:-0.24 [[ 9.99652422e-01 2.59036543e-02 4.90270832e-03 1.73289633e+01] [-2.59027248e-02 9.99664436e-01 -2.53007848e-04 -1.02077589e+00] [-4.90761698e-03 1.25926403e-04 9.99987950e-01 -2.44437959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790371742999998 meters 0.02207495115180249 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.02, Z:-0.24 [[ 9.99693604e-01 2.40763450e-02 5.74691674e-03 1.73580329e+01] [-2.40750428e-02 9.99710110e-01 -2.95685877e-04 -1.02316698e+00] [-5.75236980e-03 1.57238014e-04 9.99983443e-01 -2.43665713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820371743 meters 0.022283629520504444 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.02, Z:-0.24 [[ 9.99723691e-01 2.26499877e-02 6.28644881e-03 1.73867611e+01] [-2.26484046e-02 9.99743440e-01 -3.22909154e-04 -1.02452231e+00] [-6.29214985e-03 1.80441895e-04 9.99980188e-01 -2.43209324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850371742999997 meters 0.02313042046262344 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.03, Z:-0.24 [[ 9.99753916e-01 2.10758585e-02 6.92213841e-03 1.74148475e+01] [-2.10739047e-02 9.99777858e-01 -3.55083066e-04 -1.02799016e+00] [-6.92808439e-03 2.09119201e-04 9.99975979e-01 -2.43332908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880371742999998 meters 0.023455995005120897 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.03, Z:-0.24 [[ 9.99824292e-01 1.64818294e-02 8.92943993e-03 1.74441642e+01] [-1.64784067e-02 9.99864118e-01 -4.56739606e-04 -1.03125208e+00] [-8.93575448e-03 3.09516410e-04 9.99960027e-01 -2.41919333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.910371743 meters 0.02444937160780984 Centerline is valid? [True, True] Translation: X:17.47, Y:-1.04, Z:-0.24 [[ 9.99852232e-01 1.42392012e-02 9.63121294e-03 1.74727166e+01] [-1.42351221e-02 9.99898554e-01 -4.91946721e-04 -1.03528224e+00] [-9.63724082e-03 3.54772534e-04 9.99953498e-01 -2.41970054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940371742999996 meters 0.025216029919581166 Centerline is valid? [True, True] Translation: X:17.50, Y:-1.04, Z:-0.24 [[ 9.99883032e-01 1.16135045e-02 9.95231720e-03 1.75029214e+01] [-1.16090268e-02 9.99932484e-01 -5.07565445e-04 -1.03863369e+00] [-9.95753987e-03 3.91969359e-04 9.99950346e-01 -2.42108837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.970371742999998 meters 0.02689723325595153 Centerline is valid? [True, True] Translation: X:17.53, Y:-1.04, Z:-0.24 [[ 9.99927348e-01 7.70524213e-03 9.26970036e-03 1.75325399e+01] [-7.70119001e-03 9.99970234e-01 -4.72752174e-04 -1.04282241e+00] [-9.27306711e-03 4.01330104e-04 9.99956924e-01 -2.42964415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000371743 meters 0.027619980555287 Centerline is valid? [True, True] Translation: X:17.56, Y:-1.05, Z:-0.24 [[ 9.99941152e-01 6.75064405e-03 8.49238305e-03 1.75636567e+01] [-6.74721034e-03 9.99977144e-01 -4.32913571e-04 -1.04528331e+00] [-8.49511139e-03 3.75588200e-04 9.99963845e-01 -2.44401428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030371742999996 meters 0.027770223089260603 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.05, Z:-0.25 [[ 9.99963946e-01 4.96927377e-03 6.88564568e-03 1.75952078e+01] [-4.96697331e-03 9.99987603e-01 -3.51155895e-04 -1.04659415e+00] [-6.88730530e-03 3.16942416e-04 9.99976232e-01 -2.46237891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060371742999997 meters 0.02796338445138349 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.05, Z:-0.25 [[ 9.99973629e-01 4.23450406e-03 5.90009254e-03 1.76266907e+01] [-4.23280145e-03 9.99990996e-01 -3.01030853e-04 -1.04753417e+00] [-5.90131414e-03 2.76048994e-04 9.99982549e-01 -2.47578336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090371743 meters 0.029079230021852084 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.05, Z:-0.25 [[ 9.99981319e-01 3.58890975e-03 4.94786573e-03 1.76576248e+01] [-3.58771275e-03 9.99993533e-01 -2.50775463e-04 -1.05056375e+00] [-4.94873374e-03 2.33019257e-04 9.99987728e-01 -2.49113843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120371743 meters 0.02825851572377263 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.05, Z:-0.25 [[ 9.99989494e-01 2.77930856e-03 3.64508929e-03 1.76887616e+01] [-2.77864624e-03 9.99996122e-01 -1.86755785e-04 -1.04989751e+00] [-3.64559421e-03 1.76625409e-04 9.99993339e-01 -2.50417489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.150371742999997 meters 0.0283264724826437 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.05, Z:-0.25 [[ 9.99990636e-01 2.77627910e-03 3.31959934e-03 1.77204504e+01] [-2.77572952e-03 9.99996133e-01 -1.70154026e-04 -1.05064538e+00] [-3.32005890e-03 1.60938123e-04 9.99994476e-01 -2.51370983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180371743 meters 0.0300482199760957 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.05, Z:-0.25 [[ 9.99988964e-01 3.40934001e-03 3.23248785e-03 1.77511970e+01] [-3.40882185e-03 9.99994176e-01 -1.65794174e-04 -1.05367427e+00] [-3.23303427e-03 1.54773369e-04 9.99994762e-01 -2.52473724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210371743 meters 0.029325208126829976 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.05, Z:-0.25 [[ 9.99980165e-01 5.27534592e-03 3.44101311e-03 1.77821944e+01] [-5.27476858e-03 9.99986073e-01 -1.76835983e-04 -1.05103999e+00] [-3.44189805e-03 1.58681928e-04 9.99994064e-01 -2.52928105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240371742999997 meters 0.027828918212406514 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.05, Z:-0.25 [[ 9.99971907e-01 6.39762811e-03 3.90587977e-03 1.78129255e+01] [-6.39689171e-03 9.99979519e-01 -2.01000321e-04 -1.04840571e+00] [-3.90708570e-03 1.76009184e-04 9.99992352e-01 -2.52571217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.270371743 meters 0.027672301863974784 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.05, Z:-0.25 [[ 9.99960565e-01 7.67400831e-03 4.46958196e-03 1.78420857e+01] [-7.67305599e-03 9.99970535e-01 -2.30176551e-04 -1.04867452e+00] [-4.47121664e-03 1.95872122e-04 9.99989985e-01 -2.52907404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300371743 meters 0.027952735048805796 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.05, Z:-0.25 [[ 9.99939828e-01 9.20602871e-03 5.96573066e-03 1.78711624e+01] [-9.20435961e-03 9.99957592e-01 -3.07177294e-04 -1.04780516e+00] [-5.96830554e-03 2.52248080e-04 9.99982158e-01 -2.52525567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330371742999997 meters 0.028096563844772895 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.05, Z:-0.25 [[ 9.99931894e-01 9.83439742e-03 6.28427879e-03 1.79008930e+01] [-9.83255925e-03 9.99951607e-01 -3.23332173e-04 -1.04750312e+00] [-6.28715445e-03 2.61519608e-04 9.99980201e-01 -2.52477366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360371742999998 meters 0.029016027741646223 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.05, Z:-0.25 [[ 9.99932127e-01 9.62550455e-03 6.56434762e-03 1.79305161e+01] [-9.62349685e-03 9.99953636e-01 -3.37366430e-04 -1.04585438e+00] [-6.56729059e-03 2.74171553e-04 9.99978398e-01 -2.52251405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390371743 meters 0.029016027741646223 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.05, Z:-0.25 [[ 9.99932451e-01 9.59176176e-03 6.56434691e-03 1.79596555e+01] [-9.58975325e-03 9.99953960e-01 -3.37380407e-04 -1.04731850e+00] [-6.56728076e-03 2.74407150e-04 9.99978398e-01 -2.52661283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420371742999997 meters 0.029874495570699554 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.05, Z:-0.25 [[ 9.99937904e-01 8.67636842e-03 6.99342246e-03 1.79890821e+01] [-8.67406912e-03 9.99962315e-01 -3.59045648e-04 -1.04837159e+00] [-6.99627413e-03 2.98361923e-04 9.99975481e-01 -2.52576753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.450371742999998 meters 0.02986827905355015 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.05, Z:-0.25 [[ 9.99946248e-01 7.31022184e-03 7.35263903e-03 1.80198237e+01] [-7.30764521e-03 9.99973228e-01 -3.77240322e-04 -1.04824796e+00] [-7.35519989e-03 3.23489567e-04 9.99972898e-01 -2.52386624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480371743 meters 0.031862675721691096 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.05, Z:-0.25 [[ 9.99955695e-01 5.75472975e-03 7.44925190e-03 1.80502330e+01] [-5.75204271e-03 9.99983384e-01 -3.82086542e-04 -1.05185218e+00] [-7.45132693e-03 3.39221198e-04 9.99972181e-01 -2.53263830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.510371742999997 meters 0.032684725343767776 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.05, Z:-0.25 [[ 9.99961402e-01 2.28184112e-03 8.48453706e-03 1.80812227e+01] [-2.27822905e-03 9.99997310e-01 -4.35364441e-04 -1.05333607e+00] [-8.48550767e-03 4.16017918e-04 9.99963911e-01 -2.53310015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540371742999998 meters 0.03368291508045822 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.06, Z:-0.25 [[ 9.99964663e-01 8.79895866e-04 8.36049776e-03 1.81133423e+01] [-8.76340998e-04 9.99999524e-01 -4.28852034e-04 -1.05561952e+00] [-8.36087113e-03 4.21510233e-04 9.99964958e-01 -2.54092070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.570371743 meters 0.03034839550827638 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.05, Z:-0.26 [[ 9.99982254e-01 -8.92575619e-04 5.89032979e-03 1.81459764e+01] [ 8.94371297e-04 9.99999554e-01 -3.02224788e-04 -1.04954529e+00] [-5.89005741e-03 3.07487567e-04 9.99982606e-01 -2.56284214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600371742999997 meters 0.02973581527844637 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.05, Z:-0.26 [[ 9.99990853e-01 -9.83020138e-04 4.16272835e-03 1.81783323e+01] [ 9.83917707e-04 9.99999493e-01 -2.13578042e-04 -1.04862140e+00] [-4.16251629e-03 2.17671871e-04 9.99991313e-01 -2.57909006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.630371742999998 meters 0.030912521862976494 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.05, Z:-0.26 [[ 9.99997947e-01 -1.13060453e-04 2.02322802e-03 1.82099210e+01] [ 1.13268686e-04 9.99999988e-01 -1.02806995e-04 -1.04949712e+00] [-2.02321637e-03 1.03035952e-04 9.99997948e-01 -2.60398470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660371743 meters 0.02925126756068398 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.05, Z:-0.26 [[ 9.99996756e-01 1.02248755e-03 2.33302922e-03 1.82414779e+01] [-1.02221004e-03 9.99999470e-01 -1.20136606e-04 -1.04703095e+00] [-2.33315082e-03 1.17751370e-04 9.99997271e-01 -2.60173198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.690371742999996 meters 0.029014445659198116 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.05, Z:-0.26 [[ 9.99991376e-01 2.61481657e-03 3.22660251e-03 1.82726466e+01] [-2.61429240e-03 9.99996569e-01 -1.66658962e-04 -1.04661670e+00] [-3.22702723e-03 1.58222242e-04 9.99994781e-01 -2.59604744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720371742999998 meters 0.027508447184276235 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.04, Z:-0.26 [[ 9.99976365e-01 5.02968672e-03 4.68737775e-03 1.83036715e+01] [-5.02860550e-03 9.99987327e-01 -2.42424800e-04 -1.04404801e+00] [-4.68853767e-03 2.18848097e-04 9.99988985e-01 -2.58295701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750371743 meters 0.028815669319931788 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.05, Z:-0.26 [[ 9.99947600e-01 7.77904250e-03 6.65465081e-03 1.83332600e+01] [-7.77692237e-03 9.99969700e-01 -3.44411162e-04 -1.04548935e+00] [-6.65712837e-03 2.92640412e-04 9.99977798e-01 -2.57959089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780371742999996 meters 0.026020767446440666 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.04, Z:-0.26 [[ 9.99855198e-01 1.43731290e-02 9.11021036e-03 1.83646111e+01] [-1.43694317e-02 9.99896643e-01 -4.71167522e-04 -1.03790050e+00] [-9.11604091e-03 3.40190750e-04 9.99958390e-01 -2.55878836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.810371742999997 meters 0.02414947259280982 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.03, Z:-0.26 [[ 9.99748951e-01 2.02696913e-02 9.54848778e-03 1.83946892e+01] [-2.02658979e-02 9.99794504e-01 -4.93870351e-04 -1.03258261e+00] [-9.55653620e-03 3.00237686e-04 9.99954290e-01 -2.56740954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840371743 meters 0.023908250707428733 Centerline is valid? [True, True] Translation: X:18.42, Y:-1.03, Z:-0.26 [[ 9.99704085e-01 2.26306659e-02 8.92162369e-03 1.84231031e+01] [-2.26274471e-02 9.99743860e-01 -4.61574295e-04 -1.03232219e+00] [-8.92978424e-03 2.59564140e-04 9.99960095e-01 -2.58006152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870371743 meters 0.02342097694724281 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.03, Z:-0.26 [[ 9.99682717e-01 2.38309563e-02 8.15790465e-03 1.84519087e+01] [-2.38283090e-02 9.99715977e-01 -4.21570016e-04 -1.03179539e+00] [-8.16563403e-03 2.27047187e-04 9.99966635e-01 -2.59512679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900371742999997 meters 0.023257151202471446 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.03, Z:-0.26 [[ 9.99670356e-01 2.47483743e-02 6.83348982e-03 1.84810815e+01] [-2.47465404e-02 9.99693695e-01 -3.52802327e-04 -1.03173413e+00] [-6.84012797e-03 1.83580796e-04 9.99976589e-01 -2.61734094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.930371743 meters 0.023709854202650347 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.03, Z:-0.26 [[ 9.99685449e-01 2.43466411e-02 6.02024924e-03 1.85091733e+01] [-2.43452115e-02 9.99703563e-01 -3.10645504e-04 -1.03365966e+00] [-6.02602779e-03 1.63983549e-04 9.99981830e-01 -2.62941637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960371743 meters 0.023808025311444457 Centerline is valid? [True, True] Translation: X:18.54, Y:-1.04, Z:-0.26 [[ 9.99700289e-01 2.39266925e-02 5.18128471e-03 1.85376829e+01] [-2.39256303e-02 9.99713706e-01 -2.66903307e-04 -1.03543014e+00] [-5.18618745e-03 1.42857811e-04 9.99986541e-01 -2.64085097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990371742999997 meters 0.024651070485959003 Centerline is valid? [True, True] Translation: X:18.57, Y:-1.04, Z:-0.27 [[ 9.99727308e-01 2.29103366e-02 4.51958743e-03 1.85650493e+01] [-2.29095181e-02 9.99737515e-01 -2.32785520e-04 -1.03805052e+00] [-4.52373431e-03 1.29180471e-04 9.99989760e-01 -2.65496368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020371743 meters 0.02383739002345588 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.04, Z:-0.27 [[ 9.99737176e-01 2.24481768e-02 4.65387827e-03 1.85938009e+01] [-2.24473037e-02 9.99747999e-01 -2.39764974e-04 -1.03758378e+00] [-4.65808778e-03 1.35234939e-04 9.99989142e-01 -2.65317715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050371743 meters 0.023669278805184477 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.04, Z:-0.27 [[ 9.99739685e-01 2.23422008e-02 4.62475585e-03 1.86213835e+01] [-2.23413418e-02 9.99750373e-01 -2.37329258e-04 -1.03818063e+00] [-4.62890385e-03 1.33944226e-04 9.99989278e-01 -2.65299024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080371742999997 meters 0.0235254104873374 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.04, Z:-0.27 [[ 9.99737380e-01 2.23393348e-02 5.11122406e-03 1.86497869e+01] [-2.23382908e-02 9.99750435e-01 -2.61260848e-04 -1.03947865e+00] [-5.11578488e-03 1.47016226e-04 9.99986903e-01 -2.65093447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110371742999998 meters 0.023429570581533832 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.04, Z:-0.26 [[ 9.99735384e-01 2.21313498e-02 6.27422225e-03 1.86781763e+01] [-2.21297767e-02 9.99755055e-01 -3.20046232e-04 -1.04069640e+00] [-6.27976846e-03 1.81114406e-04 9.99980266e-01 -2.64749948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140371743 meters 0.024309504171032604 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.05, Z:-0.26 [[ 9.99743215e-01 2.12074387e-02 7.98427269e-03 1.87055426e+01] [-2.12048678e-02 9.99775069e-01 -4.06527310e-04 -1.04559108e+00] [-7.99109818e-03 2.37117474e-04 9.99968043e-01 -2.63951254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170371742999997 meters 0.02401707553009266 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.05, Z:-0.26 [[ 9.99764430e-01 1.98268617e-02 8.83061296e-03 1.87339526e+01] [-1.98236720e-02 9.99803391e-01 -4.48602147e-04 -1.04623423e+00] [-8.83777116e-03 2.73441295e-04 9.99960909e-01 -2.64033431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200371742999998 meters 0.02501778330991399 Centerline is valid? [True, True] Translation: X:18.76, Y:-1.05, Z:-0.26 [[ 9.99795482e-01 1.82910477e-02 8.62739232e-03 1.87618002e+01] [-1.82879503e-02 9.99832666e-01 -4.37772670e-04 -1.05102793e+00] [-8.63395598e-03 2.79905815e-04 9.99962688e-01 -2.64752593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.230371743 meters 0.025325170043942306 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.05, Z:-0.27 [[ 9.99832683e-01 1.60137569e-02 8.84114401e-03 1.87915017e+01] [-1.60104250e-02 9.99871725e-01 -4.47515470e-04 -1.05409645e+00] [-8.84717631e-03 3.05890120e-04 9.99960816e-01 -2.65019152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260371742999997 meters 0.025930753856538855 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.06, Z:-0.27 [[ 9.99913061e-01 1.05006669e-02 7.97531387e-03 1.88213190e+01] [-1.04977832e-02 9.99944815e-01 -4.03352426e-04 -1.05808054e+00] [-7.97910922e-03 3.19594243e-04 9.99968115e-01 -2.66278018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.290371742999998 meters 0.028083618769931814 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.06, Z:-0.27 [[ 9.99946010e-01 7.43531509e-03 7.25904290e-03 1.88504665e+01] [-7.43284631e-03 9.99972309e-01 -3.67016806e-04 -1.06410418e+00] [-7.26157077e-03 3.13041640e-04 9.99973585e-01 -2.68131922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320371743 meters 0.029717401137331532 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.07, Z:-0.27 [[ 9.99990344e-01 6.71597160e-04 4.34281947e-03 1.88805179e+01] [-6.70650692e-04 9.99999751e-01 -2.19391370e-04 -1.06908676e+00] [-4.34296573e-03 2.16476737e-04 9.99990546e-01 -2.70535642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.350371742999997 meters 0.03309685116735972 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.08, Z:-0.27 [[ 9.99992027e-01 -2.37497685e-03 3.21016429e-03 1.89101538e+01] [ 2.37550975e-03 9.99997165e-01 -1.62202991e-04 -1.07596603e+00] [-3.20976996e-03 1.69827475e-04 9.99994834e-01 -2.73117866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380371742999998 meters 0.03121719221933364 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.08, Z:-0.27 [[ 9.99988092e-01 -4.51377961e-03 1.85538036e-03 1.89413313e+01] [ 4.51396009e-03 9.99989808e-01 -9.31010925e-05 -1.07501211e+00] [-1.85494121e-03 1.01475097e-04 9.99998274e-01 -2.73975542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410371743 meters 0.03395885618014572 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.08, Z:-0.28 [[ 9.99961806e-01 -8.73933677e-03 -1.02471765e-04 1.89708820e+01] [ 8.73933733e-03 9.99961811e-01 4.97448719e-06 -1.08028681e+00] [ 1.02424378e-04 -5.86983252e-06 9.99999995e-01 -2.76598298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440371742999996 meters 0.03501854029469233 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.08, Z:-0.28 [[ 9.99950460e-01 -9.95360356e-03 -5.81505552e-05 1.90024615e+01] [ 9.95360379e-03 9.99950462e-01 3.69492594e-06 -1.08356864e+00] [ 5.81108966e-05 -4.27355048e-06 9.99999998e-01 -2.77204633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470371742999998 meters 0.037044602517485745 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.09, Z:-0.28 [[ 9.99941589e-01 -1.07951238e-02 5.31923280e-04 1.90331652e+01] [ 1.07951393e-02 9.99941730e-01 -2.62043508e-05 -1.08722888e+00] [-5.31609406e-04 3.19450061e-05 9.99999858e-01 -2.78042185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500371743 meters 0.03677099915585184 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.09, Z:-0.28 [[ 9.99950687e-01 -9.55691878e-03 2.69965468e-03 1.90649050e+01] [ 9.55732176e-03 9.99954318e-01 -1.36406945e-04 -1.08531928e+00] [-2.69822773e-03 1.62201687e-04 9.99996347e-01 -2.76048302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530371742999996 meters 0.03664073139972737 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.08, Z:-0.27 [[ 9.99960064e-01 -8.22285345e-03 3.50073958e-03 1.90967752e+01] [ 8.22352323e-03 9.99966171e-01 -1.76973383e-04 -1.08461040e+00] [-3.49916592e-03 2.05754728e-04 9.99993857e-01 -2.74995299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560371742999997 meters 0.033711710489172445 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.08, Z:-0.27 [[ 9.99964928e-01 -6.59410982e-03 5.16346503e-03 1.91288613e+01] [ 6.59554837e-03 9.99978215e-01 -2.61623120e-04 -1.08002473e+00] [-5.16162737e-03 2.95669828e-04 9.99986635e-01 -2.73408406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590371743 meters 0.03540766208481148 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.08, Z:-0.27 [[ 9.99969596e-01 -3.20772844e-03 7.10751168e-03 1.91583327e+01] [ 3.21037709e-03 9.99994781e-01 -3.61277346e-04 -1.08043748e+00] [-7.10631571e-03 3.84084155e-04 9.99974676e-01 -2.72655099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620371743 meters 0.03156024188920955 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.08, Z:-0.27 [[ 9.99969890e-01 -1.60619838e-03 7.59199911e-03 1.91904887e+01] [ 1.60916981e-03 9.99998631e-01 -3.85296512e-04 -1.07513945e+00] [-7.59136986e-03 3.97501727e-04 9.99971106e-01 -2.72948584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.650371742999997 meters 0.03043483533193848 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.07, Z:-0.28 [[ 9.99980402e-01 1.21000037e-03 6.14260597e-03 1.92222479e+01] [-1.20810708e-03 9.99999222e-01 -3.11923198e-04 -1.07296449e+00] [-6.14297862e-03 3.04496159e-04 9.99981085e-01 -2.75319096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680371743 meters 0.03382442099315841 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.08, Z:-0.28 [[ 9.99984375e-01 2.36502305e-03 5.06529302e-03 1.92536591e+01] [-2.36375049e-03 9.99997173e-01 -2.57203081e-04 -1.07878915e+00] [-5.06588699e-03 2.45225973e-04 9.99987138e-01 -2.78040157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710371743 meters 0.03068230299322163 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.07, Z:-0.28 [[ 9.99989333e-01 2.90663164e-03 3.58975538e-03 1.92856556e+01] [-2.90599477e-03 9.99995761e-01 -1.82616100e-04 -1.07391740e+00] [-3.59027096e-03 1.72182342e-04 9.99993540e-01 -2.79004403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740371742999997 meters 0.030588451670492015 Centerline is valid? [True, True] Translation: X:19.32, Y:-1.07, Z:-0.28 [[ 9.99991114e-01 3.49551621e-03 2.35663272e-03 1.93165584e+01] [-3.49524261e-03 9.99993884e-01 -1.20205865e-04 -1.07444351e+00] [-2.35703849e-03 1.11967794e-04 9.99997216e-01 -2.80619021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770371743 meters 0.031830384298550014 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.07, Z:-0.28 [[ 9.99995000e-01 3.15154896e-03 -2.58546010e-04 1.93464268e+01] [-3.15154572e-03 9.99995034e-01 1.29419024e-05 -1.07460960e+00] [ 2.58585513e-04 -1.21270181e-05 9.99999966e-01 -2.84415760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800371743 meters 0.032055095014397676 Centerline is valid? [True, True] Translation: X:19.38, Y:-1.08, Z:-0.29 [[ 9.99994986e-01 3.01940762e-03 -9.54473550e-04 1.93758048e+01] [-3.01936302e-03 9.99995441e-01 4.81560853e-05 -1.07545445e+00] [ 9.54614600e-04 -4.52739417e-05 9.99999543e-01 -2.85393881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830371742999997 meters 0.030374068833717807 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.07, Z:-0.29 [[ 9.99994359e-01 3.03627176e-03 -1.43625714e-03 1.94044140e+01] [-3.03617135e-03 9.99995388e-01 7.20912736e-05 -1.07235945e+00] [ 1.43646941e-03 -6.77301442e-05 9.99998966e-01 -2.85367284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860371742999998 meters 0.032038589625871874 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.07, Z:-0.29 [[ 9.99984167e-01 5.46525805e-03 -1.34074395e-03 1.94335906e+01] [-5.46517220e-03 9.99985064e-01 6.76837555e-05 -1.07390326e+00] [ 1.34109383e-03 -6.03552873e-05 9.99999099e-01 -2.86607164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890371743 meters 0.03174138480949609 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.07, Z:-0.29 [[ 9.99973026e-01 7.33883923e-03 -2.96864434e-04 1.94630469e+01] [-7.33883553e-03 9.99973070e-01 1.35521717e-05 -1.07297242e+00] [ 2.96955897e-04 -1.13731669e-05 9.99999956e-01 -2.86206716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920371742999997 meters 0.02893190734283231 Centerline is valid? [True, True] Translation: X:19.49, Y:-1.07, Z:-0.28 [[ 9.99958932e-01 9.04006761e-03 6.41537436e-04 1.94920699e+01] [-9.04004797e-03 9.99959137e-01 -3.34969258e-05 -1.06662742e+00] [-6.41814035e-04 2.76960209e-05 9.99999794e-01 -2.83930755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950371742999998 meters 0.027544577198232258 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.06, Z:-0.28 [[ 9.99907519e-01 1.30980581e-02 3.65973256e-03 1.95209309e+01] [-1.30974650e-02 9.99914207e-01 -1.85988719e-04 -1.06173158e+00] [-3.66185468e-03 1.38038299e-04 9.99993286e-01 -2.81291150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980371743 meters 0.026956720237326263 Centerline is valid? [True, True] Translation: X:19.55, Y:-1.06, Z:-0.28 [[ 9.99877878e-01 1.46956771e-02 5.31656692e-03 1.95497225e+01] [-1.46944504e-02 9.99891994e-01 -2.69728571e-04 -1.06041820e+00] [-5.31995654e-03 1.91571602e-04 9.99985831e-01 -2.80323437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010371742999997 meters 0.02578274912000724 Centerline is valid? [True, True] Translation: X:19.58, Y:-1.06, Z:-0.28 [[ 9.99857261e-01 1.56280086e-02 6.42058572e-03 1.95790852e+01] [-1.56262428e-02 9.99877850e-01 -3.25105245e-04 -1.05766316e+00] [-6.42488219e-03 2.24729209e-04 9.99979335e-01 -2.79561889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040371742999998 meters 0.024962295306915953 Centerline is valid? [True, True] Translation: X:19.61, Y:-1.06, Z:-0.28 [[ 9.99832033e-01 1.66659308e-02 7.62572289e-03 1.96076897e+01] [-1.66634756e-02 9.99861080e-01 -3.85392866e-04 -1.05707099e+00] [-7.63108646e-03 2.58257085e-04 9.99970849e-01 -2.79482390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070371743 meters 0.024901810488109452 Centerline is valid? [True, True] Translation: X:19.64, Y:-1.06, Z:-0.28 [[ 9.99811254e-01 1.72088315e-02 9.01732963e-03 1.96350418e+01] [-1.72054273e-02 9.99851872e-01 -4.54967466e-04 -1.05872422e+00] [-9.02382337e-03 2.99734584e-04 9.99959240e-01 -2.79992491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100371742999997 meters 0.02498200224149126 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.06, Z:-0.28 [[ 9.99802967e-01 1.74461624e-02 9.46881722e-03 1.96640978e+01] [-1.74424289e-02 9.99847756e-01 -4.76744344e-04 -1.06042125e+00] [-9.47569300e-03 3.11491238e-04 9.99955056e-01 -2.80394836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.130371742999998 meters 0.025632876954308877 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.06, Z:-0.28 [[ 9.99807414e-01 1.71884754e-02 9.47056307e-03 1.96919604e+01] [-1.71847345e-02 9.99852218e-01 -4.76243055e-04 -1.06264705e+00] [-9.47734938e-03 3.13402224e-04 9.99955040e-01 -2.81643153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160371743 meters 0.02538803664345936 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.06, Z:-0.28 [[ 9.99839875e-01 1.62551568e-02 7.48292803e-03 1.97202584e+01] [-1.62527981e-02 9.99867844e-01 -3.75909125e-04 -1.06238922e+00] [-7.48804958e-03 2.54230414e-04 9.99971932e-01 -2.83376775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190371742999996 meters 0.026153864191608894 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.07, Z:-0.29 [[ 9.99865685e-01 1.51167408e-02 6.33208384e-03 1.97477300e+01] [-1.51150315e-02 9.99885711e-01 -3.17715248e-04 -1.06525004e+00] [-6.33616297e-03 2.21962927e-04 9.99979902e-01 -2.85044539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220371742999998 meters 0.026155376775081788 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.07, Z:-0.29 [[ 9.99893360e-01 1.38042452e-02 4.76559879e-03 1.97768307e+01] [-1.38032634e-02 9.99904702e-01 -2.38850160e-04 -1.06619276e+00] [-4.76844178e-03 1.73043873e-04 9.99988616e-01 -2.86638473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250371743 meters 0.027709955547763 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.07, Z:-0.29 [[ 9.99929810e-01 1.16892057e-02 1.93348247e-03 1.98051082e+01] [-1.16890397e-02 9.99931676e-01 -9.71423451e-05 -1.07190655e+00] [-1.93448589e-03 7.45349733e-05 9.99998126e-01 -2.91101591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280371742999996 meters 0.026852957934823788 Centerline is valid? [True, True] Translation: X:19.83, Y:-1.07, Z:-0.29 [[ 9.99937064e-01 1.11920771e-02 7.78120855e-04 1.98340076e+01] [-1.11920496e-02 9.99937366e-01 -3.97455244e-05 -1.07251248e+00] [-7.78516953e-04 3.10342558e-05 9.99999696e-01 -2.92089401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310371742999997 meters 0.026852957934823788 Centerline is valid? [True, True] Translation: X:19.86, Y:-1.07, Z:-0.29 [[ 9.99937863e-01 1.11204572e-02 7.78123706e-04 1.98622957e+01] [-1.11204297e-02 9.99938165e-01 -3.96889411e-05 -1.07386157e+00] [-7.78516950e-04 3.10334049e-05 9.99999696e-01 -2.92487595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340371743 meters 0.026483717456580784 Centerline is valid? [True, True] Translation: X:19.89, Y:-1.08, Z:-0.29 [[ 9.99944145e-01 1.05686965e-02 -1.02133572e-04 1.98912768e+01] [-1.05686962e-02 9.99944150e-01 4.06061568e-06 -1.07585337e+00] [ 1.02170783e-04 -2.98097018e-06 9.99999995e-01 -2.93015326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370371743 meters 0.02775675268491063 Centerline is valid? [True, True] Translation: X:19.92, Y:-1.08, Z:-0.29 [[ 9.99948498e-01 1.01471783e-02 1.89039122e-04 1.99186495e+01] [-1.01471764e-02 9.99948516e-01 -1.07456525e-05 -1.07920359e+00] [-1.89138427e-04 8.82688574e-06 9.99999982e-01 -2.93437877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400371742999997 meters 0.02741492016268775 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.08, Z:-0.29 [[ 9.99950784e-01 9.79759925e-03 1.56118646e-03 1.99470676e+01] [-9.79748905e-03 9.99952000e-01 -7.82190964e-05 -1.08004466e+00] [-1.56187788e-03 6.29195396e-05 9.99998778e-01 -2.92316499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.430371743 meters 0.027308925441452497 Centerline is valid? [True, True] Translation: X:19.98, Y:-1.08, Z:-0.29 [[ 9.99935886e-01 1.05140949e-02 4.20453568e-03 1.99761500e+01] [-1.05133102e-02 9.99944712e-01 -2.08696456e-04 -1.08148342e+00] [-4.20649747e-03 1.64479488e-04 9.99991139e-01 -2.89980722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460371743 meters 0.02731988021655142 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.08, Z:-0.29 [[ 9.99922606e-01 1.08325299e-02 6.11866139e-03 2.00051427e+01] [-1.08308794e-02 9.99941298e-01 -3.02820531e-04 -1.08365544e+00] [-6.12158253e-03 2.36526611e-04 9.99981235e-01 -2.88956297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490371742999997 meters 0.026621253998317832 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.09, Z:-0.29 [[ 9.99914536e-01 1.06997594e-02 7.51242267e-03 2.00339809e+01] [-1.06972731e-02 9.99942714e-01 -3.71053927e-04 -1.08514516e+00] [-7.51596249e-03 2.90659778e-04 9.99971713e-01 -2.88230891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520371743 meters 0.02816838312078697 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.09, Z:-0.29 [[ 9.99923116e-01 9.39978751e-03 8.08735252e-03 2.00625013e+01] [-9.39686987e-03 9.99955769e-01 -3.98689344e-04 -1.09134489e+00] [-8.09074240e-03 3.22662892e-04 9.99967217e-01 -2.88505133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550371743 meters 0.028136415120717417 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.09, Z:-0.29 [[ 9.99933769e-01 8.82669493e-03 7.38558268e-03 2.00930399e+01] [-8.82425110e-03 9.99961000e-01 -3.63414623e-04 -1.09400321e+00] [-7.38850239e-03 2.98218318e-04 9.99972660e-01 -2.89495488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580371742999997 meters 0.027516598779220042 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.10, Z:-0.29 [[ 9.99947615e-01 7.83023326e-03 6.59203867e-03 2.01234207e+01] [-7.82826476e-03 9.99969306e-01 -3.24367535e-04 -1.09539145e+00] [-6.59437621e-03 2.72746319e-04 9.99978220e-01 -2.89987264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610371742999998 meters 0.02807480734886834 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.10, Z:-0.29 [[ 9.99976923e-01 5.25816639e-03 4.30166179e-03 2.01537433e+01] [-5.25730440e-03 9.99986158e-01 -2.11667361e-04 -1.09973015e+00] [-4.30271523e-03 1.89047331e-04 9.99990725e-01 -2.91676990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640371743 meters 0.028389434112027663 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.10, Z:-0.29 [[ 9.99988788e-01 3.35036633e-03 3.34636111e-03 2.01837650e+01] [-3.34983339e-03 9.99994376e-01 -1.64852572e-04 -1.10216926e+00] [-3.34689460e-03 1.53640971e-04 9.99994387e-01 -2.92888383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670371742999997 meters 0.0320575438759149 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.11, Z:-0.29 [[ 9.99994437e-01 2.02001295e-03 2.65423118e-03 2.02134623e+01] [-2.01967406e-03 9.99997952e-01 -1.30353347e-04 -1.11089491e+00] [-2.65448906e-03 1.24991940e-04 9.99996469e-01 -2.94801445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700371742999998 meters 0.02944171259118006 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.11, Z:-0.29 [[ 9.99997181e-01 9.07694701e-04 2.19391528e-03 2.02442629e+01] [-9.07460039e-04 9.99999582e-01 -1.07953472e-04 -1.10909813e+00] [-2.19401236e-03 1.05962277e-04 9.99997588e-01 -2.94374985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.730371743 meters 0.0343120048523128 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.12, Z:-0.30 [[ 9.99995512e-01 -6.34601059e-04 2.92800304e-03 2.02742946e+01] [ 6.35024469e-04 9.99999788e-01 -1.43679690e-04 -1.12079187e+00] [-2.92791124e-03 1.45538399e-04 9.99995703e-01 -2.96046377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760371742999997 meters 0.03089575506730841 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.12, Z:-0.29 [[ 9.99993932e-01 -1.02577174e-03 3.32928291e-03 2.03064559e+01] [ 1.02632071e-03 9.99999460e-01 -1.63187705e-04 -1.11789784e+00] [-3.32911372e-03 1.66603626e-04 9.99994445e-01 -2.94682801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.790371742999998 meters 0.029830113117778206 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.12, Z:-0.29 [[ 9.99988909e-01 -1.52614209e-03 4.45562490e-03 2.03383104e+01] [ 1.52713309e-03 9.99998810e-01 -2.19023861e-04 -1.11881781e+00] [-4.45528533e-03 2.25825764e-04 9.99990050e-01 -2.94043971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820371743 meters 0.03346738382482138 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.13, Z:-0.30 [[ 9.99987949e-01 -1.59941501e-03 4.64144529e-03 2.03687029e+01] [ 1.60049373e-03 9.99998693e-01 -2.28706530e-04 -1.12623153e+00] [-4.64107343e-03 2.36132378e-04 9.99989202e-01 -2.95384428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850371742999997 meters 0.0342084217943614 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.13, Z:-0.30 [[ 9.99987632e-01 -1.65446757e-03 4.69033063e-03 2.03995480e+01] [ 1.65557107e-03 9.99998603e-01 -2.31397173e-04 -1.12956961e+00] [-4.68994123e-03 2.39159487e-04 9.99988974e-01 -2.96653865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880371742999998 meters 0.030300502552273085 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.13, Z:-0.30 [[ 9.99986412e-01 -1.73097619e-03 4.91726031e-03 2.04316594e+01] [ 1.73219044e-03 9.99998470e-01 -2.42688088e-04 -1.12515039e+00] [-4.91683270e-03 2.51202422e-04 9.99987881e-01 -2.96225443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910371743 meters 0.034768047983971775 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.13, Z:-0.30 [[ 9.99987507e-01 -1.92964618e-03 4.61113420e-03 2.04621455e+01] [ 1.93071814e-03 9.99998110e-01 -2.28032882e-04 -1.13402448e+00] [-4.61068547e-03 2.36932834e-04 9.99989343e-01 -2.98137045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940371742999996 meters 0.031551326776161966 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.13, Z:-0.30 [[ 9.99984900e-01 -2.68778838e-03 4.79322515e-03 2.04949094e+01] [ 2.68894811e-03 9.99996357e-01 -2.35524378e-04 -1.13124050e+00] [-4.79257465e-03 2.48409556e-04 9.99988485e-01 -2.98036971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970371742999998 meters 0.03144067529180882 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.13, Z:-0.30 [[ 9.99985015e-01 -3.23393396e-03 4.41718560e-03 2.05271184e+01] [ 3.23493533e-03 9.99994743e-01 -2.19573717e-04 -1.13272126e+00] [-4.41645229e-03 2.33859737e-04 9.99990220e-01 -2.98489054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000371743 meters 0.033819857527983346 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.14, Z:-0.30 [[ 9.99983839e-01 -4.86885205e-03 2.93514586e-03 2.05577158e+01] [ 4.86930201e-03 9.99988134e-01 -1.46174914e-04 -1.13857702e+00] [-2.93439933e-03 1.60464663e-04 9.99995682e-01 -3.00334368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030371742999996 meters 0.038791537091443035 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.15, Z:-0.30 [[ 9.99979063e-01 -6.02024341e-03 2.37267519e-03 2.05878689e+01] [ 6.02053830e-03 9.99981870e-01 -1.17159612e-04 -1.14841567e+00] [-2.37192684e-03 1.31441941e-04 9.99997178e-01 -3.03123361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060371742999997 meters 0.03540236539322684 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.15, Z:-0.30 [[ 9.99974112e-01 -7.00365562e-03 1.65031189e-03 2.06201401e+01] [ 7.00380016e-03 9.99975470e-01 -8.18170648e-05 -1.14573159e+00] [-1.64969838e-03 9.33734014e-05 9.99998635e-01 -3.03390521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090371743 meters 0.03725244994839393 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.15, Z:-0.31 [[ 9.99961050e-01 -8.82436875e-03 -1.72077857e-04 2.06504297e+01] [ 8.82437047e-03 9.99961064e-01 9.29531950e-06 -1.15174919e+00] [ 1.71989132e-04 -1.08134362e-05 9.99999985e-01 -3.06570193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120371742999996 meters 0.03384648768837225 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.15, Z:-0.31 [[ 9.99953052e-01 -9.60425426e-03 -1.28500655e-03 2.06828433e+01] [ 9.60434649e-03 9.99953875e-01 6.56253409e-05 -1.14830814e+00] [ 1.28431700e-03 -7.79639081e-05 9.99999172e-01 -3.06199049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150371742999997 meters 0.03509029558248626 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.15, Z:-0.31 [[ 9.99943919e-01 -1.03521743e-02 -2.23433994e-03 2.07139584e+01] [ 1.03524530e-02 9.99946406e-01 1.13221119e-04 -1.15190161e+00] [ 2.23304811e-03 -1.36345668e-04 9.99997497e-01 -3.07367068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180371743 meters 0.035016539566490326 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.15, Z:-0.31 [[ 9.99937949e-01 -1.08913938e-02 -2.33985463e-03 2.07461588e+01] [ 1.08917018e-02 9.99940677e-01 1.18936644e-04 -1.15356467e+00] [ 2.33842043e-03 -1.44414263e-04 9.99997255e-01 -3.07282250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210371743 meters 0.035719951029938926 Centerline is valid? [True, True] Translation: X:20.78, Y:-1.16, Z:-0.31 [[ 9.99936923e-01 -1.11289269e-02 -1.51570873e-03 2.07784352e+01] [ 1.11290571e-02 9.99938067e-01 7.75004739e-05 -1.15615495e+00] [ 1.51475236e-03 -9.43639943e-05 9.99998848e-01 -3.07292389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240371742999997 meters 0.035668861095777764 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.16, Z:-0.31 [[ 9.99949718e-01 -1.00239062e-02 2.86843359e-04 2.08088015e+01] [ 1.00239104e-02 9.99949759e-01 -1.31508872e-05 -1.15773835e+00] [-2.86697124e-04 1.60255181e-05 9.99999959e-01 -3.05966395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270371743 meters 0.03339109975402638 Centerline is valid? [True, True] Translation: X:20.84, Y:-1.16, Z:-0.30 [[ 9.99952432e-01 -9.51454648e-03 2.14640307e-03 2.08407494e+01] [ 9.51479948e-03 9.99954727e-01 -1.07692918e-04 -1.15610446e+00] [-2.14528124e-03 1.28110390e-04 9.99997691e-01 -3.04548327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300371743 meters 0.03234928203637993 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.16, Z:-0.30 [[ 9.99957227e-01 -8.25729299e-03 4.16658213e-03 2.08725749e+01] [ 8.25824143e-03 9.99965878e-01 -2.10478139e-04 -1.15670272e+00] [-4.16470198e-03 2.44877778e-04 9.99991298e-01 -3.03817117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.330371742999997 meters 0.03223231302690015 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.16, Z:-0.30 [[ 9.99956543e-01 -8.01578662e-03 4.76007852e-03 2.09047915e+01] [ 8.01702276e-03 9.99967834e-01 -2.40663113e-04 -1.15837676e+00] [-4.75799630e-03 2.78814312e-04 9.99988642e-01 -3.03993353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360371742999998 meters 0.03389027015189344 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.16, Z:-0.30 [[ 9.99960581e-01 -7.75148294e-03 4.33033960e-03 2.09356094e+01] [ 7.75250521e-03 9.99969925e-01 -2.19335768e-04 -1.16258660e+00] [-4.32850919e-03 2.52898102e-04 9.99990600e-01 -3.04900526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390371743 meters 0.03613315252685949 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.17, Z:-0.31 [[ 9.99961021e-01 -8.00066874e-03 3.73449419e-03 2.09661768e+01] [ 8.00143117e-03 9.99967970e-01 -1.89263454e-04 -1.16799104e+00] [-3.73286034e-03 2.19137374e-04 9.99993009e-01 -3.06251679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420371742999997 meters 0.0333383097707245 Centerline is valid? [True, True] Translation: X:21.00, Y:-1.17, Z:-0.31 [[ 9.99955410e-01 -9.25056145e-03 1.89855453e-03 2.09979229e+01] [ 9.25076023e-03 9.99957206e-01 -9.59447361e-05 -1.16679302e+00] [-1.89758574e-03 1.13503531e-04 9.99998193e-01 -3.07676446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.450371742999998 meters 0.032570998513177296 Centerline is valid? [True, True] Translation: X:21.03, Y:-1.17, Z:-0.31 [[ 9.99948313e-01 -1.01331129e-02 8.31554894e-04 2.10299213e+01] [ 1.01331508e-02 9.99948657e-01 -4.13934336e-05 -1.16818553e+00] [-8.31092756e-04 4.98175652e-05 9.99999653e-01 -3.08764423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480371743 meters 0.033204305969275025 Centerline is valid? [True, True] Translation: X:21.06, Y:-1.17, Z:-0.31 [[ 9.99939046e-01 -1.10408217e-02 -6.62785142e-05 2.10614766e+01] [ 1.10408220e-02 9.99939048e-01 4.14622994e-06 -1.17206015e+00] [ 6.62286966e-05 -4.87774649e-06 9.99999998e-01 -3.10181754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510371742999997 meters 0.034901012472102894 Centerline is valid? [True, True] Translation: X:21.09, Y:-1.18, Z:-0.31 [[ 9.99929381e-01 -1.18707170e-02 -5.64296853e-04 2.10921493e+01] [ 1.18707355e-02 9.99929540e-01 2.95982119e-05 -1.17660434e+00] [ 5.63905740e-04 -3.62947404e-05 9.99999840e-01 -3.11333964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540371742999998 meters 0.03425276328812171 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.18, Z:-0.31 [[ 9.99919155e-01 -1.26376825e-02 -1.40475069e-03 2.11241872e+01] [ 1.26377973e-02 9.99920137e-01 7.29207682e-05 -1.17748968e+00] [ 1.40371696e-03 -9.06678275e-05 9.99999011e-01 -3.11636499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570371743 meters 0.03417884413429585 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.18, Z:-0.31 [[ 9.99922854e-01 -1.22956685e-02 -1.76116202e-03 2.11566253e+01] [ 1.22958483e-02 9.99924399e-01 9.12854462e-05 -1.17961158e+00] [ 1.75990645e-03 -1.12933385e-04 9.99998445e-01 -3.12660153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600371742999997 meters 0.03401904326495527 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.18, Z:-0.31 [[ 9.99937952e-01 -1.10666840e-02 -1.27292183e-03 2.11876256e+01] [ 1.10667767e-02 9.99938759e-01 6.57980801e-05 -1.18140665e+00] [ 1.27211571e-03 -7.98811391e-05 9.99999188e-01 -3.13094631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.630371742999998 meters 0.03373460722279686 Centerline is valid? [True, True] Translation: X:21.22, Y:-1.18, Z:-0.31 [[ 9.99946639e-01 -1.02987132e-02 -8.09726633e-04 2.12197202e+01] [ 1.02987511e-02 9.99946966e-01 4.25976031e-05 -1.18267073e+00] [ 8.09244989e-04 -5.09345031e-05 9.99999671e-01 -3.13186059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660371743 meters 0.03533962567873255 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.19, Z:-0.31 [[ 9.99955055e-01 -9.48017601e-03 -1.19323271e-04 2.12506252e+01] [ 9.48017690e-03 9.99955062e-01 6.88651483e-06 -1.18666387e+00] [ 1.19252624e-04 -8.01741104e-06 9.99999993e-01 -3.13673460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690371742999996 meters 0.03558660803889464 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.19, Z:-0.31 [[ 9.99962659e-01 -8.51037281e-03 1.50111309e-03 2.12823228e+01] [ 8.51049725e-03 9.99963782e-01 -7.65322749e-05 -1.18902299e+00] [-1.50040740e-03 8.93046359e-05 9.99998870e-01 -3.12747708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720371742999998 meters 0.03647779200841218 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.19, Z:-0.31 [[ 9.99962860e-01 -8.35948596e-03 2.09701370e-03 2.13137033e+01] [ 8.35972933e-03 9.99965051e-01 -1.07315706e-04 -1.19207966e+00] [-2.09604330e-03 1.24842188e-04 9.99997796e-01 -3.12363405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750371743 meters 0.03235747769444095 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.19, Z:-0.31 [[ 9.99959044e-01 -8.47936399e-03 3.16393138e-03 2.13463780e+01] [ 8.47991957e-03 9.99964032e-01 -1.62225155e-04 -1.18860023e+00] [-3.16244201e-03 1.89048394e-04 9.99994982e-01 -3.11048241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780371742999996 meters 0.032892803200757256 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.19, Z:-0.31 [[ 9.99944093e-01 -1.00989475e-02 3.13410968e-03 2.13781967e+01] [ 1.00995013e-02 9.99948986e-01 -1.60913876e-04 -1.19347256e+00] [-3.13232473e-03 1.92557824e-04 9.99995076e-01 -3.11699452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.810371742999997 meters 0.0339147195844066 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.20, Z:-0.31 [[ 9.99932624e-01 -1.13617870e-02 2.37867971e-03 2.14091460e+01] [ 1.13621081e-02 9.99935442e-01 -1.21530355e-04 -1.19827842e+00] [-2.37714535e-03 1.48548982e-04 9.99997164e-01 -3.13081875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840371743 meters 0.034881517743061335 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.20, Z:-0.31 [[ 9.99917436e-01 -1.27175492e-02 1.83999916e-03 2.14405278e+01] [ 1.27177447e-02 9.99919122e-01 -9.46298050e-05 -1.20274008e+00] [-1.83864688e-03 1.18022632e-04 9.99998303e-01 -3.14408650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870371742999996 meters 0.03599820520609413 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.21, Z:-0.32 [[ 9.99899729e-01 -1.41355197e-02 8.47642558e-04 2.14725457e+01] [ 1.41355612e-02 9.99900087e-01 -4.30017110e-05 -1.20748314e+00] [-8.46950016e-04 5.49793024e-05 9.99999640e-01 -3.15523159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900371742999997 meters 0.035645948780010796 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.21, Z:-0.32 [[ 9.99859913e-01 -1.66773525e-02 -1.42132007e-03 2.15032327e+01] [ 1.66774750e-02 9.99860918e-01 7.43634494e-05 -1.21112028e+00] [ 1.41988220e-03 -9.80570619e-05 9.99998987e-01 -3.17149384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.930371743 meters 0.04219963392849271 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.22, Z:-0.32 [[ 9.99832007e-01 -1.80937616e-02 -2.92807922e-03 2.15328428e+01] [ 1.80942852e-02 9.99836273e-01 1.52414032e-04 -1.22305009e+00] [ 2.92484207e-03 -2.05369928e-04 9.99995702e-01 -3.20001321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960371743 meters 0.040447486777655285 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.22, Z:-0.32 [[ 9.99812526e-01 -1.89000197e-02 -4.20740902e-03 2.15646547e+01] [ 1.89011103e-02 9.99821334e-01 2.19599689e-04 -1.22367344e+00] [ 4.20250686e-03 -2.99083222e-04 9.99991125e-01 -3.20576027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990371742999997 meters 0.04180766212605388 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.23, Z:-0.32 [[ 9.99790518e-01 -1.98251914e-02 -5.08745286e-03 2.15956127e+01] [ 1.98267984e-02 9.99803394e-01 2.65641621e-04 -1.22908320e+00] [ 5.08118624e-03 -3.66453876e-04 9.99987024e-01 -3.22589304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020371743 meters 0.03854026289177604 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.23, Z:-0.32 [[ 9.99766052e-01 -2.06871712e-02 -6.31528100e-03 2.16281230e+01] [ 2.06896682e-02 9.99785891e-01 3.30305617e-04 -1.22890004e+00] [ 6.30709575e-03 -4.60889411e-04 9.99980004e-01 -3.22684239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050371743 meters 0.038949571603423515 Centerline is valid? [True, True] Translation: X:21.66, Y:-1.23, Z:-0.32 [[ 9.99769113e-01 -2.06423478e-02 -5.96776977e-03 2.16601232e+01] [ 2.06445796e-02 9.99786829e-01 3.12605601e-04 -1.23186729e+00] [ 5.96004470e-03 -4.35735522e-04 9.99982144e-01 -3.22564361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080371742999997 meters 0.03919503153332741 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.23, Z:-0.32 [[ 9.99787586e-01 -1.99166385e-02 -5.30185639e-03 2.16925751e+01] [ 1.99183924e-02 9.99801570e-01 2.78203871e-04 -1.23490632e+00] [ 5.29526346e-03 -3.83749233e-04 9.99985906e-01 -3.21973775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.110371742999998 meters 0.038719289866353174 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.24, Z:-0.32 [[ 9.99840154e-01 -1.75431064e-02 -3.45055209e-03 2.17233891e+01] [ 1.75438341e-02 9.99846079e-01 1.80721098e-04 -1.23597807e+00] [ 3.44685056e-03 -2.41228124e-04 9.99994030e-01 -3.19981607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140371743 meters 0.03517804245120564 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.23, Z:-0.32 [[ 9.99868984e-01 -1.60462537e-02 -2.12881438e-03 2.17555140e+01] [ 1.60465292e-02 9.99871240e-01 1.12402937e-04 -1.23353614e+00] [ 2.12673663e-03 -1.46548292e-04 9.99997728e-01 -3.18448511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170371742999997 meters 0.0356588742159102 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.24, Z:-0.32 [[ 9.99898296e-01 -1.42243806e-02 -1.03185049e-03 2.17854904e+01] [ 1.42244456e-02 9.99898826e-01 5.56633340e-05 -1.23668608e+00] [ 1.03095432e-03 -7.03351740e-05 9.99999466e-01 -3.18374474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200371742999998 meters 0.0356588742159102 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.24, Z:-0.32 [[ 9.99899311e-01 -1.41528380e-02 -1.03187323e-03 2.18172110e+01] [ 1.41529025e-02 9.99899841e-01 5.52293175e-05 -1.23841155e+00] [ 1.03098823e-03 -6.98277578e-05 9.99999466e-01 -3.18820126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.230371743 meters 0.034216336468286125 Centerline is valid? [True, True] Translation: X:21.85, Y:-1.24, Z:-0.32 [[ 9.99936626e-01 -1.12382853e-02 6.67315023e-04 2.18476083e+01] [ 1.12383111e-02 9.99936848e-01 -3.50663391e-05 -1.23892656e+00] [-6.66878795e-04 4.25636107e-05 9.99999777e-01 -3.17995929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260371742999997 meters 0.03473767899333947 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.24, Z:-0.32 [[ 9.99949333e-01 -9.98879458e-03 1.24717184e-03 2.18777544e+01] [ 9.98888377e-03 9.99950108e-01 -6.53086631e-05 -1.24212286e+00] [-1.24645726e-03 7.77632087e-05 9.99999220e-01 -3.18581200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.290371742999998 meters 0.03387559547924082 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.24, Z:-0.32 [[ 9.99957161e-01 -9.16855847e-03 1.27052880e-03 2.19095468e+01] [ 9.16864953e-03 9.99957965e-01 -6.58686618e-05 -1.24303403e+00] [-1.26987148e-03 7.75148734e-05 9.99999191e-01 -3.18583545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320371743 meters 0.03490702134297113 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.25, Z:-0.32 [[ 9.99966173e-01 -8.12307242e-03 1.29178203e-03 2.19409303e+01] [ 8.12316584e-03 9.99967004e-01 -6.70887450e-05 -1.24756304e+00] [-1.29119444e-03 7.75798353e-05 9.99999163e-01 -3.19350632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.350371742999997 meters 0.03466753253972577 Centerline is valid? [True, True] Translation: X:21.97, Y:-1.25, Z:-0.32 [[ 9.99972051e-01 -7.46198632e-03 4.65193326e-04 2.19728621e+01] [ 7.46199809e-03 9.99972159e-01 -2.35666209e-05 -1.25138998e+00] [-4.65004521e-04 2.70372340e-05 9.99999892e-01 -3.20865654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380371742999998 meters 0.0327383987265951 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.25, Z:-0.32 [[ 9.99973188e-01 -7.32262070e-03 -4.98820347e-05 2.20046289e+01] [ 7.32262089e-03 9.99973189e-01 3.64378852e-06 -1.25217172e+00] [ 4.98540152e-05 -4.00895805e-06 9.99999999e-01 -3.21561448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410371743 meters 0.03365750259202451 Centerline is valid? [True, True] Translation: X:22.04, Y:-1.26, Z:-0.32 [[ 9.99975063e-01 -6.94662759e-03 -1.27151880e-03 2.20354247e+01] [ 6.94671968e-03 9.99975869e-01 6.80204936e-05 -1.25643193e+00] [ 1.27101561e-03 -7.68516821e-05 9.99999189e-01 -3.23285538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440371742999996 meters 0.034454639256160095 Centerline is valid? [True, True] Translation: X:22.07, Y:-1.26, Z:-0.32 [[ 9.99976086e-01 -6.66253095e-03 -1.85416797e-03 2.20665190e+01] [ 6.66272580e-03 9.99977799e-01 9.89336444e-05 -1.26060243e+00] [ 1.85346766e-03 -1.11285091e-04 9.99998276e-01 -3.24683532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470371742999998 meters 0.03400268217145861 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.26, Z:-0.33 [[ 9.99974155e-01 -6.31131386e-03 -3.44339224e-03 2.20982208e+01] [ 6.31198120e-03 9.99980063e-01 1.82969671e-04 -1.26313753e+00] [ 3.44216881e-03 -2.04699569e-04 9.99994055e-01 -3.25728455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500371743 meters 0.03216966910854132 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.26, Z:-0.33 [[ 9.99976065e-01 -5.75544662e-03 -3.83991411e-03 2.21292941e+01] [ 5.75627276e-03 9.99983412e-01 2.04128207e-04 -1.26318117e+00] [ 3.83867556e-03 -2.26226914e-04 9.99992607e-01 -3.25395644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.530371742999996 meters 0.032877873155126434 Centerline is valid? [True, True] Translation: X:22.16, Y:-1.27, Z:-0.33 [[ 9.99978941e-01 -4.99222634e-03 -4.14672240e-03 2.21598925e+01] [ 4.99318232e-03 9.99987510e-01 2.20219138e-04 -1.26623812e+00] [ 4.14557123e-03 -2.40919842e-04 9.99991378e-01 -3.25979505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560371742999997 meters 0.03417962546607083 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.27, Z:-0.33 [[ 9.99988634e-01 -2.87784835e-03 -3.80131932e-03 2.21893697e+01] [ 2.87863442e-03 9.99995836e-01 2.01334673e-04 -1.27118068e+00] [ 3.80072409e-03 -2.12274994e-04 9.99992755e-01 -3.26739753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590371743 meters 0.03041124756805329 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.27, Z:-0.33 [[ 9.99993421e-01 -1.74590858e-03 -3.17947934e-03 2.22190217e+01] [ 1.74645149e-03 9.99998461e-01 1.67987272e-04 -1.26778568e+00] [ 3.17918115e-03 -1.73538973e-04 9.99994931e-01 -3.25007106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620371742999996 meters 0.031722621970242955 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.27, Z:-0.33 [[ 9.99996628e-01 -6.41722600e-04 -2.51641795e-03 2.22484936e+01] [ 6.42059459e-04 9.99999785e-01 1.33058700e-04 -1.27132476e+00] [ 2.51633202e-03 -1.34673941e-04 9.99996825e-01 -3.25708920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650371742999997 meters 0.030103543782014946 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.27, Z:-0.32 [[ 9.99997233e-01 5.46142115e-04 -2.28830674e-03 2.22788174e+01] [-5.45866808e-04 9.99999844e-01 1.20933449e-04 -1.27098380e+00] [ 2.28837243e-03 -1.19684004e-04 9.99997375e-01 -3.24974971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680371743 meters 0.029957447100231613 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.27, Z:-0.33 [[ 9.99995367e-01 1.89029911e-03 -2.38614063e-03 2.23078529e+01] [-1.89001197e-03 9.99998206e-01 1.22584492e-04 -1.27336830e+00] [ 2.38636807e-03 -1.18074090e-04 9.99997146e-01 -3.25459615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.710371743 meters 0.029983396601964845 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.28, Z:-0.33 [[ 9.99995384e-01 2.22059105e-03 -2.07401626e-03 2.23370326e+01] [-2.22037077e-03 9.99997529e-01 1.08505862e-04 -1.27554390e+00] [ 2.07425208e-03 -1.03900276e-04 9.99997843e-01 -3.26057978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740371742999997 meters 0.030371511392436615 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.28, Z:-0.33 [[ 9.99995070e-01 2.38813228e-03 -2.03870859e-03 2.23656420e+01] [-2.38792059e-03 9.99997143e-01 1.06264420e-04 -1.27841310e+00] [ 2.03895654e-03 -1.01395622e-04 9.99997916e-01 -3.26217671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.770371743 meters 0.030931858397059506 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.28, Z:-0.33 [[ 9.99997307e-01 1.93658261e-03 -1.27904935e-03 2.23946126e+01] [-1.93649915e-03 9.99998123e-01 6.64859949e-05 -1.28189474e+00] [ 1.27917571e-03 -6.40089379e-05 9.99999180e-01 -3.26374214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800371743 meters 0.031711683317247136 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.29, Z:-0.33 [[ 9.99999711e-01 -1.10441544e-04 -7.52164393e-04 2.24234976e+01] [ 1.10470723e-04 9.99999993e-01 3.87508836e-05 -1.28748131e+00] [ 7.52160108e-04 -3.88339646e-05 9.99999716e-01 -3.25706427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830371742999997 meters 0.03292268412451857 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.29, Z:-0.33 [[ 9.99998587e-01 -1.58117511e-03 -5.71030144e-04 2.24525451e+01] [ 1.58119234e-03 9.99998749e-01 2.97269977e-05 -1.29203258e+00] [ 5.70982426e-04 -3.06298642e-05 9.99999837e-01 -3.25847106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860371742999998 meters 0.035780224141145636 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.30, Z:-0.33 [[ 9.99987469e-01 -4.77246996e-03 -1.51151684e-03 2.24824371e+01] [ 4.77259570e-03 9.99988608e-01 7.95930190e-05 -1.30037817e+00] [ 1.51111977e-03 -8.68058805e-05 9.99998854e-01 -3.26867113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.890371743 meters 0.03750355062407544 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.31, Z:-0.33 [[ 9.99978296e-01 -6.28549558e-03 -1.97498512e-03 2.25126262e+01] [ 6.28571311e-03 9.99980239e-01 1.03954582e-04 -1.30604942e+00] [ 1.97429269e-03 -1.16366515e-04 9.99998044e-01 -3.28138525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920371742999997 meters 0.03300200883611865 Centerline is valid? [True, True] Translation: X:22.54, Y:-1.30, Z:-0.33 [[ 9.99966674e-01 -7.72874004e-03 -2.63029538e-03 2.25437498e+01] [ 7.72913250e-03 9.99970120e-01 1.39072737e-04 -1.30247367e+00] [ 2.62914193e-03 -1.59398004e-04 9.99996531e-01 -3.26879305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.950371742999998 meters 0.033093240021452884 Centerline is valid? [True, True] Translation: X:22.57, Y:-1.31, Z:-0.33 [[ 9.99957637e-01 -8.83995727e-03 -2.56493962e-03 2.25748091e+01] [ 8.84033365e-03 9.99960914e-01 1.35441013e-04 -1.30616771e+00] [ 2.56364207e-03 -1.58110197e-04 9.99996701e-01 -3.27425198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980371743 meters 0.041694260347563745 Centerline is valid? [True, True] Translation: X:22.60, Y:-1.32, Z:-0.33 [[ 9.99944450e-01 -1.03416536e-02 -2.03662985e-03 2.26045026e+01] [ 1.03418973e-02 9.99946515e-01 1.09146402e-04 -1.32331757e+00] [ 2.03539217e-03 -1.30202955e-04 9.99997920e-01 -3.30628303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.010371742999997 meters 0.03486218892496562 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.32, Z:-0.33 [[ 9.99942491e-01 -1.05758930e-02 -1.77920581e-03 2.26370870e+01] [ 1.05760786e-02 9.99944067e-01 9.49462847e-05 -1.31630096e+00] [ 1.77810215e-03 -1.13757845e-04 9.99998413e-01 -3.28348208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040371742999998 meters 0.035637219177209904 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.32, Z:-0.33 [[ 9.99947643e-01 -1.01582417e-02 -1.23305423e-03 2.26676762e+01] [ 1.01583307e-02 9.99948401e-01 6.59182186e-05 -1.32009752e+00] [ 1.23232099e-03 -7.84405399e-05 9.99999238e-01 -3.28402007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070371743 meters 0.03563283245738668 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.32, Z:-0.33 [[ 9.99957473e-01 -9.16196240e-03 -1.05420658e-03 2.26994899e+01] [ 9.16202732e-03 9.99958026e-01 5.67767963e-05 -1.32185548e+00] [ 1.05364214e-03 -6.64330512e-05 9.99999443e-01 -3.28222213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100371742999997 meters 0.036112797039145474 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.32, Z:-0.33 [[ 9.99975723e-01 -6.96208216e-03 -2.87013916e-04 2.27295151e+01] [ 6.96208688e-03 9.99975764e-01 1.54415436e-05 -1.32478315e+00] [ 2.86899455e-04 -1.74393846e-05 9.99999959e-01 -3.27846986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.130371742999998 meters 0.0360713320054454 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.33, Z:-0.33 [[ 9.99981949e-01 -5.99155301e-03 4.50986051e-04 2.27604856e+01] [ 5.99156418e-03 9.99982050e-01 -2.34155635e-05 -1.32679664e+00] [-4.50837660e-04 2.61172527e-05 9.99999898e-01 -3.28022021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160371743 meters 0.03598263299477925 Centerline is valid? [True, True] Translation: X:22.79, Y:-1.33, Z:-0.33 [[ 9.99987763e-01 -4.88529705e-03 7.80092557e-04 2.27921505e+01] [ 4.88533025e-03 9.99988066e-01 -4.06531151e-05 -1.32866617e+00] [-7.79884645e-04 4.44636274e-05 9.99999695e-01 -3.28175077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190371742999996 meters 0.035531667238368696 Centerline is valid? [True, True] Translation: X:22.82, Y:-1.33, Z:-0.33 [[ 9.99994149e-01 -3.37875125e-03 5.35280082e-04 2.28233461e+01] [ 3.37876668e-03 9.99994292e-01 -2.79271709e-05 -1.32983693e+00] [-5.35182668e-04 2.97355940e-05 9.99999856e-01 -3.28625903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220371742999998 meters 0.036282245442930794 Centerline is valid? [True, True] Translation: X:22.85, Y:-1.33, Z:-0.33 [[ 9.99995755e-01 -2.91005699e-03 1.45650094e-04 2.28542391e+01] [ 2.91005804e-03 9.99995766e-01 -7.02855133e-06 -1.33273231e+00] [-1.45629023e-04 7.45237172e-06 9.99999989e-01 -3.29537382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.250371743 meters 0.03670015332719437 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.33, Z:-0.33 [[ 9.99995341e-01 -3.03755206e-03 -3.01873071e-04 2.28851114e+01] [ 3.03755718e-03 9.99995386e-01 1.65089523e-05 -1.33471012e+00] [ 3.01821531e-04 -1.74258321e-05 9.99999954e-01 -3.30760522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280371742999996 meters 0.03066576506714315 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.33, Z:-0.33 [[ 9.99993288e-01 -3.39953710e-03 -1.36630067e-03 2.29169070e+01] [ 3.39964023e-03 9.99994219e-01 7.31697638e-05 -1.32754570e+00] [ 1.36604403e-03 -7.78142034e-05 9.99999064e-01 -3.29516307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.310371742999997 meters 0.03196526817900766 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.33, Z:-0.33 [[ 9.99983374e-01 -5.15637996e-03 -2.58125178e-03 2.29471682e+01] [ 5.15675144e-03 9.99986694e-01 1.37279725e-04 -1.33069070e+00] [ 2.58050957e-03 -1.50588317e-04 9.99996659e-01 -3.31446436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340371743 meters 0.031349247383082694 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.33, Z:-0.33 [[ 9.99972601e-01 -6.65073107e-03 -3.25029567e-03 2.29777259e+01] [ 6.65132794e-03 9.99977865e-01 1.72861749e-04 -1.33129500e+00] [ 3.24907407e-03 -1.94475795e-04 9.99994703e-01 -3.31783267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370371742999996 meters 0.034800576248660606 Centerline is valid? [True, True] Translation: X:23.01, Y:-1.34, Z:-0.33 [[ 9.99959698e-01 -8.17850902e-03 -3.70330285e-03 2.30075270e+01] [ 8.17929549e-03 9.99966530e-01 1.97273464e-04 -1.33815798e+00] [ 3.70156550e-03 -2.27555922e-04 9.99993123e-01 -3.34131759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400371742999997 meters 0.03630454676472702 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.34, Z:-0.34 [[ 9.99942935e-01 -9.78387302e-03 -4.28991997e-03 2.30379246e+01] [ 9.78494321e-03 9.99952100e-01 2.28548645e-04 -1.34200100e+00] [ 4.28747839e-03 -2.70512226e-04 9.99990772e-01 -3.35228140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.430371743 meters 0.035355547845520675 Centerline is valid? [True, True] Translation: X:23.07, Y:-1.34, Z:-0.33 [[ 9.99897128e-01 -1.35010536e-02 -4.84297228e-03 2.30691303e+01] [ 1.35024616e-02 9.99908804e-01 2.58155336e-04 -1.34111141e+00] [ 4.83904525e-03 -3.23520826e-04 9.99988239e-01 -3.34892197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460371743 meters 0.03415180450541467 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.34, Z:-0.33 [[ 9.99879736e-01 -1.48913141e-02 -4.33150202e-03 2.31012737e+01] [ 1.48924580e-02 9.99889074e-01 2.31961350e-04 -1.34043903e+00] [ 4.32756734e-03 -2.96440166e-04 9.99990592e-01 -3.34058677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490371742999997 meters 0.03722188894331505 Centerline is valid? [True, True] Translation: X:23.13, Y:-1.34, Z:-0.33 [[ 9.99842334e-01 -1.74752572e-02 -3.14984638e-03 2.31313772e+01] [ 1.74758735e-02 9.99847271e-01 1.68244236e-04 -1.34465833e+00] [ 3.14642520e-03 -2.23264026e-04 9.99995025e-01 -3.33798093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520371743 meters 0.03761021591451807 Centerline is valid? [True, True] Translation: X:23.16, Y:-1.35, Z:-0.33 [[ 9.99825334e-01 -1.85143246e-02 -2.55356059e-03 2.31638973e+01] [ 1.85147355e-02 9.99828578e-01 1.37377760e-04 -1.34568695e+00] [ 2.55057940e-03 -1.84632264e-04 9.99996730e-01 -3.33288388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.550371743 meters 0.03852758430229645 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.35, Z:-0.33 [[ 9.99813536e-01 -1.92211046e-02 -1.85550577e-03 2.31961727e+01] [ 1.92213236e-02 9.99815248e-01 1.00228674e-04 -1.34736115e+00] [ 1.85323646e-03 -1.35875262e-04 9.99998274e-01 -3.33088178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580371742999997 meters 0.039948226283653056 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.35, Z:-0.33 [[ 9.99806482e-01 -1.96541119e-02 -8.44850485e-04 2.32279831e+01] [ 1.96541579e-02 9.99806837e-01 4.62380878e-05 -1.34944469e+00] [ 8.43778523e-04 -6.28339648e-05 9.99999642e-01 -3.32880761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610371742999998 meters 0.04138583827466733 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.35, Z:-0.33 [[ 9.99785411e-01 -2.07030620e-02 7.17803705e-04 2.32592196e+01] [ 2.07030943e-02 9.99785667e-01 -3.77287575e-05 -1.35121898e+00] [-7.16868756e-04 5.25814192e-05 9.99999742e-01 -3.31933197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640371743 meters 0.04247551004671779 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.35, Z:-0.33 [[ 9.99776138e-01 -2.11257033e-02 1.17427737e-03 2.32901187e+01] [ 2.11257899e-02 9.99776824e-01 -6.13838289e-05 -1.35341803e+00] [-1.17271852e-03 8.61776244e-05 9.99999309e-01 -3.32241215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.670371742999997 meters 0.043021412351174355 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.36, Z:-0.33 [[ 9.99766717e-01 -2.15624664e-02 1.25331907e-03 2.33224238e+01] [ 2.15625665e-02 9.99767499e-01 -6.64456336e-05 -1.35504904e+00] [-1.25159494e-03 9.34549089e-05 9.99999212e-01 -3.32656630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700371742999998 meters 0.04396874594589066 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.36, Z:-0.33 [[ 9.99755556e-01 -2.20931879e-02 8.48279366e-04 2.33547024e+01] [ 2.20932338e-02 9.99755914e-01 -4.47216581e-05 -1.35654553e+00] [-8.47084269e-04 6.34519605e-05 9.99999639e-01 -3.33417142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.730371743 meters 0.04580091345384703 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.36, Z:-0.33 [[ 9.99735807e-01 -2.29828380e-02 -3.25952888e-04 2.33852552e+01] [ 2.29828455e-02 9.99735859e-01 1.92707263e-05 -1.35816481e+00] [ 3.25423894e-04 -2.67569600e-05 9.99999947e-01 -3.34848632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760371742999997 meters 0.04615897915692436 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.36, Z:-0.34 [[ 9.99727680e-01 -2.33244418e-02 -7.31938595e-04 2.34168826e+01] [ 2.33244775e-02 9.99727947e-01 4.02630353e-05 -1.35939420e+00] [ 7.30800356e-04 -5.73241561e-05 9.99999731e-01 -3.35839948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.790371742999998 meters 0.040952148105924825 Centerline is valid? [True, True] Translation: X:23.45, Y:-1.35, Z:-0.34 [[ 9.99716259e-01 -2.37917300e-02 -1.16405665e-03 2.34495334e+01] [ 2.37918205e-02 9.99716933e-01 6.39796314e-05 -1.35279095e+00] [ 1.16220495e-03 -9.16565046e-05 9.99999320e-01 -3.35005661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820371743 meters 0.04400426923923094 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.36, Z:-0.34 [[ 9.99681497e-01 -2.51631123e-02 -1.92938424e-03 2.34799189e+01] [ 2.51633609e-02 9.99683347e-01 1.04664813e-04 -1.35616324e+00] [ 1.92613960e-03 -1.53181269e-04 9.99998133e-01 -3.36904223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.850371742999997 meters 0.04625127101944406 Centerline is valid? [True, True] Translation: X:23.51, Y:-1.36, Z:-0.34 [[ 9.99666998e-01 -2.57177823e-02 -2.11857437e-03 2.35107699e+01] [ 2.57180845e-02 9.99669229e-01 1.15497614e-04 -1.36002596e+00] [ 2.11490327e-03 -1.69944827e-04 9.99997749e-01 -3.38173010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880371742999998 meters 0.0457393351403542 Centerline is valid? [True, True] Translation: X:23.54, Y:-1.36, Z:-0.34 [[ 9.99636350e-01 -2.68138713e-02 -2.86070712e-03 2.35431716e+01] [ 2.68144272e-02 9.99640416e-01 1.56144123e-04 -1.36005397e+00] [ 2.85549163e-03 -2.32795564e-04 9.99995896e-01 -3.38696703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.910371743 meters 0.04805202973172256 Centerline is valid? [True, True] Translation: X:23.57, Y:-1.36, Z:-0.34 [[ 9.99623957e-01 -2.72841640e-02 -2.74204180e-03 2.35740273e+01] [ 2.72846763e-02 9.99627693e-01 1.49599107e-04 -1.36414555e+00] [ 2.73693923e-03 -2.24358574e-04 9.99996229e-01 -3.39399168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940371742999996 meters 0.04253112865248728 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.36, Z:-0.34 [[ 9.99580027e-01 -2.88487036e-02 -2.74258109e-03 2.36058217e+01] [ 2.88492217e-02 9.99583763e-01 1.49507005e-04 -1.35633700e+00] [ 2.73712644e-03 -2.28565546e-04 9.99996228e-01 -3.37607865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.970371742999998 meters 0.04304806111639015 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.36, Z:-0.34 [[ 9.99560063e-01 -2.95290732e-02 -2.77735948e-03 2.36383526e+01] [ 2.95296090e-02 9.99563894e-01 1.52101038e-04 -1.35794714e+00] [ 2.77165685e-03 -2.34048462e-04 9.99996132e-01 -3.37723164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000371743 meters 0.042220857075689414 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.36, Z:-0.34 [[ 9.99543146e-01 -3.01040433e-02 -2.69192073e-03 2.36709007e+01] [ 3.01045494e-02 9.99546744e-01 1.47662520e-04 -1.35761309e+00] [ 2.68625536e-03 -2.28634120e-04 9.99996366e-01 -3.37894417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.030371742999996 meters 0.044522251052445214 Centerline is valid? [True, True] Translation: X:23.70, Y:-1.36, Z:-0.34 [[ 9.99537277e-01 -3.03000581e-02 -2.67169919e-03 2.37022802e+01] [ 3.03005570e-02 9.99540822e-01 1.46448482e-04 -1.36171581e+00] [ 2.66603501e-03 -2.27334691e-04 9.99996420e-01 -3.38503580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060371742999997 meters 0.044991972633811224 Centerline is valid? [True, True] Translation: X:23.73, Y:-1.36, Z:-0.34 [[ 9.99541435e-01 -3.02008478e-02 -2.19760314e-03 2.37346321e+01] [ 3.02011863e-02 9.99543833e-01 1.20989048e-04 -1.36287791e+00] [ 2.19294670e-03 -1.87303788e-04 9.99997578e-01 -3.38955613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.090371743 meters 0.044493601986324426 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.36, Z:-0.34 [[ 9.99548526e-01 -2.99770948e-02 -2.02905928e-03 2.37670819e+01] [ 2.99773833e-02 9.99550571e-01 1.11930253e-04 -1.36304821e+00] [ 2.02479201e-03 -1.72705607e-04 9.99997935e-01 -3.38971614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120371742999996 meters 0.044493601986324426 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.36, Z:-0.34 [[ 9.99551725e-01 -2.98702667e-02 -2.02901986e-03 2.37996885e+01] [ 2.98705564e-02 9.99553769e-01 1.12649452e-04 -1.36492494e+00] [ 2.02474958e-03 -1.73206907e-04 9.99997935e-01 -3.39430009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.150371742999997 meters 0.04483505313381466 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.37, Z:-0.34 [[ 9.99570951e-01 -2.92345717e-02 -1.80369620e-03 2.38321121e+01] [ 2.92347992e-02 9.99572567e-01 9.99261667e-05 -1.36608477e+00] [ 1.80000394e-03 -1.52613990e-04 9.99998368e-01 -3.39587777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180371743 meters 0.04336064327274904 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.36, Z:-0.34 [[ 9.99602646e-01 -2.81590784e-02 -1.27176696e-03 2.38639798e+01] [ 2.81591904e-02 9.99603449e-01 7.03046615e-05 -1.36331306e+00] [ 1.26928293e-03 -1.06088654e-04 9.99999189e-01 -3.38161691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.210371743 meters 0.04112473526009154 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.36, Z:-0.34 [[ 9.99623082e-01 -2.74348617e-02 -1.01104360e-03 2.38968217e+01] [ 2.74349332e-02 9.99623590e-01 5.68589241e-05 -1.36117467e+00] [ 1.00910311e-03 -8.45754065e-05 9.99999487e-01 -3.37590060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240371742999997 meters 0.04308387008218662 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.37, Z:-0.34 [[ 9.99639861e-01 -2.68259563e-02 -7.18716728e-04 2.39281120e+01] [ 2.68259922e-02 9.99640118e-01 4.03139875e-05 -1.36502619e+00] [ 7.17376613e-04 -5.95797582e-05 9.99999741e-01 -3.38836554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.270371743 meters 0.04251850207783697 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.37, Z:-0.34 [[ 9.99647632e-01 -2.65349159e-02 -7.14866128e-04 2.39600959e+01] [ 2.65349515e-02 9.99647885e-01 4.03963854e-05 -1.36552862e+00] [ 7.13542499e-04 -5.93510891e-05 9.99999744e-01 -3.39313630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300371743 meters 0.041712912571584854 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.37, Z:-0.34 [[ 9.99658642e-01 -2.61077671e-02 -9.92212479e-04 2.39921979e+01] [ 2.61078352e-02 9.99659131e-01 5.57578232e-05 -1.36533366e+00] [ 9.90418552e-04 -8.16433097e-05 9.99999506e-01 -3.40597083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.330371742999997 meters 0.041793686601688425 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.37, Z:-0.34 [[ 9.99657694e-01 -2.61223155e-02 -1.45551655e-03 2.40241407e+01] [ 2.61224616e-02 9.99658747e-01 8.14255541e-05 -1.36687431e+00] [ 1.45289283e-03 -1.19419357e-04 9.99998937e-01 -3.41193554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360371742999998 meters 0.04301710399519637 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.37, Z:-0.34 [[ 9.99670129e-01 -2.56307902e-02 -1.64214167e-03 2.40553724e+01] [ 2.56309750e-02 9.99671468e-01 9.15687442e-05 -1.36921070e+00] [ 1.63925519e-03 -1.33628230e-04 9.99998647e-01 -3.42362659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.390371743 meters 0.04379945854393906 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.37, Z:-0.34 [[ 9.99700033e-01 -2.43804215e-02 -2.33232386e-03 2.40854788e+01] [ 2.43807890e-02 9.99702736e-01 1.29269626e-04 -1.36949583e+00] [ 2.32847890e-03 -1.86094746e-04 9.99997272e-01 -3.42828886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420371742999997 meters 0.043584101266307275 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.37, Z:-0.34 [[ 9.99728465e-01 -2.31971278e-02 -2.21124799e-03 2.41167181e+01] [ 2.31974560e-02 9.99730895e-01 1.22893215e-04 -1.36980684e+00] [ 2.20780217e-03 -1.74155174e-04 9.99997548e-01 -3.42855812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.450371742999998 meters 0.04116396783369396 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.37, Z:-0.34 [[ 9.99756789e-01 -2.19682756e-02 -1.93861662e-03 2.41480580e+01] [ 2.19685259e-02 9.99758657e-01 1.07880281e-04 -1.36731846e+00] [ 1.93577880e-03 -1.50442592e-04 9.99998115e-01 -3.42477250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480371743 meters 0.040296171186399554 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.37, Z:-0.34 [[ 9.99823059e-01 -1.87594524e-02 -1.39082062e-03 2.41788077e+01] [ 1.87595779e-02 9.99824021e-01 7.71983208e-05 -1.36588239e+00] [ 1.38912767e-03 -1.03275869e-04 9.99999030e-01 -3.42543751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.510371742999997 meters 0.03903704311610028 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.36, Z:-0.34 [[ 9.99845463e-01 -1.75084517e-02 -1.58219756e-03 2.42108133e+01] [ 1.75086136e-02 9.99846709e-01 8.84915428e-05 -1.36462514e+00] [ 1.58040567e-03 -1.16179953e-04 9.99998744e-01 -3.42555700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540371742999998 meters 0.038948295312959846 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.37, Z:-0.34 [[ 9.99871995e-01 -1.59457605e-02 -1.31388916e-03 2.42420125e+01] [ 1.59458707e-02 9.99872854e-01 7.34088522e-05 -1.36523420e+00] [ 1.31255154e-03 -9.43505621e-05 9.99999134e-01 -3.43360038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.570371743 meters 0.03652050339457568 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.36, Z:-0.34 [[ 9.99909571e-01 -1.33497337e-02 -1.62283250e-03 2.42732153e+01] [ 1.33498978e-02 9.99910882e-01 9.03323851e-05 -1.36146322e+00] [ 1.62148196e-03 -1.11988865e-04 9.99998679e-01 -3.43534145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600371742999997 meters 0.041609271995153324 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.37, Z:-0.35 [[ 9.99920837e-01 -1.24396764e-02 -1.89056281e-03 2.43042055e+01] [ 1.24398986e-02 9.99922616e-01 1.05797486e-04 -1.36937668e+00] [ 1.88910042e-03 -1.29307521e-04 9.99998207e-01 -3.45975784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.630371742999998 meters 0.03659925793966665 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.36, Z:-0.34 [[ 9.99930520e-01 -1.16519632e-02 -1.78529237e-03 2.43366431e+01] [ 1.16521609e-02 9.99932106e-01 1.00328455e-04 -1.36329850e+00] [ 1.78400213e-03 -1.21123998e-04 9.99998401e-01 -3.44878302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660371743 meters 0.04204856586850978 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.37, Z:-0.35 [[ 9.99939500e-01 -1.09308434e-02 -1.22964520e-03 2.43675775e+01] [ 1.09309367e-02 9.99940253e-01 6.92231539e-05 -1.37241244e+00] [ 1.22881507e-03 -8.26601399e-05 9.99999242e-01 -3.47148302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.690371742999996 meters 0.03752688369935386 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.37, Z:-0.35 [[ 9.99941899e-01 -1.07520974e-02 -7.69264753e-04 2.43997072e+01] [ 1.07521343e-02 9.99942193e-01 4.38801409e-05 -1.36719534e+00] [ 7.68748481e-04 -5.21488293e-05 9.99999703e-01 -3.45584955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720371742999998 meters 0.036260331701453784 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.37, Z:-0.35 [[ 9.99940631e-01 -1.08881083e-02 -4.28962746e-04 2.44320585e+01] [ 1.08881200e-02 9.99940722e-01 2.49541324e-05 -1.36663489e+00] [ 4.28665615e-04 -2.96232488e-05 9.99999908e-01 -3.45393800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750371743 meters 0.03757226224554362 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.37, Z:-0.35 [[ 9.99935759e-01 -1.13251100e-02 -4.69601106e-04 2.44632371e+01] [ 1.13251239e-02 9.99935868e-01 2.69919400e-05 -1.37005353e+00] [ 4.69265303e-04 -3.23084968e-05 9.99999889e-01 -3.45648508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780371742999996 meters 0.03832608452747197 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.37, Z:-0.35 [[ 9.99933260e-01 -1.15405650e-02 -5.39679023e-04 2.44945082e+01] [ 1.15405838e-02 9.99933405e-01 3.17334414e-05 -1.37282193e+00] [ 5.39276861e-04 -3.79595346e-05 9.99999854e-01 -3.46899133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.810371742999997 meters 0.03846852739236936 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.37, Z:-0.35 [[ 9.99928816e-01 -1.18831228e-02 -1.07486103e-03 2.45263446e+01] [ 1.18831954e-02 9.99929390e-01 6.12396541e-05 -1.37435722e+00] [ 1.07405741e-03 -7.40080784e-05 9.99999420e-01 -3.47694622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840371743 meters 0.03942411680075567 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.38, Z:-0.35 [[ 9.99921260e-01 -1.23915817e-02 -1.98047417e-03 2.45584926e+01] [ 1.23918280e-02 9.99923212e-01 1.12142002e-04 -1.37722927e+00] [ 1.97893247e-03 -1.36674867e-04 9.99998033e-01 -3.48807116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.870371742999996 meters 0.041445963695887635 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.38, Z:-0.35 [[ 9.99898869e-01 -1.37955297e-02 -3.45478010e-03 2.45879401e+01] [ 1.37962868e-02 9.99904808e-01 1.95414310e-04 -1.38145563e+00] [ 3.45175539e-03 -2.43057685e-04 9.99994013e-01 -3.51248380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900371742999997 meters 0.04232986025934126 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.38, Z:-0.35 [[ 9.99887299e-01 -1.44363518e-02 -4.12091354e-03 2.46197544e+01] [ 1.44374337e-02 9.99895748e-01 2.32901496e-04 -1.38437602e+00] [ 4.11712167e-03 -2.92370663e-04 9.99991482e-01 -3.52745888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930371743 meters 0.038881361007444104 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.38, Z:-0.35 [[ 9.99882961e-01 -1.47151298e-02 -4.18685032e-03 2.46521818e+01] [ 1.47162503e-02 9.99891682e-01 2.36947842e-04 -1.38123371e+00] [ 4.18291009e-03 -2.98534847e-04 9.99991207e-01 -3.52227091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960371743 meters 0.03873507775931818 Centerline is valid? [True, True] Translation: X:24.68, Y:-1.38, Z:-0.35 [[ 9.99875868e-01 -1.51786415e-02 -4.22591128e-03 2.46845709e+01] [ 1.51797885e-02 9.99884752e-01 2.39459596e-04 -1.38292974e+00] [ 4.22178958e-03 -3.03578311e-04 9.99991042e-01 -3.52522390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.990371742999997 meters 0.044916681844587955 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.39, Z:-0.35 [[ 9.99870512e-01 -1.57796719e-02 -3.15610464e-03 2.47150161e+01] [ 1.57803151e-02 9.99875467e-01 1.79009347e-04 -1.39293495e+00] [ 3.15288690e-03 -2.28790494e-04 9.99995003e-01 -3.54268649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020371743 meters 0.045788750713633065 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.40, Z:-0.35 [[ 9.99873568e-01 -1.57826641e-02 -1.93804038e-03 2.47472732e+01] [ 1.57829078e-02 9.99875436e-01 1.10525341e-04 -1.39605190e+00] [ 1.93605459e-03 -1.41099280e-04 9.99998116e-01 -3.53938312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050371743 meters 0.04136139385087493 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.39, Z:-0.35 [[ 9.99879591e-01 -1.55148009e-02 3.06134018e-04 2.47794594e+01] [ 1.55148066e-02 9.99879638e-01 -1.63575837e-05 -1.39178177e+00] [-3.05843387e-04 2.11052242e-05 9.99999953e-01 -3.51049762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080371742999997 meters 0.039008478346434665 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.39, Z:-0.35 [[ 9.99881999e-01 -1.53419449e-02 7.83093010e-04 2.48114483e+01] [ 1.53419836e-02 9.99882304e-01 -4.33917293e-05 -1.38989564e+00] [-7.82335130e-04 5.54008092e-05 9.99999692e-01 -3.49900625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110371742999998 meters 0.03939478235870214 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.39, Z:-0.35 [[ 9.99884116e-01 -1.51323897e-02 1.66308947e-03 2.48440499e+01] [ 1.51325655e-02 9.99885492e-01 -9.31826962e-05 -1.39234311e+00] [-1.66148896e-03 1.18338708e-04 9.99998613e-01 -3.49598151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140371743 meters 0.03959639084723395 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.39, Z:-0.35 [[ 9.99881080e-01 -1.52231259e-02 2.46621894e-03 2.48770744e+01] [ 1.52235143e-02 9.99884106e-01 -1.38789530e-04 -1.39458355e+00] [-2.46382031e-03 1.76317544e-04 9.99996949e-01 -3.49329946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170371742999997 meters 0.05024529682895913 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.41, Z:-0.35 [[ 9.99877829e-01 -1.54217224e-02 2.54910337e-03 2.49073141e+01] [ 1.54221403e-02 9.99881061e-01 -1.44394211e-04 -1.41217723e+00] [-2.54657338e-03 1.83689200e-04 9.99996741e-01 -3.52089736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200371742999998 meters 0.04476318294136936 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.41, Z:-0.35 [[ 9.99874967e-01 -1.57183089e-02 1.72777332e-03 2.49398491e+01] [ 1.57185008e-02 9.99876452e-01 -9.75391773e-05 -1.40665237e+00] [-1.72602671e-03 1.24684988e-04 9.99998503e-01 -3.51785632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.230371743 meters 0.04106932676602363 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.41, Z:-0.35 [[ 9.99870548e-01 -1.60898120e-02 7.62719003e-05 2.49723219e+01] [ 1.60898123e-02 9.99870551e-01 -3.36447073e-06 -1.40515611e+00] [-7.62078932e-05 4.59123575e-06 9.99999997e-01 -3.53374348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260371742999997 meters 0.039931754767938005 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.41, Z:-0.35 [[ 9.99863053e-01 -1.65441675e-02 -4.05970140e-04 2.50045214e+01] [ 1.65441787e-02 9.99863135e-01 2.42042298e-05 -1.40570477e+00] [ 4.05514138e-04 -3.09173577e-05 9.99999917e-01 -3.54434284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290371742999998 meters 0.03841973075859154 Centerline is valid? [True, True] Translation: X:25.04, Y:-1.41, Z:-0.35 [[ 9.99860601e-01 -1.66883998e-02 -5.25973339e-04 2.50368188e+01] [ 1.66884185e-02 9.99860738e-01 3.11188165e-05 -1.40611671e+00] [ 5.25380767e-04 -3.98921418e-05 9.99999861e-01 -3.54750760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320371743 meters 0.04155276632191986 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.41, Z:-0.36 [[ 9.99866685e-01 -1.63128816e-02 -7.08170864e-04 2.50672654e+01] [ 1.63129150e-02 9.99866935e-01 4.13226650e-05 -1.41329130e+00] [ 7.07402540e-04 -5.28694872e-05 9.99999748e-01 -3.56102684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.350371742999997 meters 0.04043544936800381 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.41, Z:-0.36 [[ 9.99867182e-01 -1.62686878e-02 -9.74149446e-04 2.50992242e+01] [ 1.62687509e-02 9.99867653e-01 5.68591426e-05 -1.41351959e+00] [ 9.73095497e-04 -7.26997853e-05 9.99999524e-01 -3.55911145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380371742999998 meters 0.03952213943735234 Centerline is valid? [True, True] Translation: X:25.13, Y:-1.41, Z:-0.36 [[ 9.99875192e-01 -1.57897494e-02 -5.33486082e-04 2.51318945e+01] [ 1.57897687e-02 9.99875333e-01 3.18953990e-05 -1.41400990e+00] [ 5.32915954e-04 -4.03150400e-05 9.99999857e-01 -3.55635518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.410371743 meters 0.03869833916199572 Centerline is valid? [True, True] Translation: X:25.16, Y:-1.41, Z:-0.36 [[ 9.99884088e-01 -1.51726800e-02 -1.26467984e-03 2.51639851e+01] [ 1.51727853e-02 9.99884884e-01 7.37366725e-05 -1.41489691e+00] [ 1.26341547e-03 -9.29168413e-05 9.99999198e-01 -3.55495464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440371742999996 meters 0.04393325121387349 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.42, Z:-0.36 [[ 9.99895231e-01 -1.44718203e-02 -3.05825256e-04 2.51945956e+01] [ 1.44718266e-02 9.99895277e-01 1.83556599e-05 -1.42454868e+00] [ 3.05527590e-04 -2.27795869e-05 9.99999953e-01 -3.56958925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.470371742999998 meters 0.0397110746371627 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.42, Z:-0.36 [[ 9.99898292e-01 -1.42607280e-02 -1.93568092e-04 2.52267810e+01] [ 1.42607306e-02 9.99898311e-01 1.21574181e-05 -1.42054289e+00] [ 1.93375035e-04 -1.49166040e-05 9.99999981e-01 -3.56201065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500371743 meters 0.04174244043540948 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.43, Z:-0.36 [[ 9.99908902e-01 -1.34961172e-02 -2.04335705e-04 2.52579411e+01] [ 1.34961201e-02 9.99908923e-01 1.25367809e-05 -1.42562162e+00] [ 2.04147897e-04 -1.52933781e-05 9.99999979e-01 -3.56967208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.530371742999996 meters 0.03963007090843352 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.42, Z:-0.36 [[ 9.99921665e-01 -1.25096151e-02 -4.15422217e-04 2.52901355e+01] [ 1.25096265e-02 9.99921751e-01 2.49803269e-05 -1.42434528e+00] [ 4.15077216e-04 -3.01751468e-05 9.99999913e-01 -3.57009083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560371742999997 meters 0.03983117077134533 Centerline is valid? [True, True] Translation: X:25.32, Y:-1.43, Z:-0.36 [[ 9.99924606e-01 -1.22555139e-02 -7.65306089e-04 2.53221571e+01] [ 1.22555521e-02 9.99924897e-01 4.52377537e-05 -1.42611464e+00] [ 7.64694200e-04 -5.46135917e-05 9.99999706e-01 -3.57706417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.590371743 meters 0.03929672270042613 Centerline is valid? [True, True] Translation: X:25.35, Y:-1.43, Z:-0.36 [[ 9.99929430e-01 -1.18480129e-02 -8.71476630e-04 2.53542356e+01] [ 1.18480622e-02 9.99929808e-01 5.14405227e-05 -1.42711316e+00] [ 8.70805991e-04 -6.17622019e-05 9.99999619e-01 -3.57992691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620371742999996 meters 0.04041270262081159 Centerline is valid? [True, True] Translation: X:25.39, Y:-1.43, Z:-0.36 [[ 9.99927055e-01 -1.19931468e-02 -1.43181593e-03 2.53854067e+01] [ 1.19932789e-02 9.99928075e-01 8.37048545e-05 -1.43036275e+00] [ 1.43070906e-03 -1.00870916e-04 9.99998971e-01 -3.58379242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.650371742999997 meters 0.040803481206762714 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.43, Z:-0.36 [[ 9.99900393e-01 -1.40097204e-02 -1.71198071e-03 2.54166025e+01] [ 1.40099116e-02 9.99901851e-01 9.97540400e-05 -1.43337995e+00] [ 1.71041515e-03 -1.23728802e-04 9.99998530e-01 -3.58505008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680371743 meters 0.039672531766535755 Centerline is valid? [True, True] Translation: X:25.45, Y:-1.43, Z:-0.36 [[ 9.99877343e-01 -1.55773158e-02 -1.62645317e-03 2.54482304e+01] [ 1.55774911e-02 9.99878659e-01 9.51335694e-05 -1.43442438e+00] [ 1.62477389e-03 -1.20457960e-04 9.99998673e-01 -3.58307880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.710371742999996 meters 0.03964786161040188 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.44, Z:-0.36 [[ 9.99853123e-01 -1.70265354e-02 -1.95713499e-03 2.54799720e+01] [ 1.70267918e-02 9.99855027e-01 1.14436878e-04 -1.43713732e+00] [ 1.95490280e-03 -1.47743800e-04 9.99998078e-01 -3.58250223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740371742999997 meters 0.040841682417841856 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.44, Z:-0.36 [[ 9.99823213e-01 -1.86589241e-02 -2.32095994e-03 2.55113573e+01] [ 1.86592884e-02 9.99825891e-01 1.35404952e-04 -1.44131978e+00] [ 2.31802933e-03 -1.78688475e-04 9.99997297e-01 -3.59072589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770371743 meters 0.04300279019885256 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.45, Z:-0.36 [[ 9.99769793e-01 -2.12400934e-02 -3.03644854e-03 2.55406737e+01] [ 2.12407299e-02 9.99774374e-01 1.77517963e-04 -1.44674324e+00] [ 3.03199294e-03 -2.41973480e-04 9.99995374e-01 -3.60322936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800371743 meters 0.04355674807284493 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.45, Z:-0.36 [[ 9.99741852e-01 -2.24018767e-02 -3.79290602e-03 2.55730357e+01] [ 2.24028789e-02 9.99748999e-01 2.21949668e-04 -1.44996830e+00] [ 3.78698191e-03 -3.06864387e-04 9.99992782e-01 -3.60950934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.830371742999997 meters 0.045334809010423825 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.45, Z:-0.36 [[ 9.99717181e-01 -2.34365137e-02 -4.03571705e-03 2.56046422e+01] [ 2.34376564e-02 9.99725273e-01 2.36059800e-04 -1.45436387e+00] [ 4.02907591e-03 -3.30580787e-04 9.99991829e-01 -3.61972663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860371742999998 meters 0.047518464284892425 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.46, Z:-0.36 [[ 9.99699276e-01 -2.41111295e-02 -4.47334592e-03 2.56355284e+01] [ 2.41125408e-02 9.99709216e-01 2.61810874e-04 -1.45987811e+00] [ 4.46573259e-03 -3.69595877e-04 9.99989960e-01 -3.62576344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.890371743 meters 0.043406646519614456 Centerline is valid? [True, True] Translation: X:25.67, Y:-1.46, Z:-0.36 [[ 9.99708213e-01 -2.37948560e-02 -4.15850780e-03 2.56677940e+01] [ 2.37960754e-02 9.99716804e-01 2.43996589e-04 -1.45611625e+00] [ 4.15152426e-03 -3.42881560e-04 9.99991324e-01 -3.61209976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920371742999997 meters 0.042673535152353725 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.46, Z:-0.36 [[ 9.99721466e-01 -2.32397537e-02 -4.11152873e-03 2.57004355e+01] [ 2.32409423e-02 9.99729864e-01 2.41553188e-04 -1.45675577e+00] [ 4.10480442e-03 -3.37041709e-04 9.99991518e-01 -3.61002537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.950371742999998 meters 0.041972701058758825 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.46, Z:-0.36 [[ 9.99770521e-01 -2.10516736e-02 -3.96630390e-03 2.57314383e+01] [ 2.10527601e-02 9.99778339e-01 2.32369640e-04 -1.45667376e+00] [ 3.96053296e-03 -3.15817960e-04 9.99992107e-01 -3.59986812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980371743 meters 0.04061043627939184 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.46, Z:-0.36 [[ 9.99799033e-01 -1.97251301e-02 -3.57961026e-03 2.57632942e+01] [ 1.97260092e-02 9.99805401e-01 2.10442089e-04 -1.45618372e+00] [ 3.57476267e-03 -2.81011222e-04 9.99993571e-01 -3.59547317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.010371742999997 meters 0.04061043627939184 Centerline is valid? [True, True] Translation: X:25.80, Y:-1.46, Z:-0.36 [[ 9.99800445e-01 -1.96534390e-02 -3.57958063e-03 2.57950321e+01] [ 1.96543194e-02 9.99806813e-01 2.10947182e-04 -1.45810421e+00] [ 3.57474326e-03 -2.81259307e-04 9.99993571e-01 -3.59993634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040371742999998 meters 0.04142477938700603 Centerline is valid? [True, True] Translation: X:25.83, Y:-1.46, Z:-0.36 [[ 9.99829967e-01 -1.81149072e-02 -3.44768095e-03 2.58251897e+01] [ 1.81157126e-02 9.99835877e-01 2.02517925e-04 -1.46077597e+00] [ 3.44344651e-03 -2.64940687e-04 9.99994036e-01 -3.60671756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070371743 meters 0.04576951612565164 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.47, Z:-0.36 [[ 9.99886865e-01 -1.46283854e-02 -3.50262964e-03 2.58543634e+01] [ 1.46291949e-02 9.99892966e-01 2.05614092e-04 -1.46847397e+00] [ 3.49924693e-03 -2.56831481e-04 9.99993845e-01 -3.63086402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100371742999997 meters 0.03975692713942024 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.46, Z:-0.36 [[ 9.99915712e-01 -1.24696942e-02 -3.61606348e-03 2.58868135e+01] [ 1.24705460e-02 9.99922217e-01 2.13119426e-04 -1.46192695e+00] [ 3.61312467e-03 -2.58195749e-04 9.99993439e-01 -3.61732551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130371742999998 meters 0.04021608016450015 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.46, Z:-0.36 [[ 9.99942053e-01 -1.02242007e-02 -3.36980820e-03 2.59171568e+01] [ 1.02249265e-02 9.99947704e-01 1.98203044e-04 -1.46386291e+00] [ 3.36760551e-03 -2.32647600e-04 9.99994303e-01 -3.62632586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160371743 meters 0.0346135838610892 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.46, Z:-0.36 [[ 9.99975725e-01 -5.23023052e-03 -4.60366745e-03 2.59479690e+01] [ 5.23153083e-03 9.99986279e-01 2.70453151e-04 -1.45714765e+00] [ 4.60218975e-03 -2.94530813e-04 9.99989366e-01 -3.62228925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.190371742999996 meters 0.033470860248437505 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.46, Z:-0.36 [[ 9.99986233e-01 -2.81331381e-03 -4.42929262e-03 2.59783200e+01] [ 2.81448951e-03 9.99996006e-01 2.59226243e-04 -1.45708148e+00] [ 4.42854565e-03 -2.71688872e-04 9.99990157e-01 -3.62619071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220371742999998 meters 0.03350173999143523 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.46, Z:-0.36 [[ 9.99988622e-01 -1.02024703e-04 -4.76915353e-03 2.60080045e+01] [ 1.03357635e-04 9.99999956e-01 2.79244635e-04 -1.45854924e+00] [ 4.76912483e-03 -2.79734386e-04 9.99988589e-01 -3.63287582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.250371743 meters 0.0323427055444767 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.46, Z:-0.36 [[ 9.99971421e-01 5.58072821e-03 -5.10022115e-03 2.60373529e+01] [-5.57927680e-03 9.99984391e-01 2.98761746e-04 -1.45751129e+00] [ 5.10180885e-03 -2.70297663e-04 9.99986949e-01 -3.63430493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280371742999996 meters 0.030207006837562403 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.45, Z:-0.36 [[ 9.99951655e-01 8.18724140e-03 -5.44579416e-03 2.60672273e+01] [-8.18562728e-03 9.99966446e-01 3.18622067e-04 -1.45469253e+00] [ 5.44822007e-03 -2.74029422e-04 9.99985121e-01 -3.62717691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310371742999997 meters 0.02925354886976994 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.45, Z:-0.36 [[ 9.99930034e-01 1.06548366e-02 -5.13824151e-03 2.60975419e+01] [-1.06534315e-02 9.99943205e-01 3.00760144e-04 -1.45455827e+00] [ 5.14115423e-03 -2.45999197e-04 9.99986754e-01 -3.62525147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340371743 meters 0.029205747210159182 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.46, Z:-0.36 [[ 9.99905010e-01 1.30186850e-02 -4.52602728e-03 2.61267875e+01] [-1.30176209e-02 9.99915232e-01 2.64490239e-04 -1.45556852e+00] [ 4.52908693e-03 -2.05547008e-04 9.99989723e-01 -3.62645487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370371742999996 meters 0.027055638763323623 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.45, Z:-0.36 [[ 9.99862671e-01 1.60327385e-02 -4.19408219e-03 2.61566174e+01] [-1.60318521e-02 9.99871452e-01 2.44891386e-04 -1.45242038e+00] [ 4.19746933e-03 -1.77618850e-04 9.99991175e-01 -3.61088172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400371742999997 meters 0.028118478828114628 Centerline is valid? [True, True] Translation: X:26.18, Y:-1.46, Z:-0.36 [[ 9.99843542e-01 1.73006995e-02 -3.68471357e-03 2.61844985e+01] [-1.73000281e-02 9.99850320e-01 2.14006666e-04 -1.45660693e+00] [ 3.68786451e-03 -1.50227534e-04 9.99993189e-01 -3.62238421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430371743 meters 0.027632053209099006 Centerline is valid? [True, True] Translation: X:26.21, Y:-1.46, Z:-0.36 [[ 9.99828506e-01 1.82676643e-02 -3.04154850e-03 2.62133641e+01] [-1.82672118e-02 9.99833125e-01 1.76499780e-04 -1.45731990e+00] [ 3.04426518e-03 -1.20908900e-04 9.99995359e-01 -3.61732752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460371742999996 meters 0.025616138314335426 Centerline is valid? [True, True] Translation: X:26.24, Y:-1.45, Z:-0.36 [[ 9.99783496e-01 2.06675862e-02 -2.41069596e-03 2.62426976e+01] [-2.06673092e-02 9.99786399e-01 1.39778469e-04 -1.45491724e+00] [ 2.41306991e-03 -8.99256082e-05 9.99997084e-01 -3.59738799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490371742999997 meters 0.02592618187961374 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.46, Z:-0.36 [[ 9.99765845e-01 2.14816019e-02 -2.60678609e-03 2.62701877e+01] [-2.14812825e-02 9.99769239e-01 1.50482771e-04 -1.45709042e+00] [ 2.60941715e-03 -9.44504264e-05 9.99996591e-01 -3.60153188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520371743 meters 0.02729015669547549 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.46, Z:-0.36 [[ 9.99744705e-01 2.24299814e-02 -2.72396920e-03 2.62982752e+01] [-2.24296357e-02 9.99748412e-01 1.57375706e-04 -1.46146950e+00] [ 2.72681381e-03 -9.62378924e-05 9.99996278e-01 -3.61906212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550371743 meters 0.024651479359150113 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.46, Z:-0.36 [[ 9.99709596e-01 2.38250815e-02 -3.61785537e-03 2.63274833e+01] [-2.38244808e-02 9.99716135e-01 2.09058497e-04 -1.45805895e+00] [ 3.62180922e-03 -1.22804260e-04 9.99993434e-01 -3.60442500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580371742999997 meters 0.025202419773807116 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.46, Z:-0.36 [[ 9.99684064e-01 2.48529761e-02 -3.75516824e-03 2.63549881e+01] [-2.48523381e-02 9.99691110e-01 2.16452573e-04 -1.46101991e+00] [ 3.75938780e-03 -1.23059477e-04 9.99992926e-01 -3.61786348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610371742999998 meters 0.025083368777636495 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.46, Z:-0.36 [[ 9.99654772e-01 2.59394697e-02 -4.18105573e-03 2.63841455e+01] [-2.59386878e-02 9.99663507e-01 2.41116265e-04 -1.46263535e+00] [ 4.18590326e-03 -1.32581925e-04 9.99991230e-01 -3.62194361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640371743 meters 0.02427609234061031 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.46, Z:-0.36 [[ 9.99586656e-01 2.84373164e-02 -4.22335142e-03 2.64132640e+01] [-2.84365422e-02 9.99595570e-01 2.43263629e-04 -1.46350009e+00] [ 4.22856113e-03 -1.23065566e-04 9.99991052e-01 -3.61565277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670371742999997 meters 0.02428048629741423 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.47, Z:-0.36 [[ 9.99556402e-01 2.96084974e-02 -3.21493353e-03 2.64424025e+01] [-2.96080562e-02 9.99561568e-01 1.84723383e-04 -1.46515325e+00] [ 3.21899338e-03 -8.94535073e-05 9.99994815e-01 -3.61324947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700371742999998 meters 0.022852572039366918 Centerline is valid? [True, True] Translation: X:26.47, Y:-1.46, Z:-0.36 [[ 9.99514923e-01 3.10035838e-02 -2.94913206e-03 2.64716924e+01] [-3.10032197e-02 9.99519270e-01 1.69114319e-04 -1.46462695e+00] [ 2.95295747e-03 -7.75996958e-05 9.99995637e-01 -3.59619036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730371743 meters 0.022724925160780826 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.47, Z:-0.36 [[ 9.99433708e-01 3.35869708e-02 -2.04436730e-03 2.64991272e+01] [-3.35868027e-02 9.99435797e-01 1.16488113e-04 -1.46771622e+00] [ 2.04712635e-03 -4.77583857e-05 9.99997903e-01 -3.59948677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760371742999997 meters 0.022728206854334413 Centerline is valid? [True, True] Translation: X:26.53, Y:-1.47, Z:-0.36 [[ 9.99398708e-01 3.45988424e-02 -2.26792331e-03 2.65276731e+01] [-3.45986376e-02 9.99401280e-01 1.29472308e-04 -1.47029697e+00] [ 2.27104505e-03 -5.09274009e-05 9.99997420e-01 -3.60676827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790371742999998 meters 0.022952651207538147 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.47, Z:-0.36 [[ 9.99362962e-01 3.56048305e-02 -2.44244334e-03 2.65551151e+01] [-3.56045969e-02 9.99365946e-01 1.39056457e-04 -1.47371242e+00] [ 2.44584578e-03 -5.20056619e-05 9.99997008e-01 -3.62475463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820371743 meters 0.02245489111134424 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.48, Z:-0.36 [[ 9.99312393e-01 3.68618803e-02 -3.99291544e-03 2.65833715e+01] [-3.68612658e-02 9.99320367e-01 2.27407891e-04 -1.47511745e+00] [ 3.99858440e-03 -8.00676066e-05 9.99992002e-01 -3.61966810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850371742999997 meters 0.022149315670430728 Centerline is valid? [True, True] Translation: X:26.61, Y:-1.48, Z:-0.36 [[ 9.99294700e-01 3.73076086e-02 -4.27144028e-03 2.66115178e+01] [-3.73069081e-02 9.99303825e-01 2.43586549e-04 -1.47826239e+00] [ 4.27755424e-03 -8.40605180e-05 9.99990848e-01 -3.63178499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880371742999998 meters 0.022102194817164793 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.48, Z:-0.36 [[ 9.99301373e-01 3.70631224e-02 -4.80522927e-03 2.66397130e+01] [-3.70622504e-02 9.99312922e-01 2.70418941e-04 -1.48243173e+00] [ 4.81195028e-03 -9.21374082e-05 9.99988418e-01 -3.63847463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910371743 meters 0.02205842400770829 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.49, Z:-0.36 [[ 9.99321354e-01 3.65317925e-02 -4.71792668e-03 2.66670843e+01] [-3.65309416e-02 9.99332487e-01 2.66437582e-04 -1.48656681e+00] [ 4.72451084e-03 -9.39064618e-05 9.99988835e-01 -3.64786905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940371742999996 meters 0.022284548397030687 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.49, Z:-0.36 [[ 9.99374714e-01 3.50383644e-02 -4.74287515e-03 2.66952301e+01] [-3.50374866e-02 9.99385963e-01 2.68071284e-04 -1.49034358e+00] [ 4.74935563e-03 -1.01725238e-04 9.99988717e-01 -3.64899565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.970371742999998 meters 0.02192412031431704 Centerline is valid? [True, True] Translation: X:26.72, Y:-1.50, Z:-0.36 [[ 9.99481245e-01 3.19844082e-02 -3.77348252e-03 2.67239962e+01] [-3.19838320e-02 9.99488364e-01 2.12973511e-04 -1.49659962e+00] [ 3.77836370e-03 -9.21725988e-05 9.99992858e-01 -3.63682563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000371743 meters 0.02270985648319284 Centerline is valid? [True, True] Translation: X:26.75, Y:-1.50, Z:-0.36 [[ 9.99544850e-01 2.99985507e-02 -3.19059656e-03 2.67517794e+01] [-2.99981308e-02 9.99549939e-01 1.79380506e-04 -1.50151460e+00] [ 3.19454175e-03 -8.35869276e-05 9.99994894e-01 -3.64288195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030371742999996 meters 0.023089079394211193 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.51, Z:-0.36 [[ 9.99603337e-01 2.80216473e-02 -2.82053655e-03 2.67793533e+01] [-2.80213123e-02 9.99607313e-01 1.58198015e-04 -1.50607900e+00] [ 2.82386193e-03 -7.91001281e-05 9.99996010e-01 -3.64462400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060371742999997 meters 0.023840352326773652 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.51, Z:-0.36 [[ 9.99705363e-01 2.41834206e-02 -2.08558410e-03 2.68082465e+01] [-2.41832290e-02 9.99707536e-01 1.17039702e-04 -1.51325140e+00] [ 2.08780456e-03 -6.65690597e-05 9.99997818e-01 -3.63843114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.090371743 meters 0.02472144963206679 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.52, Z:-0.36 [[ 9.99748820e-01 2.23533284e-02 -1.62060580e-03 2.68359341e+01] [-2.23532116e-02 9.99750132e-01 9.01437054e-05 -1.51845515e+00] [ 1.62221587e-03 -5.38953187e-05 9.99998683e-01 -3.64158811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120371742999996 meters 0.02489959529666982 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.52, Z:-0.36 [[ 9.99788221e-01 2.05265725e-02 -1.47397013e-03 2.68642690e+01] [-2.05264738e-02 9.99789306e-01 8.20233847e-05 -1.52278799e+00] [ 1.47534323e-03 -5.17506045e-05 9.99998910e-01 -3.64284214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.150371742999997 meters 0.025438656836555933 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.53, Z:-0.36 [[ 9.99853631e-01 1.70475757e-02 -1.44822364e-03 2.68931997e+01] [-1.70474767e-02 9.99854678e-01 8.07324298e-05 -1.52831893e+00] [ 1.44938947e-03 -5.60320544e-05 9.99998948e-01 -3.63654210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180371743 meters 0.026207046380084413 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.53, Z:-0.36 [[ 9.99880036e-01 1.54349688e-02 -1.29400157e-03 2.69218977e+01] [-1.54348889e-02 9.99880872e-01 7.17142061e-05 -1.53267372e+00] [ 1.29495433e-03 -5.17328324e-05 9.99999160e-01 -3.63979130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.210371742999996 meters 0.02652969695682296 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.54, Z:-0.36 [[ 9.99905260e-01 1.37077296e-02 -1.25261229e-03 2.69505784e+01] [-1.37076535e-02 9.99906043e-01 6.92995194e-05 -1.53669072e+00] [ 1.25344453e-03 -5.21225787e-05 9.99999213e-01 -3.64270061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240371742999997 meters 0.02699016323339556 Centerline is valid? [True, True] Translation: X:26.98, Y:-1.54, Z:-0.36 [[ 9.99927047e-01 1.20597726e-02 -6.80662141e-04 2.69789825e+01] [-1.20597501e-02 9.99927278e-01 3.71538785e-05 -1.54081203e+00] [ 6.81060709e-04 -2.89425527e-05 9.99999768e-01 -3.64441138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.270371743 meters 0.027601960832913636 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.55, Z:-0.36 [[ 9.99960786e-01 8.85460352e-03 -1.49820918e-04 2.70080943e+01] [-8.85460250e-03 9.99960797e-01 7.47101813e-06 -1.54603513e+00] [ 1.49881198e-04 -6.14412048e-06 9.99999989e-01 -3.64003573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300371743 meters 0.029402648341007878 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.55, Z:-0.37 [[ 9.99973093e-01 7.33560994e-03 -4.36992771e-05 2.70368001e+01] [-7.33560987e-03 9.99973094e-01 1.69378174e-06 -1.55144529e+00] [ 4.37105262e-05 -1.37317532e-06 9.99999999e-01 -3.65009437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330371742999997 meters 0.030147908133043876 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.56, Z:-0.37 [[ 9.99980896e-01 6.18117885e-03 -2.32092420e-05 2.70653637e+01] [-6.18117885e-03 9.99980896e-01 3.18689324e-07 -1.55537236e+00] [ 2.32107685e-05 -1.75222759e-07 1.00000000e+00 -3.65535201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360371742999998 meters 0.031170330442781998 Centerline is valid? [True, True] Translation: X:27.09, Y:-1.56, Z:-0.37 [[ 9.99986336e-01 5.21639875e-03 -3.40738654e-04 2.70940351e+01] [-5.21639282e-03 9.99986394e-01 1.82883413e-05 -1.55872886e+00] [ 3.40829417e-04 -1.65106647e-05 9.99999942e-01 -3.66062295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390371743 meters 0.030541915732751054 Centerline is valid? [True, True] Translation: X:27.12, Y:-1.56, Z:-0.37 [[ 9.99992717e-01 3.81579480e-03 7.92623850e-05 2.71231191e+01] [-3.81579441e-03 9.99992720e-01 -5.08484128e-06 -1.55963236e+00] [-7.92812107e-05 4.78235528e-06 9.99999997e-01 -3.65600857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420371742999997 meters 0.030084101956666557 Centerline is valid? [True, True] Translation: X:27.15, Y:-1.56, Z:-0.37 [[ 9.99994923e-01 3.17394534e-03 -2.83209552e-04 2.71526256e+01] [-3.17394114e-03 9.99994963e-01 1.52837764e-05 -1.56080112e+00] [ 2.83256635e-04 -1.43848083e-05 9.99999960e-01 -3.65581455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.450371742999998 meters 0.031271945117471146 Centerline is valid? [True, True] Translation: X:27.18, Y:-1.56, Z:-0.37 [[ 9.99997995e-01 1.99874968e-03 1.26422352e-04 2.71808537e+01] [-1.99874872e-03 9.99998002e-01 -7.74530016e-06 -1.56411103e+00] [-1.26437581e-04 7.49259811e-06 9.99999992e-01 -3.66021168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480371743 meters 0.03201057259263964 Centerline is valid? [True, True] Translation: X:27.21, Y:-1.57, Z:-0.37 [[ 9.99999437e-01 1.04209432e-03 2.02094288e-04 2.72101378e+01] [-1.04209197e-03 9.99999457e-01 -1.17363206e-05 -1.56646733e+00] [-2.02106409e-04 1.15257131e-05 9.99999980e-01 -3.66341406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510371742999997 meters 0.033192600499958966 Centerline is valid? [True, True] Translation: X:27.24, Y:-1.57, Z:-0.37 [[ 9.99999996e-01 -9.06939991e-05 -7.82880151e-06 2.72398073e+01] [ 9.06940121e-05 9.99999996e-01 1.65501780e-06 -1.56957697e+00] [ 7.82865136e-06 -1.65572782e-06 1.00000000e+00 -3.66974625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540371742999998 meters 0.03487165514512003 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.57, Z:-0.37 [[ 9.99997440e-01 -2.24288630e-03 2.99174855e-04 2.72702374e+01] [ 2.24289131e-03 9.99997485e-01 -1.64364283e-05 -1.57356445e+00] [-2.99137238e-04 1.71074029e-05 9.99999955e-01 -3.67372933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570371743 meters 0.03579744818965464 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.58, Z:-0.37 [[ 9.99993181e-01 -3.63972211e-03 6.25190730e-04 2.73012894e+01] [ 3.63974432e-03 9.99993376e-01 -3.43941822e-05 -1.57591259e+00] [-6.25061404e-04 3.66694821e-05 9.99999804e-01 -3.67734265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600371742999997 meters 0.037041490678423335 Centerline is valid? [True, True] Translation: X:27.33, Y:-1.58, Z:-0.37 [[ 9.99989036e-01 -4.56709783e-03 1.03461936e-03 2.73321565e+01] [ 4.56715929e-03 9.99989569e-01 -5.70482526e-05 -1.57935982e+00] [-1.03434802e-03 6.17728986e-05 9.99999463e-01 -3.68183006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.630371742999998 meters 0.03264089300163967 Centerline is valid? [True, True] Translation: X:27.36, Y:-1.57, Z:-0.37 [[ 9.99979370e-01 -6.33713833e-03 1.04894755e-03 2.73645023e+01] [ 6.33720003e-03 9.99979918e-01 -5.55039937e-05 -1.57398044e+00] [-1.04857475e-03 6.21502391e-05 9.99999448e-01 -3.67423586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660371743 meters 0.039478526119362777 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.59, Z:-0.37 [[ 9.99976966e-01 -6.73479175e-03 8.42391600e-04 2.73951163e+01] [ 6.73483332e-03 9.99977320e-01 -4.65151844e-05 -1.58507492e+00] [-8.42059224e-04 5.21874800e-05 9.99999644e-01 -3.69472860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.690371742999996 meters 0.04016914584392755 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.59, Z:-0.37 [[ 9.99973752e-01 -7.16977206e-03 1.04384439e-03 2.74276188e+01] [ 7.16983620e-03 9.99974295e-01 -5.77146546e-05 -1.58705310e+00] [-1.04340376e-03 6.51973330e-05 9.99999454e-01 -3.70192373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720371742999998 meters 0.03474689920831768 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.58, Z:-0.37 [[ 9.99972217e-01 -7.40837234e-03 8.25884711e-04 2.74604373e+01] [ 7.40841240e-03 9.99972556e-01 -4.54604611e-05 -1.57984913e+00] [-8.25525258e-04 5.15776926e-05 9.99999658e-01 -3.68742768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750371743 meters 0.03378407017707059 Centerline is valid? [True, True] Translation: X:27.49, Y:-1.58, Z:-0.37 [[ 9.99977962e-01 -6.61089935e-03 6.09714845e-04 2.74925827e+01] [ 6.61092090e-03 9.99978147e-01 -3.33311642e-05 -1.57708503e+00] [-6.09481172e-04 3.73612062e-05 9.99999814e-01 -3.68251957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780371742999996 meters 0.034425082352520994 Centerline is valid? [True, True] Translation: X:27.52, Y:-1.58, Z:-0.37 [[ 9.99982237e-01 -5.90297638e-03 8.25436272e-04 2.75241332e+01] [ 5.90301618e-03 9.99982576e-01 -4.57865355e-05 -1.57835763e+00] [-8.25151613e-04 5.06582858e-05 9.99999658e-01 -3.68347171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.810371742999997 meters 0.03426371458032288 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.58, Z:-0.37 [[ 9.99986846e-01 -4.90017704e-03 1.51509626e-03 2.75553566e+01] [ 4.90031141e-03 9.99987990e-01 -8.49902803e-05 -1.57849254e+00] [-1.51466160e-03 9.24136059e-05 9.99998849e-01 -3.68202014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840371743 meters 0.033204655663510385 Centerline is valid? [True, True] Translation: X:27.59, Y:-1.58, Z:-0.37 [[ 9.99996162e-01 -2.07304363e-03 1.83798481e-03 2.75858814e+01] [ 2.07323772e-03 9.99997845e-01 -1.03703621e-04 -1.57555602e+00] [-1.83776586e-03 1.07513803e-04 9.99998306e-01 -3.67821281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870371742999996 meters 0.033893330493567554 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.58, Z:-0.37 [[ 9.99997903e-01 -5.93035321e-04 1.96027977e-03 2.76165611e+01] [ 5.93252439e-04 9.99999818e-01 -1.10178954e-04 -1.57658242e+00] [-1.96021408e-03 1.11341663e-04 9.99998073e-01 -3.68651316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900371742999997 meters 0.029684065871433515 Centerline is valid? [True, True] Translation: X:27.65, Y:-1.57, Z:-0.37 [[ 9.99993157e-01 3.26286460e-03 1.74319988e-03 2.76477271e+01] [-3.26269820e-03 9.99994673e-01 -9.82943439e-05 -1.56886907e+00] [-1.74351131e-03 9.26061362e-05 9.99998476e-01 -3.68598141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.930371743 meters 0.029684065871433515 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.57, Z:-0.37 [[ 9.99993157e-01 3.26286657e-03 1.74319199e-03 2.76777211e+01] [-3.26269992e-03 9.99994673e-01 -9.84340032e-05 -1.57056270e+00] [-1.74350388e-03 9.27458173e-05 9.99998476e-01 -3.69020043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960371742999996 meters 0.032693177903651505 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.57, Z:-0.37 [[ 9.99985418e-01 5.08599845e-03 1.81573337e-03 2.77072342e+01] [-5.08582024e-03 9.99987062e-01 -1.02748899e-04 -1.57488518e+00] [-1.81623246e-03 9.35129072e-05 9.99998346e-01 -3.70704204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990371742999997 meters 0.02860352001408793 Centerline is valid? [True, True] Translation: X:27.74, Y:-1.57, Z:-0.37 [[ 9.99972184e-01 7.14489856e-03 2.14064454e-03 2.77374176e+01] [-7.14465530e-03 9.99974469e-01 -1.21266252e-04 -1.56826074e+00] [-2.14145633e-03 1.05968711e-04 9.99997701e-01 -3.69718421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020371743 meters 0.02710418134439352 Centerline is valid? [True, True] Translation: X:27.77, Y:-1.57, Z:-0.37 [[ 9.99952785e-01 9.47316848e-03 2.16510288e-03 2.77666508e+01] [-9.47292292e-03 9.99955123e-01 -1.23645990e-04 -1.56603673e+00] [-2.16617704e-03 1.03130300e-04 9.99997649e-01 -3.69604542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.050371743 meters 0.026827430171227788 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.56, Z:-0.37 [[ 9.99899057e-01 1.40391365e-02 2.18594003e-03 2.77954751e+01] [-1.40389003e-02 9.99901442e-01 -1.23354991e-04 -1.56450737e+00] [-2.18745639e-03 9.26543449e-05 9.99997603e-01 -3.71075985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080371742999997 meters 0.026292301384744546 Centerline is valid? [True, True] Translation: X:27.82, Y:-1.56, Z:-0.37 [[ 9.99867205e-01 1.61798980e-02 1.94525753e-03 2.78242100e+01] [-1.61797139e-02 9.99869094e-01 -1.10298165e-04 -1.56427701e+00] [-1.94678750e-03 7.88098075e-05 9.99998102e-01 -3.71478012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110371742999998 meters 0.02618108402649699 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.56, Z:-0.37 [[ 9.99837736e-01 1.79574382e-02 1.42583231e-03 2.78528859e+01] [-1.79573409e-02 9.99838751e-01 -8.10040514e-05 -1.56375042e+00] [-1.42705702e-03 5.53867505e-05 9.99998980e-01 -3.71755823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140371743 meters 0.024873861200913214 Centerline is valid? [True, True] Translation: X:27.88, Y:-1.56, Z:-0.37 [[ 9.99770389e-01 2.13415510e-02 1.92533570e-03 2.78829100e+01] [-2.13413816e-02 9.99772241e-01 -1.08482215e-04 -1.56001701e+00] [-1.92721237e-03 6.73679826e-05 9.99998141e-01 -3.71052332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170371742999997 meters 0.024201809776489634 Centerline is valid? [True, True] Translation: X:27.91, Y:-1.56, Z:-0.37 [[ 9.99725832e-01 2.32766175e-02 2.54183213e-03 2.79118828e+01] [-2.32763281e-02 9.99729059e-01 -1.43382519e-04 -1.55990130e+00] [-2.54448090e-03 8.41786891e-05 9.99996759e-01 -3.71181491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200371742999998 meters 0.02392503671669534 Centerline is valid? [True, True] Translation: X:27.94, Y:-1.56, Z:-0.37 [[ 9.99689676e-01 2.47628526e-02 2.71160184e-03 2.79411688e+01] [-2.47625300e-02 9.99693350e-01 -1.52491180e-04 -1.56027288e+00] [-2.71454644e-03 8.52977366e-05 9.99996312e-01 -3.71320328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.230371743 meters 0.02322796373818438 Centerline is valid? [True, True] Translation: X:27.97, Y:-1.56, Z:-0.37 [[ 9.99570067e-01 2.91392140e-02 3.25386447e-03 2.79703636e+01] [-2.91387743e-02 9.99575359e-01 -1.82460716e-04 -1.55993436e+00] [-3.25779950e-03 8.75686482e-05 9.99994690e-01 -3.71591429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260371742999997 meters 0.02275959210052618 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.56, Z:-0.37 [[ 9.99490859e-01 3.17234029e-02 3.41308104e-03 2.79979419e+01] [-3.17229328e-02 9.99496683e-01 -1.91803864e-04 -1.56057439e+00] [-3.41744785e-03 8.34332682e-05 9.99994157e-01 -3.72039935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290371742999998 meters 0.022120766325386884 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.56, Z:-0.37 [[ 9.99400578e-01 3.44373197e-02 3.54337197e-03 2.80272496e+01] [-3.44368299e-02 9.99406857e-01 -1.99177909e-04 -1.56016279e+00] [-3.54812939e-03 7.70360196e-05 9.99993702e-01 -3.72120930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320371743 meters 0.021028324287696663 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.56, Z:-0.37 [[ 9.99184889e-01 4.01595728e-02 4.09456960e-03 2.80555234e+01] [-4.01589723e-02 9.99193277e-01 -2.28790218e-04 -1.55946957e+00] [-4.10045453e-03 6.41700211e-05 9.99991591e-01 -3.71953916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.350371742999997 meters 0.020881387457093913 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.56, Z:-0.37 [[ 9.99083606e-01 4.25655007e-02 4.48623209e-03 2.80842050e+01] [-4.25648060e-02 9.99093677e-01 -2.50256020e-04 -1.55998525e+00] [-4.49281838e-03 5.90710887e-05 9.99989905e-01 -3.71882679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380371742999998 meters 0.02061757736336782 Centerline is valid? [True, True] Translation: X:28.11, Y:-1.56, Z:-0.37 [[ 9.98981625e-01 4.48105098e-02 5.26605718e-03 2.81125457e+01] [-4.48095868e-02 9.98995503e-01 -2.93204734e-04 -1.56176451e+00] [-5.27390610e-03 5.69362950e-05 9.99986091e-01 -3.72353184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.410371743 meters 0.020644596117637463 Centerline is valid? [True, True] Translation: X:28.14, Y:-1.57, Z:-0.37 [[ 9.98875268e-01 4.69451681e-02 6.65960288e-03 2.81400031e+01] [-4.69437433e-02 9.98897466e-01 -3.70187395e-04 -1.56546402e+00] [-6.66963895e-03 5.71443447e-05 9.99977756e-01 -3.73019106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440371742999996 meters 0.02045142760679632 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.57, Z:-0.37 [[ 9.98863696e-01 4.71349039e-02 7.04403400e-03 2.81689436e+01] [-4.71333203e-02 9.98888531e-01 -3.90744167e-04 -1.56909832e+00] [-7.05462247e-03 5.82914520e-05 9.99975114e-01 -3.73634012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.470371742999998 meters 0.020448948156273922 Centerline is valid? [True, True] Translation: X:28.20, Y:-1.57, Z:-0.37 [[ 9.98880645e-01 4.67961359e-02 6.89766172e-03 2.81965652e+01] [-4.67946117e-02 9.98904459e-01 -3.82284139e-04 -1.57298928e+00] [-6.90799447e-03 5.90828260e-05 9.99976138e-01 -3.74196294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500371743 meters 0.020429201935168603 Centerline is valid? [True, True] Translation: X:28.22, Y:-1.58, Z:-0.38 [[ 9.98987269e-01 4.45210102e-02 6.50509806e-03 2.82240867e+01] [-4.45196096e-02 9.99008446e-01 -3.60027451e-04 -1.58071287e+00] [-6.51467669e-03 7.00584142e-05 9.99978777e-01 -3.75255114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.530371742999996 meters 0.02016317769015681 Centerline is valid? [True, True] Translation: X:28.25, Y:-1.58, Z:-0.38 [[ 9.99058797e-01 4.29523040e-02 6.05147256e-03 2.82523928e+01] [-4.29510664e-02 9.99077121e-01 -3.34378067e-04 -1.58430442e+00] [-6.06025009e-03 7.41461497e-05 9.99981634e-01 -3.75048099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560371742999997 meters 0.020737789087695493 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.59, Z:-0.38 [[ 9.99142535e-01 4.10401665e-02 5.46808047e-03 2.82802215e+01] [-4.10391282e-02 9.99157494e-01 -3.01992703e-04 -1.59146572e+00] [-5.47586741e-03 7.73284995e-05 9.99985004e-01 -3.77361024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590371743 meters 0.02101402698190948 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.60, Z:-0.38 [[ 9.99299220e-01 3.71690200e-02 4.41952749e-03 2.83088296e+01] [-3.71683054e-02 9.99308990e-01 -2.43746120e-04 -1.59945302e+00] [-4.42553336e-03 7.93089601e-05 9.99990204e-01 -3.78058495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620371742999996 meters 0.021178175892302514 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.61, Z:-0.38 [[ 9.99369757e-01 3.52517655e-02 4.17143848e-03 2.83377797e+01] [-3.52511131e-02 9.99378460e-01 -2.29826836e-04 -1.60520241e+00] [-4.17694757e-03 8.26341392e-05 9.99991273e-01 -3.78951390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650371742999997 meters 0.022451869617455898 Centerline is valid? [True, True] Translation: X:28.36, Y:-1.61, Z:-0.38 [[ 9.99433739e-01 3.33653267e-02 4.35399941e-03 2.83649767e+01] [-3.33645989e-02 9.99443218e-01 -2.39700991e-04 -1.61322739e+00] [-4.35957288e-03 9.42958137e-05 9.99990493e-01 -3.80564521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680371743 meters 0.021891196973100532 Centerline is valid? [True, True] Translation: X:28.39, Y:-1.62, Z:-0.38 [[ 9.99525212e-01 3.03564923e-02 5.27585999e-03 2.83933563e+01] [-3.03553864e-02 9.99539127e-01 -2.89586486e-04 -1.61889586e+00] [-5.28221932e-03 1.29298225e-04 9.99986041e-01 -3.79394386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.710371742999996 meters 0.02223575081523665 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.62, Z:-0.38 [[ 9.99560324e-01 2.90222459e-02 6.07195138e-03 2.84220125e+01] [-2.90207600e-02 9.99578754e-01 -3.32701037e-04 -1.62378298e+00] [-6.07904932e-03 1.56342113e-04 9.99981510e-01 -3.79577677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740371742999997 meters 0.022659060066550548 Centerline is valid? [True, True] Translation: X:28.45, Y:-1.63, Z:-0.38 [[ 9.99596012e-01 2.77093961e-02 6.32465573e-03 2.84498035e+01] [-2.77077590e-02 9.99616006e-01 -3.46338728e-04 -1.62863388e+00] [-6.33182394e-03 1.70956775e-04 9.99979939e-01 -3.79530489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.770371743 meters 0.023779379949059102 Centerline is valid? [True, True] Translation: X:28.48, Y:-1.64, Z:-0.38 [[ 9.99669759e-01 2.49276372e-02 6.24384858e-03 2.84779479e+01] [-2.49259933e-02 9.99689241e-01 -3.40979009e-04 -1.63634806e+00] [-6.25040805e-03 1.85232276e-04 9.99980449e-01 -3.79659937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800371742999996 meters 0.02457599970665763 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.64, Z:-0.38 [[ 9.99712418e-01 2.30445568e-02 6.63553028e-03 2.85049820e+01] [-2.30426614e-02 9.99734417e-01 -3.61951262e-04 -1.64190929e+00] [-6.64210901e-03 2.08946893e-04 9.99977919e-01 -3.80509136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.830371742999997 meters 0.024875952382012005 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.65, Z:-0.38 [[ 9.99755636e-01 2.09932281e-02 6.92481420e-03 2.85335290e+01] [-2.09911197e-02 9.99779591e-01 -3.77007421e-04 -1.64649085e+00] [-6.93120251e-03 2.31555689e-04 9.99975952e-01 -3.81017578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860371742999998 meters 0.027647637844331135 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.66, Z:-0.38 [[ 9.99848117e-01 1.60381288e-02 6.82064881e-03 2.85621157e+01] [-1.60359731e-02 9.99871347e-01 -3.70624682e-04 -1.65795081e+00] [-6.82571543e-03 2.61192650e-04 9.99976670e-01 -3.81989770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890371743 meters 0.02582153480393805 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.66, Z:-0.38 [[ 9.99888700e-01 1.35277621e-02 6.29182451e-03 2.85915956e+01] [-1.35258792e-02 9.99908463e-01 -3.41721643e-04 -1.65789327e+00] [-6.29587130e-03 2.56581152e-04 9.99980148e-01 -3.81706875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920371742999997 meters 0.027722700024760016 Centerline is valid? [True, True] Translation: X:28.62, Y:-1.66, Z:-0.38 [[ 9.99924604e-01 1.10563384e-02 5.34257808e-03 2.86201919e+01] [-1.10549495e-02 9.99938850e-01 -2.89437408e-04 -1.66458180e+00] [-5.34545150e-03 2.30353655e-04 9.99985686e-01 -3.83247605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950371742999998 meters 0.02863403216547076 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.67, Z:-0.38 [[ 9.99974179e-01 5.96231322e-03 4.01162442e-03 2.86499231e+01] [-5.96148720e-03 9.99982206e-01 -2.17833800e-04 -1.67109137e+00] [-4.01285183e-03 1.93912927e-04 9.99991930e-01 -3.84489323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980371743 meters 0.029004042230678644 Centerline is valid? [True, True] Translation: X:28.68, Y:-1.67, Z:-0.39 [[ 9.99985404e-01 3.39246184e-03 4.20502170e-03 2.86801712e+01] [-3.39153244e-03 9.99994223e-01 -2.28131357e-04 -1.67436205e+00] [-4.20577133e-03 2.13866560e-04 9.99991133e-01 -3.85133415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.010371742999997 meters 0.031111382200093685 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.68, Z:-0.39 [[ 9.99991324e-01 1.20187146e-03 3.98851589e-03 2.87101683e+01] [-1.20101865e-03 9.99999255e-01 -2.16204630e-04 -1.68078512e+00] [-3.98877278e-03 2.11412473e-04 9.99992022e-01 -3.85569669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040371742999998 meters 0.03178961192033889 Centerline is valid? [True, True] Translation: X:28.74, Y:-1.68, Z:-0.39 [[ 9.99989547e-01 -6.98519692e-04 4.51868328e-03 2.87418514e+01] [ 6.99625015e-04 9.99999726e-01 -2.43035707e-04 -1.68425400e+00] [-4.51851227e-03 2.46194550e-04 9.99989761e-01 -3.85424814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.070371743 meters 0.03221744022979262 Centerline is valid? [True, True] Translation: X:28.77, Y:-1.69, Z:-0.38 [[ 9.99976355e-01 -3.94952302e-03 5.62941158e-03 2.87733007e+01] [ 3.95131088e-03 9.99992147e-01 -3.06505970e-04 -1.68678892e+00] [-5.62815682e-03 3.28742278e-04 9.99984108e-01 -3.84028244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100371742999997 meters 0.03199350266649075 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.69, Z:-0.38 [[ 9.99969225e-01 -4.63577286e-03 6.32926493e-03 2.88053084e+01] [ 4.63804664e-03 9.99989185e-01 -3.44618198e-04 -1.68840566e+00] [-6.32759891e-03 3.73963018e-04 9.99979911e-01 -3.83455812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.130371742999998 meters 0.032811093870961115 Centerline is valid? [True, True] Translation: X:28.84, Y:-1.69, Z:-0.38 [[ 9.99964289e-01 -4.68482560e-03 7.03376721e-03 2.88363104e+01] [ 4.68764028e-03 9.99988939e-01 -3.83733989e-04 -1.69124478e+00] [-7.03189169e-03 4.16692056e-04 9.99975189e-01 -3.83293845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160371743 meters 0.03279578970668231 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.69, Z:-0.38 [[ 9.99958106e-01 -3.39609894e-03 8.50015433e-03 2.88684322e+01] [ 3.40016769e-03 9.99994112e-01 -4.64261716e-04 -1.69242722e+00] [-8.49852760e-03 4.93144216e-04 9.99963765e-01 -3.82801132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190371742999996 meters 0.032496646359891204 Centerline is valid? [True, True] Translation: X:28.90, Y:-1.69, Z:-0.38 [[ 9.99959619e-01 -2.11827649e-03 8.73346695e-03 2.89010589e+01] [ 2.12252792e-03 9.99997633e-01 -4.77557800e-04 -1.69313636e+00] [-8.73243468e-03 4.96075543e-04 9.99961749e-01 -3.82965735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220371742999998 meters 0.03234350289972362 Centerline is valid? [True, True] Translation: X:28.93, Y:-1.69, Z:-0.38 [[ 9.99961487e-01 -8.68989708e-04 8.73328955e-03 2.89331613e+01] [ 8.73201113e-04 9.99999504e-01 -4.78422910e-04 -1.69430410e+00] [-8.73286947e-03 4.86030403e-04 9.99961750e-01 -3.83695436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250371743 meters 0.03220936423638781 Centerline is valid? [True, True] Translation: X:28.96, Y:-1.69, Z:-0.38 [[ 9.99963317e-01 9.36460076e-04 8.51394525e-03 2.89632077e+01] [-9.32519426e-04 9.99999456e-01 -4.66804503e-04 -1.69478498e+00] [-8.51437776e-03 4.58847960e-04 9.99963647e-01 -3.84202796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280371742999996 meters 0.031704392996739515 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.70, Z:-0.39 [[ 9.99965820e-01 1.71442209e-03 8.08820906e-03 2.89955462e+01] [-1.71088324e-03 9.99998438e-01 -4.44430449e-04 -1.69545304e+00] [-8.08895837e-03 4.30577277e-04 9.99967191e-01 -3.85020151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310371742999997 meters 0.030391646632622386 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.69, Z:-0.39 [[ 9.99968045e-01 2.33184859e-03 7.64661025e-03 2.90275910e+01] [-2.32869998e-03 9.99997200e-01 -4.20643363e-04 -1.69468046e+00] [-7.64756972e-03 4.02823260e-04 9.99970676e-01 -3.85711494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340371743 meters 0.03324766191152449 Centerline is valid? [True, True] Translation: X:29.06, Y:-1.70, Z:-0.39 [[ 9.99977474e-01 2.95433763e-03 6.02693703e-03 2.90589198e+01] [-2.95239926e-03 9.99995587e-01 -3.30489320e-04 -1.70119576e+00] [-6.02788681e-03 3.12687951e-04 9.99981783e-01 -3.88497414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.370371742999996 meters 0.03110106715064858 Centerline is valid? [True, True] Translation: X:29.09, Y:-1.70, Z:-0.39 [[ 9.99980730e-01 3.67800222e-03 5.00128167e-03 2.90915525e+01] [-3.67667419e-03 9.99993203e-01 -2.74706183e-04 -1.69921402e+00] [-5.00225805e-03 2.56312806e-04 9.99987456e-01 -3.89068464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400371742999997 meters 0.029017617809359502 Centerline is valid? [True, True] Translation: X:29.12, Y:-1.70, Z:-0.39 [[ 9.99981797e-01 4.24401119e-03 4.28890214e-03 2.91228062e+01] [-4.24302847e-03 9.99990970e-01 -2.38203750e-04 -1.69691180e+00] [-4.28987435e-03 2.20001480e-04 9.99990774e-01 -3.89775197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.430371743 meters 0.03371616323914359 Centerline is valid? [True, True] Translation: X:29.15, Y:-1.70, Z:-0.39 [[ 9.99976016e-01 6.59077941e-03 2.12806071e-03 2.91526115e+01] [-6.59054428e-03 9.99978275e-01 -1.17484967e-04 -1.70499706e+00] [-2.12878880e-03 1.03457071e-04 9.99997729e-01 -3.93636842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460371742999996 meters 0.029764517810304193 Centerline is valid? [True, True] Translation: X:29.18, Y:-1.70, Z:-0.39 [[ 9.99965488e-01 8.17726669e-03 1.46807997e-03 2.91821419e+01] [-8.17715362e-03 9.99966563e-01 -8.30043978e-05 -1.69948355e+00] [-1.46870963e-03 7.09968177e-05 9.99998919e-01 -3.93463295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490371742999997 meters 0.03268619702254089 Centerline is valid? [True, True] Translation: X:29.21, Y:-1.70, Z:-0.40 [[ 9.99949709e-01 1.00009608e-02 7.48620805e-04 2.92101188e+01] [-1.00009317e-02 9.99949989e-01 -4.25888119e-05 -1.70497738e+00] [-7.49009294e-04 3.50997645e-05 9.99999719e-01 -3.96029248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520371743 meters 0.026486873724544464 Centerline is valid? [True, True] Translation: X:29.24, Y:-1.69, Z:-0.39 [[ 9.99885487e-01 1.50820804e-02 1.24285951e-03 2.92403431e+01] [-1.50820056e-02 9.99886258e-01 -6.95296618e-05 -1.69497091e+00] [-1.24376680e-03 5.07768855e-05 9.99999225e-01 -3.93617849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550371742999996 meters 0.026535469269252487 Centerline is valid? [True, True] Translation: X:29.27, Y:-1.70, Z:-0.39 [[ 9.99841070e-01 1.76725276e-02 2.34884202e-03 2.92683597e+01] [-1.76722674e-02 9.99843825e-01 -1.31490098e-04 -1.69609937e+00] [-2.35079895e-03 8.99598364e-05 9.99997233e-01 -3.94098988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580371742999997 meters 0.025446657215338835 Centerline is valid? [True, True] Translation: X:29.30, Y:-1.70, Z:-0.39 [[ 9.99790555e-01 2.01299574e-02 3.69190756e-03 2.92969801e+01] [-2.01293358e-02 9.99797363e-01 -2.05457998e-04 -1.69540052e+00] [-3.69529530e-03 1.31099319e-04 9.99993164e-01 -3.93312689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610371742999998 meters 0.024834166541615094 Centerline is valid? [True, True] Translation: X:29.33, Y:-1.70, Z:-0.39 [[ 9.99746848e-01 2.19019383e-02 5.15218026e-03 2.93261387e+01] [-2.19007551e-02 9.99760109e-01 -2.85964528e-04 -1.69539405e+00] [-5.15720748e-03 1.73055497e-04 9.99986687e-01 -3.92370055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640371743 meters 0.02438125950184273 Centerline is valid? [True, True] Translation: X:29.35, Y:-1.70, Z:-0.39 [[ 9.99692512e-01 2.36943892e-02 7.31143385e-03 2.93549316e+01] [-2.36920612e-02 9.99719222e-01 -4.04869723e-04 -1.69541008e+00] [-7.31897410e-03 2.31522292e-04 9.99973189e-01 -3.90346297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.670371742999997 meters 0.025104441957877834 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.70, Z:-0.39 [[ 9.99704102e-01 2.31506432e-02 7.46703056e-03 2.93824381e+01] [-2.31482031e-02 9.99731959e-01 -4.13048330e-04 -1.69799435e+00] [-7.47459142e-03 2.40077769e-04 9.99972036e-01 -3.90036911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700371742999998 meters 0.02412848603334778 Centerline is valid? [True, True] Translation: X:29.41, Y:-1.70, Z:-0.39 [[ 9.99729850e-01 2.17513107e-02 8.19191960e-03 2.94110772e+01] [-2.17483345e-02 9.99763375e-01 -4.52221197e-04 -1.69832992e+00] [-8.19981759e-03 2.73938422e-04 9.99966343e-01 -3.89675030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.730371743 meters 0.025937886151389 Centerline is valid? [True, True] Translation: X:29.44, Y:-1.71, Z:-0.39 [[ 9.99821150e-01 1.68950274e-02 8.49854557e-03 2.94397302e+01] [-1.68916563e-02 9.99857216e-01 -4.68291179e-04 -1.70603011e+00] [-8.50524391e-03 3.24652914e-04 9.99963777e-01 -3.90319729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760371742999997 meters 0.026562369315148025 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.71, Z:-0.39 [[ 9.99869766e-01 1.38791332e-02 8.23539176e-03 2.94694186e+01] [-1.38758695e-02 9.99903623e-01 -4.53315636e-04 -1.70990783e+00] [-8.24088968e-03 3.38983378e-04 9.99965986e-01 -3.91246118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.790371742999998 meters 0.02774984312162541 Centerline is valid? [True, True] Translation: X:29.50, Y:-1.71, Z:-0.39 [[ 9.99913709e-01 1.04634364e-02 7.94297767e-03 2.94992039e+01] [-1.04602921e-02 9.99945194e-01 -4.37295198e-04 -1.71477660e+00] [-7.94711796e-03 3.54171596e-04 9.99968358e-01 -3.92502114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820371743 meters 0.02774984312162541 Centerline is valid? [True, True] Translation: X:29.53, Y:-1.72, Z:-0.39 [[ 9.99913709e-01 1.04634329e-02 7.94299139e-03 2.95291858e+01] [-1.04602906e-02 9.99945194e-01 -4.37045930e-04 -1.71642639e+00] [-7.94712906e-03 3.53922219e-04 9.99968358e-01 -3.92923940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850371742999997 meters 0.02927202620212339 Centerline is valid? [True, True] Translation: X:29.56, Y:-1.72, Z:-0.39 [[ 9.99963907e-01 3.98470251e-03 7.50376476e-03 2.95594963e+01] [-3.98171630e-03 9.99991988e-01 -4.12858630e-04 -1.72348632e+00] [-7.50534976e-03 3.82965866e-04 9.99971761e-01 -3.94463608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880371742999998 meters 0.051219912494869 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.76, Z:-0.40 [[ 9.99960973e-01 4.10419601e-03 7.82350169e-03 2.95892276e+01] [-4.10096623e-03 9.99991499e-01 -4.28827842e-04 -1.75821204e+00] [-7.82519518e-03 3.96727190e-04 9.99969304e-01 -3.98955865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.910371743 meters 0.029669208950121664 Centerline is valid? [True, True] Translation: X:29.62, Y:-1.73, Z:-0.40 [[ 9.99970554e-01 -4.41870094e-04 7.66136784e-03 2.96221609e+01] [ 4.45127501e-04 9.99999811e-01 -4.23473075e-04 -1.72884698e+00] [-7.66117927e-03 4.26870891e-04 9.99970562e-01 -3.95336152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940371742999996 meters 0.031856263735055235 Centerline is valid? [True, True] Translation: X:29.65, Y:-1.74, Z:-0.40 [[ 9.99959342e-01 -2.28744940e-03 8.72254574e-03 2.96532398e+01] [ 2.29173421e-03 9.99997258e-01 -4.81270790e-04 -1.73505844e+00] [-8.72142094e-03 5.01240979e-04 9.99961842e-01 -3.95504501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970371742999998 meters 0.032515367832836574 Centerline is valid? [True, True] Translation: X:29.69, Y:-1.74, Z:-0.40 [[ 9.99953670e-01 -2.91021114e-03 9.17544106e-03 2.96854142e+01] [ 2.91500761e-03 9.99995622e-01 -5.09421392e-04 -1.73820862e+00] [-9.17391836e-03 5.36144271e-04 9.99957775e-01 -3.95734055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000371743 meters 0.032689364281733725 Centerline is valid? [True, True] Translation: X:29.72, Y:-1.74, Z:-0.40 [[ 9.99948919e-01 -3.21601315e-03 9.58207945e-03 2.97173225e+01] [ 3.22126524e-03 9.99994670e-01 -5.32732373e-04 -1.74087226e+00] [-9.58031510e-03 5.63571580e-04 9.99953949e-01 -3.96066868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.030371742999996 meters 0.034420600507755264 Centerline is valid? [True, True] Translation: X:29.75, Y:-1.75, Z:-0.40 [[ 9.99950207e-01 -3.06715331e-03 9.49606049e-03 2.97487573e+01] [ 3.07231200e-03 9.99995141e-01 -5.28705601e-04 -1.74527747e+00] [-9.49439273e-03 5.57854136e-04 9.99954772e-01 -3.96536310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060371742999997 meters 0.03361546410830396 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.75, Z:-0.40 [[ 9.99948161e-01 -3.01954616e-03 9.72406988e-03 2.97819013e+01] [ 3.02495634e-03 9.99995278e-01 -5.41710357e-04 -1.74585355e+00] [-9.72238825e-03 5.71097162e-04 9.99952573e-01 -3.96671584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090371743 meters 0.03326838341469856 Centerline is valid? [True, True] Translation: X:29.81, Y:-1.75, Z:-0.40 [[ 9.99951365e-01 -2.95506321e-03 9.40932954e-03 2.98148812e+01] [ 2.96013498e-03 9.99995481e-01 -5.25132928e-04 -1.74744591e+00] [-9.40773522e-03 5.52960273e-04 9.99955593e-01 -3.96833427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120371742999996 meters 0.033778923405169345 Centerline is valid? [True, True] Translation: X:29.85, Y:-1.75, Z:-0.40 [[ 9.99958792e-01 -2.16266302e-03 8.81688678e-03 2.98457399e+01] [ 2.16709548e-03 9.99997530e-01 -4.93201765e-04 -1.75013097e+00] [-8.81579837e-03 5.12288477e-04 9.99961009e-01 -3.97516110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150371742999997 meters 0.03306995070425356 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.75, Z:-0.40 [[ 9.99960666e-01 -1.44737862e-03 8.75050564e-03 2.98775846e+01] [ 1.45172049e-03 9.99998826e-01 -4.89853920e-04 -1.75096498e+00] [-8.74978636e-03 5.02537940e-04 9.99961594e-01 -3.98213590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180371743 meters 0.034111806849507334 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.75, Z:-0.40 [[ 9.99970788e-01 -8.62629618e-04 7.59467820e-03 2.99085316e+01] [ 8.65887367e-04 9.99999535e-01 -4.25673936e-04 -1.75386416e+00] [-7.59430747e-03 4.32237637e-04 9.99971069e-01 -3.99503426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210371742999996 meters 0.03367171940056001 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.76, Z:-0.40 [[ 9.99981982e-01 1.03221768e-03 5.91352944e-03 2.99387084e+01] [-1.03027304e-03 9.99999414e-01 -3.31883365e-04 -1.75515590e+00] [-5.91386855e-03 3.25784835e-04 9.99982460e-01 -4.01900639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240371742999997 meters 0.030869159050231985 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.75, Z:-0.40 [[ 9.99982339e-01 2.40648084e-03 5.43416414e-03 2.99710201e+01] [-2.40486108e-03 9.99997062e-01 -3.04584273e-04 -1.75188847e+00] [-5.43488115e-03 2.91510484e-04 9.99985188e-01 -4.02174446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270371743 meters 0.02948216986418223 Centerline is valid? [True, True] Translation: X:30.00, Y:-1.75, Z:-0.40 [[ 9.99969841e-01 5.74053342e-03 5.23093848e-03 3.00016867e+01] [-5.73907295e-03 9.99983488e-01 -2.94164823e-04 -1.75040082e+00] [-5.23254077e-03 2.64135214e-04 9.99986275e-01 -4.02477921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300371742999996 meters 0.029092176847489326 Centerline is valid? [True, True] Translation: X:30.03, Y:-1.75, Z:-0.40 [[ 9.99950931e-01 8.25216851e-03 5.48058344e-03 3.00326816e+01] [-8.25060378e-03 9.99965916e-01 -3.08051592e-04 -1.75118914e+00] [-5.48293873e-03 2.62818354e-04 9.99984934e-01 -4.03029737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.330371742999997 meters 0.027448078323764197 Centerline is valid? [True, True] Translation: X:30.06, Y:-1.75, Z:-0.40 [[ 9.99925223e-01 1.06835718e-02 5.95066249e-03 3.00633863e+01] [-1.06817684e-02 9.99942892e-01 -3.34744928e-04 -1.75016981e+00] [-5.95389893e-03 2.71156298e-04 9.99982239e-01 -4.02542422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360371742999998 meters 0.02616009713430179 Centerline is valid? [True, True] Translation: X:30.09, Y:-1.75, Z:-0.40 [[ 9.99890268e-01 1.32389687e-02 6.64695280e-03 3.00931769e+01] [-1.32367733e-02 9.99912320e-01 -3.74183311e-04 -1.74882656e+00] [-6.65132380e-03 2.86158044e-04 9.99977839e-01 -4.02172605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.390371743 meters 0.02684684131775113 Centerline is valid? [True, True] Translation: X:30.12, Y:-1.75, Z:-0.40 [[ 9.99788650e-01 1.92050668e-02 7.33622875e-03 3.01219860e+01] [-1.92025547e-02 9.99815529e-01 -4.12706762e-04 -1.75022878e+00] [-7.34280149e-03 2.71745203e-04 9.99973004e-01 -4.01928856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420371742999997 meters 0.025507724398888813 Centerline is valid? [True, True] Translation: X:30.15, Y:-1.75, Z:-0.40 [[ 9.99725104e-01 2.22696029e-02 7.33362739e-03 3.01516989e+01] [-2.22671777e-02 9.99751971e-01 -4.12189619e-04 -1.74854988e+00] [-7.34098773e-03 2.48777125e-04 9.99973024e-01 -4.01515832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450371742999998 meters 0.022354345108259344 Centerline is valid? [True, True] Translation: X:30.18, Y:-1.74, Z:-0.40 [[ 9.99571550e-01 2.83502501e-02 7.27873652e-03 3.01823235e+01] [-2.83480247e-02 9.99598030e-01 -4.08746656e-04 -1.74271859e+00] [-7.28739876e-03 2.02233726e-04 9.99973426e-01 -4.00295890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480371743 meters 0.02173890236044635 Centerline is valid? [True, True] Translation: X:30.21, Y:-1.74, Z:-0.40 [[ 9.99482737e-01 3.13492132e-02 7.17537524e-03 3.02107924e+01] [-3.13471260e-02 9.99508477e-01 -4.03193981e-04 -1.74271630e+00] [-7.18448819e-03 1.78058032e-04 9.99974175e-01 -4.00772700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.510371742999997 meters 0.022127134079197735 Centerline is valid? [True, True] Translation: X:30.24, Y:-1.74, Z:-0.40 [[ 9.99397813e-01 3.39866731e-02 6.99408044e-03 3.02384957e+01] [-3.39847571e-02 9.99422274e-01 -3.92640376e-04 -1.74484914e+00] [-7.00338432e-03 1.54711808e-04 9.99975464e-01 -4.01791502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540371742999998 meters 0.020542469319958647 Centerline is valid? [True, True] Translation: X:30.27, Y:-1.74, Z:-0.40 [[ 9.99208534e-01 3.91614416e-02 6.97761727e-03 3.02672824e+01] [-3.91596661e-02 9.99232890e-01 -3.90953186e-04 -1.74342727e+00] [-6.98757496e-03 1.17402597e-04 9.99975580e-01 -4.02385233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570371743 meters 0.02052316063880525 Centerline is valid? [True, True] Translation: X:30.30, Y:-1.74, Z:-0.40 [[ 9.99121957e-01 4.13623787e-02 6.66843275e-03 3.02956184e+01] [-4.13608090e-02 9.99144206e-01 -3.73180803e-04 -1.74464610e+00] [-6.67816159e-03 9.70413605e-05 9.99977696e-01 -4.02703119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600371742999997 meters 0.020383159326934446 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.75, Z:-0.40 [[ 9.98992208e-01 4.44144933e-02 6.47463482e-03 3.03231578e+01] [-4.44130777e-02 9.99013187e-01 -3.62323080e-04 -1.74657067e+00] [-6.48433796e-03 7.43994743e-05 9.99978974e-01 -4.03662524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630371742999998 meters 0.02012531138861899 Centerline is valid? [True, True] Translation: X:30.35, Y:-1.75, Z:-0.40 [[ 9.98946039e-01 4.54420335e-02 6.46781919e-03 3.03519124e+01] [-4.54406508e-02 9.98966975e-01 -3.60655749e-04 -1.74827681e+00] [-6.47752670e-03 6.63737191e-05 9.99979018e-01 -4.04162029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660371743 meters 0.02009790662967866 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.75, Z:-0.40 [[ 9.98915049e-01 4.60950012e-02 6.63135598e-03 3.03808469e+01] [-4.60935653e-02 9.98937059e-01 -3.69273541e-04 -1.75063827e+00] [-6.64132890e-03 6.32100574e-05 9.99977944e-01 -4.04813583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690371742999996 meters 0.02008114427445348 Centerline is valid? [True, True] Translation: X:30.41, Y:-1.75, Z:-0.41 [[ 9.98911260e-01 4.61538047e-02 6.79117819e-03 3.04090833e+01] [-4.61523018e-02 9.98934343e-01 -3.77934747e-04 -1.75484835e+00] [-6.80138425e-03 6.40947688e-05 9.99976868e-01 -4.05461511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720371742999998 meters 0.019942448751311605 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.76, Z:-0.41 [[ 9.98944405e-01 4.53820978e-02 7.10927897e-03 3.04353348e+01] [-4.53804341e-02 9.98969699e-01 -3.95238078e-04 -1.75879926e+00] [-7.11989101e-03 7.21987008e-05 9.99974651e-01 -4.06036220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750371743 meters 0.019988648317313375 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.77, Z:-0.41 [[ 9.99020226e-01 4.34953627e-02 8.16955775e-03 3.04638996e+01] [-4.34931223e-02 9.99053624e-01 -4.51785652e-04 -1.76568904e+00] [-8.18147686e-03 9.60234295e-05 9.99966527e-01 -4.06282340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780371742999996 meters 0.02010898110621858 Centerline is valid? [True, True] Translation: X:30.49, Y:-1.77, Z:-0.41 [[ 9.99061869e-01 4.25515134e-02 8.04680909e-03 3.04923786e+01] [-4.25493136e-02 9.99094269e-01 -4.44453988e-04 -1.76884425e+00] [-8.05843304e-03 1.01650828e-04 9.99967525e-01 -4.05971997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810371742999997 meters 0.020481248407893924 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.77, Z:-0.41 [[ 9.99095514e-01 4.16964745e-02 8.34011059e-03 3.05201085e+01] [-4.16940862e-02 9.99130318e-01 -4.60104354e-04 -1.77376587e+00] [-8.35204207e-03 1.11954907e-04 9.99965115e-01 -4.06688346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840371743 meters 0.020561084342481148 Centerline is valid? [True, True] Translation: X:30.55, Y:-1.78, Z:-0.41 [[ 9.99130014e-01 4.09019854e-02 8.13897033e-03 3.05481909e+01] [-4.08996905e-02 9.99163157e-01 -4.48273994e-04 -1.77805948e+00] [-8.15049458e-03 1.15002634e-04 9.99966778e-01 -4.07428091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870371742999996 meters 0.020609084244698053 Centerline is valid? [True, True] Translation: X:30.58, Y:-1.78, Z:-0.41 [[ 9.99130722e-01 4.10792184e-02 7.09212126e-03 3.05767985e+01] [-4.10774845e-02 9.99155888e-01 -3.90037364e-04 -1.78435962e+00] [-7.10215715e-03 9.83718124e-05 9.99974775e-01 -4.08395321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900371742999997 meters 0.020516214167553733 Centerline is valid? [True, True] Translation: X:30.60, Y:-1.79, Z:-0.41 [[ 9.99129362e-01 4.12176559e-02 6.45158108e-03 3.06042883e+01] [-4.12162245e-02 9.99150187e-01 -3.54725362e-04 -1.78816659e+00] [-6.46071940e-03 8.85067102e-05 9.99979125e-01 -4.09417290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930371743 meters 0.02033081753659098 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.79, Z:-0.41 [[ 9.99066390e-01 4.26359221e-02 6.96603310e-03 3.06330136e+01] [-4.26342957e-02 9.99090672e-01 -3.81885997e-04 -1.79461073e+00] [-6.97598076e-03 8.45375502e-05 9.99975664e-01 -4.10216760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960371742999996 meters 0.02033374111565961 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.80, Z:-0.41 [[ 9.99004821e-01 4.40450502e-02 7.02856802e-03 3.06617287e+01] [-4.40434329e-02 9.99029543e-01 -3.84790146e-04 -1.79830783e+00] [-7.03869520e-03 7.48449466e-05 9.99975225e-01 -4.10541822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990371742999997 meters 0.0201999301752416 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.80, Z:-0.41 [[ 9.98908352e-01 4.61779184e-02 7.05014825e-03 3.06906332e+01] [-4.61763479e-02 9.98933229e-01 -3.85461055e-04 -1.80122857e+00] [-7.06042715e-03 5.94901690e-05 9.99975073e-01 -4.10869008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020371743 meters 0.020105750399432066 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.80, Z:-0.41 [[ 9.98685865e-01 5.09214816e-02 5.79195110e-03 3.07193856e+01] [-5.09205028e-02 9.98702660e-01 -3.16431640e-04 -1.80478060e+00] [-5.80055014e-03 2.10867435e-05 9.99983176e-01 -4.11858805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.050371742999996 meters 0.02030135600506823 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.81, Z:-0.41 [[ 9.98543275e-01 5.36886169e-02 5.37218990e-03 3.07473775e+01] [-5.36878149e-02 9.98557726e-01 -2.93492744e-04 -1.80740557e+00] [-5.38019895e-03 4.64406919e-06 9.99985527e-01 -4.12821842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080371742999997 meters 0.020598558593865113 Centerline is valid? [True, True] Translation: X:30.77, Y:-1.81, Z:-0.41 [[ 9.98161295e-01 6.03999642e-02 5.08650742e-03 3.07745414e+01] [-6.03993356e-02 9.98174255e-01 -2.77239826e-04 -1.81156311e+00] [-5.09396603e-03 -3.04916049e-05 9.99987025e-01 -4.13602170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110371742999998 meters 0.020886119927482304 Centerline is valid? [True, True] Translation: X:30.80, Y:-1.81, Z:-0.41 [[ 9.97986503e-01 6.31935569e-02 5.43277779e-03 3.08032532e+01] [-6.31928852e-02 9.98001289e-01 -2.95375728e-04 -1.81475846e+00] [-5.44058508e-03 -4.85319132e-05 9.99985199e-01 -4.13749013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140371743 meters 0.021170251287563963 Centerline is valid? [True, True] Translation: X:30.83, Y:-1.82, Z:-0.41 [[ 9.97797986e-01 6.60382968e-02 6.17426155e-03 3.08319653e+01] [-6.60374874e-02 9.97817086e-01 -3.35103694e-04 -1.81851887e+00] [-6.18291335e-03 -7.33669285e-05 9.99980883e-01 -4.13443781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170371742999997 meters 0.021500227150928763 Centerline is valid? [True, True] Translation: X:30.86, Y:-1.83, Z:-0.41 [[ 9.97499960e-01 7.01862182e-02 8.22953736e-03 3.08605869e+01] [-7.01849288e-02 9.97533898e-01 -4.45730922e-04 -1.82611940e+00] [-8.24052664e-03 -1.32972916e-04 9.99966037e-01 -4.12314779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200371742999998 meters 0.02213795773243739 Centerline is valid? [True, True] Translation: X:30.89, Y:-1.83, Z:-0.41 [[ 9.97383789e-01 7.17176297e-02 9.06416658e-03 3.08882879e+01] [-7.17161348e-02 9.97424962e-01 -4.90269088e-04 -1.83013023e+00] [-9.07598695e-03 -1.61060552e-04 9.99958799e-01 -4.12258516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230371743 meters 0.02232521271096683 Centerline is valid? [True, True] Translation: X:30.92, Y:-1.84, Z:-0.41 [[ 9.97301961e-01 7.27591203e-02 9.74212912e-03 3.09166874e+01] [-7.27574531e-02 9.97349526e-01 -5.25908478e-04 -1.83628486e+00] [-9.75457249e-03 -1.84322946e-04 9.99952406e-01 -4.12031609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260371742999997 meters 0.022588183195394646 Centerline is valid? [True, True] Translation: X:30.95, Y:-1.85, Z:-0.41 [[ 9.97247290e-01 7.34909495e-02 9.84494327e-03 3.09453898e+01] [-7.34892896e-02 9.97295865e-01 -5.30741374e-04 -1.84770699e+00] [-9.85732590e-03 -1.94217491e-04 9.99951397e-01 -4.12833119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290371742999998 meters 0.022909300882095383 Centerline is valid? [True, True] Translation: X:30.97, Y:-1.85, Z:-0.41 [[ 9.97286629e-01 7.29734070e-02 9.70883315e-03 3.09732139e+01] [-7.29717742e-02 9.97333869e-01 -5.22785858e-04 -1.85447105e+00] [-9.72109760e-03 -1.87103434e-04 9.99952732e-01 -4.13816092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320371743 meters 0.023117109586298215 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.86, Z:-0.42 [[ 9.97322743e-01 7.24651484e-02 9.80549902e-03 3.10009368e+01] [-7.24634673e-02 9.97370928e-01 -5.27084995e-04 -1.86221573e+00] [-9.81791495e-03 -1.84866604e-04 9.99951786e-01 -4.15268906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350371742999997 meters 0.02302794141436778 Centerline is valid? [True, True] Translation: X:31.03, Y:-1.88, Z:-0.42 [[ 9.97516074e-01 6.98111706e-02 9.38520253e-03 3.10287139e+01] [-6.98095211e-02 9.97560212e-01 -5.03638169e-04 -1.87895888e+00] [-9.39746420e-03 -1.52789325e-04 9.99955831e-01 -4.16362341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380371742999998 meters 0.0229369667783314 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.89, Z:-0.42 [[ 9.97649456e-01 6.78337122e-02 9.70313757e-03 3.10567143e+01] [-6.78318625e-02 9.97696631e-01 -5.19974779e-04 -1.88784996e+00] [-9.71605949e-03 -1.39429338e-04 9.99952788e-01 -4.17035222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410371743 meters 0.022967961593544164 Centerline is valid? [True, True] Translation: X:31.08, Y:-1.90, Z:-0.42 [[ 9.97927314e-01 6.37347217e-02 8.88605234e-03 3.10843556e+01] [-6.37330128e-02 9.97966872e-01 -4.75639111e-04 -1.90376882e+00] [-8.89830059e-03 -9.16816273e-05 9.99960405e-01 -4.17592819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440371742999996 meters 0.023039473041748932 Centerline is valid? [True, True] Translation: X:31.11, Y:-1.91, Z:-0.42 [[ 9.98044876e-01 6.18892193e-02 8.72635114e-03 3.11130332e+01] [-6.18875059e-02 9.98083022e-01 -4.66499290e-04 -1.91287397e+00] [-8.73849420e-03 -7.44648821e-05 9.99961816e-01 -4.17917580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470371742999998 meters 0.023185294967313922 Centerline is valid? [True, True] Translation: X:31.14, Y:-1.92, Z:-0.42 [[ 9.98174028e-01 5.98500939e-02 8.15945248e-03 3.11405726e+01] [-5.98485302e-02 9.98207375e-01 -4.35898734e-04 -1.92173603e+00] [-8.17091422e-03 -5.32284424e-05 9.99966616e-01 -4.18249249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500371743 meters 0.02297272023137396 Centerline is valid? [True, True] Translation: X:31.17, Y:-1.93, Z:-0.42 [[ 9.98296779e-01 5.77518548e-02 8.26228208e-03 3.11692667e+01] [-5.77501890e-02 9.98330968e-01 -4.40245658e-04 -1.93101342e+00] [-8.27391708e-03 -3.76525302e-05 9.99965770e-01 -4.18428455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530371742999996 meters 0.022961298240964045 Centerline is valid? [True, True] Translation: X:31.20, Y:-1.95, Z:-0.42 [[ 9.98520856e-01 5.37588640e-02 8.12928320e-03 3.11971593e+01] [-5.37571237e-02 9.98553947e-01 -4.32585525e-04 -1.94743321e+00] [-8.14078313e-03 -5.06121434e-06 9.99966863e-01 -4.18018849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560371742999997 meters 0.02293654996500542 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.96, Z:-0.42 [[ 9.98643092e-01 5.13394793e-02 8.73112385e-03 3.12243188e+01] [-5.13373848e-02 9.98681259e-01 -4.63990998e-04 -1.95596843e+00] [-8.74343082e-03 1.51283411e-05 9.99961775e-01 -4.18264433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.590371743 meters 0.02294934373906164 Centerline is valid? [True, True] Translation: X:31.25, Y:-1.97, Z:-0.42 [[ 9.98881808e-01 4.64536395e-02 8.78596055e-03 3.12520455e+01] [-4.64513376e-02 9.98920445e-01 -4.65993203e-04 -1.97095928e+00] [-8.79812270e-03 5.73525141e-05 9.99961294e-01 -4.17907521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620371742999996 meters 0.022844624841029334 Centerline is valid? [True, True] Translation: X:31.28, Y:-1.98, Z:-0.42 [[ 9.98989994e-01 4.40797331e-02 8.71607799e-03 3.12805009e+01] [-4.40773825e-02 9.99028013e-01 -4.61691206e-04 -1.97872668e+00] [-8.72795730e-03 7.70429915e-05 9.99961908e-01 -4.17697430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650371742999997 meters 0.0230824851876956 Centerline is valid? [True, True] Translation: X:31.31, Y:-1.99, Z:-0.42 [[ 9.99108283e-01 4.13166382e-02 8.69330354e-03 3.13085598e+01] [-4.13142006e-02 9.99146098e-01 -4.59877987e-04 -1.98592886e+00] [-8.70488092e-03 1.00311020e-04 9.99962107e-01 -4.17770977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680371743 meters 0.023251932632949345 Centerline is valid? [True, True] Translation: X:31.34, Y:-2.00, Z:-0.42 [[ 9.99324611e-01 3.58328725e-02 8.14419301e-03 3.13378688e+01] [-3.58305570e-02 9.99357787e-01 -4.30089005e-04 -1.99974301e+00] [-8.15437403e-03 1.37987555e-04 9.99966743e-01 -4.17761232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710371742999996 meters 0.023303768528291913 Centerline is valid? [True, True] Translation: X:31.37, Y:-2.01, Z:-0.42 [[ 9.99430886e-01 3.27502831e-02 8.08223748e-03 3.13664973e+01] [-3.27479085e-02 9.99463553e-01 -4.26005020e-04 -2.00750501e+00] [-8.09185357e-03 1.61086201e-04 9.99967247e-01 -4.18010225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740371742999997 meters 0.023303768528291913 Centerline is valid? [True, True] Translation: X:31.40, Y:-2.01, Z:-0.42 [[ 9.99432057e-01 3.27145427e-02 8.08218789e-03 3.13956222e+01] [-3.27121594e-02 9.99464723e-01 -4.26944197e-04 -2.00901292e+00] [-8.09182897e-03 1.62315899e-04 9.99967247e-01 -4.18419762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770371743 meters 0.023510208867418343 Centerline is valid? [True, True] Translation: X:31.43, Y:-2.02, Z:-0.42 [[ 9.99541563e-01 2.93218824e-02 7.54259230e-03 3.14258249e+01] [-2.93197137e-02 9.99570006e-01 -3.97970333e-04 -2.01667155e+00] [-7.55101827e-03 1.76641242e-04 9.99971475e-01 -4.17963977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800371742999996 meters 0.024765283826813693 Centerline is valid? [True, True] Translation: X:31.45, Y:-2.03, Z:-0.42 [[ 9.99735219e-01 2.16119046e-02 7.90052448e-03 3.14547800e+01] [-2.16092845e-02 9.99766405e-01 -4.16855934e-04 -2.03079599e+00] [-7.90768801e-03 2.46020877e-04 9.99968703e-01 -4.17106636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830371742999997 meters 0.025691802295662272 Centerline is valid? [True, True] Translation: X:31.49, Y:-2.04, Z:-0.42 [[ 9.99815355e-01 1.75906043e-02 7.73475124e-03 3.14857732e+01] [-1.75879745e-02 9.99845236e-01 -4.07884487e-04 -2.03758720e+00] [-7.74072912e-03 2.71770566e-04 9.99970003e-01 -4.16453133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860371742999998 meters 0.02714574747501138 Centerline is valid? [True, True] Translation: X:31.52, Y:-2.05, Z:-0.42 [[ 9.99917804e-01 9.29594168e-03 8.83014479e-03 3.15153592e+01] [-9.29218561e-03 9.99956718e-01 -4.66301133e-04 -2.04747610e+00] [-8.83409732e-03 3.84211460e-04 9.99960905e-01 -4.15318808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890371743 meters 0.028804958293329852 Centerline is valid? [True, True] Translation: X:31.55, Y:-2.05, Z:-0.42 [[ 9.99946322e-01 5.53673352e-03 8.75772588e-03 3.15451990e+01] [-5.53290044e-03 9.99984587e-01 -4.61848154e-04 -2.05394244e+00] [-8.76014803e-03 4.13367737e-04 9.99961544e-01 -4.15464705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920371742999997 meters 0.02984940569083975 Centerline is valid? [True, True] Translation: X:31.58, Y:-2.06, Z:-0.42 [[ 9.99958460e-01 2.09700783e-03 8.87018097e-03 3.15764915e+01] [-2.09293240e-03 9.99997700e-01 -4.68710238e-04 -2.05931942e+00] [-8.87114346e-03 4.50126079e-04 9.99960549e-01 -4.15772025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.950371742999998 meters 0.031171655046786505 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.07, Z:-0.42 [[ 9.99955931e-01 -2.93125140e-03 8.91868280e-03 3.16066116e+01] [ 2.93557531e-03 9.99995580e-01 -4.71763252e-04 -2.06539306e+00] [-8.91726052e-03 4.97923927e-04 9.99960116e-01 -4.16404282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980371743 meters 0.031275727228355664 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.07, Z:-0.42 [[ 9.99956716e-01 -4.21451197e-03 8.29486921e-03 3.16381960e+01] [ 4.21828527e-03 9.99991007e-01 -4.37452955e-04 -2.06749200e+00] [-8.29295097e-03 4.72424145e-04 9.99965501e-01 -4.16899828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.010371743 meters 0.032169491737790774 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.07, Z:-0.42 [[ 9.99952962e-01 -5.26691055e-03 8.14456640e-03 3.16698745e+01] [ 5.27060713e-03 9.99986017e-01 -4.32472490e-04 -2.07011350e+00] [-8.14217472e-03 4.75378957e-04 9.99966739e-01 -4.17780788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040371743 meters 0.033103226395898626 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.07, Z:-0.42 [[ 9.99947753e-01 -6.08312853e-03 8.21502274e-03 3.17022698e+01] [ 6.08691967e-03 9.99981379e-01 -4.36565695e-04 -2.07084730e+00] [-8.21221409e-03 4.86547069e-04 9.99966161e-01 -4.18745162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070371743 meters 0.03407089327045324 Centerline is valid? [True, True] Translation: X:31.73, Y:-2.07, Z:-0.42 [[ 9.99946409e-01 -6.27705001e-03 8.23272081e-03 3.17338261e+01] [ 6.28086986e-03 9.99980179e-01 -4.38210838e-04 -2.07202636e+00] [-8.22980696e-03 4.89896002e-04 9.99966015e-01 -4.19747723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100371743000004 meters 0.03529111746775874 Centerline is valid? [True, True] Translation: X:31.76, Y:-2.07, Z:-0.42 [[ 9.99937912e-01 -7.19508490e-03 8.50899799e-03 3.17649728e+01] [ 7.19920270e-03 9.99973983e-01 -4.53404224e-04 -2.07117141e+00] [-8.50551433e-03 5.14634075e-04 9.99963695e-01 -4.20315140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.130371743 meters 0.03578690140688008 Centerline is valid? [True, True] Translation: X:31.80, Y:-2.07, Z:-0.42 [[ 9.99933479e-01 -7.80297618e-03 8.49419358e-03 3.17970004e+01] [ 7.80710454e-03 9.99969422e-01 -4.52971134e-04 -2.07157381e+00] [-8.49039932e-03 5.19256059e-04 9.99963821e-01 -4.20533935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160371743 meters 0.03506630161966982 Centerline is valid? [True, True] Translation: X:31.83, Y:-2.07, Z:-0.42 [[ 9.99921313e-01 -8.65965682e-03 9.07624155e-03 3.18296676e+01] [ 8.66441192e-03 9.99962346e-01 -4.84715588e-04 -2.07079038e+00] [-9.07170232e-03 5.63317742e-04 9.99958693e-01 -4.20171745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190371743 meters 0.036441783733551635 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.07, Z:-0.42 [[ 9.99893912e-01 -1.08721642e-02 9.69333911e-03 3.18610281e+01] [ 1.08777004e-02 9.99940702e-01 -5.18592315e-04 -2.06955422e+00] [-9.68712609e-03 6.23978537e-04 9.99952884e-01 -4.19534403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220371743 meters 0.03409622622287031 Centerline is valid? [True, True] Translation: X:31.89, Y:-2.06, Z:-0.42 [[ 9.99887302e-01 -1.15223809e-02 9.62381953e-03 3.18932497e+01] [ 1.15278696e-02 9.99933419e-01 -5.15043149e-04 -2.06472089e+00] [-9.61724425e-03 6.25927241e-04 9.99953557e-01 -4.19802230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.250371743 meters 0.036630608308653674 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.06, Z:-0.42 [[ 9.99887194e-01 -1.23961382e-02 8.48141684e-03 3.19242946e+01] [ 1.24004376e-02 9.99923008e-01 -4.54514303e-04 -2.06268666e+00] [-8.47512962e-03 5.59636311e-04 9.99963929e-01 -4.22087023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280371743 meters 0.03691501972579482 Centerline is valid? [True, True] Translation: X:31.96, Y:-2.06, Z:-0.42 [[ 9.99896737e-01 -1.21034686e-02 7.74729073e-03 3.19563691e+01] [ 1.21070491e-02 9.99926621e-01 -4.15427768e-04 -2.06248951e+00] [-7.74169412e-03 5.09181699e-04 9.99969903e-01 -4.23662019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310371743000005 meters 0.03417124183596554 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.06, Z:-0.42 [[ 9.99905136e-01 -1.19173406e-02 6.90627788e-03 3.19885718e+01] [ 1.19201841e-02 9.99928883e-01 -3.70698814e-04 -2.05618810e+00] [-6.90136899e-03 4.52987751e-04 9.99976083e-01 -4.24761133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340371743 meters 0.03514949409828657 Centerline is valid? [True, True] Translation: X:32.02, Y:-2.05, Z:-0.43 [[ 9.99946330e-01 -8.77106507e-03 5.51420184e-03 3.20190127e+01] [ 8.77283471e-03 9.99961474e-01 -2.96817988e-04 -2.05237469e+00] [-5.51138599e-03 3.45177239e-04 9.99984753e-01 -4.27226128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370371743 meters 0.03401277615384441 Centerline is valid? [True, True] Translation: X:32.05, Y:-2.05, Z:-0.43 [[ 9.99965917e-01 -6.38101065e-03 5.23908533e-03 3.20506884e+01] [ 6.38257373e-03 9.99979591e-01 -2.81684595e-04 -2.04792658e+00] [-5.23718098e-03 3.15113842e-04 9.99986236e-01 -4.27753385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400371743 meters 0.03272324961054153 Centerline is valid? [True, True] Translation: X:32.08, Y:-2.04, Z:-0.43 [[ 9.99984456e-01 2.43981570e-04 5.57024505e-03 3.20812450e+01] [-2.42314396e-04 9.99999926e-01 -2.99972878e-04 -2.03784741e+00] [-5.57031782e-03 2.98618465e-04 9.99984441e-01 -4.28042980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430371743 meters 0.030855154421183202 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.03, Z:-0.43 [[ 9.99971623e-01 3.76599618e-03 6.52461531e-03 3.21128274e+01] [-3.76378372e-03 9.99992855e-01 -3.51339861e-04 -2.03188949e+00] [-6.52589184e-03 3.26772651e-04 9.99978653e-01 -4.27571118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460371743 meters 0.031080420999378418 Centerline is valid? [True, True] Translation: X:32.14, Y:-2.03, Z:-0.43 [[ 9.99944128e-01 7.68201941e-03 7.26143518e-03 3.21428152e+01] [-7.67937962e-03 9.99970437e-01 -3.91348774e-04 -2.02876075e+00] [-7.26422686e-03 3.35563591e-04 9.99973559e-01 -4.27354267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.490371743000004 meters 0.02902864461993319 Centerline is valid? [True, True] Translation: X:32.17, Y:-2.02, Z:-0.43 [[ 9.99848419e-01 1.46385070e-02 9.42619695e-03 3.21736361e+01] [-1.46343672e-02 9.99892783e-01 -5.08013507e-04 -2.01902285e+00] [-9.43262286e-03 3.69990074e-04 9.99955443e-01 -4.26512313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520371743 meters 0.028790250513998826 Centerline is valid? [True, True] Translation: X:32.21, Y:-2.02, Z:-0.43 [[ 9.99801632e-01 1.68524020e-02 1.06157437e-02 3.22050368e+01] [-1.68472771e-02 9.99857911e-01 -5.72011594e-04 -2.01656900e+00] [-1.06238750e-02 3.93051749e-04 9.99943488e-01 -4.25849432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550371743 meters 0.027531208785931453 Centerline is valid? [True, True] Translation: X:32.24, Y:-2.01, Z:-0.43 [[ 9.99734101e-01 1.99381305e-02 1.15843763e-02 3.22374542e+01] [-1.99322297e-02 9.99801138e-01 -6.24620304e-04 -2.00856743e+00] [-1.15945263e-02 3.93551769e-04 9.99932704e-01 -4.25376226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580371743 meters 0.02879615047899464 Centerline is valid? [True, True] Translation: X:32.27, Y:-2.01, Z:-0.43 [[ 9.99723445e-01 2.07395892e-02 1.10861797e-02 3.22689858e+01] [-2.07342337e-02 9.99784844e-01 -5.97805103e-04 -2.00951798e+00] [-1.10961926e-02 3.67776337e-04 9.99938368e-01 -4.26062408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610371743 meters 0.027492058121655 Centerline is valid? [True, True] Translation: X:32.30, Y:-2.01, Z:-0.43 [[ 9.99719333e-01 2.10330827e-02 1.09024641e-02 3.23002297e+01] [-2.10278868e-02 9.99778715e-01 -5.91004227e-04 -2.00506263e+00] [-1.09124822e-02 3.61582570e-04 9.99940392e-01 -4.27179509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640371743 meters 0.027470153206536386 Centerline is valid? [True, True] Translation: X:32.33, Y:-2.00, Z:-0.43 [[ 9.99736967e-01 2.11147025e-02 8.95355621e-03 3.23319637e+01] [-2.11111994e-02 9.99777016e-01 -4.85590623e-04 -2.00264271e+00] [-8.96181281e-03 2.96442586e-04 9.99959798e-01 -4.29411038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670371743000004 meters 0.027705473520206882 Centerline is valid? [True, True] Translation: X:32.36, Y:-2.00, Z:-0.43 [[ 9.99748570e-01 2.08815992e-02 8.17040690e-03 3.23615273e+01] [-2.08786698e-02 9.99781918e-01 -4.43680067e-04 -2.00327882e+00] [-8.17788983e-03 2.72981285e-04 9.99966523e-01 -4.30823402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700371743 meters 0.02781274517050532 Centerline is valid? [True, True] Translation: X:32.39, Y:-2.00, Z:-0.43 [[ 9.99743522e-01 2.11483145e-02 8.10178502e-03 3.23924080e+01] [-2.11454448e-02 9.99776313e-01 -4.39705993e-04 -2.00359378e+00] [-8.10927180e-03 2.68277370e-04 9.99967083e-01 -4.31820365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730371743 meters 0.02689248599559954 Centerline is valid? [True, True] Translation: X:32.42, Y:-2.00, Z:-0.43 [[ 9.99719168e-01 2.19234385e-02 8.99709829e-03 3.24226957e+01] [-2.19199292e-02 9.99759610e-01 -4.88479277e-04 -1.99981988e+00] [-9.00564463e-03 2.91126339e-04 9.99959406e-01 -4.31210468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760371743 meters 0.026367207722283487 Centerline is valid? [True, True] Translation: X:32.45, Y:-2.00, Z:-0.43 [[ 9.99693157e-01 2.28701951e-02 9.51552084e-03 3.24531120e+01] [-2.28663177e-02 9.99738398e-01 -5.16088379e-04 -1.99954716e+00] [-9.52483461e-03 2.98345098e-04 9.99954593e-01 -4.30568874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790371743 meters 0.02716727032134136 Centerline is valid? [True, True] Translation: X:32.48, Y:-2.00, Z:-0.43 [[ 9.99654326e-01 2.42065271e-02 1.02602150e-02 3.24829576e+01] [-2.42020887e-02 9.99706932e-01 -5.56545921e-04 -2.00018187e+00] [-1.02706801e-02 3.08034904e-04 9.99947208e-01 -4.30234255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820371743 meters 0.026402750372025503 Centerline is valid? [True, True] Translation: X:32.51, Y:-2.00, Z:-0.43 [[ 9.99648506e-01 2.44177204e-02 1.03266553e-02 3.25133740e+01] [-2.44132382e-02 9.99701796e-01 -5.59894995e-04 -1.99912318e+00] [-1.03372472e-02 3.07591100e-04 9.99946522e-01 -4.30355299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850371743000004 meters 0.027111454239991905 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.00, Z:-0.43 [[ 9.99642013e-01 2.48586827e-02 9.89402831e-03 3.25431826e+01] [-2.48545890e-02 9.99690933e-01 -5.36511794e-04 -2.00113201e+00] [-9.90430736e-03 2.90407722e-04 9.99950909e-01 -4.31131456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.880371743 meters 0.02629714328806988 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.00, Z:-0.43 [[ 9.99601826e-01 2.67438361e-02 8.99758634e-03 3.25734457e+01] [-2.67405283e-02 9.99642289e-01 -4.87764142e-04 -1.99906945e+00] [-9.00741249e-03 2.46969715e-04 9.99959402e-01 -4.31935021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.910371743 meters 0.025880123693496605 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.00, Z:-0.43 [[ 9.99578504e-01 2.77598616e-02 8.49729400e-03 3.26016687e+01] [-2.77569475e-02 9.99614596e-01 -4.60699427e-04 -1.99996854e+00] [-8.50680805e-03 2.24646300e-04 9.99963791e-01 -4.32873725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940371743 meters 0.024927508204229103 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.00, Z:-0.43 [[ 9.99484164e-01 3.13551017e-02 6.94717346e-03 3.26313943e+01] [-3.13532431e-02 9.99508295e-01 -3.76306128e-04 -1.99755810e+00] [-6.95555662e-03 1.58295597e-04 9.99975797e-01 -4.34275611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970371743 meters 0.02507705940296 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.00, Z:-0.44 [[ 9.99431882e-01 3.30114368e-02 6.79401899e-03 3.26596010e+01] [-3.30096973e-02 9.99454964e-01 -3.68031608e-04 -1.99896751e+00] [-6.80246525e-03 1.43554013e-04 9.99976853e-01 -4.35775783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000371743 meters 0.02387260168919005 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.00, Z:-0.44 [[ 9.99377608e-01 3.44963143e-02 7.37569009e-03 3.26887442e+01] [-3.44943090e-02 9.99404815e-01 -3.98953241e-04 -1.99713544e+00] [-7.38506261e-03 1.44285602e-04 9.99972720e-01 -4.35683797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030371743 meters 0.024529688038363962 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.00, Z:-0.44 [[ 9.99328670e-01 3.56868932e-02 8.28577068e-03 3.27168846e+01] [-3.56844095e-02 9.99363008e-01 -4.47448992e-04 -2.00162969e+00] [-8.29646077e-03 1.51475772e-04 9.99965572e-01 -4.36315976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060371743000005 meters 0.024134391075022778 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.00, Z:-0.44 [[ 9.99326219e-01 3.55236603e-02 9.22918468e-03 3.27456459e+01] [-3.55205790e-02 9.99368821e-01 -4.97612545e-04 -2.00188108e+00] [-9.24103643e-03 1.69451280e-04 9.99957286e-01 -4.35124105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090371743 meters 0.024081456126892727 Centerline is valid? [True, True] Translation: X:32.77, Y:-2.01, Z:-0.43 [[ 9.99348411e-01 3.42742130e-02 1.13151409e-02 3.27745879e+01] [-3.42695131e-02 9.99412442e-01 -6.09052009e-04 -2.00557888e+00] [-1.13293673e-02 2.20890790e-04 9.99935796e-01 -4.34227286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120371743 meters 0.0242380426587945 Centerline is valid? [True, True] Translation: X:32.80, Y:-2.01, Z:-0.43 [[ 9.99382260e-01 3.32218187e-02 1.14633859e-02 3.28038957e+01] [-3.32169362e-02 9.99447975e-01 -6.16104031e-04 -2.00854414e+00] [-1.14775259e-02 2.34944880e-04 9.99934103e-01 -4.34117165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150371743 meters 0.024988089799696245 Centerline is valid? [True, True] Translation: X:32.83, Y:-2.01, Z:-0.43 [[ 9.99409394e-01 3.21592597e-02 1.21097325e-02 3.28321861e+01] [-3.21537383e-02 9.99482723e-01 -6.50416178e-04 -2.01218314e+00] [-1.21243853e-02 2.60658868e-04 9.99926463e-01 -4.34604907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180371743 meters 0.024682364539655367 Centerline is valid? [True, True] Translation: X:32.86, Y:-2.02, Z:-0.44 [[ 9.99477805e-01 2.98950716e-02 1.22638264e-02 3.28614998e+01] [-2.98892468e-02 9.99553000e-01 -6.58004048e-04 -2.01591603e+00] [-1.22780156e-02 2.91103906e-04 9.99924580e-01 -4.35079792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210371743 meters 0.025219178165294436 Centerline is valid? [True, True] Translation: X:32.89, Y:-2.02, Z:-0.44 [[ 9.99525937e-01 2.84075377e-02 1.18706726e-02 3.28906606e+01] [-2.84019805e-02 9.99596380e-01 -6.36493126e-04 -2.02015703e+00] [-1.18839625e-02 2.99040777e-04 9.99929339e-01 -4.35545517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240371743000004 meters 0.02603445991459183 Centerline is valid? [True, True] Translation: X:32.92, Y:-2.03, Z:-0.44 [[ 9.99645632e-01 2.38611349e-02 1.18007080e-02 3.29202282e+01] [-2.38553324e-02 9.99715221e-01 -6.32240205e-04 -2.02733802e+00] [-1.18124334e-02 3.50506347e-04 9.99930169e-01 -4.37022113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270371743 meters 0.027084624016530848 Centerline is valid? [True, True] Translation: X:32.95, Y:-2.03, Z:-0.44 [[ 9.99709389e-01 2.12277012e-02 1.14246593e-02 3.29500000e+01] [-2.12220940e-02 9.99774599e-01 -6.11822858e-04 -2.03246504e+00] [-1.14350718e-02 3.69189861e-04 9.99934549e-01 -4.37628192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300371743 meters 0.028614459491242784 Centerline is valid? [True, True] Translation: X:32.98, Y:-2.04, Z:-0.44 [[ 9.99768901e-01 1.84764147e-02 1.09894298e-02 3.29800646e+01] [-1.84710477e-02 9.99829222e-01 -5.89682987e-04 -2.03819420e+00] [-1.09984483e-02 3.86560430e-04 9.99939441e-01 -4.38322955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330371743 meters 0.028254075528806242 Centerline is valid? [True, True] Translation: X:33.01, Y:-2.04, Z:-0.44 [[ 9.99866971e-01 1.16244701e-02 1.14417043e-02 3.30110083e+01] [-1.16182019e-02 9.99932318e-01 -6.14155127e-04 -2.04140669e+00] [-1.14480692e-02 4.81141395e-04 9.99934353e-01 -4.38907281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360371743 meters 0.03118213084379541 Centerline is valid? [True, True] Translation: X:33.04, Y:-2.05, Z:-0.44 [[ 9.99903406e-01 8.28910476e-03 1.11565734e-02 3.30405867e+01] [-8.28293446e-03 9.99965516e-01 -5.99157708e-04 -2.04902122e+00] [-1.11611552e-02 5.06690667e-04 9.99937584e-01 -4.39755099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.390371743 meters 0.03076035018782233 Centerline is valid? [True, True] Translation: X:33.07, Y:-2.05, Z:-0.44 [[ 9.99923114e-01 4.88747664e-03 1.13964125e-02 3.30711773e+01] [-4.88081828e-03 9.99987901e-01 -6.11989928e-04 -2.05109381e+00] [-1.13992657e-02 5.56319056e-04 9.99934872e-01 -4.40079362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420371743000004 meters 0.03303327852688403 Centerline is valid? [True, True] Translation: X:33.10, Y:-2.06, Z:-0.44 [[ 9.99925978e-01 -1.45192430e-03 1.20801457e-02 3.31016580e+01] [ 1.45987020e-03 9.99998724e-01 -6.48973627e-04 -2.05821304e+00] [-1.20791880e-02 6.66561033e-04 9.99926822e-01 -4.41055906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.450371743 meters 0.0350911560989114 Centerline is valid? [True, True] Translation: X:33.13, Y:-2.06, Z:-0.44 [[ 9.99903636e-01 -6.86297187e-03 1.20672833e-02 3.31319345e+01] [ 6.87129399e-03 9.99976182e-01 -6.48317167e-04 -2.06347016e+00] [-1.20625465e-02 7.31172544e-04 9.99926978e-01 -4.42269997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480371743 meters 0.03380391929673296 Centerline is valid? [True, True] Translation: X:33.16, Y:-2.06, Z:-0.44 [[ 9.99883553e-01 -9.38316468e-03 1.20347726e-02 3.31629308e+01] [ 9.39162394e-03 9.99955689e-01 -6.46577938e-04 -2.06183510e+00] [-1.20281724e-02 7.59528704e-04 9.99927370e-01 -4.42586647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510371743 meters 0.039127250332988285 Centerline is valid? [True, True] Translation: X:33.19, Y:-2.07, Z:-0.44 [[ 9.99860341e-01 -1.14026253e-02 1.22179984e-02 3.31927978e+01] [ 1.14114964e-02 9.99934671e-01 -6.56596105e-04 -2.07121584e+00] [-1.22097133e-02 7.95930051e-04 9.99925142e-01 -4.42709300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540371743 meters 0.03663625333201878 Centerline is valid? [True, True] Translation: X:33.22, Y:-2.07, Z:-0.44 [[ 9.99835405e-01 -1.33232060e-02 1.23148024e-02 3.32242240e+01] [ 1.33323716e-02 9.99910901e-01 -6.62477952e-04 -2.06752617e+00] [-1.23048788e-02 8.26554434e-04 9.99923950e-01 -4.42594808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570371743 meters 0.03747113512691815 Centerline is valid? [True, True] Translation: X:33.26, Y:-2.07, Z:-0.44 [[ 9.99792363e-01 -1.56959961e-02 1.29948666e-02 3.32557232e+01] [ 1.57064082e-02 9.99876402e-01 -6.99572026e-04 -2.06808356e+00] [-1.29822799e-02 9.03529448e-04 9.99915318e-01 -4.42098984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600371743000004 meters 0.037361389150238636 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.07, Z:-0.44 [[ 9.99792127e-01 -1.56556192e-02 1.30615950e-02 3.32888452e+01] [ 1.56661404e-02 9.99877031e-01 -7.03575668e-04 -2.06519379e+00] [-1.30489740e-02 9.08054196e-04 9.99914446e-01 -4.41614434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.630371743 meters 0.037361389150238636 Centerline is valid? [True, True] Translation: X:33.32, Y:-2.07, Z:-0.44 [[ 9.99793874e-01 -1.55437111e-02 1.30615161e-02 3.33213941e+01] [ 1.55542419e-02 9.99878777e-01 -7.05037346e-04 -2.06703864e+00] [-1.30489739e-02 9.08054000e-04 9.99914446e-01 -4.42072075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660371743 meters 0.03818853745588051 Centerline is valid? [True, True] Translation: X:33.35, Y:-2.07, Z:-0.44 [[ 9.99808412e-01 -1.45335324e-02 1.31116362e-02 3.33528287e+01] [ 1.45440777e-02 9.99893978e-01 -7.09272245e-04 -2.06761407e+00] [-1.30999379e-02 8.99833013e-04 9.99913787e-01 -4.42067032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690371743 meters 0.03917136410207113 Centerline is valid? [True, True] Translation: X:33.38, Y:-2.07, Z:-0.44 [[ 9.99830468e-01 -1.32496318e-02 1.27860406e-02 3.33836538e+01] [ 1.32595645e-02 9.99911848e-01 -6.92373880e-04 -2.06737672e+00] [-1.27757398e-02 8.61793830e-04 9.99918016e-01 -4.42517974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720371743 meters 0.036677540897042143 Centerline is valid? [True, True] Translation: X:33.42, Y:-2.06, Z:-0.44 [[ 9.99855185e-01 -1.14346915e-02 1.26038568e-02 3.34155938e+01] [ 1.14442049e-02 9.99934280e-01 -6.82934759e-04 -2.06208474e+00] [-1.25952193e-02 8.27076979e-04 9.99920335e-01 -4.42971541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750371743 meters 0.035732251124652406 Centerline is valid? [True, True] Translation: X:33.45, Y:-2.06, Z:-0.44 [[ 9.99912814e-01 -6.68872097e-03 1.13853576e-02 3.34459703e+01] [ 6.69618522e-03 9.99977390e-01 -6.17606678e-04 -2.05658187e+00] [-1.13809691e-02 6.93791294e-04 9.99934994e-01 -4.44370938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780371743 meters 0.033944773130583826 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.05, Z:-0.45 [[ 9.99935260e-01 -2.32051908e-03 1.11396505e-02 3.34770677e+01] [ 2.32739442e-03 9.99997109e-01 -6.04271455e-04 -2.05053780e+00] [-1.11382161e-02 6.30158694e-04 9.99937770e-01 -4.45666236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810371743000005 meters 0.032021476048358935 Centerline is valid? [True, True] Translation: X:33.51, Y:-2.05, Z:-0.45 [[ 9.99936449e-01 -7.93241609e-04 1.12458184e-02 3.35101350e+01] [ 8.00150834e-04 9.99999494e-01 -6.09895673e-04 -2.04623277e+00] [-1.12453289e-02 6.18855265e-04 9.99936578e-01 -4.45677367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840371743 meters 0.03295254246300228 Centerline is valid? [True, True] Translation: X:33.54, Y:-2.05, Z:-0.45 [[ 9.99931313e-01 1.18594126e-04 1.17198945e-02 3.35410090e+01] [-1.11138127e-04 9.99999791e-01 -6.36832353e-04 -2.04607983e+00] [-1.17199676e-02 6.35486083e-04 9.99931117e-01 -4.45532245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870371743 meters 0.03235768645176711 Centerline is valid? [True, True] Translation: X:33.57, Y:-2.04, Z:-0.44 [[ 9.99931243e-01 5.66848398e-04 1.17127287e-02 3.35737716e+01] [-5.59425104e-04 9.99999641e-01 -6.37046695e-04 -2.04360474e+00] [-1.17130856e-02 6.30450499e-04 9.99931201e-01 -4.44679783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900371743 meters 0.03384181025757195 Centerline is valid? [True, True] Translation: X:33.61, Y:-2.04, Z:-0.44 [[ 9.99932822e-01 8.60053872e-05 1.15906751e-02 3.36050848e+01] [-7.86986364e-05 9.99999798e-01 -6.30853692e-04 -2.04143319e+00] [-1.15907271e-02 6.29899142e-04 9.99932627e-01 -4.44602543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930371743 meters 0.03283617192535007 Centerline is valid? [True, True] Translation: X:33.64, Y:-2.04, Z:-0.44 [[ 9.99935530e-01 -2.07459260e-04 1.13530939e-02 3.36376004e+01] [ 2.14517420e-04 9.99999784e-01 -6.20480647e-04 -2.03909876e+00] [-1.13529627e-02 6.22876081e-04 9.99935359e-01 -4.44745904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960371743 meters 0.03337039726834954 Centerline is valid? [True, True] Translation: X:33.67, Y:-2.04, Z:-0.45 [[ 9.99937740e-01 2.95761050e-04 1.11548036e-02 3.36692488e+01] [-2.88941237e-04 9.99999770e-01 -6.12985612e-04 -2.03705567e+00] [-1.11549824e-02 6.09724364e-04 9.99937595e-01 -4.45384170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990371743000004 meters 0.03507977229935838 Centerline is valid? [True, True] Translation: X:33.70, Y:-2.04, Z:-0.45 [[ 9.99944202e-01 1.25332364e-03 1.04891509e-02 3.37002297e+01] [-1.24734052e-03 9.99999056e-01 -5.76932509e-04 -2.03832614e+00] [-1.04898641e-02 5.63816774e-04 9.99944821e-01 -4.45781559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020371743 meters 0.0321268678383396 Centerline is valid? [True, True] Translation: X:33.73, Y:-2.03, Z:-0.45 [[ 9.99944587e-01 2.88637485e-03 1.01238389e-02 3.37328509e+01] [-2.88088022e-03 9.99995695e-01 -5.57282923e-04 -2.03188058e+00] [-1.01254038e-02 5.28086475e-04 9.99948597e-01 -4.45521160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.050371743 meters 0.029397385655212906 Centerline is valid? [True, True] Translation: X:33.76, Y:-2.02, Z:-0.44 [[ 9.99922064e-01 6.69578540e-03 1.05371538e-02 3.37640366e+01] [-6.69003367e-03 9.99977453e-01 -5.81006184e-04 -2.02249235e+00] [-1.05408065e-02 5.10466990e-04 9.99944314e-01 -4.44957520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080371743 meters 0.028506459674353866 Centerline is valid? [True, True] Translation: X:33.80, Y:-2.02, Z:-0.45 [[ 9.99902847e-01 9.13021073e-03 1.05325930e-02 3.37953430e+01] [-9.12459701e-03 9.99958201e-01 -5.80917796e-04 -2.01989816e+00] [-1.05374567e-02 4.84755692e-04 9.99944362e-01 -4.45120198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110371743 meters 0.02807245816893923 Centerline is valid? [True, True] Translation: X:33.83, Y:-2.02, Z:-0.45 [[ 9.99860752e-01 1.35487028e-02 9.74212103e-03 3.38252806e+01] [-1.35441048e-02 9.99908130e-01 -5.37798120e-04 -2.01528757e+00] [-9.74851249e-03 4.05774924e-04 9.99952400e-01 -4.45833747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140371743 meters 0.027084491880130575 Centerline is valid? [True, True] Translation: X:33.86, Y:-2.01, Z:-0.45 [[ 9.99828988e-01 1.54206130e-02 1.02078190e-02 3.38570799e+01] [-1.54156636e-02 9.99881013e-01 -5.63368666e-04 -2.01369948e+00] [-1.02152918e-02 4.05912020e-04 9.99947740e-01 -4.46091651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170371743000004 meters 0.026976185983153034 Centerline is valid? [True, True] Translation: X:33.89, Y:-2.01, Z:-0.45 [[ 9.99794003e-01 1.70091454e-02 1.10743325e-02 3.38871602e+01] [-1.70034118e-02 9.99855244e-01 -6.11687688e-04 -2.01342470e+00] [-1.10831337e-02 4.23260247e-04 9.99938491e-01 -4.45956743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200371743 meters 0.024751762440915263 Centerline is valid? [True, True] Translation: X:33.92, Y:-2.01, Z:-0.44 [[ 9.99733271e-01 1.95480243e-02 1.22988134e-02 3.39181951e+01] [-1.95411411e-02 9.99808823e-01 -6.79598054e-04 -2.00654256e+00] [-1.23097470e-02 4.39083936e-04 9.99924136e-01 -4.44683116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.230371743 meters 0.02481851735062025 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.01, Z:-0.44 [[ 9.99711789e-01 2.03974728e-02 1.26602326e-02 3.39476273e+01] [-2.03902475e-02 9.99791853e-01 -6.99534540e-04 -2.00655022e+00] [-1.26718661e-02 4.41187650e-04 9.99919611e-01 -4.44640995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260371743 meters 0.024983620718824668 Centerline is valid? [True, True] Translation: X:33.98, Y:-2.01, Z:-0.45 [[ 9.99726266e-01 2.04463511e-02 1.13728003e-02 3.39772695e+01] [-2.04405197e-02 9.99790873e-01 -6.28764897e-04 -2.00584534e+00] [-1.13832779e-02 3.96126834e-04 9.99935130e-01 -4.45689202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290371743 meters 0.025670034862350845 Centerline is valid? [True, True] Translation: X:34.01, Y:-2.01, Z:-0.45 [[ 9.99750820e-01 1.96650515e-02 1.05633386e-02 3.40061806e+01] [-1.96599783e-02 9.99806553e-01 -5.83901496e-04 -2.00759086e+00] [-1.05727776e-02 3.76080991e-04 9.99944036e-01 -4.46914841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320371743 meters 0.02529093025944893 Centerline is valid? [True, True] Translation: X:34.04, Y:-2.01, Z:-0.45 [[ 9.99814174e-01 1.68340513e-02 9.39317199e-03 3.40359475e+01] [-1.68299177e-02 9.99858232e-01 -5.18945566e-04 -2.00644246e+00] [-9.40057630e-03 3.60762821e-04 9.99955749e-01 -4.48197228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350371743000004 meters 0.027591464308554327 Centerline is valid? [True, True] Translation: X:34.07, Y:-2.01, Z:-0.45 [[ 9.99840237e-01 1.53250871e-02 9.20006671e-03 3.40653046e+01] [-1.53210617e-02 9.99882497e-01 -5.07862845e-04 -2.01139785e+00] [-9.20676871e-03 3.66826918e-04 9.99957550e-01 -4.49391732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.380371743 meters 0.027573779877135808 Centerline is valid? [True, True] Translation: X:34.10, Y:-2.01, Z:-0.45 [[ 9.99877423e-01 1.29714115e-02 8.76820707e-03 3.40954563e+01] [-1.29676661e-02 9.99915799e-01 -4.83873674e-04 -2.01208507e+00] [-8.77374531e-03 3.70111180e-04 9.99961441e-01 -4.50104752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410371743 meters 0.029079196694114826 Centerline is valid? [True, True] Translation: X:34.13, Y:-2.02, Z:-0.45 [[ 9.99911348e-01 1.04963616e-02 8.19278769e-03 3.41253269e+01] [-1.04930107e-02 9.99944845e-01 -4.51887103e-04 -2.01523660e+00] [-8.19707898e-03 3.65880034e-04 9.99966336e-01 -4.51364514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440371743 meters 0.02977689678074288 Centerline is valid? [True, True] Translation: X:34.16, Y:-2.02, Z:-0.45 [[ 9.99951020e-01 5.94869443e-03 7.91016977e-03 3.41566945e+01] [-5.94543038e-03 9.99982231e-01 -4.36090891e-04 -2.01529232e+00] [-7.91262338e-03 3.89040168e-04 9.99968619e-01 -4.52450827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470371743 meters 0.03102146305256372 Centerline is valid? [True, True] Translation: X:34.19, Y:-2.02, Z:-0.45 [[ 9.99964466e-01 3.88860957e-03 7.47971261e-03 3.41877245e+01] [-3.88564148e-03 9.99992366e-01 -4.11309497e-04 -2.01822646e+00] [-7.48125493e-03 3.82231400e-04 9.99971942e-01 -4.53340267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500371743 meters 0.03282840302766416 Centerline is valid? [True, True] Translation: X:34.22, Y:-2.02, Z:-0.45 [[ 9.99975712e-01 -4.04152121e-04 6.95794630e-03 3.42185251e+01] [ 4.06844335e-04 9.99999843e-01 -3.85515330e-04 -2.02061410e+00] [-6.95778940e-03 3.88336767e-04 9.99975719e-01 -4.54295780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530371743 meters 0.03344345485931429 Centerline is valid? [True, True] Translation: X:34.25, Y:-2.02, Z:-0.45 [[ 9.99975381e-01 -1.87943091e-03 6.76055460e-03 3.42508122e+01] [ 1.88200391e-03 9.99998159e-01 -3.74248959e-04 -2.02191165e+00] [-6.75983878e-03 3.86963135e-04 9.99977077e-01 -4.54701490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560371743000005 meters 0.03455458399887165 Centerline is valid? [True, True] Translation: X:34.28, Y:-2.02, Z:-0.46 [[ 9.99971501e-01 -3.55584235e-03 6.65980154e-03 3.42828970e+01] [ 3.55837933e-03 9.99993601e-01 -3.69130066e-04 -2.02383734e+00] [-6.65844635e-03 3.92817647e-04 9.99977755e-01 -4.55205686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590371743 meters 0.03583827828658735 Centerline is valid? [True, True] Translation: X:34.31, Y:-2.02, Z:-0.46 [[ 9.99958883e-01 -6.26417849e-03 6.55682424e-03 3.43141095e+01] [ 6.26670114e-03 9.99980298e-01 -3.64261852e-04 -2.02441480e+00] [-6.55441325e-03 4.05336533e-04 9.99978437e-01 -4.55558845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620371743 meters 0.03413521398810173 Centerline is valid? [True, True] Translation: X:34.35, Y:-2.02, Z:-0.46 [[ 9.99950427e-01 -7.26809995e-03 6.80580628e-03 3.43463703e+01] [ 7.27083919e-03 9.99973496e-01 -3.77829543e-04 -2.02263653e+00] [-6.80287980e-03 4.27294736e-04 9.99976769e-01 -4.55226401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.650371743 meters 0.03802665834884212 Centerline is valid? [True, True] Translation: X:34.38, Y:-2.03, Z:-0.46 [[ 9.99936495e-01 -8.80561760e-03 7.03329036e-03 3.43771958e+01] [ 8.80858560e-03 9.99961127e-01 -3.91126979e-04 -2.02578042e+00] [-7.02957285e-03 4.53055481e-04 9.99975190e-01 -4.55051197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680371743 meters 0.036471707760362106 Centerline is valid? [True, True] Translation: X:34.41, Y:-2.02, Z:-0.46 [[ 9.99935423e-01 -8.93478611e-03 7.02275054e-03 3.44096626e+01] [ 8.93775018e-03 9.99959981e-01 -3.90796288e-04 -2.02343478e+00] [-7.01897782e-03 4.53538642e-04 9.99975264e-01 -4.55084537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710371743 meters 0.037389178743162034 Centerline is valid? [True, True] Translation: X:34.44, Y:-2.02, Z:-0.46 [[ 9.99936678e-01 -9.17462958e-03 6.51663245e-03 3.44405440e+01] [ 9.17719030e-03 9.99957823e-01 -3.63158364e-04 -2.02416282e+00] [-6.51302575e-03 4.22939744e-04 9.99978701e-01 -4.55728439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740371743000004 meters 0.03908182498390548 Centerline is valid? [True, True] Translation: X:34.47, Y:-2.02, Z:-0.46 [[ 9.99949652e-01 -8.43372862e-03 5.43740280e-03 3.44720669e+01] [ 8.43550142e-03 9.99964375e-01 -3.03185182e-04 -2.02389106e+00] [-5.43465211e-03 3.49037137e-04 9.99985171e-01 -4.57578562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770371743 meters 0.039194976710745046 Centerline is valid? [True, True] Translation: X:34.50, Y:-2.02, Z:-0.46 [[ 9.99956707e-01 -7.98229303e-03 4.78192826e-03 3.45040627e+01] [ 7.98365909e-03 9.99968095e-01 -2.66650679e-04 -2.02354472e+00] [-4.77964721e-03 3.04816420e-04 9.99988531e-01 -4.58823081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800371743 meters 0.04038459043767302 Centerline is valid? [True, True] Translation: X:34.54, Y:-2.02, Z:-0.46 [[ 9.99958532e-01 -7.87094706e-03 4.58061683e-03 3.45355737e+01] [ 7.87220135e-03 9.99968981e-01 -2.55860328e-04 -2.02167882e+00] [-4.57846088e-03 2.91909256e-04 9.99989476e-01 -4.59672128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830371743 meters 0.0419421567047286 Centerline is valid? [True, True] Translation: X:34.57, Y:-2.02, Z:-0.46 [[ 9.99954840e-01 -8.06316376e-03 5.03024922e-03 3.45671190e+01] [ 8.06468046e-03 9.99967440e-01 -2.81304877e-04 -2.02271503e+00] [-5.02781723e-03 3.21859526e-04 9.99987309e-01 -4.59757642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860371743 meters 0.036335218524794814 Centerline is valid? [True, True] Translation: X:34.60, Y:-2.01, Z:-0.46 [[ 9.99941210e-01 -9.00415046e-03 6.04168888e-03 3.45995605e+01] [ 9.00635807e-03 9.99959385e-01 -3.38287648e-04 -2.01041075e+00] [-6.03839750e-03 3.92681374e-04 9.99981692e-01 -4.57234788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890371743 meters 0.03589864018767906 Centerline is valid? [True, True] Translation: X:34.63, Y:-2.01, Z:-0.46 [[ 9.99934618e-01 -9.33261753e-03 6.60774072e-03 3.46322130e+01] [ 9.33526723e-03 9.99956357e-01 -3.70268826e-04 -2.00882526e+00] [-6.60399677e-03 4.31929643e-04 9.99978100e-01 -4.57293914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920371743000004 meters 0.034916951508265806 Centerline is valid? [True, True] Translation: X:34.66, Y:-2.00, Z:-0.46 [[ 9.99926186e-01 -9.99216864e-03 6.91230681e-03 3.46644106e+01] [ 9.99508762e-03 9.99949973e-01 -3.87869931e-04 -2.00419484e+00] [-6.90808535e-03 4.56930412e-04 9.99976034e-01 -4.57256716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.950371743 meters 0.035598675566831724 Centerline is valid? [True, True] Translation: X:34.70, Y:-2.00, Z:-0.46 [[ 9.99923533e-01 -9.88478443e-03 7.43093964e-03 3.46970992e+01] [ 9.88815952e-03 9.99951024e-01 -4.17590110e-04 -2.00476882e+00] [-7.42644792e-03 4.91036495e-04 9.99972303e-01 -4.57587770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980371743 meters 0.03638006103535025 Centerline is valid? [True, True] Translation: X:34.73, Y:-2.01, Z:-0.46 [[ 9.99922506e-01 -9.45714660e-03 8.09591811e-03 3.47281431e+01] [ 9.46114115e-03 9.99955139e-01 -4.55245756e-04 -2.00533178e+00] [-8.09124959e-03 5.31807101e-04 9.99967124e-01 -4.57634687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.010371743 meters 0.035716505211196584 Centerline is valid? [True, True] Translation: X:34.76, Y:-2.00, Z:-0.46 [[ 9.99924719e-01 -8.89321320e-03 8.45383617e-03 3.47609277e+01] [ 8.89756147e-03 9.99960302e-01 -4.76882184e-04 -2.00377479e+00] [-8.44925956e-03 5.52064811e-04 9.99964152e-01 -4.57512841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040371743 meters 0.034431312717694354 Centerline is valid? [True, True] Translation: X:34.79, Y:-2.00, Z:-0.46 [[ 9.99946698e-01 -6.56979339e-03 7.96481306e-03 3.47926130e+01] [ 6.57358738e-03 9.99978292e-01 -4.50258241e-04 -1.99834695e+00] [-7.96168206e-03 5.02591636e-04 9.99968179e-01 -4.57292928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.070371743 meters 0.03469676102125443 Centerline is valid? [True, True] Translation: X:34.82, Y:-2.00, Z:-0.46 [[ 9.99963334e-01 -4.39800921e-03 7.34759701e-03 3.48233073e+01] [ 4.40118122e-03 9.99990228e-01 -4.15594221e-04 -1.99783546e+00] [-7.34569743e-03 4.47917089e-04 9.99972920e-01 -4.57980269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100371743000004 meters 0.02966950625291366 Centerline is valid? [True, True] Translation: X:34.85, Y:-1.99, Z:-0.46 [[ 9.99980110e-01 1.74088864e-03 6.06208945e-03 3.48544499e+01] [-1.73883937e-03 9.99998429e-01 -3.43302086e-04 -1.98664078e+00] [-6.06267758e-03 3.32754257e-04 9.99981566e-01 -4.58468880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.130371743 meters 0.029637451737570448 Centerline is valid? [True, True] Translation: X:34.88, Y:-1.99, Z:-0.46 [[ 9.99970667e-01 5.27786386e-03 5.55058637e-03 3.48841171e+01] [-5.27619936e-03 9.99986031e-01 -3.14479295e-04 -1.98580664e+00] [-5.55216861e-03 2.85184071e-04 9.99984546e-01 -4.59534913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160371743 meters 0.02723510449830807 Centerline is valid? [True, True] Translation: X:34.92, Y:-1.98, Z:-0.46 [[ 9.99940104e-01 9.60027194e-03 5.25580033e-03 3.49152187e+01] [-9.59884120e-03 9.99953886e-01 -2.97378733e-04 -1.98078685e+00] [-5.25841288e-03 2.46911328e-04 9.99986144e-01 -4.59600693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.190371743 meters 0.02558516903364481 Centerline is valid? [True, True] Translation: X:34.94, Y:-1.97, Z:-0.46 [[ 9.99805134e-01 1.90540892e-02 5.16104062e-03 3.49442500e+01] [-1.90528318e-02 9.99818435e-01 -2.92686827e-04 -1.97343375e+00] [-5.16568044e-03 1.94297353e-04 9.99986639e-01 -4.59970490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220371743 meters 0.024443849992331755 Centerline is valid? [True, True] Translation: X:34.97, Y:-1.97, Z:-0.46 [[ 9.99684353e-01 2.45279095e-02 5.43834004e-03 3.49749388e+01] [-2.45265972e-02 9.99699130e-01 -3.07863640e-04 -1.96997951e+00] [-5.44425506e-03 1.74382488e-04 9.99985165e-01 -4.60581761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.250371743 meters 0.021979953084726302 Centerline is valid? [True, True] Translation: X:35.01, Y:-1.96, Z:-0.46 [[ 9.99344198e-01 3.57460449e-02 5.77880887e-03 3.50063365e+01] [-3.57447519e-02 9.99360899e-01 -3.26901355e-04 -1.96087619e+00] [-5.78680106e-03 1.20124882e-04 9.99983249e-01 -4.60190433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280371743 meters 0.02140541961588405 Centerline is valid? [True, True] Translation: X:35.04, Y:-1.96, Z:-0.46 [[ 9.99122556e-01 4.14319525e-02 6.12469447e-03 3.50351657e+01] [-4.14306038e-02 9.99141324e-01 -3.46981826e-04 -1.95757903e+00] [-6.13381147e-03 9.29275785e-05 9.99981184e-01 -4.60123584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.310371743 meters 0.02065096204464768 Centerline is valid? [True, True] Translation: X:35.06, Y:-1.95, Z:-0.46 [[ 9.98626303e-01 5.18291639e-02 7.69705610e-03 3.50640996e+01] [-5.18273485e-02 9.98655965e-01 -4.35267801e-04 -1.95191723e+00] [-7.70927056e-03 3.57518660e-05 9.99970282e-01 -4.59054022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340371743 meters 0.020673189191330894 Centerline is valid? [True, True] Translation: X:35.09, Y:-1.95, Z:-0.46 [[ 9.98378748e-01 5.62687879e-02 8.58483840e-03 3.50918631e+01] [-5.62666992e-02 9.98415657e-01 -4.84822753e-04 -1.95150459e+00] [-8.59851746e-03 9.96212829e-07 9.99963032e-01 -4.59204002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370371743 meters 0.020667264311518035 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.95, Z:-0.46 [[ 9.98177594e-01 5.96862643e-02 8.89044582e-03 3.51199200e+01] [-5.96841580e-02 9.98217185e-01 -5.02281672e-04 -1.95189917e+00] [-8.90457512e-03 -2.92524614e-05 9.99960353e-01 -4.58961836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400371743 meters 0.02090351795577563 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.95, Z:-0.46 [[ 9.97829371e-01 6.52007035e-02 9.24202801e-03 3.51474683e+01] [-6.51986994e-02 9.97872167e-01 -5.18292662e-04 -1.95385008e+00] [-9.25615556e-03 -8.54005651e-05 9.99957157e-01 -4.60053822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430371743 meters 0.021122600727165805 Centerline is valid? [True, True] Translation: X:35.18, Y:-1.96, Z:-0.46 [[ 9.97729928e-01 6.67571387e-02 8.85856829e-03 3.51761721e+01] [-6.67553579e-02 9.97769250e-01 -4.96884801e-04 -1.95733430e+00] [-8.87197765e-03 -9.56000602e-05 9.99960639e-01 -4.60976664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460371743 meters 0.021076013980358327 Centerline is valid? [True, True] Translation: X:35.20, Y:-1.96, Z:-0.46 [[ 9.97605733e-01 6.87636199e-02 7.37337999e-03 3.52038128e+01] [-6.87624564e-02 9.97632976e-01 -4.11498415e-04 -1.96361507e+00] [-7.38422315e-03 -9.64985424e-05 9.99972732e-01 -4.63167868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490371743000004 meters 0.021094689900981917 Centerline is valid? [True, True] Translation: X:35.23, Y:-1.97, Z:-0.46 [[ 9.97597143e-01 6.89461357e-02 6.80957651e-03 3.52310565e+01] [-6.89451551e-02 9.97620380e-01 -3.78925933e-04 -1.96803613e+00] [-6.81949778e-03 -9.14718809e-05 9.99976743e-01 -4.64505959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520371743 meters 0.020340839214007936 Centerline is valid? [True, True] Translation: X:35.26, Y:-1.98, Z:-0.47 [[ 9.97728406e-01 6.71192648e-02 5.74729898e-03 3.52591363e+01] [-6.71185298e-02 9.97744957e-01 -3.20878433e-04 -1.98008573e+00] [-5.75587570e-03 -6.56007304e-05 9.99983433e-01 -4.65107016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.550371743 meters 0.020340839214007936 Centerline is valid? [True, True] Translation: X:35.29, Y:-1.98, Z:-0.47 [[ 9.97747907e-01 6.68287491e-02 5.74736321e-03 3.52864769e+01] [-6.68280159e-02 9.97764458e-01 -3.19721396e-04 -1.98154072e+00] [-5.75588132e-03 -6.50835264e-05 9.99983433e-01 -4.65492853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580371743 meters 0.02019637995292427 Centerline is valid? [True, True] Translation: X:35.31, Y:-1.99, Z:-0.47 [[ 9.97818433e-01 6.57305173e-02 6.15425304e-03 3.53144682e+01] [-6.57296706e-02 9.97837409e-01 -3.39966813e-04 -1.98809011e+00] [-6.16329010e-03 -6.52918723e-05 9.99981005e-01 -4.66085799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610371743 meters 0.01980982774588543 Centerline is valid? [True, True] Translation: X:35.34, Y:-1.99, Z:-0.47 [[ 9.97870610e-01 6.49186565e-02 6.30976585e-03 3.53417559e+01] [-6.49177688e-02 9.97890557e-01 -3.45602928e-04 -1.99495543e+00] [-6.31889184e-03 -6.47489158e-05 9.99980034e-01 -4.66504323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640371743 meters 0.02008122925244522 Centerline is valid? [True, True] Translation: X:35.37, Y:-2.01, Z:-0.47 [[ 9.97976113e-01 6.31945151e-02 7.08031154e-03 3.53684219e+01] [-6.31933575e-02 9.98001227e-01 -3.87311633e-04 -2.00778725e+00] [-7.09063557e-03 -6.09009009e-05 9.99974859e-01 -4.66939315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670371743000004 meters 0.019861111978880762 Centerline is valid? [True, True] Translation: X:35.40, Y:-2.01, Z:-0.47 [[ 9.98042564e-01 6.20976851e-02 7.41060049e-03 3.53961422e+01] [-6.20963969e-02 9.98070075e-01 -4.04020390e-04 -2.01494073e+00] [-7.42138732e-03 -5.69420429e-05 9.99972460e-01 -4.67354700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700371743 meters 0.019786612401565023 Centerline is valid? [True, True] Translation: X:35.42, Y:-2.03, Z:-0.47 [[ 9.98151637e-01 6.02015276e-02 8.31173298e-03 3.54246824e+01] [-6.01998493e-02 9.98186242e-01 -4.52188926e-04 -2.02865344e+00] [-8.32387997e-03 -4.90119558e-05 9.99965355e-01 -4.66997084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730371743 meters 0.019831012468367288 Centerline is valid? [True, True] Translation: X:35.45, Y:-2.04, Z:-0.47 [[ 9.98225871e-01 5.89706966e-02 8.21996968e-03 3.54515830e+01] [-5.89690122e-02 9.98259713e-01 -4.47336129e-04 -2.03592952e+00] [-8.23204430e-03 -3.81809954e-05 9.99966115e-01 -4.67352149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760371743 meters 0.019693762013700263 Centerline is valid? [True, True] Translation: X:35.48, Y:-2.05, Z:-0.47 [[ 9.98392548e-01 5.60550145e-02 8.37585803e-03 3.54799511e+01] [-5.60531832e-02 9.98427681e-01 -4.53418401e-04 -2.05015507e+00] [-8.38810489e-03 -1.68039515e-05 9.99964819e-01 -4.68679821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790371743 meters 0.019710331573506244 Centerline is valid? [True, True] Translation: X:35.51, Y:-2.06, Z:-0.47 [[ 9.98506584e-01 5.40423482e-02 8.00164946e-03 3.55073624e+01] [-5.40406146e-02 9.98538645e-01 -4.32870393e-04 -2.05822043e+00] [-8.01334954e-03 -1.90117508e-07 9.99967893e-01 -4.69291371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820371743 meters 0.020118363798155504 Centerline is valid? [True, True] Translation: X:35.53, Y:-2.07, Z:-0.47 [[ 9.98738127e-01 4.96510058e-02 7.54525592e-03 3.55344270e+01] [-4.96493454e-02 9.98766628e-01 -4.07318842e-04 -2.07286946e+00] [-7.55617360e-03 3.21878406e-05 9.99971451e-01 -4.70398163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850371743000004 meters 0.020496295175042093 Centerline is valid? [True, True] Translation: X:35.56, Y:-2.08, Z:-0.47 [[ 9.98856482e-01 4.71369844e-02 7.98955017e-03 3.55631366e+01] [-4.71350496e-02 9.98888433e-01 -4.30391964e-04 -2.08094236e+00] [-8.00095663e-03 5.33119599e-05 9.99967990e-01 -4.70751642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.880371743 meters 0.021104361536412892 Centerline is valid? [True, True] Translation: X:35.59, Y:-2.10, Z:-0.47 [[ 9.99099987e-01 4.14761442e-02 8.88517665e-03 3.55913165e+01] [-4.14735341e-02 9.99139489e-01 -4.77893810e-04 -2.09515188e+00] [-8.89735205e-03 1.08964023e-04 9.99960412e-01 -4.70955653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910371743 meters 0.02156776749981828 Centerline is valid? [True, True] Translation: X:35.62, Y:-2.10, Z:-0.47 [[ 9.99205436e-01 3.87607263e-02 9.27917196e-03 3.56191124e+01] [-3.87577676e-02 9.99248511e-01 -4.98527943e-04 -2.10349310e+00] [-9.29152207e-03 1.38491840e-04 9.99956823e-01 -4.71428680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940371743 meters 0.023398645952725897 Centerline is valid? [True, True] Translation: X:35.65, Y:-2.11, Z:-0.47 [[ 9.99275279e-01 3.69169751e-02 9.27655694e-03 3.56462063e+01] [-3.69139489e-02 9.99318324e-01 -4.97291146e-04 -2.11115854e+00] [-9.28859182e-03 1.54496400e-04 9.99956848e-01 -4.71844163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970371743 meters 0.022831103568549217 Centerline is valid? [True, True] Translation: X:35.68, Y:-2.12, Z:-0.47 [[ 9.99420894e-01 3.21799439e-02 1.10601483e-02 3.56755707e+01] [-3.21753673e-02 9.99482064e-01 -5.91525284e-04 -2.12166121e+00] [-1.10734551e-02 2.35318393e-04 9.99938660e-01 -4.71961006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000371743 meters 0.023612862224738393 Centerline is valid? [True, True] Translation: X:35.70, Y:-2.13, Z:-0.47 [[ 9.99470918e-01 3.03746378e-02 1.16303455e-02 3.57039595e+01] [-3.03694592e-02 9.99538548e-01 -6.21660305e-04 -2.12780318e+00] [-1.16438614e-02 2.68124094e-04 9.99932172e-01 -4.72246506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030371743 meters 0.0243807297325088 Centerline is valid? [True, True] Translation: X:35.73, Y:-2.14, Z:-0.47 [[ 9.99538005e-01 2.77815000e-02 1.23273840e-02 3.57315695e+01] [-2.77754978e-02 9.99613970e-01 -6.57872406e-04 -2.13779936e+00] [-1.23409019e-02 3.15169246e-04 9.99923799e-01 -4.72052868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.060371743 meters 0.025081723428121896 Centerline is valid? [True, True] Translation: X:35.76, Y:-2.14, Z:-0.47 [[ 9.99556319e-01 2.66702940e-02 1.32612459e-02 3.57604493e+01] [-2.66632521e-02 9.99644222e-01 -7.07567402e-04 -2.14351388e+00] [-1.32753989e-02 3.53665524e-04 9.99911815e-01 -4.72113803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090371743 meters 0.026217212651487635 Centerline is valid? [True, True] Translation: X:35.79, Y:-2.15, Z:-0.47 [[ 9.99588849e-01 2.43913547e-02 1.50729991e-02 3.57899710e+01] [-2.43820094e-02 9.99702392e-01 -8.03482778e-04 -2.15311167e+00] [-1.50881113e-02 4.35642419e-04 9.99886073e-01 -4.71413924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120371743 meters 0.02618601998637741 Centerline is valid? [True, True] Translation: X:35.82, Y:-2.16, Z:-0.47 [[ 9.99610424e-01 2.29369556e-02 1.59026910e-02 3.58212869e+01] [-2.29263475e-02 9.99736796e-01 -8.49073736e-04 -2.15653319e+00] [-1.59179805e-02 4.84152338e-04 9.99873184e-01 -4.70984973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.150371743 meters 0.027397175952746544 Centerline is valid? [True, True] Translation: X:35.85, Y:-2.16, Z:-0.47 [[ 9.99612971e-01 2.19006744e-02 1.71542504e-02 3.58525534e+01] [-2.18881565e-02 9.99760005e-01 -9.17161707e-04 -2.16295719e+00] [-1.71702199e-02 5.41331822e-04 9.99852434e-01 -4.70680447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180371743 meters 0.028590725708046705 Centerline is valid? [True, True] Translation: X:35.88, Y:-2.17, Z:-0.47 [[ 9.99642197e-01 1.97790354e-02 1.80074484e-02 3.58834680e+01] [-1.97648198e-02 9.99804189e-01 -9.67073978e-04 -2.16926284e+00] [-1.80230502e-02 6.10813982e-04 9.99837385e-01 -4.69894480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.210371743 meters 0.027427151855957965 Centerline is valid? [True, True] Translation: X:35.92, Y:-2.17, Z:-0.47 [[ 9.99647487e-01 1.91559493e-02 1.83834420e-02 3.59161635e+01] [-1.91409493e-02 9.99816304e-01 -9.91574412e-04 -2.16902970e+00] [-1.83990596e-02 6.39348337e-04 9.99830519e-01 -4.70791597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240371743000004 meters 0.03022488922176757 Centerline is valid? [True, True] Translation: X:35.95, Y:-2.18, Z:-0.47 [[ 9.99647324e-01 1.84676300e-02 1.90833716e-02 3.59470489e+01] [-1.84512482e-02 9.99829226e-01 -1.03415955e-03 -2.17725561e+00] [-1.90992112e-02 6.81682802e-04 9.99817361e-01 -4.71074611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.270371743 meters 0.027588368292821713 Centerline is valid? [True, True] Translation: X:35.98, Y:-2.17, Z:-0.47 [[ 9.99643859e-01 1.80529107e-02 1.96531788e-02 3.59798299e+01] [-1.80353621e-02 9.99836777e-01 -1.06980679e-03 -2.17498531e+00] [-1.96692841e-02 7.14973589e-04 9.99806285e-01 -4.71974279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300371743 meters 0.027554987943130115 Centerline is valid? [True, True] Translation: X:36.01, Y:-2.18, Z:-0.47 [[ 9.99646565e-01 1.69091211e-02 2.05140402e-02 3.60123921e+01] [-1.68896507e-02 9.99856730e-01 -1.12202111e-03 -2.17713292e+00] [-2.05300736e-02 7.75149576e-04 9.99788935e-01 -4.72823108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.330371743 meters 0.030659916300928604 Centerline is valid? [True, True] Translation: X:36.04, Y:-2.18, Z:-0.47 [[ 9.99651132e-01 1.62204750e-02 2.08448975e-02 3.60427911e+01] [-1.62001281e-02 9.99868114e-01 -1.14461630e-03 -2.18406448e+00] [-2.08607146e-02 8.06526967e-04 9.99782066e-01 -4.72232881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360371743 meters 0.02723004802963234 Centerline is valid? [True, True] Translation: X:36.08, Y:-2.18, Z:-0.47 [[ 9.99653927e-01 1.60271421e-02 2.08603999e-02 3.60755838e+01] [-1.60066484e-02 9.99871225e-01 -1.14903369e-03 -2.17863631e+00] [-2.08761293e-02 8.14730953e-04 9.99781738e-01 -4.73839879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.390371743 meters 0.02832838280507102 Centerline is valid? [True, True] Translation: X:36.11, Y:-2.18, Z:-0.47 [[ 9.99677051e-01 1.52545915e-02 2.03246375e-02 3.61067347e+01] [-1.52348871e-02 9.99883311e-01 -1.12397826e-03 -2.18119618e+00] [-2.03394117e-02 8.13971720e-04 9.99792801e-01 -4.74399294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420371743000004 meters 0.03267385841289223 Centerline is valid? [True, True] Translation: X:36.14, Y:-2.19, Z:-0.47 [[ 9.99699940e-01 1.46145918e-02 1.96581541e-02 3.61378474e+01] [-1.45959825e-02 9.99892879e-01 -1.08980082e-03 -2.19012705e+00] [-1.96719753e-02 8.02543744e-04 9.99806166e-01 -4.73984683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.450371743 meters 0.028430874007034316 Centerline is valid? [True, True] Translation: X:36.17, Y:-2.18, Z:-0.48 [[ 9.99750028e-01 1.25230148e-02 1.85217377e-02 3.61701941e+01] [-1.25060832e-02 9.99921266e-01 -1.02969653e-03 -2.18237183e+00] [-1.85331744e-02 7.97804738e-04 9.99827928e-01 -4.77494732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480371743 meters 0.029719909473258876 Centerline is valid? [True, True] Translation: X:36.20, Y:-2.19, Z:-0.48 [[ 9.99776466e-01 1.12239372e-02 1.79176319e-02 3.62013903e+01] [-1.12078091e-02 9.99936690e-01 -1.00029308e-03 -2.18533656e+00] [-1.79277247e-02 7.99252084e-04 9.99838966e-01 -4.78357995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510371743 meters 0.030472663117866654 Centerline is valid? [True, True] Translation: X:36.23, Y:-2.19, Z:-0.48 [[ 9.99799944e-01 7.57398667e-03 1.85123432e-02 3.62329449e+01] [-7.55607879e-03 9.99970915e-01 -1.03710414e-03 -2.18564408e+00] [-1.85196598e-02 8.97015942e-04 9.99828094e-01 -4.78817070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540371743 meters 0.03187125480425152 Centerline is valid? [True, True] Translation: X:36.26, Y:-2.19, Z:-0.48 [[ 9.99808235e-01 5.96759321e-03 1.86515755e-02 3.62638803e+01] [-5.94910633e-03 9.99981756e-01 -1.04649801e-03 -2.18805047e+00] [-1.86574803e-02 9.35337121e-04 9.99825497e-01 -4.78559236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570371743 meters 0.03353402705147347 Centerline is valid? [True, True] Translation: X:36.29, Y:-2.19, Z:-0.48 [[ 9.99814361e-01 2.62949099e-03 1.90874179e-02 3.62936835e+01] [-2.60945920e-03 9.99996018e-01 -1.07430671e-03 -2.18870882e+00] [-1.90901668e-02 1.02429944e-03 9.99817241e-01 -4.78968193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600371743000004 meters 0.03412742285110252 Centerline is valid? [True, True] Translation: X:36.33, Y:-2.19, Z:-0.48 [[ 9.99814062e-01 1.28803567e-03 1.92401497e-02 3.63258694e+01] [-1.26742722e-03 9.99998610e-01 -1.08327243e-03 -2.18907555e+00] [-1.92415183e-02 1.05868552e-03 9.99814304e-01 -4.79306962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.630371743 meters 0.034531166538887624 Centerline is valid? [True, True] Translation: X:36.36, Y:-2.19, Z:-0.48 [[ 9.99814727e-01 6.91846493e-04 1.92362412e-02 3.63583746e+01] [-6.71092617e-04 9.99999186e-01 -1.08532890e-03 -2.18971615e+00] [-1.92369764e-02 1.07221852e-03 9.99814377e-01 -4.79528904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660371743 meters 0.03240671090873778 Centerline is valid? [True, True] Translation: X:36.39, Y:-2.18, Z:-0.48 [[ 9.99808859e-01 -9.35562697e-04 1.95287046e-02 3.63903929e+01] [ 9.57356045e-04 9.99998929e-01 -1.10664586e-03 -2.18430584e+00] [-1.95276484e-02 1.12513025e-03 9.99808684e-01 -4.80535094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690371743 meters 0.036667258408084824 Centerline is valid? [True, True] Translation: X:36.42, Y:-2.19, Z:-0.48 [[ 9.99816476e-01 -1.40246703e-03 1.91061942e-02 3.64213926e+01] [ 1.42349769e-03 9.99998396e-01 -1.08716947e-03 -2.19037775e+00] [-1.91046388e-02 1.11416758e-03 9.99816869e-01 -4.81496052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720371743 meters 0.03594068757486427 Centerline is valid? [True, True] Translation: X:36.45, Y:-2.19, Z:-0.48 [[ 9.99846987e-01 -3.08322471e-03 1.72190487e-02 3.64539298e+01] [ 3.10060916e-03 9.99994710e-01 -9.82999764e-04 -2.18849652e+00] [-1.72159268e-02 1.03623889e-03 9.99851258e-01 -4.83032942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750371743 meters 0.033150439930090356 Centerline is valid? [True, True] Translation: X:36.49, Y:-2.18, Z:-0.48 [[ 9.99855378e-01 -3.56800106e-03 1.66280607e-02 3.64862802e+01] [ 3.58429832e-03 9.99993125e-01 -9.50406690e-04 -2.18422489e+00] [-1.66245553e-02 1.00986917e-03 9.99861293e-01 -4.84465377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780371743 meters 0.032943367790794216 Centerline is valid? [True, True] Translation: X:36.52, Y:-2.18, Z:-0.49 [[ 9.99880599e-01 -3.20245030e-03 1.51172940e-02 3.65191093e+01] [ 3.21589442e-03 9.99994455e-01 -8.65095243e-04 -2.18258067e+00] [-1.51144398e-02 9.13607571e-04 9.99885353e-01 -4.86522765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.810371743 meters 0.03819042777807196 Centerline is valid? [True, True] Translation: X:36.55, Y:-2.19, Z:-0.49 [[ 9.99900351e-01 -1.95763723e-03 1.39805284e-02 3.65500700e+01] [ 1.96903060e-03 9.99997740e-01 -8.01227575e-04 -2.18988547e+00] [-1.39789283e-02 8.28675822e-04 9.99901947e-01 -4.88191718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840371743 meters 0.033364732208478166 Centerline is valid? [True, True] Translation: X:36.58, Y:-2.18, Z:-0.49 [[ 9.99918399e-01 1.72328699e-03 1.26580050e-02 3.65813469e+01] [-1.71423288e-03 9.99998267e-01 -7.26102172e-04 -2.17993666e+00] [-1.26592343e-02 7.04344153e-04 9.99919621e-01 -4.89653499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.870371743 meters 0.029122342420726102 Centerline is valid? [True, True] Translation: X:36.61, Y:-2.17, Z:-0.49 [[ 9.99914805e-01 4.42728897e-03 1.22793382e-02 3.66132061e+01] [-4.41896964e-03 9.99989988e-01 -7.04555933e-04 -2.17284394e+00] [-1.22823346e-02 6.50233886e-04 9.99924358e-01 -4.90000032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900371743 meters 0.027562432006290157 Centerline is valid? [True, True] Translation: X:36.64, Y:-2.17, Z:-0.49 [[ 9.99875556e-01 1.07591967e-02 1.15374478e-02 3.66434153e+01] [-1.07522666e-02 9.99941973e-01 -6.62526390e-04 -2.16701202e+00] [-1.15439066e-02 5.38390228e-04 9.99933222e-01 -4.90291017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.930371743 meters 0.026890788554026726 Centerline is valid? [True, True] Translation: X:36.68, Y:-2.17, Z:-0.49 [[ 9.99840853e-01 1.42508242e-02 1.07322795e-02 3.66754171e+01] [-1.42450328e-02 9.99898345e-01 -6.15875426e-04 -2.16523916e+00] [-1.07399653e-02 4.62895737e-04 9.99942218e-01 -4.90781084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960371743 meters 0.02650087079350964 Centerline is valid? [True, True] Translation: X:36.71, Y:-2.16, Z:-0.49 [[ 9.99791901e-01 1.76317740e-02 1.02603418e-02 3.67065205e+01] [-1.76266524e-02 9.99844465e-01 -5.89390687e-04 -2.16404263e+00] [-1.02691379e-02 4.08412558e-04 9.99947188e-01 -4.91755530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990371743000004 meters 0.024607606289889773 Centerline is valid? [True, True] Translation: X:36.74, Y:-2.16, Z:-0.49 [[ 9.99650418e-01 2.43700128e-02 1.02540068e-02 3.67364473e+01] [-2.43652455e-02 9.99702949e-01 -5.89607913e-04 -2.15963798e+00] [-1.02653296e-02 3.39560404e-04 9.99947252e-01 -4.91929225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020371743 meters 0.02395293162727733 Centerline is valid? [True, True] Translation: X:36.77, Y:-2.16, Z:-0.49 [[ 9.99559296e-01 2.77222062e-02 1.06157360e-02 3.67656168e+01] [-2.77172871e-02 9.99615616e-01 -6.10249073e-04 -2.15911218e+00] [-1.06285729e-02 3.15740731e-04 9.99943465e-01 -4.92083269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.050371743 meters 0.02222999501412785 Centerline is valid? [True, True] Translation: X:36.80, Y:-2.16, Z:-0.49 [[ 9.99385879e-01 3.32678359e-02 1.10052357e-02 3.67961020e+01] [-3.32628892e-02 9.99446437e-01 -6.32266643e-04 -2.15549959e+00] [-1.10201777e-02 2.65812420e-04 9.99939241e-01 -4.92138517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080371743 meters 0.02279818351935892 Centerline is valid? [True, True] Translation: X:36.82, Y:-2.16, Z:-0.49 [[ 9.99309135e-01 3.55191730e-02 1.09380597e-02 3.68236161e+01] [-3.55144254e-02 9.99368966e-01 -6.28037686e-04 -2.15795019e+00] [-1.09534648e-02 2.39144892e-04 9.99939980e-01 -4.92829057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.110371743 meters 0.022207793500135395 Centerline is valid? [True, True] Translation: X:36.85, Y:-2.16, Z:-0.49 [[ 9.99250854e-01 3.71490286e-02 1.08480723e-02 3.68521660e+01] [-3.71444659e-02 9.99309713e-01 -6.21848857e-04 -2.15944337e+00] [-1.08636851e-02 2.18437149e-04 9.99940965e-01 -4.93427825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140371743 meters 0.020705883870353235 Centerline is valid? [True, True] Translation: X:36.88, Y:-2.16, Z:-0.50 [[ 9.99147333e-01 4.00978148e-02 9.83727648e-03 3.68805468e+01] [-4.00942111e-02 9.99195745e-01 -5.63345019e-04 -2.15999169e+00] [-9.85195370e-03 1.68446833e-04 9.99951454e-01 -4.95091800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170371743000004 meters 0.020941847638088464 Centerline is valid? [True, True] Translation: X:36.91, Y:-2.16, Z:-0.50 [[ 9.99113265e-01 4.12308042e-02 8.52664414e-03 3.69084174e+01] [-4.12281415e-02 9.99149640e-01 -4.87891063e-04 -2.16400149e+00] [-8.53950956e-03 1.35920743e-04 9.99963528e-01 -4.97162851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200371743 meters 0.020762572473176966 Centerline is valid? [True, True] Translation: X:36.94, Y:-2.17, Z:-0.50 [[ 9.99010606e-01 4.39541296e-02 6.77072108e-03 3.69365133e+01] [-4.39525166e-02 9.99033546e-01 -3.86911561e-04 -2.16931236e+00] [-6.78118385e-03 8.89385224e-05 9.99977004e-01 -4.99813429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230371743 meters 0.020638057533790072 Centerline is valid? [True, True] Translation: X:36.97, Y:-2.17, Z:-0.50 [[ 9.98942714e-01 4.54953697e-02 6.60497580e-03 3.69652966e+01] [-4.54938714e-02 9.98964547e-01 -3.76984214e-04 -2.17352707e+00] [-6.61528769e-03 7.60997144e-05 9.99978116e-01 -5.01086594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260371743 meters 0.02092367512908287 Centerline is valid? [True, True] Translation: X:36.99, Y:-2.18, Z:-0.50 [[ 9.98803680e-01 4.84977421e-02 6.25924610e-03 3.69938663e+01] [-4.84964580e-02 9.98823291e-01 -3.56862236e-04 -2.18078478e+00] [-6.26918780e-03 5.28840493e-05 9.99980347e-01 -5.02314028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290371743 meters 0.020885523583518525 Centerline is valid? [True, True] Translation: X:37.02, Y:-2.19, Z:-0.50 [[ 9.98707719e-01 5.04394028e-02 6.22565570e-03 3.70210700e+01] [-5.04381721e-02 9.98727122e-01 -3.54635593e-04 -2.18536148e+00] [-6.23561881e-03 4.01666104e-05 9.99980558e-01 -5.03100065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320371743 meters 0.021019055643208034 Centerline is valid? [True, True] Translation: X:37.05, Y:-2.19, Z:-0.50 [[ 9.98432284e-01 5.56678595e-02 5.83645435e-03 3.70493515e+01] [-5.56668706e-02 9.98449342e-01 -3.31868985e-04 -2.19308417e+00] [-5.84587844e-03 6.45155978e-06 9.99982913e-01 -5.04584950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350371743000004 meters 0.02121227487720058 Centerline is valid? [True, True] Translation: X:37.08, Y:-2.20, Z:-0.51 [[ 9.98289970e-01 5.82068520e-02 5.39426484e-03 3.70776001e+01] [-5.82060461e-02 9.98304544e-01 -3.06415075e-04 -2.19789810e+00] [-5.40295456e-03 -8.08773160e-06 9.99985404e-01 -5.05450706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.380371743 meters 0.0214530539994346 Centerline is valid? [True, True] Translation: X:37.11, Y:-2.21, Z:-0.51 [[ 9.97979862e-01 6.32999504e-02 5.41404171e-03 3.71051554e+01] [-6.32992128e-02 9.97994547e-01 -3.07666613e-04 -2.20668270e+00] [-5.42265938e-03 -3.56594938e-05 9.99985297e-01 -5.06536700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410371743 meters 0.021854000791407913 Centerline is valid? [True, True] Translation: X:37.13, Y:-2.21, Z:-0.51 [[ 9.97841363e-01 6.54017299e-02 5.93537652e-03 3.71332709e+01] [-6.54008892e-02 9.97859014e-01 -3.35836231e-04 -2.21280203e+00] [-5.94463323e-03 -5.30676199e-05 9.99982329e-01 -5.07159423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440371743 meters 0.021854000791407913 Centerline is valid? [True, True] Translation: X:37.16, Y:-2.21, Z:-0.51 [[ 9.97848438e-01 6.52936953e-02 5.93538428e-03 3.71607012e+01] [-6.52928535e-02 9.97866089e-01 -3.35699572e-04 -2.21426538e+00] [-5.94463776e-03 -5.25608831e-05 9.99982329e-01 -5.07545473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470371743 meters 0.022080151617652824 Centerline is valid? [True, True] Translation: X:37.19, Y:-2.22, Z:-0.51 [[ 9.97767426e-01 6.65170159e-02 5.97080490e-03 3.71892274e+01] [-6.65161916e-02 9.97785289e-01 -3.36752205e-04 -2.22065212e+00] [-5.97998105e-03 -6.11548216e-05 9.99982118e-01 -5.08012584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500371743 meters 0.022545492664547414 Centerline is valid? [True, True] Translation: X:37.22, Y:-2.23, Z:-0.51 [[ 9.97727711e-01 6.70721440e-02 6.38288741e-03 3.72163470e+01] [-6.70712158e-02 9.97748126e-01 -3.59595397e-04 -2.23299035e+00] [-6.39263279e-03 -6.93297268e-05 9.99979565e-01 -5.09630009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530371743 meters 0.022431962360025055 Centerline is valid? [True, True] Translation: X:37.24, Y:-2.24, Z:-0.51 [[ 9.97814129e-01 6.57865851e-02 6.25218639e-03 3.72442307e+01] [-6.57856736e-02 9.97833714e-01 -3.51552546e-04 -2.24228625e+00] [-6.26176981e-03 -6.05201960e-05 9.99980393e-01 -5.09728325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.560371743 meters 0.022208011564507923 Centerline is valid? [True, True] Translation: X:37.27, Y:-2.25, Z:-0.51 [[ 9.97963591e-01 6.34316949e-02 6.71499906e-03 3.72729853e+01] [-6.34305938e-02 9.97986181e-01 -3.77032865e-04 -2.25156974e+00] [-6.72539210e-03 -4.96713056e-05 9.99977383e-01 -5.10311503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590371743 meters 0.022368192719595958 Centerline is valid? [True, True] Translation: X:37.30, Y:-2.27, Z:-0.51 [[ 9.98327546e-01 5.74528783e-02 6.42483172e-03 3.72995051e+01] [-5.74517483e-02 9.98348219e-01 -3.60455690e-04 -2.26947334e+00] [-6.43492852e-03 -9.26497024e-06 9.99979296e-01 -5.11184469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620371743 meters 0.02230992843296058 Centerline is valid? [True, True] Translation: X:37.33, Y:-2.28, Z:-0.51 [[ 9.98547434e-01 5.33973047e-02 7.19380024e-03 3.73275577e+01] [-5.33957893e-02 9.98573346e-01 -4.02687978e-04 -2.27950970e+00] [-7.20503963e-03 1.79844048e-05 9.99974043e-01 -5.10774681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650371743 meters 0.02304853317728735 Centerline is valid? [True, True] Translation: X:37.36, Y:-2.30, Z:-0.51 [[ 9.98965710e-01 4.47165216e-02 8.24272520e-03 3.73555171e+01] [-4.47142425e-02 9.98999712e-01 -4.60663046e-04 -2.29780756e+00] [-8.25507935e-03 9.16193731e-05 9.99965922e-01 -5.10060636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680371743 meters 0.023203113651626354 Centerline is valid? [True, True] Translation: X:37.38, Y:-2.31, Z:-0.51 [[ 9.99171718e-01 3.97949425e-02 8.49948954e-03 3.73837108e+01] [-3.97923475e-02 9.99207858e-01 -4.74270765e-04 -2.30848213e+00] [-8.51163032e-03 1.35663294e-04 9.99963766e-01 -5.10372043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710371743 meters 0.023930638203766574 Centerline is valid? [True, True] Translation: X:37.41, Y:-2.32, Z:-0.51 [[ 9.99346050e-01 3.51776624e-02 8.36687881e-03 3.74122399e+01] [-3.51749897e-02 9.99381060e-01 -4.66431147e-04 -2.31926403e+00] [-8.37810817e-03 1.71821248e-04 9.99964888e-01 -5.10338674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740371743000004 meters 0.025890368145463295 Centerline is valid? [True, True] Translation: X:37.44, Y:-2.34, Z:-0.51 [[ 9.99632465e-01 2.55941164e-02 8.93735891e-03 3.74411862e+01] [-2.55906908e-02 9.99672381e-01 -4.97462919e-04 -2.33802816e+00] [-8.94716299e-03 2.68566896e-04 9.99959937e-01 -5.08955013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770371743 meters 0.026549233052676098 Centerline is valid? [True, True] Translation: X:37.47, Y:-2.35, Z:-0.51 [[ 9.99717236e-01 2.17466381e-02 9.61932151e-03 3.74721054e+01] [-2.17424937e-02 9.99763461e-01 -5.35213945e-04 -2.34631925e+00] [-9.62868526e-03 3.25914569e-04 9.99953590e-01 -5.08017136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800371743 meters 0.028888506713429053 Centerline is valid? [True, True] Translation: X:37.50, Y:-2.36, Z:-0.51 [[ 9.99846487e-01 1.43777503e-02 1.00141372e-02 3.75024171e+01] [-1.43728846e-02 9.99896549e-01 -5.57682289e-04 -2.36022931e+00] [-1.00211195e-02 4.13664639e-04 9.99949702e-01 -5.06752005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830371743 meters 0.032355715230052796 Centerline is valid? [True, True] Translation: X:37.53, Y:-2.37, Z:-0.51 [[ 9.99928482e-01 6.91551118e-03 9.75742606e-03 3.75310280e+01] [-6.91053620e-03 9.99975974e-01 -5.43489700e-04 -2.37379578e+00] [-9.76095014e-03 4.76021785e-04 9.99952247e-01 -5.06602821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860371743 meters 0.03247999700128276 Centerline is valid? [True, True] Translation: X:37.56, Y:-2.38, Z:-0.51 [[ 9.99947207e-01 3.87211572e-03 9.51787661e-03 3.75616565e+01] [-3.86724714e-03 9.99992382e-01 -5.29871293e-04 -2.37811638e+00] [-9.51985582e-03 4.93035339e-04 9.99954564e-01 -5.06710662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890371743 meters 0.03136069394453315 Centerline is valid? [True, True] Translation: X:37.59, Y:-2.38, Z:-0.51 [[ 9.99952455e-01 5.13427220e-04 9.73777915e-03 3.75924094e+01] [-5.08170571e-04 9.99999724e-01 -5.42286716e-04 -2.37926691e+00] [-9.73805488e-03 5.37312480e-04 9.99952440e-01 -5.06614277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920371743000004 meters 0.03149777088574427 Centerline is valid? [True, True] Translation: X:37.62, Y:-2.38, Z:-0.51 [[ 9.99935321e-01 -4.56337866e-03 1.04177706e-02 3.76230085e+01] [ 4.56967243e-03 9.99989391e-01 -5.80414850e-04 -2.38287069e+00] [-1.04150115e-02 6.27983108e-04 9.99945565e-01 -5.06378015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950371743 meters 0.03952528225495174 Centerline is valid? [True, True] Translation: X:37.65, Y:-2.40, Z:-0.51 [[ 9.99921934e-01 -5.88691212e-03 1.10213879e-02 3.76538593e+01] [ 5.89402915e-03 9.99982442e-01 -6.13376561e-04 -2.39640783e+00] [-1.10175835e-02 6.78289058e-04 9.99939075e-01 -5.06941907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980371743 meters 0.03453643678158975 Centerline is valid? [True, True] Translation: X:37.68, Y:-2.39, Z:-0.51 [[ 9.99883956e-01 -8.69815994e-03 1.25066372e-02 3.76849128e+01] [ 8.70759098e-03 9.99961843e-01 -6.99826861e-04 -2.38929719e+00] [-1.25000728e-02 8.08648332e-04 9.99921544e-01 -5.05871386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010371743 meters 0.035538638545880095 Centerline is valid? [True, True] Translation: X:37.72, Y:-2.39, Z:-0.51 [[ 9.99868339e-01 -9.83268279e-03 1.29082426e-02 3.77173130e+01] [ 9.84282581e-03 9.99951297e-01 -7.22483074e-04 -2.39124027e+00] [-1.29005099e-02 8.49441535e-04 9.99916424e-01 -5.06162360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040371743 meters 0.041150820131809526 Centerline is valid? [True, True] Translation: X:37.75, Y:-2.40, Z:-0.51 [[ 9.99858430e-01 -1.12562904e-02 1.25066437e-02 3.77476287e+01] [ 1.12659329e-02 9.99936292e-01 -7.00803615e-04 -2.39911673e+00] [-1.24979585e-02 8.41603411e-04 9.99921543e-01 -5.06617012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070371743 meters 0.03972323360400945 Centerline is valid? [True, True] Translation: X:37.78, Y:-2.39, Z:-0.51 [[ 9.99814782e-01 -1.49349590e-02 1.21387548e-02 3.77780518e+01] [ 1.49443331e-02 9.99888095e-01 -6.81902949e-04 -2.39428791e+00] [-1.21272122e-02 8.63182243e-04 9.99926090e-01 -5.07171498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100371743000004 meters 0.039554024144722325 Centerline is valid? [True, True] Translation: X:37.81, Y:-2.39, Z:-0.51 [[ 9.99782103e-01 -1.69821245e-02 1.21389802e-02 3.78090983e+01] [ 1.69916493e-02 9.99855399e-01 -6.81933028e-04 -2.39355573e+00] [-1.21256442e-02 8.88045730e-04 9.99926087e-01 -5.07603682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.130371743 meters 0.04145228423048715 Centerline is valid? [True, True] Translation: X:37.84, Y:-2.39, Z:-0.51 [[ 9.99722139e-01 -2.02246277e-02 1.21082075e-02 3.78395257e+01] [ 2.02343435e-02 9.99795033e-01 -6.80432984e-04 -2.39174443e+00] [-1.20919642e-02 9.25245548e-04 9.99926461e-01 -5.07993731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160371743 meters 0.040449286807096876 Centerline is valid? [True, True] Translation: X:37.87, Y:-2.39, Z:-0.51 [[ 9.99690037e-01 -2.16210693e-02 1.23434281e-02 3.78719749e+01] [ 2.16312727e-02 9.99765776e-01 -6.93696109e-04 -2.38927771e+00] [-1.23255386e-02 9.60485148e-04 9.99923576e-01 -5.07984556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.190371743 meters 0.04204718972036347 Centerline is valid? [True, True] Translation: X:37.90, Y:-2.39, Z:-0.51 [[ 9.99666564e-01 -2.25656056e-02 1.25520706e-02 3.79025527e+01] [ 2.25762432e-02 9.99744875e-01 -7.06409613e-04 -2.39009277e+00] [-1.25329277e-02 9.89552669e-04 9.99920970e-01 -5.08120420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220371743 meters 0.043796485178381285 Centerline is valid? [True, True] Translation: X:37.93, Y:-2.39, Z:-0.51 [[ 9.99626659e-01 -2.42665894e-02 1.25569132e-02 3.79331976e+01] [ 2.42773746e-02 9.99705011e-01 -7.07166840e-04 -2.38763148e+00] [-1.25360485e-02 1.01175171e-03 9.99920909e-01 -5.08915025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250371743 meters 0.046548741185847314 Centerline is valid? [True, True] Translation: X:37.96, Y:-2.39, Z:-0.51 [[ 9.99626170e-01 -2.46355789e-02 1.18578279e-02 3.79639407e+01] [ 2.46452237e-02 9.99696037e-01 -6.67917917e-04 -2.38943787e+00] [-1.18377690e-02 9.59907051e-04 9.99929470e-01 -5.10456229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280371743 meters 0.04142849583887791 Centerline is valid? [True, True] Translation: X:38.00, Y:-2.38, Z:-0.51 [[ 9.99650096e-01 -2.45556635e-02 9.83390564e-03 3.79966993e+01] [ 2.45622960e-02 9.99698148e-01 -5.54231092e-04 -2.37564584e+00] [-9.81732774e-03 7.95580465e-04 9.99951492e-01 -5.13550169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.310371743 meters 0.04115229957257756 Centerline is valid? [True, True] Translation: X:38.03, Y:-2.37, Z:-0.51 [[ 9.99675296e-01 -2.37838628e-02 9.14495697e-03 3.80291120e+01] [ 2.37895719e-02 9.99716855e-01 -5.16002843e-04 -2.37290750e+00] [-9.13009508e-03 7.33389906e-04 9.99958051e-01 -5.14812776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340371743 meters 0.04174892649144719 Centerline is valid? [True, True] Translation: X:38.06, Y:-2.37, Z:-0.52 [[ 9.99705327e-01 -2.25606900e-02 8.95965497e-03 3.80592921e+01] [ 2.25661294e-02 9.99745224e-01 -5.06466403e-04 -2.37179311e+00] [-8.94594603e-03 7.08501895e-04 9.99959733e-01 -5.15487677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370371743 meters 0.037993723647552116 Centerline is valid? [True, True] Translation: X:38.09, Y:-2.36, Z:-0.52 [[ 9.99741203e-01 -2.03986795e-02 1.00707630e-02 3.80909760e+01] [ 2.04054450e-02 9.99791625e-01 -5.69487207e-04 -2.35904641e+00] [-1.00570478e-02 7.74838227e-04 9.99949126e-01 -5.15298748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400371743 meters 0.040740002943159256 Centerline is valid? [True, True] Translation: X:38.12, Y:-2.36, Z:-0.52 [[ 9.99769918e-01 -1.87592101e-02 1.04020440e-02 3.81215679e+01] [ 1.87663412e-02 9.99823724e-01 -5.88356384e-04 -2.36004628e+00] [-1.03891733e-02 7.83429321e-04 9.99945724e-01 -5.15129774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430371743 meters 0.03907136049037142 Centerline is valid? [True, True] Translation: X:38.15, Y:-2.35, Z:-0.51 [[ 9.99781356e-01 -1.72004521e-02 1.18905128e-02 3.81537238e+01] [ 1.72096668e-02 9.99851676e-01 -6.73066898e-04 -2.35039344e+00] [-1.18771721e-02 8.77551500e-04 9.99929079e-01 -5.13865759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460371743 meters 0.038811860745592786 Centerline is valid? [True, True] Translation: X:38.19, Y:-2.35, Z:-0.51 [[ 9.99784400e-01 -1.63505913e-02 1.27989294e-02 3.81861663e+01] [ 1.63612045e-02 9.99865884e-01 -7.24953122e-04 -2.34760903e+00] [-1.27853594e-02 9.34202722e-04 9.99917828e-01 -5.13703392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490371743000004 meters 0.03802964242749522 Centerline is valid? [True, True] Translation: X:38.22, Y:-2.34, Z:-0.51 [[ 9.99799446e-01 -1.53309077e-02 1.28852775e-02 3.82189934e+01] [ 1.53415923e-02 9.99882044e-01 -7.30770991e-04 -2.34407991e+00] [-1.28725542e-02 9.28305106e-04 9.99916714e-01 -5.14098415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520371743 meters 0.03922146629130126 Centerline is valid? [True, True] Translation: X:38.25, Y:-2.34, Z:-0.52 [[ 9.99830103e-01 -1.40277664e-02 1.19576837e-02 3.82495939e+01] [ 1.40368890e-02 9.99901247e-01 -6.79318131e-04 -2.33835357e+00] [-1.19469736e-02 8.47051396e-04 9.99928274e-01 -5.15404084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550371743 meters 0.03907148170015643 Centerline is valid? [True, True] Translation: X:38.28, Y:-2.34, Z:-0.52 [[ 9.99833759e-01 -1.40320699e-02 1.16428105e-02 3.82815366e+01] [ 1.40407196e-02 9.99901205e-01 -6.61505922e-04 -2.33580286e+00] [-1.16323780e-02 8.24869391e-04 9.99932001e-01 -5.15931379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580371743 meters 0.04045117473830252 Centerline is valid? [True, True] Translation: X:38.31, Y:-2.34, Z:-0.52 [[ 9.99834882e-01 -1.38449389e-02 1.17697134e-02 3.83126652e+01] [ 1.38537759e-02 9.99903808e-01 -6.69619248e-04 -2.33609857e+00] [-1.17593104e-02 8.32563654e-04 9.99930510e-01 -5.16477873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.610371743 meters 0.03672729885681009 Centerline is valid? [True, True] Translation: X:38.35, Y:-2.32, Z:-0.52 [[ 9.99814949e-01 -1.51273189e-02 1.18840808e-02 3.83456494e+01] [ 1.51364257e-02 9.99885209e-01 -6.76728462e-04 -2.32476561e+00] [-1.18724796e-02 8.56485740e-04 9.99929153e-01 -5.16411720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640371743 meters 0.03780305312509198 Centerline is valid? [True, True] Translation: X:38.38, Y:-2.32, Z:-0.52 [[ 9.99801744e-01 -1.60497248e-02 1.17846962e-02 3.83775948e+01] [ 1.60587539e-02 9.99870824e-01 -6.71942445e-04 -2.32482910e+00] [-1.17723894e-02 8.61056765e-04 9.99930332e-01 -5.17218065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670371743000004 meters 0.03857874435713218 Centerline is valid? [True, True] Translation: X:38.41, Y:-2.32, Z:-0.52 [[ 9.99760368e-01 -1.87379361e-02 1.13179433e-02 3.84093298e+01] [ 1.87464455e-02 9.99824061e-01 -6.46226334e-04 -2.32162014e+00] [-1.13038430e-02 8.58242685e-04 9.99935741e-01 -5.18502642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700371743 meters 0.04026678075142843 Centerline is valid? [True, True] Translation: X:38.44, Y:-2.32, Z:-0.52 [[ 9.99741852e-01 -2.00411295e-02 1.07043410e-02 3.84402729e+01] [ 2.00488164e-02 9.99798815e-01 -6.11280038e-04 -2.32296875e+00] [-1.06899367e-02 8.25731605e-04 9.99942520e-01 -5.19160200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.730371743 meters 0.04287672727881608 Centerline is valid? [True, True] Translation: X:38.47, Y:-2.32, Z:-0.52 [[ 9.99712249e-01 -2.15636713e-02 1.05084469e-02 3.84708759e+01] [ 2.15711799e-02 9.99767134e-01 -6.01699412e-04 -2.32232820e+00] [-1.04930250e-02 8.28205871e-04 9.99944604e-01 -5.19142580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760371743 meters 0.04040935601780221 Centerline is valid? [True, True] Translation: X:38.50, Y:-2.32, Z:-0.52 [[ 9.99702937e-01 -2.18108790e-02 1.08776149e-02 3.85038637e+01] [ 2.18189393e-02 9.99761745e-01 -6.22869201e-04 -2.31716940e+00] [-1.08614379e-02 8.60022190e-04 9.99940643e-01 -5.18609825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.790371743 meters 0.04243412110189474 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.31, Z:-0.52 [[ 9.99719084e-01 -2.12317248e-02 1.05340815e-02 3.85357184e+01] [ 2.12392607e-02 9.99774239e-01 -6.04008205e-04 -2.31388956e+00] [-1.05188792e-02 8.27574633e-04 9.99944333e-01 -5.17580946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820371743 meters 0.0410940296808085 Centerline is valid? [True, True] Translation: X:38.57, Y:-2.31, Z:-0.52 [[ 9.99728443e-01 -2.06021048e-02 1.08900560e-02 3.85683688e+01] [ 2.06101277e-02 9.99787393e-01 -6.24989059e-04 -2.31063192e+00] [-1.08748646e-02 8.49264785e-04 9.99940506e-01 -5.17131900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850371743000004 meters 0.041295143392258676 Centerline is valid? [True, True] Translation: X:38.60, Y:-2.31, Z:-0.52 [[ 9.99743474e-01 -1.93979829e-02 1.16920357e-02 3.85997727e+01] [ 1.94071609e-02 9.99811437e-01 -6.72023468e-04 -2.30536352e+00] [-1.16767951e-02 8.98760295e-04 9.99931420e-01 -5.16781015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.880371743 meters 0.04181779164334931 Centerline is valid? [True, True] Translation: X:38.63, Y:-2.31, Z:-0.52 [[ 9.99747111e-01 -1.90558269e-02 1.19410486e-02 3.86307735e+01] [ 1.90653806e-02 9.99818003e-01 -6.86742620e-04 -2.30503869e+00] [-1.19257889e-02 9.14229588e-04 9.99928467e-01 -5.16601414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910371743 meters 0.043130959628226995 Centerline is valid? [True, True] Translation: X:38.66, Y:-2.31, Z:-0.52 [[ 9.99734085e-01 -1.95011467e-02 1.23071227e-02 3.86629395e+01] [ 1.95113368e-02 9.99809385e-01 -7.08451395e-04 -2.30515370e+00] [-1.22909612e-02 9.48391423e-04 9.99924014e-01 -5.17540147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940371743 meters 0.04445261322646823 Centerline is valid? [True, True] Translation: X:38.69, Y:-2.30, Z:-0.52 [[ 9.99707760e-01 -2.07200957e-02 1.24527907e-02 3.86940678e+01] [ 2.07306327e-02 9.99784840e-01 -7.17656769e-04 -2.30317623e+00] [-1.24352414e-02 9.75601271e-04 9.99922203e-01 -5.17867456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970371743 meters 0.04184752413840826 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.30, Z:-0.52 [[ 9.99684804e-01 -2.25140257e-02 1.11090741e-02 3.87258981e+01] [ 2.25225363e-02 9.99746130e-01 -6.41566793e-04 -2.29515647e+00] [-1.10918096e-02 8.91569099e-04 9.99938087e-01 -5.19261616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000371743 meters 0.04371429166572685 Centerline is valid? [True, True] Translation: X:38.76, Y:-2.30, Z:-0.52 [[ 9.99667606e-01 -2.35497469e-02 1.04922157e-02 3.87566360e+01] [ 2.35573988e-02 9.99722302e-01 -6.06292330e-04 -2.29660022e+00] [-1.04750240e-02 8.53260112e-04 9.99944771e-01 -5.19972204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030371743 meters 0.043860317372269225 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.30, Z:-0.52 [[ 9.99653618e-01 -2.45344055e-02 9.52403676e-03 3.87888731e+01] [ 2.45407561e-02 9.99698679e-01 -5.50483760e-04 -2.29548443e+00] [-9.50766117e-03 7.84020145e-04 9.99954494e-01 -5.20764534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.060371743 meters 0.0462517607087991 Centerline is valid? [True, True] Translation: X:38.82, Y:-2.30, Z:-0.52 [[ 9.99605385e-01 -2.65659851e-02 9.12808233e-03 3.88185605e+01] [ 2.65719114e-02 9.99646765e-01 -5.28555864e-04 -2.29515172e+00] [-9.11081636e-03 7.70897884e-04 9.99958198e-01 -5.21497024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.090371743 meters 0.044738511508847965 Centerline is valid? [True, True] Translation: X:38.85, Y:-2.29, Z:-0.52 [[ 9.99586932e-01 -2.72323276e-02 9.18502864e-03 3.88506951e+01] [ 2.72383529e-02 9.99628826e-01 -5.31505253e-04 -2.29201298e+00] [-9.16714527e-03 7.81470756e-04 9.99957675e-01 -5.21903750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120371743 meters 0.048732145432663944 Centerline is valid? [True, True] Translation: X:38.88, Y:-2.29, Z:-0.52 [[ 9.99585657e-01 -2.70483536e-02 9.84383479e-03 3.88813982e+01] [ 2.70552738e-02 9.99633776e-01 -5.70485777e-04 -2.29355061e+00] [-9.82479904e-03 8.36577045e-04 9.99951386e-01 -5.21853014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150371743 meters 0.043507295311095075 Centerline is valid? [True, True] Translation: X:38.91, Y:-2.28, Z:-0.52 [[ 9.99598318e-01 -2.65920181e-02 9.80143989e-03 3.89146232e+01] [ 2.65988606e-02 9.99646026e-01 -5.68395684e-04 -2.28462268e+00] [-9.78285565e-03 8.28874503e-04 9.99951803e-01 -5.22196508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180371743 meters 0.04181493186945247 Centerline is valid? [True, True] Translation: X:38.95, Y:-2.28, Z:-0.52 [[ 9.99661096e-01 -2.45170639e-02 8.75255172e-03 3.89460078e+01] [ 2.45224504e-02 9.99699150e-01 -5.08605657e-04 -2.27679795e+00] [-8.73744900e-03 7.23067303e-04 9.99961566e-01 -5.23001891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.210371743 meters 0.04229571962229386 Centerline is valid? [True, True] Translation: X:38.98, Y:-2.28, Z:-0.52 [[ 9.99694581e-01 -2.33561860e-02 8.07665786e-03 3.89761241e+01] [ 2.33607360e-02 9.99726991e-01 -4.69457720e-04 -2.27558933e+00] [-8.06348811e-03 6.57991011e-04 9.99967273e-01 -5.23979716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240371743000004 meters 0.04065800411203051 Centerline is valid? [True, True] Translation: X:39.01, Y:-2.27, Z:-0.52 [[ 9.99758110e-01 -2.08522863e-02 6.99315828e-03 3.90070635e+01] [ 2.08556380e-02 9.99782415e-01 -4.06697001e-04 -2.26784152e+00] [-6.98315611e-03 5.52445403e-04 9.99975465e-01 -5.24934700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.270371743 meters 0.04165421029543101 Centerline is valid? [True, True] Translation: X:39.04, Y:-2.27, Z:-0.53 [[ 9.99773789e-01 -2.02164511e-02 6.60801624e-03 3.90378796e+01] [ 2.02194274e-02 9.99795493e-01 -3.83898894e-04 -2.26781849e+00] [-6.59890378e-03 5.17422357e-04 9.99978093e-01 -5.25972918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300371743 meters 0.040213821999902005 Centerline is valid? [True, True] Translation: X:39.07, Y:-2.27, Z:-0.53 [[ 9.99781719e-01 -1.98388257e-02 6.55253643e-03 3.90699848e+01] [ 1.98417455e-02 9.99803061e-01 -3.80884820e-04 -2.26538625e+00] [-6.54368967e-03 5.10815440e-04 9.99978459e-01 -5.26230790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.330371743 meters 0.04030284674001126 Centerline is valid? [True, True] Translation: X:39.10, Y:-2.26, Z:-0.53 [[ 9.99758420e-01 -2.08595696e-02 6.92674266e-03 3.91021301e+01] [ 2.08628607e-02 9.99782266e-01 -4.03194063e-04 -2.26201802e+00] [-6.91682402e-03 5.47608326e-04 9.99975929e-01 -5.25442967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360371743 meters 0.03975573004130449 Centerline is valid? [True, True] Translation: X:39.13, Y:-2.26, Z:-0.53 [[ 9.99736690e-01 -2.17903524e-02 7.19245317e-03 3.91339873e+01] [ 2.17939296e-02 9.99762396e-01 -4.19342805e-04 -2.26028663e+00] [-7.18160659e-03 5.75984206e-04 9.99974046e-01 -5.25501630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.390371743 meters 0.03975573004130449 Centerline is valid? [True, True] Translation: X:39.17, Y:-2.26, Z:-0.53 [[ 9.99739074e-01 -2.16807161e-02 7.19245209e-03 3.91665682e+01] [ 2.16842906e-02 9.99764780e-01 -4.19362080e-04 -2.26228031e+00] [-7.18166821e-03 5.75215879e-04 9.99974046e-01 -5.25959870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420371743000004 meters 0.041908176690288436 Centerline is valid? [True, True] Translation: X:39.20, Y:-2.26, Z:-0.53 [[ 9.99681307e-01 -2.43434153e-02 6.68449975e-03 3.91963813e+01] [ 2.43465714e-02 9.99703502e-01 -3.91179892e-04 -2.26178706e+00] [-6.67299515e-03 5.53799876e-04 9.99977582e-01 -5.26667044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.450371743 meters 0.04535369263722569 Centerline is valid? [True, True] Translation: X:39.23, Y:-2.27, Z:-0.53 [[ 9.99659214e-01 -2.53201241e-02 6.35196891e-03 3.92271746e+01] [ 2.53229910e-02 9.99679253e-01 -3.71304544e-04 -2.26643300e+00] [-6.34053006e-03 5.32028860e-04 9.99979757e-01 -5.27302286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480371743 meters 0.04366774292502095 Centerline is valid? [True, True] Translation: X:39.26, Y:-2.26, Z:-0.53 [[ 9.99634876e-01 -2.63421526e-02 6.01713688e-03 3.92597688e+01] [ 2.63447444e-02 9.99652855e-01 -3.51874149e-04 -2.26397443e+00] [-6.00577894e-03 5.10265605e-04 9.99981835e-01 -5.27749357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.510371743 meters 0.04214797742608089 Centerline is valid? [True, True] Translation: X:39.29, Y:-2.26, Z:-0.53 [[ 9.99595731e-01 -2.79250314e-02 5.34487133e-03 3.92907849e+01] [ 2.79271028e-02 9.99609913e-01 -3.13298008e-04 -2.25968425e+00] [-5.33403751e-03 4.62438123e-04 9.99985667e-01 -5.28854512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540371743 meters 0.044493705772319966 Centerline is valid? [True, True] Translation: X:39.32, Y:-2.26, Z:-0.53 [[ 9.99586087e-01 -2.82869805e-02 5.24426371e-03 3.93218164e+01] [ 2.82889784e-02 9.99599740e-01 -3.07172107e-04 -2.26308088e+00] [-5.23347567e-03 4.55399827e-04 9.99986202e-01 -5.29523073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.570371743 meters 0.043338695369776664 Centerline is valid? [True, True] Translation: X:39.35, Y:-2.26, Z:-0.53 [[ 9.99584522e-01 -2.82497876e-02 5.72126088e-03 3.93549874e+01] [ 2.82521645e-02 9.99600772e-01 -3.35038056e-04 -2.25918841e+00] [-5.70951204e-03 4.96536858e-04 9.99983577e-01 -5.29854516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600371743000004 meters 0.043000382171923965 Centerline is valid? [True, True] Translation: X:39.39, Y:-2.26, Z:-0.53 [[ 9.99600332e-01 -2.76505551e-02 5.88414834e-03 3.93870237e+01] [ 2.76530648e-02 9.99617521e-01 -3.45566306e-04 -2.25869157e+00] [-5.87234268e-03 5.08142929e-04 9.99982629e-01 -5.30153213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.630371743 meters 0.04497181945547728 Centerline is valid? [True, True] Translation: X:39.42, Y:-2.26, Z:-0.53 [[ 9.99622393e-01 -2.67636827e-02 6.22717234e-03 3.94184052e+01] [ 2.67664805e-02 9.99641646e-01 -3.66371071e-04 -2.25854840e+00] [-6.21513537e-03 5.32912214e-04 9.99980544e-01 -5.30709710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660371743 meters 0.04463565468264175 Centerline is valid? [True, True] Translation: X:39.45, Y:-2.26, Z:-0.53 [[ 9.99639209e-01 -2.60885464e-02 6.39056964e-03 3.94510497e+01] [ 2.60914807e-02 9.99659489e-01 -3.76217965e-04 -2.25833816e+00] [-6.37857860e-03 5.42821653e-04 9.99979509e-01 -5.31162126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690371743 meters 0.042329057542273826 Centerline is valid? [True, True] Translation: X:39.48, Y:-2.25, Z:-0.53 [[ 9.99662300e-01 -2.53656267e-02 5.64544891e-03 3.94836543e+01] [ 2.53679067e-02 9.99678128e-01 -3.32629629e-04 -2.25323221e+00] [-5.63519444e-03 4.75730521e-04 9.99984009e-01 -5.31849618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720371743 meters 0.041247699679136086 Centerline is valid? [True, True] Translation: X:39.52, Y:-2.25, Z:-0.53 [[ 9.99671839e-01 -2.50225601e-02 5.48506864e-03 3.95162217e+01] [ 2.50247094e-02 9.99686781e-01 -3.23545925e-04 -2.25158857e+00] [-5.47525466e-03 4.60701998e-04 9.99984905e-01 -5.32828688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.750371743 meters 0.04647047893159831 Centerline is valid? [True, True] Translation: X:39.55, Y:-2.26, Z:-0.53 [[ 9.99678034e-01 -2.48288753e-02 5.23018452e-03 3.95467652e+01] [ 2.48308294e-02 9.99691620e-01 -3.09014377e-04 -2.25882095e+00] [-5.22089915e-03 4.38784705e-04 9.99986275e-01 -5.34035969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780371743 meters 0.04385389912769289 Centerline is valid? [True, True] Translation: X:39.58, Y:-2.25, Z:-0.53 [[ 9.99684981e-01 -2.46547622e-02 4.69902018e-03 3.95789728e+01] [ 2.46563378e-02 9.99695948e-01 -2.77653056e-04 -2.25340047e+00] [-4.69074597e-03 3.93426219e-04 9.99988921e-01 -5.34066176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.810371743 meters 0.04496606338014689 Centerline is valid? [True, True] Translation: X:39.61, Y:-2.25, Z:-0.53 [[ 9.99681393e-01 -2.48420472e-02 4.47049700e-03 3.96097181e+01] [ 2.48434771e-02 9.99691318e-01 -2.64599534e-04 -2.25485376e+00] [-4.46254384e-03 3.75577921e-04 9.99989972e-01 -5.34622215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840371743 meters 0.045103319076002485 Centerline is valid? [True, True] Translation: X:39.64, Y:-2.25, Z:-0.53 [[ 9.99676762e-01 -2.50700211e-02 4.22681048e-03 3.96417103e+01] [ 2.50713014e-02 9.99685634e-01 -2.50188134e-04 -2.25350366e+00] [-4.21920950e-03 3.56078903e-04 9.99991036e-01 -5.34981090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.870371743 meters 0.042091220288420175 Centerline is valid? [True, True] Translation: X:39.68, Y:-2.25, Z:-0.53 [[ 9.99679144e-01 -2.49655248e-02 4.28161466e-03 3.96754652e+01] [ 2.49668373e-02 9.99688248e-01 -2.53372598e-04 -2.25007416e+00] [-4.27395428e-03 3.60189678e-04 9.99990802e-01 -5.34810460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900371743 meters 0.043345467224022605 Centerline is valid? [True, True] Translation: X:39.71, Y:-2.25, Z:-0.54 [[ 9.99677281e-01 -2.50348320e-02 4.31182667e-03 3.97074508e+01] [ 2.50361675e-02 9.99686513e-01 -2.56008155e-04 -2.25210000e+00] [-4.30406585e-03 3.63877151e-04 9.99990671e-01 -5.35600513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.930371743 meters 0.04381593543054992 Centerline is valid? [True, True] Translation: X:39.74, Y:-2.25, Z:-0.54 [[ 9.99675622e-01 -2.50127524e-02 4.79727122e-03 3.97400858e+01] [ 2.50144058e-02 9.99687050e-01 -2.84958903e-04 -2.25236431e+00] [-4.78864230e-03 4.04867357e-04 9.99988452e-01 -5.35804243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960371743 meters 0.04449183870937547 Centerline is valid? [True, True] Translation: X:39.77, Y:-2.25, Z:-0.54 [[ 9.99670743e-01 -2.51750319e-02 4.96210870e-03 3.97723619e+01] [ 2.51768074e-02 9.99682970e-01 -2.95678273e-04 -2.25429085e+00] [-4.95309185e-03 4.20510975e-04 9.99987645e-01 -5.36350732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.990371743000004 meters 0.048824202378800606 Centerline is valid? [True, True] Translation: X:39.80, Y:-2.26, Z:-0.54 [[ 9.99643021e-01 -2.64407294e-02 3.83657836e-03 3.98025881e+01] [ 2.64418024e-02 9.99650328e-01 -2.29205762e-04 -2.25992483e+00] [-3.82917644e-03 3.30569987e-04 9.99992614e-01 -5.38059260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020371743 meters 0.0482670149111816 Centerline is valid? [True, True] Translation: X:39.83, Y:-2.26, Z:-0.54 [[ 9.99630149e-01 -2.69757741e-02 3.44574549e-03 3.98342409e+01] [ 2.69766416e-02 9.99636043e-01 -2.05523177e-04 -2.26004477e+00] [-3.43894724e-03 2.98401806e-04 9.99994042e-01 -5.38766695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.050371743 meters 0.045920629667793825 Centerline is valid? [True, True] Translation: X:39.87, Y:-2.26, Z:-0.54 [[ 9.99622507e-01 -2.73150650e-02 2.95467558e-03 3.98661359e+01] [ 2.73157044e-02 9.99626841e-01 -1.76269888e-04 -2.25788674e+00] [-2.94875819e-03 2.56912392e-04 9.99995619e-01 -5.39392023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080371743 meters 0.04422681307792824 Centerline is valid? [True, True] Translation: X:39.90, Y:-2.26, Z:-0.54 [[ 9.99618591e-01 -2.75062262e-02 2.46572615e-03 3.98983028e+01] [ 2.75066716e-02 9.99621609e-01 -1.46891041e-04 -2.25603187e+00] [-2.46075272e-03 2.14658934e-04 9.99996949e-01 -5.40398137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.110371743 meters 0.04359795005007423 Centerline is valid? [True, True] Translation: X:39.93, Y:-2.26, Z:-0.54 [[ 9.99642858e-01 -2.66932423e-02 1.27559163e-03 3.99303175e+01] [ 2.66933603e-02 9.99643666e-01 -7.55910946e-05 -2.25587262e+00] [-1.27311932e-03 1.09613925e-04 9.99999184e-01 -5.41952457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140371743 meters 0.04381620186180262 Centerline is valid? [True, True] Translation: X:39.96, Y:-2.26, Z:-0.54 [[ 9.99660207e-01 -2.60455270e-02 1.04977116e-03 3.99628161e+01] [ 2.60456064e-02 9.99660754e-01 -6.21097614e-05 -2.25713865e+00] [-1.04779734e-03 8.94305832e-05 9.99999447e-01 -5.42984827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.170371743000004 meters 0.04438328453695591 Centerline is valid? [True, True] Translation: X:39.99, Y:-2.26, Z:-0.54 [[ 9.99703613e-01 -2.43398655e-02 5.07111220e-04 3.99931392e+01] [ 2.43398839e-02 9.99703741e-01 -3.02481903e-05 -2.25665229e+00] [-5.06224746e-04 4.25822533e-05 9.99999871e-01 -5.43307471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200371743 meters 0.04424422674811477 Centerline is valid? [True, True] Translation: X:40.03, Y:-2.26, Z:-0.54 [[ 9.99726557e-01 -2.33792949e-02 4.67790665e-04 4.00260386e+01] [ 2.33793101e-02 9.99726666e-01 -2.69271301e-05 -2.25614514e+00] [-4.67033265e-04 3.78563901e-05 9.99999890e-01 -5.43096603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.230371743 meters 0.04290784460312782 Centerline is valid? [True, True] Translation: X:40.06, Y:-2.25, Z:-0.54 [[ 9.99780228e-01 -2.08341787e-02 2.33091055e-03 4.00569060e+01] [ 2.08345619e-02 9.99782927e-01 -1.40199818e-04 -2.25377852e+00] [-2.32748363e-03 1.88732506e-04 9.99997274e-01 -5.41889143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260371743 meters 0.04224651863452404 Centerline is valid? [True, True] Translation: X:40.09, Y:-2.25, Z:-0.54 [[ 9.99799538e-01 -1.97357129e-02 3.37430468e-03 4.00888416e+01] [ 1.97365089e-02 9.99805196e-01 -2.02746419e-04 -2.25471683e+00] [-3.36964600e-03 2.69302770e-04 9.99994286e-01 -5.41547368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.290371743 meters 0.041730607282482936 Centerline is valid? [True, True] Translation: X:40.12, Y:-2.26, Z:-0.54 [[ 9.99837250e-01 -1.71805367e-02 5.50484301e-03 4.01199455e+01] [ 1.71826223e-02 9.99852313e-01 -3.31786180e-04 -2.25520875e+00] [-5.49832975e-03 4.26319820e-04 9.99984793e-01 -5.41024856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320371743 meters 0.0429688553538538 Centerline is valid? [True, True] Translation: X:40.15, Y:-2.26, Z:-0.54 [[ 9.99860111e-01 -1.56315669e-02 5.95090319e-03 4.01506807e+01] [ 1.56339774e-02 9.99877718e-01 -3.58763253e-04 -2.25823827e+00] [-5.94456747e-03 4.51749352e-04 9.99982229e-01 -5.41255276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.350371743000004 meters 0.0371270004273861 Centerline is valid? [True, True] Translation: X:40.18, Y:-2.25, Z:-0.54 [[ 9.99911465e-01 -1.19419590e-02 5.86951767e-03 4.01817362e+01] [ 1.19442433e-02 9.99928602e-01 -3.54286413e-04 -2.24987424e+00] [-5.86486772e-03 4.24361993e-04 9.99982711e-01 -5.41318628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.380371743 meters 0.03589114196493064 Centerline is valid? [True, True] Translation: X:40.21, Y:-2.25, Z:-0.54 [[ 9.99937158e-01 -9.74559303e-03 5.54106600e-03 4.02129278e+01] [ 9.74759413e-03 9.99952435e-01 -3.34249066e-04 -2.24929413e+00] [-5.53754499e-03 3.88240124e-04 9.99984592e-01 -5.41685285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410371743 meters 0.040292458211970125 Centerline is valid? [True, True] Translation: X:40.24, Y:-2.26, Z:-0.54 [[ 9.99957602e-01 -7.39278331e-03 5.49005645e-03 4.02432778e+01] [ 7.39471355e-03 9.99972604e-01 -3.31373506e-04 -2.25730903e+00] [-5.48745627e-03 3.71956851e-04 9.99984875e-01 -5.43503798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440371743 meters 0.039674848605604315 Centerline is valid? [True, True] Translation: X:40.27, Y:-2.26, Z:-0.55 [[ 9.99984249e-01 -3.47592658e-03 4.40669774e-03 4.02732351e+01] [ 3.47713464e-03 9.99993919e-01 -2.66510132e-04 -2.25777193e+00] [-4.40574457e-03 2.81828616e-04 9.99990255e-01 -5.45292281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470371743 meters 0.0342765902312909 Centerline is valid? [True, True] Translation: X:40.30, Y:-2.25, Z:-0.55 [[ 9.99995799e-01 3.35464251e-04 2.87904765e-03 4.03049654e+01] [-3.34965227e-04 9.99999929e-01 -1.73810000e-04 -2.25131991e+00] [-2.87910576e-03 1.72844889e-04 9.99995840e-01 -5.46145110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500371743 meters 0.03601767653763481 Centerline is valid? [True, True] Translation: X:40.34, Y:-2.26, Z:-0.55 [[ 9.99994909e-01 2.54834020e-03 1.92028378e-03 4.03353628e+01] [-2.54812236e-03 9.99996747e-01 -1.15878996e-04 -2.25502262e+00] [-1.92057283e-03 1.10985288e-04 9.99998150e-01 -5.47658076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530371743 meters 0.03231886398500717 Centerline is valid? [True, True] Translation: X:40.37, Y:-2.25, Z:-0.55 [[ 9.99987978e-01 4.76227670e-03 1.16836688e-03 4.03656683e+01] [-4.76219712e-03 9.99988658e-01 -7.08869712e-05 -2.25062879e+00] [-1.16869121e-03 6.53221256e-05 9.99999315e-01 -5.47515339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.560371743 meters 0.030596569643206367 Centerline is valid? [True, True] Translation: X:40.40, Y:-2.25, Z:-0.55 [[ 9.99944094e-01 1.05054403e-02 1.20169849e-03 4.03966624e+01] [-1.05053608e-02 9.99944815e-01 -7.24654158e-05 -2.24959582e+00] [-1.20239346e-03 5.98370884e-05 9.99999275e-01 -5.48682051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590371743 meters 0.0298187199297617 Centerline is valid? [True, True] Translation: X:40.43, Y:-2.25, Z:-0.55 [[ 9.99903473e-01 1.38152883e-02 1.47752927e-03 4.04270975e+01] [-1.38151710e-02 9.99904562e-01 -8.95696815e-05 -2.24988108e+00] [-1.47862569e-03 6.91487160e-05 9.99998904e-01 -5.49200401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620371743 meters 0.027353081092941694 Centerline is valid? [True, True] Translation: X:40.46, Y:-2.25, Z:-0.55 [[ 9.99786541e-01 2.05275486e-02 2.34341116e-03 4.04578561e+01] [-2.05272728e-02 9.99789283e-01 -1.41701802e-04 -2.24744186e+00] [-2.34582615e-03 9.35677143e-05 9.99997244e-01 -5.48594984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650371743 meters 0.025835296959713202 Centerline is valid? [True, True] Translation: X:40.49, Y:-2.25, Z:-0.55 [[ 9.99714179e-01 2.37346469e-02 2.86811797e-03 4.04874721e+01] [-2.37342459e-02 9.99718288e-01 -1.73779466e-04 -2.24631014e+00] [-2.87143458e-03 1.05657179e-04 9.99995872e-01 -5.47786513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680371743 meters 0.02534803154951165 Centerline is valid? [True, True] Translation: X:40.52, Y:-2.25, Z:-0.55 [[ 9.99633912e-01 2.67492517e-02 4.06444528e-03 4.05175760e+01] [-2.67484734e-02 9.99642165e-01 -2.45732378e-04 -2.24660797e+00] [-4.06956404e-03 1.36924712e-04 9.99991710e-01 -5.47537875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710371743 meters 0.023968950685861818 Centerline is valid? [True, True] Translation: X:40.55, Y:-2.25, Z:-0.55 [[ 9.99485142e-01 3.15949560e-02 5.58659710e-03 4.05478449e+01] [-3.15935623e-02 9.99500742e-01 -3.37569261e-04 -2.24648715e+00] [-5.59447344e-03 1.60894957e-04 9.99984338e-01 -5.47338235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740371743000004 meters 0.023670150476532134 Centerline is valid? [True, True] Translation: X:40.58, Y:-2.25, Z:-0.55 [[ 9.99438653e-01 3.29508378e-02 6.05149239e-03 4.05767503e+01] [-3.29492255e-02 9.99456960e-01 -3.65953825e-04 -2.24902777e+00] [-6.06026467e-03 1.66356411e-04 9.99981623e-01 -5.47531768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.770371743 meters 0.02318389469854354 Centerline is valid? [True, True] Translation: X:40.61, Y:-2.25, Z:-0.55 [[ 9.99432186e-01 3.30563609e-02 6.52556905e-03 4.06057089e+01] [-3.30544918e-02 9.99453473e-01 -3.94099824e-04 -2.25188199e+00] [-6.53503015e-03 1.78176680e-04 9.99978631e-01 -5.47927322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800371743 meters 0.02370695126765411 Centerline is valid? [True, True] Translation: X:40.63, Y:-2.26, Z:-0.55 [[ 9.99473127e-01 3.18303500e-02 6.34801520e-03 4.06335640e+01] [-3.18285584e-02 9.99493270e-01 -3.83076366e-04 -2.25658652e+00] [-6.35699192e-03 1.80826361e-04 9.99979778e-01 -5.49038759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.830371743 meters 0.0246199389406689 Centerline is valid? [True, True] Translation: X:40.66, Y:-2.26, Z:-0.55 [[ 9.99624129e-01 2.70636374e-02 4.37716669e-03 4.06629407e+01] [-2.70627422e-02 9.99633702e-01 -2.63614564e-04 -2.26326709e+00] [-4.38269771e-03 1.45057345e-04 9.99990385e-01 -5.50517949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860371743 meters 0.026584200074610435 Centerline is valid? [True, True] Translation: X:40.69, Y:-2.27, Z:-0.55 [[ 9.99716892e-01 2.35329998e-02 3.51203215e-03 4.06904116e+01] [-2.35324005e-02 9.99723052e-01 -2.11865542e-04 -2.27167849e+00] [-3.51604533e-03 1.29159014e-04 9.99993810e-01 -5.52893582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890371743 meters 0.02895789846919618 Centerline is valid? [True, True] Translation: X:40.72, Y:-2.28, Z:-0.56 [[ 9.99881225e-01 1.54002811e-02 6.06599452e-04 4.07202566e+01] [-1.54002618e-02 9.99881408e-01 -3.65172416e-05 -2.28152854e+00] [-6.07089891e-04 2.71711139e-05 9.99999815e-01 -5.55716990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920371743000004 meters 0.031172870979493936 Centerline is valid? [True, True] Translation: X:40.75, Y:-2.29, Z:-0.56 [[ 9.99937272e-01 1.11996822e-02 1.39220691e-04 4.07487041e+01] [-1.11996811e-02 9.99937282e-01 -8.55440529e-06 -2.28878764e+00] [-1.39307766e-04 6.99464135e-06 9.99999990e-01 -5.57361029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950371743 meters 0.037427939945852876 Centerline is valid? [True, True] Translation: X:40.78, Y:-2.30, Z:-0.56 [[ 9.99992581e-01 3.82748417e-03 4.34052910e-04 4.07772799e+01] [-3.82747316e-03 9.99992675e-01 -2.61828092e-05 -2.30318690e+00] [-4.34149945e-04 2.45212891e-05 9.99999905e-01 -5.58444637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980371743 meters 0.03262258388847669 Centerline is valid? [True, True] Translation: X:40.81, Y:-2.30, Z:-0.56 [[ 9.99997732e-01 1.22418537e-03 1.74287733e-03 4.08073647e+01] [-1.22400417e-03 9.99999245e-01 -1.05026799e-04 -2.29845026e+00] [-1.74300459e-03 1.02893272e-04 9.99998476e-01 -5.55189597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010371743 meters 0.03378608272127792 Centerline is valid? [True, True] Translation: X:40.84, Y:-2.30, Z:-0.55 [[ 9.99993753e-01 -1.03459474e-03 3.37990999e-03 4.08379800e+01] [ 1.03528508e-03 9.99999444e-01 -2.02505137e-04 -2.30238339e+00] [-3.37969860e-03 2.06003042e-04 9.99994268e-01 -5.53861534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040371743 meters 0.03665515384741127 Centerline is valid? [True, True] Translation: X:40.87, Y:-2.31, Z:-0.55 [[ 9.99976060e-01 -4.28670039e-03 5.43166646e-03 4.08677207e+01] [ 4.28852992e-03 9.99990751e-01 -3.25225482e-04 -2.30912134e+00] [-5.43022208e-03 3.48511561e-04 9.99985196e-01 -5.52145657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070371743 meters 0.03680696954989791 Centerline is valid? [True, True] Translation: X:40.90, Y:-2.31, Z:-0.55 [[ 9.99966586e-01 -5.49114185e-03 6.05594381e-03 4.08996391e+01] [ 5.49344143e-03 9.99984845e-01 -3.63154388e-04 -2.31177787e+00] [-6.05385790e-03 3.96410227e-04 9.99981597e-01 -5.52196171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100371743000004 meters 0.035580914584906836 Centerline is valid? [True, True] Translation: X:40.93, Y:-2.31, Z:-0.55 [[ 9.99943904e-01 -8.11660325e-03 6.80505956e-03 4.09307869e+01] [ 8.11957420e-03 9.99966952e-01 -4.09064831e-04 -2.31297338e+00] [-6.80151445e-03 4.64296070e-04 9.99976762e-01 -5.51884190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.130371743 meters 0.04430243761797389 Centerline is valid? [True, True] Translation: X:40.96, Y:-2.33, Z:-0.55 [[ 9.99930008e-01 -9.46051931e-03 7.10480798e-03 4.09611761e+01] [ 9.46379074e-03 9.99955126e-01 -4.26972921e-04 -2.32784379e+00] [-7.10044978e-03 4.94181452e-04 9.99974669e-01 -5.53761547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160371743 meters 0.03977201700288972 Centerline is valid? [True, True] Translation: X:40.99, Y:-2.32, Z:-0.55 [[ 9.99899915e-01 -1.25030877e-02 6.62063499e-03 4.09925442e+01] [ 1.25059986e-02 9.99921718e-01 -3.98459229e-04 -2.32473139e+00] [-6.61513474e-03 4.81217001e-04 9.99978004e-01 -5.54618155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190371743 meters 0.041905382135931056 Centerline is valid? [True, True] Translation: X:41.02, Y:-2.33, Z:-0.56 [[ 9.99886642e-01 -1.40055199e-02 5.52714982e-03 4.10225110e+01] [ 1.40075718e-02 9.99901834e-01 -3.32701714e-04 -2.32959621e+00] [-5.52194758e-03 4.10085948e-04 9.99984670e-01 -5.56309253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220371743 meters 0.04237956312884072 Centerline is valid? [True, True] Translation: X:41.05, Y:-2.33, Z:-0.56 [[ 9.99849138e-01 -1.69544710e-02 3.77451213e-03 4.10529892e+01] [ 1.69554492e-02 9.99856220e-01 -2.27320193e-04 -2.33233799e+00] [-3.77011534e-03 2.91284448e-04 9.99992851e-01 -5.58878624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250371743 meters 0.0437616241344954 Centerline is valid? [True, True] Translation: X:41.08, Y:-2.34, Z:-0.56 [[ 9.99833854e-01 -1.80337507e-02 2.65492416e-03 4.10841110e+01] [ 1.80342370e-02 9.99837357e-01 -1.59337787e-04 -2.33648176e+00] [-2.65161890e-03 2.07190845e-04 9.99996463e-01 -5.60177666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280371743 meters 0.0437616241344954 Centerline is valid? [True, True] Translation: X:41.12, Y:-2.34, Z:-0.56 [[ 9.99835746e-01 -1.79285574e-02 2.65495147e-03 4.11166874e+01] [ 1.79290421e-02 9.99839249e-01 -1.58885866e-04 -2.33854274e+00] [-2.65167609e-03 2.06460505e-04 9.99996463e-01 -5.60635877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.310371743 meters 0.045385294486865964 Centerline is valid? [True, True] Translation: X:41.15, Y:-2.34, Z:-0.56 [[ 9.99807689e-01 -1.95806061e-02 1.08851817e-03 4.11477272e+01] [ 1.95806886e-02 9.99808278e-01 -6.51709982e-05 -2.34145039e+00] [-1.08703339e-03 8.64724003e-05 9.99999405e-01 -5.62810598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340371743 meters 0.04566662014700101 Centerline is valid? [True, True] Translation: X:41.18, Y:-2.34, Z:-0.56 [[ 9.99797792e-01 -2.01080638e-02 2.01948802e-04 4.11795221e+01] [ 2.01080665e-02 9.99797812e-01 -1.12460062e-05 -2.34301003e+00] [-2.01681835e-04 1.53045322e-05 9.99999980e-01 -5.63534791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370371743 meters 0.04639182310654867 Centerline is valid? [True, True] Translation: X:41.21, Y:-2.34, Z:-0.56 [[ 9.99801488e-01 -1.99172001e-02 -5.38363666e-04 4.12121107e+01] [ 1.99172214e-02 9.99801632e-01 3.40909837e-05 -2.34472794e+00] [ 5.37577875e-04 -4.48069245e-05 9.99999855e-01 -5.64581285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400371743 meters 0.045837162881226 Centerline is valid? [True, True] Translation: X:41.24, Y:-2.34, Z:-0.56 [[ 9.99813830e-01 -1.92875523e-02 -5.43753657e-04 4.12443494e+01] [ 1.92875737e-02 9.99813977e-01 3.39746085e-05 -2.34317582e+00] [ 5.42997219e-04 -4.44559722e-05 9.99999852e-01 -5.64674977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.430371743 meters 0.04335230848942412 Centerline is valid? [True, True] Translation: X:41.28, Y:-2.34, Z:-0.56 [[ 9.99824417e-01 -1.87351420e-02 -3.61289056e-04 4.12764496e+01] [ 1.87351515e-02 9.99824481e-01 2.29567996e-05 -2.33970007e+00] [ 3.60795544e-04 -2.97215740e-05 9.99999934e-01 -5.63640270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460371743 meters 0.04301688235787305 Centerline is valid? [True, True] Translation: X:41.31, Y:-2.34, Z:-0.56 [[ 9.99839405e-01 -1.79165448e-02 4.03029322e-04 4.13085815e+01] [ 1.79165557e-02 9.99839485e-01 -2.35077610e-05 -2.33911601e+00] [-4.02543452e-04 3.07248831e-05 9.99999919e-01 -5.63001389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.490371743000004 meters 0.0409225108722066 Centerline is valid? [True, True] Translation: X:41.34, Y:-2.33, Z:-0.56 [[ 9.99874278e-01 -1.56929040e-02 2.27159152e-03 4.13394593e+01] [ 1.56932582e-02 9.99876844e-01 -1.38189993e-04 -2.33489890e+00] [-2.26914316e-03 1.73821292e-04 9.99997410e-01 -5.61426357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520371743 meters 0.04046579339123872 Centerline is valid? [True, True] Translation: X:41.37, Y:-2.33, Z:-0.56 [[ 9.99895114e-01 -1.41469084e-02 3.10267267e-03 4.13712023e+01] [ 1.41475593e-02 9.99899901e-01 -1.87942090e-04 -2.33450719e+00] [-3.09970330e-03 2.31817623e-04 9.99995169e-01 -5.61518989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550371743 meters 0.036552657139047214 Centerline is valid? [True, True] Translation: X:41.40, Y:-2.33, Z:-0.56 [[ 9.99926031e-01 -1.15283960e-02 3.87669628e-03 4.14020786e+01] [ 1.15293976e-02 9.99933506e-01 -2.36121170e-04 -2.32735382e+00] [-3.87371641e-03 2.80799677e-04 9.99992458e-01 -5.61079142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580371743 meters 0.03920028748059062 Centerline is valid? [True, True] Translation: X:41.43, Y:-2.33, Z:-0.56 [[ 9.99937686e-01 -1.03946023e-02 4.07152740e-03 4.14335998e+01] [ 1.03956949e-02 9.99945933e-01 -2.47260487e-04 -2.33204675e+00] [-4.06873709e-03 2.89571435e-04 9.99991681e-01 -5.61946991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.610371743 meters 0.03787110601831422 Centerline is valid? [True, True] Translation: X:41.47, Y:-2.33, Z:-0.56 [[ 9.99949941e-01 -8.89355960e-03 4.58483339e-03 4.14650073e+01] [ 8.89493300e-03 9.99960400e-01 -2.79248132e-04 -2.32980295e+00] [-4.58216833e-03 3.20015939e-04 9.99989451e-01 -5.62494970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640371743 meters 0.037449537085702735 Centerline is valid? [True, True] Translation: X:41.50, Y:-2.33, Z:-0.56 [[ 9.99949946e-01 -8.86775248e-03 4.63347543e-03 4.14977058e+01] [ 8.86915413e-03 9.99960629e-01 -2.82044597e-04 -2.33005319e+00] [-4.63079190e-03 3.23125487e-04 9.99989226e-01 -5.62327280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670371743000004 meters 0.036979665356574855 Centerline is valid? [True, True] Translation: X:41.53, Y:-2.33, Z:-0.56 [[ 9.99950098e-01 -8.79838279e-03 4.73190866e-03 4.15297947e+01] [ 8.79984554e-03 9.99961239e-01 -2.88393391e-04 -2.33028732e+00] [-4.72918785e-03 3.30019065e-04 9.99988763e-01 -5.62709833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700371743 meters 0.03950605518297561 Centerline is valid? [True, True] Translation: X:41.56, Y:-2.33, Z:-0.56 [[ 9.99950045e-01 -9.13425922e-03 4.05865219e-03 4.15603491e+01] [ 9.13533944e-03 9.99958241e-01 -2.47695065e-04 -2.33471691e+00] [-4.05622019e-03 2.84759857e-04 9.99991733e-01 -5.63715090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730371743 meters 0.042887266009761685 Centerline is valid? [True, True] Translation: X:41.59, Y:-2.34, Z:-0.56 [[ 9.99952078e-01 -9.17786956e-03 3.40715639e-03 4.15912282e+01] [ 9.17862864e-03 9.99957854e-01 -2.07221230e-04 -2.33952532e+00] [-3.40511094e-03 2.38484323e-04 9.99994174e-01 -5.64965693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760371743 meters 0.04036595298935915 Centerline is valid? [True, True] Translation: X:41.62, Y:-2.34, Z:-0.57 [[ 9.99953874e-01 -9.10971290e-03 3.04355855e-03 4.16240637e+01] [ 9.11032081e-03 9.99958483e-01 -1.85933140e-04 -2.33721282e+00] [-3.04173840e-03 2.13652359e-04 9.99995351e-01 -5.65425518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790371743 meters 0.040601199448779254 Centerline is valid? [True, True] Translation: X:41.66, Y:-2.34, Z:-0.57 [[ 9.99959407e-01 -8.69972710e-03 2.34505390e-03 4.16565037e+01] [ 8.70008674e-03 9.99962143e-01 -1.43203917e-04 -2.33887246e+00] [-2.34371929e-03 1.63600277e-04 9.99997240e-01 -5.66895173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820371743 meters 0.03874063539189897 Centerline is valid? [True, True] Translation: X:41.69, Y:-2.34, Z:-0.57 [[ 9.99968499e-01 -7.82191430e-03 1.34829477e-03 4.16892214e+01] [ 7.82203194e-03 9.99969404e-01 -8.19991751e-05 -2.33672318e+00] [-1.34761213e-03 9.25429969e-05 9.99999088e-01 -5.68753128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850371743000004 meters 0.03694609594551035 Centerline is valid? [True, True] Translation: X:41.72, Y:-2.33, Z:-0.57 [[ 9.99977889e-01 -6.57827790e-03 9.73151572e-04 4.17219789e+01] [ 6.57833838e-03 9.99978361e-01 -5.89606039e-05 -2.33302932e+00] [-9.72742654e-04 6.53610206e-05 9.99999525e-01 -5.69106830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.880371743 meters 0.041707389785601165 Centerline is valid? [True, True] Translation: X:41.75, Y:-2.34, Z:-0.57 [[ 9.99983608e-01 -5.51663012e-03 1.53284911e-03 4.17519550e+01] [ 5.51678103e-03 9.99984778e-01 -9.42400913e-05 -2.34081251e+00] [-1.53230589e-03 1.02694939e-04 9.99998821e-01 -5.70741917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910371743 meters 0.04159194690324144 Centerline is valid? [True, True] Translation: X:41.78, Y:-2.34, Z:-0.57 [[ 9.99986701e-01 -4.60340589e-03 2.32518671e-03 4.17840527e+01] [ 4.60374973e-03 9.99989393e-01 -1.42544533e-04 -2.34131046e+00] [-2.32450586e-03 1.53247215e-04 9.99997287e-01 -5.70361899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940371743 meters 0.035889260046687056 Centerline is valid? [True, True] Translation: X:41.82, Y:-2.33, Z:-0.57 [[ 9.99985506e-01 -2.99235388e-03 4.47579899e-03 4.18159326e+01] [ 2.99361845e-03 9.99995481e-01 -2.75862008e-04 -2.33212381e+00] [-4.47495329e-03 2.89256844e-04 9.99989946e-01 -5.67776145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970371743 meters 0.03597457628098414 Centerline is valid? [True, True] Translation: X:41.85, Y:-2.33, Z:-0.57 [[ 9.99982082e-01 -2.56459799e-03 5.40918390e-03 4.18484512e+01] [ 2.56643872e-03 9.99996651e-01 -3.33383921e-04 -2.33317361e+00] [-5.40831079e-03 3.47260287e-04 9.99985315e-01 -5.67338673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000371743 meters 0.03666066704365514 Centerline is valid? [True, True] Translation: X:41.88, Y:-2.34, Z:-0.57 [[ 9.99979441e-01 -2.64249192e-03 5.84242963e-03 4.18797634e+01] [ 2.64464443e-03 9.99996438e-01 -3.60732477e-04 -2.33536727e+00] [-5.84145559e-03 3.76176210e-04 9.99982868e-01 -5.67460772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030371743 meters 0.03481236682540385 Centerline is valid? [True, True] Translation: X:41.91, Y:-2.33, Z:-0.57 [[ 9.99973669e-01 -3.42693287e-03 6.39661298e-03 4.19123453e+01] [ 3.42953075e-03 9.99994041e-01 -3.95209169e-04 -2.33368820e+00] [-6.39522051e-03 4.17136144e-04 9.99979463e-01 -5.67903528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.060371743 meters 0.03536978023519335 Centerline is valid? [True, True] Translation: X:41.94, Y:-2.34, Z:-0.57 [[ 9.99970625e-01 -5.34117677e-03 5.49742612e-03 4.19431269e+01] [ 5.34312837e-03 9.99985667e-01 -3.40376261e-04 -2.33597480e+00] [-5.49552932e-03 3.69739716e-04 9.99984831e-01 -5.69124715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.090371743 meters 0.04054146505172788 Centerline is valid? [True, True] Translation: X:41.97, Y:-2.35, Z:-0.57 [[ 9.99966431e-01 -6.44730199e-03 5.05651521e-03 4.19737519e+01] [ 6.44896589e-03 9.99979156e-01 -3.12824718e-04 -2.34549287e+00] [-5.05439294e-03 3.45423511e-04 9.99987167e-01 -5.71138468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120371743 meters 0.03632705181964833 Centerline is valid? [True, True] Translation: X:42.01, Y:-2.34, Z:-0.57 [[ 9.99963756e-01 -7.43281079e-03 4.15218352e-03 4.20065712e+01] [ 7.43394083e-03 9.99972335e-01 -2.56787050e-04 -2.34107522e+00] [-4.15016000e-03 2.87644830e-04 9.99991347e-01 -5.71788739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150371743 meters 0.042789563776373746 Centerline is valid? [True, True] Translation: X:42.04, Y:-2.35, Z:-0.58 [[ 9.99964593e-01 -8.05143610e-03 2.44685134e-03 4.20372529e+01] [ 8.05183030e-03 9.99967572e-01 -1.51296172e-04 -2.35111727e+00] [-2.44555384e-03 1.70992446e-04 9.99996995e-01 -5.75066915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180371743 meters 0.037734836942424896 Centerline is valid? [True, True] Translation: X:42.07, Y:-2.35, Z:-0.58 [[ 9.99967271e-01 -7.79368800e-03 2.17136377e-03 4.20701765e+01] [ 7.79399743e-03 9.99969617e-01 -1.34080671e-04 -2.34551007e+00] [-2.17025282e-03 1.50999886e-04 9.99997634e-01 -5.75135577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210371743 meters 0.036578832332946884 Centerline is valid? [True, True] Translation: X:42.10, Y:-2.34, Z:-0.58 [[ 9.99978399e-01 -6.13520733e-03 2.35792578e-03 4.21020755e+01] [ 6.13556873e-03 9.99981167e-01 -1.46064330e-04 -2.34462911e+00] [-2.35698524e-03 1.60528391e-04 9.99997209e-01 -5.75400450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.240371743 meters 0.036712603819619785 Centerline is valid? [True, True] Translation: X:42.13, Y:-2.35, Z:-0.58 [[ 9.99982976e-01 -5.05841332e-03 2.90859631e-03 4.21339665e+01] [ 5.05895908e-03 9.99987187e-01 -1.80310353e-04 -2.34636127e+00] [-2.90764696e-03 1.95021753e-04 9.99995754e-01 -5.75690404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270371743 meters 0.03633782496683934 Centerline is valid? [True, True] Translation: X:42.17, Y:-2.35, Z:-0.58 [[ 9.99986916e-01 -3.88042220e-03 3.33329863e-03 4.21652651e+01] [ 3.88113506e-03 9.99992447e-01 -2.07416763e-04 -2.34762008e+00] [-3.33246858e-03 2.20351031e-04 9.99994423e-01 -5.76047362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300371743 meters 0.03746310613294993 Centerline is valid? [True, True] Translation: X:42.20, Y:-2.35, Z:-0.58 [[ 9.99988437e-01 -2.47392886e-03 4.12372096e-03 4.21959747e+01] [ 2.47500911e-03 9.99996904e-01 -2.56877335e-04 -2.35116985e+00] [-4.12307270e-03 2.67080612e-04 9.99991464e-01 -5.76346578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330371743 meters 0.03754934676659605 Centerline is valid? [True, True] Translation: X:42.23, Y:-2.35, Z:-0.58 [[ 9.99989072e-01 -2.00767116e-03 4.22187270e-03 4.22281337e+01] [ 2.00879781e-03 9.99997948e-01 -2.62636491e-04 -2.35326370e+00] [-4.22133675e-03 2.71114509e-04 9.99991053e-01 -5.76839284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360371743 meters 0.03730678950445217 Centerline is valid? [True, True] Translation: X:42.26, Y:-2.36, Z:-0.58 [[ 9.99989653e-01 -1.93830896e-03 4.11536323e-03 4.22594747e+01] [ 1.93938172e-03 9.99998086e-01 -2.56696816e-04 -2.35509510e+00] [-4.11485780e-03 2.64675420e-04 9.99991499e-01 -5.77369371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.390371743 meters 0.06493600815603924 Centerline is valid? [True, True] Translation: X:42.29, Y:-2.40, Z:-0.58 [[ 9.99987813e-01 -5.78911588e-04 4.90291535e-03 4.22871000e+01] [ 5.80421559e-04 9.99999785e-01 -3.06556644e-04 -2.39617937e+00] [-4.90273682e-03 3.09398665e-04 9.99987934e-01 -5.83393291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420371743000004 meters 0.03914129110646249 Centerline is valid? [True, True] Translation: X:42.32, Y:-2.36, Z:-0.58 [[ 9.99990225e-01 -3.17392714e-03 3.07817786e-03 4.23204404e+01] [ 3.17453375e-03 9.99994943e-01 -1.92200761e-04 -2.36256350e+00] [-3.07755226e-03 2.01970662e-04 9.99995244e-01 -5.79662235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450371743 meters 0.03710714584100173 Centerline is valid? [True, True] Translation: X:42.35, Y:-2.36, Z:-0.58 [[ 9.99990909e-01 -3.35936831e-03 2.62613964e-03 4.23522327e+01] [ 3.35980849e-03 9.99994343e-01 -1.63220092e-04 -2.36221614e+00] [-2.62557646e-03 1.72041935e-04 9.99996538e-01 -5.80026220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480371743 meters 0.03625402099962795 Centerline is valid? [True, True] Translation: X:42.38, Y:-2.36, Z:-0.58 [[ 9.99994741e-01 -2.68453851e-03 1.81948609e-03 4.23843717e+01] [ 2.68474899e-03 9.99996390e-01 -1.13248482e-04 -2.36431974e+00] [-1.81917550e-03 1.18132750e-04 9.99998338e-01 -5.81543821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510371743 meters 0.03494381579439774 Centerline is valid? [True, True] Translation: X:42.42, Y:-2.36, Z:-0.58 [[ 9.99996252e-01 -2.29751143e-03 1.48877160e-03 4.24161856e+01] [ 2.29765179e-03 9.99997356e-01 -9.25760808e-05 -2.36435377e+00] [-1.48855497e-03 9.59964126e-05 9.99998887e-01 -5.82211663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540371743 meters 0.03527055893761729 Centerline is valid? [True, True] Translation: X:42.45, Y:-2.37, Z:-0.58 [[ 9.99997779e-01 -1.66022470e-03 1.29810296e-03 4.24474614e+01] [ 1.66033143e-03 9.99998618e-01 -8.11483162e-05 -2.36666607e+00] [-1.29796644e-03 8.33034171e-05 9.99999154e-01 -5.82763821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570371743 meters 0.036168545220921985 Centerline is valid? [True, True] Translation: X:42.48, Y:-2.37, Z:-0.58 [[ 9.99998893e-01 -5.48341169e-04 1.38353028e-03 4.24784936e+01] [ 5.48459629e-04 9.99999846e-01 -8.52434638e-05 -2.36942926e+00] [-1.38348332e-03 8.60021799e-05 9.99999039e-01 -5.83528025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600371743000004 meters 0.03463464854229413 Centerline is valid? [True, True] Translation: X:42.51, Y:-2.37, Z:-0.58 [[ 9.99996404e-01 1.85761936e-03 1.93403688e-03 4.25090353e+01] [-1.85738702e-03 9.99998268e-01 -1.21920885e-04 -2.36812937e+00] [-1.93426001e-03 1.18328191e-04 9.99998122e-01 -5.83170031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.630371743 meters 0.03504465656131472 Centerline is valid? [True, True] Translation: X:42.54, Y:-2.37, Z:-0.58 [[ 9.99989754e-01 3.66138988e-03 2.66190876e-03 4.25388816e+01] [-3.66095611e-03 9.99993285e-01 -1.67805627e-04 -2.37002479e+00] [-2.66250529e-03 1.58058776e-04 9.99996443e-01 -5.83036260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660371743 meters 0.03296878017390128 Centerline is valid? [True, True] Translation: X:42.57, Y:-2.37, Z:-0.58 [[ 9.99960332e-01 7.54604016e-03 4.73208453e-03 4.25693897e+01] [-7.54471227e-03 9.99971494e-01 -2.98402768e-04 -2.36781456e+00] [-4.73420139e-03 2.62688715e-04 9.99988759e-01 -5.80963001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690371743 meters 0.03297005760529712 Centerline is valid? [True, True] Translation: X:42.60, Y:-2.37, Z:-0.58 [[ 9.99943822e-01 8.99155002e-03 5.61299670e-03 4.25982845e+01] [-8.98970290e-03 9.99959529e-01 -3.54223412e-04 -2.36907319e+00] [-5.61595455e-03 3.03744339e-04 9.99984184e-01 -5.80379965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720371743 meters 0.03280231060673545 Centerline is valid? [True, True] Translation: X:42.63, Y:-2.37, Z:-0.58 [[ 9.99923803e-01 1.05189604e-02 6.46055328e-03 4.26281873e+01] [-1.05165489e-02 9.99944617e-01 -4.07128467e-04 -2.37024667e+00] [-6.46447804e-03 3.39154721e-04 9.99979048e-01 -5.79753952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750371743 meters 0.030327783678368712 Centerline is valid? [True, True] Translation: X:42.66, Y:-2.37, Z:-0.58 [[ 9.99891480e-01 1.28741368e-02 7.16133440e-03 4.26580623e+01] [-1.28712361e-02 9.99917061e-01 -4.50996562e-04 -2.36718620e+00] [-7.16654663e-03 3.58772394e-04 9.99974256e-01 -5.79245432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780371743 meters 0.03239117195430443 Centerline is valid? [True, True] Translation: X:42.69, Y:-2.37, Z:-0.58 [[ 9.99876727e-01 1.38501677e-02 7.39616639e-03 4.26852291e+01] [-1.38470998e-02 9.99904016e-01 -4.65854996e-04 -2.37249384e+00] [-7.40190865e-03 3.63382115e-04 9.99972539e-01 -5.80248261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.810371743 meters 0.029407477032194172 Centerline is valid? [True, True] Translation: X:42.71, Y:-2.37, Z:-0.58 [[ 9.99863736e-01 1.51635946e-02 6.52499321e-03 4.27147069e+01] [-1.51612393e-02 9.99884978e-01 -4.10292114e-04 -2.36972754e+00] [-6.53046419e-03 3.11309223e-04 9.99978628e-01 -5.81147802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840371743 meters 0.029288710108115127 Centerline is valid? [True, True] Translation: X:42.74, Y:-2.37, Z:-0.58 [[ 9.99859592e-01 1.56459004e-02 6.00010149e-03 4.27438020e+01] [-1.56439190e-02 9.99877555e-01 -3.77031826e-04 -2.37107384e+00] [-6.00526581e-03 2.83113786e-04 9.99981928e-01 -5.82209009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870371743 meters 0.032855951602750476 Centerline is valid? [True, True] Translation: X:42.77, Y:-2.38, Z:-0.58 [[ 9.99853721e-01 1.64294098e-02 4.75517770e-03 4.27715469e+01] [-1.64281730e-02 9.99865004e-01 -2.99037559e-04 -2.37897192e+00] [-4.75944878e-03 2.20874934e-04 9.99988649e-01 -5.84987144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900371743 meters 0.02944242761049791 Centerline is valid? [True, True] Translation: X:42.80, Y:-2.38, Z:-0.58 [[ 9.99860133e-01 1.60848800e-02 4.58159389e-03 4.28008396e+01] [-1.60837307e-02 9.99870607e-01 -2.87578310e-04 -2.37545010e+00] [-4.58562673e-03 2.13848965e-04 9.99989463e-01 -5.84769905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930371743 meters 0.03172987662439339 Centerline is valid? [True, True] Translation: X:42.83, Y:-2.38, Z:-0.59 [[ 9.99873761e-01 1.51928223e-02 4.65187442e-03 4.28279315e+01] [-1.51916288e-02 9.99884558e-01 -2.91804500e-04 -2.38134572e+00] [-4.65577073e-03 2.21098114e-04 9.99989137e-01 -5.85299771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960371743 meters 0.03267017193763167 Centerline is valid? [True, True] Translation: X:42.86, Y:-2.39, Z:-0.59 [[ 9.99882552e-01 1.44635034e-02 5.06838999e-03 4.28561539e+01] [-1.44620810e-02 9.99895368e-01 -3.17189865e-04 -2.38522632e+00] [-5.07244735e-03 2.43853146e-04 9.99987105e-01 -5.85757459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.990371743 meters 0.03390344780388522 Centerline is valid? [True, True] Translation: X:42.88, Y:-2.39, Z:-0.59 [[ 9.99912054e-01 1.20766287e-02 5.48078361e-03 4.28848109e+01] [-1.20749328e-02 9.99927037e-01 -3.42403875e-04 -2.39095079e+00] [-5.48451880e-03 2.76193668e-04 9.99984922e-01 -5.86391093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020371743 meters 0.032845681389549686 Centerline is valid? [True, True] Translation: X:42.91, Y:-2.39, Z:-0.59 [[ 9.99931060e-01 1.04538603e-02 5.34723875e-03 4.29144203e+01] [-1.04522251e-02 9.99945318e-01 -3.33668187e-04 -2.39170694e+00] [-5.35043447e-03 2.77754640e-04 9.99985648e-01 -5.86059908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050371743 meters 0.034908731275187 Centerline is valid? [True, True] Translation: X:42.94, Y:-2.40, Z:-0.59 [[ 9.99951748e-01 8.11576461e-03 5.53498347e-03 4.29427429e+01] [-8.11397715e-03 9.99967022e-01 -3.45319245e-04 -2.39745790e+00] [-5.53760347e-03 3.00391853e-04 9.99984622e-01 -5.85915049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080371743 meters 0.03190847259518632 Centerline is valid? [True, True] Translation: X:42.97, Y:-2.39, Z:-0.59 [[ 9.99962053e-01 6.66328500e-03 5.61192714e-03 4.29729213e+01] [-6.66142795e-03 9.99977751e-01 -3.49538285e-04 -2.39491453e+00] [-5.61413135e-03 3.12141573e-04 9.99984192e-01 -5.85050525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110371743 meters 0.032499695108845206 Centerline is valid? [True, True] Translation: X:43.00, Y:-2.40, Z:-0.59 [[ 9.99966823e-01 5.82367595e-03 5.69536552e-03 4.30032959e+01] [-5.82175115e-03 9.99982991e-01 -3.54479201e-04 -2.39770310e+00] [-5.69733302e-03 3.21310440e-04 9.99983718e-01 -5.85221931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140371743 meters 0.03219415349710342 Centerline is valid? [True, True] Translation: X:43.03, Y:-2.40, Z:-0.59 [[ 9.99968979e-01 5.42594553e-03 5.70965404e-03 4.30335679e+01] [-5.42400460e-03 9.99985227e-01 -3.55368517e-04 -2.39956975e+00] [-5.71149790e-03 3.24388303e-04 9.99983637e-01 -5.85299491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170371743000004 meters 0.03513330389556127 Centerline is valid? [True, True] Translation: X:43.06, Y:-2.41, Z:-0.59 [[ 9.99973756e-01 4.03071151e-03 6.01998294e-03 4.30630923e+01] [-4.02852866e-03 9.99991815e-01 -3.74683369e-04 -2.40719231e+00] [-6.02144391e-03 3.50421862e-04 9.99981810e-01 -5.86189764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200371743 meters 0.03513330389556127 Centerline is valid? [True, True] Translation: X:43.09, Y:-2.41, Z:-0.59 [[ 9.99973615e-01 4.06550300e-03 6.02000027e-03 4.30939299e+01] [-4.06332245e-03 9.99991675e-01 -3.74405101e-04 -2.40914354e+00] [-6.02147229e-03 3.49934020e-04 9.99981810e-01 -5.86623759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230371743 meters 0.03346416467603961 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.41, Z:-0.59 [[ 9.99976742e-01 3.32350825e-03 5.95563204e-03 4.31251502e+01] [-3.32135980e-03 9.99994416e-01 -3.70597061e-04 -2.40900507e+00] [-5.95683047e-03 3.50807645e-04 9.99982196e-01 -5.86314268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260371743 meters 0.032780282315641465 Centerline is valid? [True, True] Translation: X:43.16, Y:-2.41, Z:-0.59 [[ 9.99974945e-01 2.74884829e-03 6.52320728e-03 4.31568347e+01] [-2.74625681e-03 9.99996147e-01 -4.06193899e-04 -2.41033866e+00] [-6.52429871e-03 3.88269320e-04 9.99978641e-01 -5.86234873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290371743 meters 0.034693725063393306 Centerline is valid? [True, True] Translation: X:43.19, Y:-2.42, Z:-0.59 [[ 9.99978674e-01 1.45380599e-03 6.36699628e-03 4.31871930e+01] [-1.45131397e-03 9.99998868e-01 -3.95998199e-04 -2.41614476e+00] [-6.36756478e-03 3.86749243e-04 9.99979652e-01 -5.87194331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320371743 meters 0.033202527123059544 Centerline is valid? [True, True] Translation: X:43.22, Y:-2.42, Z:-0.59 [[ 9.99982095e-01 1.20038964e-03 5.86240682e-03 4.32195587e+01] [-1.19827529e-03 9.99999216e-01 -3.64162107e-04 -2.41633916e+00] [-5.86283936e-03 3.57130809e-04 9.99982750e-01 -5.87658966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350371743000004 meters 0.03410974722233417 Centerline is valid? [True, True] Translation: X:43.25, Y:-2.42, Z:-0.59 [[ 9.99985282e-01 1.02718581e-03 5.32736547e-03 4.32507214e+01] [-1.02543094e-03 9.99999419e-01 -3.32129224e-04 -2.42131437e+00] [-5.32770354e-03 3.26661490e-04 9.99985754e-01 -5.89464343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.380371743 meters 0.035186407195942855 Centerline is valid? [True, True] Translation: X:43.28, Y:-2.43, Z:-0.59 [[ 9.99988355e-01 1.20673949e-03 4.67266560e-03 4.32816026e+01] [-1.20538022e-03 9.99999230e-01 -2.93704451e-04 -2.42526442e+00] [-4.67301642e-03 2.88068693e-04 9.99989040e-01 -5.90182981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410371743 meters 0.034196068004928734 Centerline is valid? [True, True] Translation: X:43.31, Y:-2.43, Z:-0.59 [[ 9.99990278e-01 1.85684131e-03 3.99954207e-03 4.33126671e+01] [-1.85584947e-03 9.99998246e-01 -2.51684351e-04 -2.42563378e+00] [-4.00000239e-03 2.44259356e-04 9.99991970e-01 -5.90738807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440371743 meters 0.0348124582645097 Centerline is valid? [True, True] Translation: X:43.34, Y:-2.43, Z:-0.59 [[ 9.99988966e-01 2.69619969e-03 3.84699232e-03 4.33431155e+01] [-2.69528710e-03 9.99996338e-01 -2.42387470e-04 -2.42859189e+00] [-3.84763176e-03 2.32016047e-04 9.99992571e-01 -5.91558690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.470371743 meters 0.034240609652261514 Centerline is valid? [True, True] Translation: X:43.37, Y:-2.43, Z:-0.59 [[ 9.99984744e-01 3.77496434e-03 4.03246029e-03 4.33743806e+01] [-3.77397075e-03 9.99992846e-01 -2.53980023e-04 -2.42926629e+00] [-4.03339021e-03 2.38757761e-04 9.99991837e-01 -5.91735462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500371743 meters 0.032143871937189795 Centerline is valid? [True, True] Translation: X:43.41, Y:-2.43, Z:-0.59 [[ 9.99969018e-01 6.65373095e-03 4.20611090e-03 4.34056662e+01] [-6.65267387e-03 9.99977836e-01 -2.65262638e-04 -2.42700713e+00] [-4.20778266e-03 2.37272535e-04 9.99991119e-01 -5.91469118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530371743 meters 0.036171053516231975 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.43, Z:-0.59 [[ 9.99959215e-01 7.99457093e-03 4.20190590e-03 4.34343820e+01] [-7.99352523e-03 9.99968016e-01 -2.65599922e-04 -2.43490999e+00] [-4.20389487e-03 2.32001049e-04 9.99991137e-01 -5.93381543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.560371743 meters 0.031187055973140018 Centerline is valid? [True, True] Translation: X:43.46, Y:-2.43, Z:-0.59 [[ 9.99938566e-01 1.03301363e-02 4.01895415e-03 4.34646732e+01] [-1.03291989e-02 9.99946620e-01 -2.53916529e-04 -2.42848400e+00] [-4.02136261e-03 2.12388354e-04 9.99991892e-01 -5.92692600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590371743 meters 0.03118272768097508 Centerline is valid? [True, True] Translation: X:43.49, Y:-2.43, Z:-0.59 [[ 9.99934330e-01 1.08270661e-02 3.75635169e-03 4.34936534e+01] [-1.08262498e-02 9.99941366e-01 -2.37587371e-04 -2.42966540e+00] [-3.75870382e-03 1.96904567e-04 9.99992917e-01 -5.93208720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620371743 meters 0.02999069874273631 Centerline is valid? [True, True] Translation: X:43.52, Y:-2.43, Z:-0.59 [[ 9.99932982e-01 1.09113263e-02 3.86977590e-03 4.35226591e+01] [-1.09104617e-02 9.99940449e-01 -2.44470399e-04 -2.42884803e+00] [-3.87221295e-03 2.02232973e-04 9.99992483e-01 -5.93197796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650371743 meters 0.032189838518146954 Centerline is valid? [True, True] Translation: X:43.55, Y:-2.43, Z:-0.59 [[ 9.99941922e-01 1.01910866e-02 3.50622769e-03 4.35496901e+01] [-1.01903716e-02 9.99948052e-01 -2.21717493e-04 -2.43393936e+00] [-3.50830509e-03 1.85974853e-04 9.99993829e-01 -5.94460706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680371743 meters 0.033147352580002995 Centerline is valid? [True, True] Translation: X:43.58, Y:-2.44, Z:-0.60 [[ 9.99945978e-01 9.69690128e-03 3.74312845e-03 4.35768886e+01] [-9.69608570e-03 9.99952964e-01 -2.35971531e-04 -2.43738021e+00] [-3.74524058e-03 1.99665089e-04 9.99992967e-01 -5.95558326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710371743 meters 0.03221881463679445 Centerline is valid? [True, True] Translation: X:43.61, Y:-2.44, Z:-0.60 [[ 9.99959027e-01 8.31535469e-03 3.57762954e-03 4.36060985e+01] [-8.31460300e-03 9.99965408e-01 -2.24930280e-04 -2.43829560e+00] [-3.57937615e-03 1.95174495e-04 9.99993575e-01 -5.96174334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.740371743 meters 0.03458422187279586 Centerline is valid? [True, True] Translation: X:43.63, Y:-2.44, Z:-0.60 [[ 9.99962655e-01 7.82825786e-03 3.66165779e-03 4.36340453e+01] [-7.82746798e-03 9.99969338e-01 -2.29998513e-04 -2.44402408e+00] [-3.66334600e-03 2.01328414e-04 9.99993270e-01 -5.97125112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770371743 meters 0.03227753308503449 Centerline is valid? [True, True] Translation: X:43.66, Y:-2.44, Z:-0.60 [[ 9.99969683e-01 7.07984881e-03 3.24177296e-03 4.36634160e+01] [-7.07922543e-03 9.99974921e-01 -2.03730605e-04 -2.44159670e+00] [-3.24313404e-03 1.80775186e-04 9.99994725e-01 -5.96980828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800371743 meters 0.03272651550932463 Centerline is valid? [True, True] Translation: X:43.69, Y:-2.44, Z:-0.60 [[ 9.99979203e-01 5.52013727e-03 3.33500037e-03 4.36927042e+01] [-5.51947105e-03 9.99984746e-01 -2.08938139e-04 -2.44356285e+00] [-3.33610287e-03 1.90526356e-04 9.99994417e-01 -5.97290978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830371743 meters 0.033860057056765654 Centerline is valid? [True, True] Translation: X:43.72, Y:-2.45, Z:-0.60 [[ 9.99984526e-01 4.67267108e-03 3.01901829e-03 4.37224176e+01] [-4.67212206e-03 9.99989068e-01 -1.88882727e-04 -2.44697438e+00] [-3.01986787e-03 1.74774582e-04 9.99995425e-01 -5.98191616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860371743 meters 0.034426419839657774 Centerline is valid? [True, True] Translation: X:43.75, Y:-2.45, Z:-0.60 [[ 9.99994207e-01 2.58784138e-03 2.21127911e-03 4.37524737e+01] [-2.58754170e-03 9.99996643e-01 -1.38374434e-04 -2.44987642e+00] [-2.21162977e-03 1.32651855e-04 9.99997546e-01 -5.99656438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890371743 meters 0.03483397645959816 Centerline is valid? [True, True] Translation: X:43.78, Y:-2.45, Z:-0.60 [[ 9.99997354e-01 2.52783128e-04 2.28647937e-03 4.37829666e+01] [-2.52457224e-04 9.99999958e-01 -1.42822748e-04 -2.45206892e+00] [-2.28651538e-03 1.42245132e-04 9.99997376e-01 -6.00414329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920371743000004 meters 0.03465833726157753 Centerline is valid? [True, True] Translation: X:43.81, Y:-2.45, Z:-0.60 [[ 9.99996513e-01 -5.96065206e-04 2.57258819e-03 4.38138130e+01] [ 5.96480042e-04 9.99999809e-01 -1.60488129e-04 -2.45351430e+00] [-2.57249204e-03 1.62022067e-04 9.99996678e-01 -6.00516130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950371743 meters 0.03423582741474552 Centerline is valid? [True, True] Translation: X:43.85, Y:-2.45, Z:-0.60 [[ 9.99995977e-01 -1.35783758e-03 2.49043468e-03 4.38453424e+01] [ 1.35822826e-03 9.99999066e-01 -1.55188748e-04 -2.45460176e+00] [-2.49022163e-03 1.58570703e-04 9.99996887e-01 -6.00560238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980371743 meters 0.03800392724622439 Centerline is valid? [True, True] Translation: X:43.88, Y:-2.46, Z:-0.60 [[ 9.99994132e-01 -1.83588929e-03 2.89236082e-03 4.38760980e+01] [ 1.83641821e-03 9.99998298e-01 -1.80222384e-04 -2.46167371e+00] [-2.89202503e-03 1.85532910e-04 9.99995801e-01 -6.01600367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010371743 meters 0.03557783911845287 Centerline is valid? [True, True] Translation: X:43.91, Y:-2.46, Z:-0.60 [[ 9.99991768e-01 -2.56380501e-03 3.14482254e-03 4.39087903e+01] [ 2.56442785e-03 9.99996693e-01 -1.94035333e-04 -2.45838046e+00] [-3.14431467e-03 2.02098407e-04 9.99995036e-01 -6.00505061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040371743 meters 0.040120848075886874 Centerline is valid? [True, True] Translation: X:43.94, Y:-2.47, Z:-0.60 [[ 9.99990035e-01 -2.69966377e-03 3.55546524e-03 4.39399704e+01] [ 2.70047295e-03 9.99996329e-01 -2.22806338e-04 -2.46674082e+00] [-3.55485068e-03 2.32405556e-04 9.99993654e-01 -6.01769335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070371743 meters 0.0360238777082863 Centerline is valid? [True, True] Translation: X:43.97, Y:-2.46, Z:-0.60 [[ 9.99985847e-01 -3.66388913e-03 3.85776774e-03 4.39728718e+01] [ 3.66484924e-03 9.99993255e-01 -2.41837118e-04 -2.46221009e+00] [-3.85685566e-03 2.55971832e-04 9.99992530e-01 -6.00661223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100371743000004 meters 0.037222926031186675 Centerline is valid? [True, True] Translation: X:44.00, Y:-2.47, Z:-0.60 [[ 9.99981674e-01 -4.20112151e-03 4.35926054e-03 4.40048666e+01] [ 4.20235454e-03 9.99991133e-01 -2.73731759e-04 -2.46551718e+00] [-4.35807190e-03 2.92045901e-04 9.99990461e-01 -6.01017284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.130371743 meters 0.03813568108983329 Centerline is valid? [True, True] Translation: X:44.04, Y:-2.47, Z:-0.60 [[ 9.99979075e-01 -4.87260379e-03 4.25516196e-03 4.40359563e+01] [ 4.87378412e-03 9.99988087e-01 -2.67062014e-04 -2.46832108e+00] [-4.25380998e-03 2.87795167e-04 9.99990911e-01 -6.01703174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160371743 meters 0.035908044266855184 Centerline is valid? [True, True] Translation: X:44.07, Y:-2.47, Z:-0.60 [[ 9.99981823e-01 -4.94688249e-03 3.44691420e-03 4.40683010e+01] [ 4.94765925e-03 9.99987737e-01 -2.16857868e-04 -2.46642153e+00] [-3.44579915e-03 2.33908084e-04 9.99994036e-01 -6.02335613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.190371743 meters 0.03902270527935004 Centerline is valid? [True, True] Translation: X:44.10, Y:-2.47, Z:-0.61 [[ 9.99989273e-01 -4.36721558e-03 1.54317752e-03 4.40995661e+01] [ 4.36737024e-03 9.99990458e-01 -9.68675825e-05 -2.47242977e+00] [-1.54273975e-03 1.03606171e-04 9.99998805e-01 -6.05663899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220371743 meters 0.04001480334944299 Centerline is valid? [True, True] Translation: X:44.13, Y:-2.48, Z:-0.61 [[ 9.99990602e-01 -4.22163870e-03 9.86899522e-04 4.41303767e+01] [ 4.22170169e-03 9.99991087e-01 -6.17551485e-05 -2.47554625e+00] [-9.86630017e-04 6.59209635e-05 9.99999511e-01 -6.07070354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250371743 meters 0.04165623352841302 Centerline is valid? [True, True] Translation: X:44.16, Y:-2.48, Z:-0.61 [[ 9.99990291e-01 -4.32131594e-03 8.62817696e-04 4.41609336e+01] [ 4.32136332e-03 9.99990661e-01 -5.30532075e-05 -2.47911516e+00] [-8.62580379e-04 5.67812412e-05 9.99999626e-01 -6.08106817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280371743 meters 0.03798650732009481 Centerline is valid? [True, True] Translation: X:44.19, Y:-2.48, Z:-0.61 [[ 9.99989458e-01 -4.53117382e-03 7.42583655e-04 4.41933150e+01] [ 4.53120934e-03 9.99989733e-01 -4.61626282e-05 -2.47563027e+00] [-7.42366860e-04 4.95269436e-05 9.99999723e-01 -6.07136357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.310371743 meters 0.03683607398384207 Centerline is valid? [True, True] Translation: X:44.23, Y:-2.48, Z:-0.61 [[ 9.99990488e-01 -4.07868878e-03 1.54509975e-03 4.42257189e+01] [ 4.07884385e-03 9.99991677e-01 -9.72251891e-05 -2.47583264e+00] [-1.54469034e-03 1.03526485e-04 9.99998802e-01 -6.07137573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340371743 meters 0.038632415222018095 Centerline is valid? [True, True] Translation: X:44.26, Y:-2.48, Z:-0.61 [[ 9.99993582e-01 -2.93437360e-03 2.05580079e-03 4.42569432e+01] [ 2.93464504e-03 9.99995686e-01 -1.29032273e-04 -2.48014381e+00] [-2.05541329e-03 1.35064490e-04 9.99997879e-01 -6.07967483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370371743 meters 0.037111299663026356 Centerline is valid? [True, True] Translation: X:44.29, Y:-2.48, Z:-0.61 [[ 9.99994213e-01 -2.67252735e-03 2.10522762e-03 4.42892688e+01] [ 2.67281386e-03 9.99996419e-01 -1.33293120e-04 -2.47981616e+00] [-2.10486386e-03 1.38919230e-04 9.99997775e-01 -6.07597365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400371743 meters 0.04395304905816218 Centerline is valid? [True, True] Translation: X:44.32, Y:-2.49, Z:-0.61 [[ 9.99993160e-01 -2.49971629e-03 2.72615383e-03 4.43201698e+01] [ 2.50019799e-03 9.99996859e-01 -1.73302869e-04 -2.49160070e+00] [-2.72571206e-03 1.80117607e-04 9.99996269e-01 -6.09370921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430371743 meters 0.037346273454980566 Centerline is valid? [True, True] Translation: X:44.35, Y:-2.48, Z:-0.61 [[ 9.99988533e-01 -2.93906674e-03 3.78105175e-03 4.43527368e+01] [ 2.93999765e-03 9.99995649e-01 -2.40671257e-04 -2.48435188e+00] [-3.78032795e-03 2.51784781e-04 9.99992823e-01 -6.07305769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460371743 meters 0.03787989932523005 Centerline is valid? [True, True] Translation: X:44.38, Y:-2.49, Z:-0.61 [[ 9.99984690e-01 -3.39479171e-03 4.36985987e-03 4.43844740e+01] [ 3.39604152e-03 9.99994195e-01 -2.78618202e-04 -2.48774381e+00] [-4.36888865e-03 2.93454162e-04 9.99990413e-01 -6.08258471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.490371743 meters 0.03683217810547385 Centerline is valid? [True, True] Translation: X:44.42, Y:-2.49, Z:-0.61 [[ 9.99982369e-01 -4.12741220e-03 4.26929370e-03 4.44168708e+01] [ 4.12861294e-03 9.99991440e-01 -2.72474444e-04 -2.49001096e+00] [-4.26813254e-03 2.90095901e-04 9.99990849e-01 -6.09558971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520371743 meters 0.038076419352695984 Centerline is valid? [True, True] Translation: X:44.45, Y:-2.49, Z:-0.61 [[ 9.99981609e-01 -4.19688446e-03 4.37817502e-03 4.44477894e+01] [ 4.19815017e-03 9.99991149e-01 -2.79945709e-04 -2.49458229e+00] [-4.37696137e-03 2.98320797e-04 9.99990377e-01 -6.10505216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550371743 meters 0.04014401302849579 Centerline is valid? [True, True] Translation: X:44.48, Y:-2.50, Z:-0.61 [[ 9.99980847e-01 -4.53269720e-03 4.21424522e-03 4.44786473e+01] [ 4.53387144e-03 9.99989686e-01 -2.69124128e-04 -2.50043624e+00] [-4.21298190e-03 2.88225820e-04 9.99991084e-01 -6.11310638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580371743 meters 0.037451524163708755 Centerline is valid? [True, True] Translation: X:44.51, Y:-2.50, Z:-0.61 [[ 9.99976224e-01 -5.69621251e-03 3.88652271e-03 4.45103441e+01] [ 5.69722330e-03 9.99983740e-01 -2.49054185e-04 -2.49949517e+00] [-3.88504084e-03 2.71190652e-04 9.99992416e-01 -6.11564485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610371743 meters 0.041711229157572714 Centerline is valid? [True, True] Translation: X:44.54, Y:-2.51, Z:-0.61 [[ 9.99970717e-01 -6.46104323e-03 4.10134388e-03 4.45410585e+01] [ 6.46217635e-03 9.99979085e-01 -2.63089523e-04 -2.50875837e+00] [-4.09955827e-03 2.89585426e-04 9.99991555e-01 -6.12893109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640371743 meters 0.03915677497388188 Centerline is valid? [True, True] Translation: X:44.57, Y:-2.51, Z:-0.61 [[ 9.99961794e-01 -7.97654429e-03 3.57561114e-03 4.45726446e+01] [ 7.97741553e-03 9.99968154e-01 -2.29464745e-04 -2.50875803e+00] [-3.57366693e-03 2.57980114e-04 9.99993581e-01 -6.13197365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.670371743000004 meters 0.04010537906028773 Centerline is valid? [True, True] Translation: X:44.60, Y:-2.51, Z:-0.61 [[ 9.99955704e-01 -8.80054431e-03 3.33782808e-03 4.46034424e+01] [ 8.80130849e-03 9.99961245e-01 -2.14326398e-04 -2.51293529e+00] [-3.33581253e-03 2.43694159e-04 9.99994406e-01 -6.14435152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700371743 meters 0.03916448866817071 Centerline is valid? [True, True] Translation: X:44.64, Y:-2.51, Z:-0.62 [[ 9.99957007e-01 -8.69483174e-03 3.22229008e-03 4.46355597e+01] [ 8.69554323e-03 9.99962172e-01 -2.06856415e-04 -2.51429682e+00] [-3.22036961e-03 2.34867084e-04 9.99994787e-01 -6.15196732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730371743 meters 0.04125794820869345 Centerline is valid? [True, True] Translation: X:44.67, Y:-2.52, Z:-0.62 [[ 9.99965639e-01 -7.58908162e-03 3.33561795e-03 4.46667762e+01] [ 7.58983886e-03 9.99971174e-01 -2.14413735e-04 -2.52022162e+00] [-3.33389460e-03 2.39723171e-04 9.99994414e-01 -6.15944570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760371743 meters 0.0413471263158387 Centerline is valid? [True, True] Translation: X:44.70, Y:-2.52, Z:-0.62 [[ 9.99970618e-01 -6.72075823e-03 3.68704039e-03 4.46987445e+01] [ 6.72167898e-03 9.99977381e-01 -2.37390039e-04 -2.52244138e+00] [-3.68536156e-03 2.62166166e-04 9.99993175e-01 -6.16064458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.790371743 meters 0.03680193451522432 Centerline is valid? [True, True] Translation: X:44.73, Y:-2.52, Z:-0.62 [[ 9.99981486e-01 -4.00126254e-03 4.58443967e-03 4.47303547e+01] [ 4.00266247e-03 9.99991945e-01 -2.96231582e-04 -2.51800096e+00] [-4.58321744e-03 3.14576062e-04 9.99989448e-01 -6.15068178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820371743 meters 0.03550893348645551 Centerline is valid? [True, True] Translation: X:44.76, Y:-2.52, Z:-0.62 [[ 9.99984004e-01 -2.50776856e-03 5.06986407e-03 4.47624169e+01] [ 2.50946047e-03 9.99996798e-01 -3.27384008e-04 -2.51758898e+00] [-5.06902683e-03 3.40101394e-04 9.99987095e-01 -6.15030589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850371743000004 meters 0.03396929096657604 Centerline is valid? [True, True] Translation: X:44.79, Y:-2.52, Z:-0.62 [[ 9.99983815e-01 1.47172451e-03 5.49586014e-03 4.47928989e+01] [-1.46979191e-03 9.99998857e-01 -3.55668658e-04 -2.51727181e+00] [-5.49637730e-03 3.47585130e-04 9.99984834e-01 -6.15757242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.880371743 meters 0.03419082208750309 Centerline is valid? [True, True] Translation: X:44.82, Y:-2.52, Z:-0.62 [[ 9.99979206e-01 3.49105066e-03 5.42221261e-03 4.48233335e+01] [-3.48919935e-03 9.99993851e-01 -3.50852860e-04 -2.51907580e+00] [-5.42340412e-03 3.31926383e-04 9.99985238e-01 -6.16875736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.910371743 meters 0.0344404562023927 Centerline is valid? [True, True] Translation: X:44.85, Y:-2.52, Z:-0.62 [[ 9.99972352e-01 5.50293719e-03 5.00136125e-03 4.48535719e+01] [-5.50138681e-03 9.99984815e-01 -3.23696412e-04 -2.52137067e+00] [-5.00306659e-03 2.96173039e-04 9.99987441e-01 -6.18116448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940371743 meters 0.032361432966586605 Centerline is valid? [True, True] Translation: X:44.88, Y:-2.52, Z:-0.62 [[ 9.99949932e-01 8.90503870e-03 4.56431909e-03 4.48843627e+01] [-8.90378152e-03 9.99960317e-01 -2.95684542e-04 -2.51962748e+00] [-4.56677104e-03 2.55030038e-04 9.99989540e-01 -6.19483474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970371743 meters 0.031292592075266155 Centerline is valid? [True, True] Translation: X:44.91, Y:-2.52, Z:-0.62 [[ 9.99937576e-01 1.02789983e-02 4.38028829e-03 4.49134572e+01] [-1.02778508e-02 9.99947141e-01 -2.84401119e-04 -2.51944868e+00] [-4.38298011e-03 2.39363415e-04 9.99990366e-01 -6.20323226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000371743 meters 0.03214021147516681 Centerline is valid? [True, True] Translation: X:44.94, Y:-2.52, Z:-0.62 [[ 9.99925709e-01 1.14187204e-02 4.26483779e-03 4.49416783e+01] [-1.14176442e-02 9.99934778e-01 -2.76615158e-04 -2.52249109e+00] [-4.26771822e-03 2.27900208e-04 9.99990867e-01 -6.21439686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030371743 meters 0.03127848966825731 Centerline is valid? [True, True] Translation: X:44.97, Y:-2.52, Z:-0.62 [[ 9.99898235e-01 1.35596431e-02 4.43351522e-03 4.49703775e+01] [-1.35585027e-02 9.99908038e-01 -2.87180842e-04 -2.52309096e+00] [-4.43700158e-03 2.27039789e-04 9.99990131e-01 -6.22567769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.060371743 meters 0.03127848966825731 Centerline is valid? [True, True] Translation: X:45.00, Y:-2.52, Z:-0.62 [[ 9.99899189e-01 1.34890942e-02 4.43353472e-03 4.49986592e+01] [-1.34879544e-02 9.99908992e-01 -2.86879103e-04 -2.52485530e+00] [-4.43700098e-03 2.27050868e-04 9.99990131e-01 -6.22966163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090371743 meters 0.030363083332790478 Centerline is valid? [True, True] Translation: X:45.03, Y:-2.52, Z:-0.62 [[ 9.99890755e-01 1.42280645e-02 4.00511283e-03 4.50271458e+01] [-1.42271410e-02 9.99898756e-01 -2.58980592e-04 -2.52462458e+00] [-4.00839213e-03 2.01970995e-04 9.99991946e-01 -6.23212826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120371743 meters 0.030120931960440016 Centerline is valid? [True, True] Translation: X:45.05, Y:-2.53, Z:-0.62 [[ 9.99857615e-01 1.63237171e-02 4.27616409e-03 4.50549262e+01] [-1.63226843e-02 9.99866738e-01 -2.76300354e-04 -2.52553651e+00] [-4.28010449e-03 2.06462536e-04 9.99990819e-01 -6.23775616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150371743 meters 0.02968146393121484 Centerline is valid? [True, True] Translation: X:45.08, Y:-2.53, Z:-0.62 [[ 9.99831402e-01 1.77588157e-02 4.66810001e-03 4.50841571e+01] [-1.77576046e-02 9.99842276e-01 -3.00757539e-04 -2.52627622e+00] [-4.67270484e-03 2.17812558e-04 9.99989059e-01 -6.24761069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180371743 meters 0.029156134314717353 Centerline is valid? [True, True] Translation: X:45.11, Y:-2.53, Z:-0.63 [[ 9.99787440e-01 1.99926943e-02 5.03664231e-03 4.51117391e+01] [-1.99913128e-02 9.99800101e-01 -3.24487392e-04 -2.52751225e+00] [-5.04212287e-03 2.23729327e-04 9.99987263e-01 -6.26180258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210371743 meters 0.028118530117462674 Centerline is valid? [True, True] Translation: X:45.14, Y:-2.53, Z:-0.63 [[ 9.99765708e-01 2.10936812e-02 4.85651577e-03 4.51408582e+01] [-2.10924123e-02 9.99777482e-01 -3.12347967e-04 -2.52726876e+00] [-4.86202368e-03 2.09839154e-04 9.99988158e-01 -6.26597778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.240371743 meters 0.028297337176610475 Centerline is valid? [True, True] Translation: X:45.17, Y:-2.53, Z:-0.63 [[ 9.99731863e-01 2.25555250e-02 5.23939309e-03 4.51690330e+01] [-2.25540706e-02 9.99745568e-01 -3.36512284e-04 -2.52947340e+00] [-5.24565023e-03 2.18252410e-04 9.99986218e-01 -6.27554666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270371743 meters 0.02654095276714922 Centerline is valid? [True, True] Translation: X:45.20, Y:-2.53, Z:-0.63 [[ 9.99652406e-01 2.56635815e-02 6.03712330e-03 4.51990539e+01] [-2.56617123e-02 9.99670609e-01 -3.86887410e-04 -2.52793457e+00] [-6.04506364e-03 2.31830009e-04 9.99981702e-01 -6.27282260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300371743 meters 0.025920660023726467 Centerline is valid? [True, True] Translation: X:45.23, Y:-2.53, Z:-0.63 [[ 9.99578193e-01 2.83971343e-02 6.08589768e-03 4.52284597e+01] [-2.83952859e-02 9.99596697e-01 -3.89930622e-04 -2.52790430e+00] [-6.09451613e-03 2.16955342e-04 9.99981405e-01 -6.27539018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330371743 meters 0.025703054774569658 Centerline is valid? [True, True] Translation: X:45.26, Y:-2.53, Z:-0.63 [[ 9.99529288e-01 3.00791034e-02 6.03735573e-03 4.52575806e+01] [-3.00773161e-02 9.99547500e-01 -3.86639919e-04 -2.52916465e+00] [-6.04625362e-03 2.04870466e-04 9.99981700e-01 -6.28183374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360371743 meters 0.02547035164014405 Centerline is valid? [True, True] Translation: X:45.28, Y:-2.53, Z:-0.63 [[ 9.99447788e-01 3.27621818e-02 5.54606256e-03 4.52849152e+01] [-3.27607157e-02 9.99463161e-01 -3.55007830e-04 -2.53145737e+00] [-5.55471605e-03 1.73118812e-04 9.99984557e-01 -6.29756573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390371743 meters 0.025100297053496652 Centerline is valid? [True, True] Translation: X:45.31, Y:-2.53, Z:-0.63 [[ 9.99415020e-01 3.38105654e-02 5.14427031e-03 4.53131129e+01] [-3.38093206e-02 9.99428247e-01 -3.28761012e-04 -2.53298010e+00] [-5.15244466e-03 1.54644409e-04 9.99986714e-01 -6.30526968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420371743000004 meters 0.0248018355501938 Centerline is valid? [True, True] Translation: X:45.34, Y:-2.53, Z:-0.63 [[ 9.99383256e-01 3.47787588e-02 4.85240569e-03 4.53414883e+01] [-3.47776641e-02 9.99395026e-01 -3.09813436e-04 -2.53465443e+00] [-4.86024504e-03 1.40867026e-04 9.99988179e-01 -6.31398394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450371743 meters 0.02504273255688918 Centerline is valid? [True, True] Translation: X:45.37, Y:-2.54, Z:-0.63 [[ 9.99354574e-01 3.57269213e-02 3.74464606e-03 4.53689023e+01] [-3.57262755e-02 9.99361584e-01 -2.39220771e-04 -2.53722722e+00] [-3.75080204e-03 1.05284115e-04 9.99992960e-01 -6.32994867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480371743 meters 0.024593385633880995 Centerline is valid? [True, True] Translation: X:45.40, Y:-2.54, Z:-0.63 [[ 9.99362985e-01 3.55476593e-02 3.16031341e-03 4.53976156e+01] [-3.55471992e-02 9.99367978e-01 -2.01630418e-04 -2.53894652e+00] [-3.16548351e-03 8.91616857e-05 9.99994986e-01 -6.33769345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510371743 meters 0.024152211097581845 Centerline is valid? [True, True] Translation: X:45.43, Y:-2.54, Z:-0.63 [[ 9.99385118e-01 3.49624976e-02 2.64775373e-03 4.54263466e+01] [-3.49621727e-02 9.99388622e-01 -1.68919187e-04 -2.54080558e+00] [-2.65204079e-03 7.62440986e-05 9.99996480e-01 -6.34692924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540371743 meters 0.025581283928567608 Centerline is valid? [True, True] Translation: X:45.45, Y:-2.55, Z:-0.64 [[ 9.99464703e-01 3.26373046e-02 2.26141822e-03 4.54537822e+01] [-3.26370600e-02 9.99467259e-01 -1.44971412e-04 -2.54828487e+00] [-2.26494494e-03 7.10877667e-05 9.99997432e-01 -6.36479213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570371743 meters 0.024764176828923422 Centerline is valid? [True, True] Translation: X:45.48, Y:-2.55, Z:-0.64 [[ 9.99512906e-01 3.11289476e-02 2.22266926e-03 4.54826502e+01] [-3.11287098e-02 9.99515374e-01 -1.41504532e-04 -2.55037494e+00] [-2.22599698e-03 7.22467797e-05 9.99997520e-01 -6.35909980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600371743000004 meters 0.025451891577711657 Centerline is valid? [True, True] Translation: X:45.51, Y:-2.56, Z:-0.64 [[ 9.99628254e-01 2.72241452e-02 1.48314523e-03 4.55116431e+01] [-2.72240346e-02 9.99629353e-01 -9.47182028e-05 -2.55648927e+00] [-1.48517413e-03 5.43057947e-05 9.99998896e-01 -6.35989394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.630371743 meters 0.026220759090701342 Centerline is valid? [True, True] Translation: X:45.54, Y:-2.56, Z:-0.64 [[ 9.99682658e-01 2.51335312e-02 1.69981100e-03 4.55389632e+01] [-2.51333832e-02 9.99684101e-01 -1.08415418e-04 -2.56110595e+00] [-1.70199890e-03 6.56590123e-05 9.99998549e-01 -6.36421029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660371743 meters 0.027541846651370057 Centerline is valid? [True, True] Translation: X:45.57, Y:-2.57, Z:-0.64 [[ 9.99792310e-01 2.02797629e-02 2.01679634e-03 4.55684581e+01] [-2.02795472e-02 9.99794341e-01 -1.27362320e-04 -2.56767263e+00] [-2.01896445e-03 8.64361517e-05 9.99997958e-01 -6.35286455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690371743 meters 0.030431409973721433 Centerline is valid? [True, True] Translation: X:45.60, Y:-2.58, Z:-0.64 [[ 9.99846414e-01 1.73719691e-02 2.31600857e-03 4.55960394e+01] [-1.73716756e-02 9.99849090e-01 -1.46805926e-04 -2.57585875e+00] [-2.31820937e-03 1.06550429e-04 9.99997307e-01 -6.36109724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720371743 meters 0.03066390981523564 Centerline is valid? [True, True] Translation: X:45.63, Y:-2.58, Z:-0.64 [[ 9.99886048e-01 1.48162408e-02 2.89301527e-03 4.56253896e+01] [-1.48157746e-02 9.99890224e-01 -1.82518296e-04 -2.58008819e+00] [-2.89540192e-03 1.39635235e-04 9.99995799e-01 -6.36110637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750371743 meters 0.03036675360378119 Centerline is valid? [True, True] Translation: X:45.66, Y:-2.58, Z:-0.64 [[ 9.99946863e-01 9.87040851e-03 2.97413344e-03 4.56556989e+01] [-9.86989499e-03 9.99951274e-01 -1.87293163e-04 -2.58472781e+00] [-2.97583718e-03 1.57928826e-04 9.99995560e-01 -6.35718838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780371743 meters 0.03275030101651275 Centerline is valid? [True, True] Translation: X:45.68, Y:-2.59, Z:-0.64 [[ 9.99966603e-01 7.79166730e-03 2.46627570e-03 4.56837976e+01] [-7.79130675e-03 9.99969635e-01 -1.55763377e-04 -2.59148503e+00] [-2.46741447e-03 1.36542665e-04 9.99996947e-01 -6.36911280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.810371743 meters 0.03395623628429793 Centerline is valid? [True, True] Translation: X:45.71, Y:-2.60, Z:-0.64 [[ 9.99991356e-01 3.71571702e-03 1.86609951e-03 4.57140358e+01] [-3.71550462e-03 9.99993091e-01 -1.17276202e-04 -2.59762215e+00] [-1.86652238e-03 1.10341687e-04 9.99998252e-01 -6.38018963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840371743 meters 0.03420639861339832 Centerline is valid? [True, True] Translation: X:45.74, Y:-2.60, Z:-0.64 [[ 9.99996788e-01 2.03536843e-03 1.51018440e-03 4.57444147e+01] [-2.03522740e-03 9.99997924e-01 -9.49161433e-05 -2.60116259e+00] [-1.51037445e-03 9.18422698e-05 9.99998855e-01 -6.38640233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.870371743 meters 0.03694911173804964 Centerline is valid? [True, True] Translation: X:45.77, Y:-2.61, Z:-0.64 [[ 9.99998246e-01 -1.84259382e-03 3.37308575e-04 4.57735420e+01] [ 1.84260098e-03 9.99998302e-01 -2.09231435e-05 -2.60878895e+00] [-3.37269449e-04 2.15446319e-05 9.99999943e-01 -6.39679855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900371743 meters 0.04056100740041886 Centerline is valid? [True, True] Translation: X:45.80, Y:-2.62, Z:-0.64 [[ 9.99993873e-01 -3.48412763e-03 -3.38829066e-04 4.58029761e+01] [ 3.48413547e-03 9.99993930e-01 2.25528720e-05 -2.61681907e+00] [ 3.38748432e-04 -2.37332602e-05 9.99999942e-01 -6.41294526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930371743 meters 0.03470590370119058 Centerline is valid? [True, True] Translation: X:45.83, Y:-2.61, Z:-0.64 [[ 9.99986835e-01 -5.12451583e-03 -2.64766445e-04 4.58344082e+01] [ 5.12452064e-03 9.99986869e-01 1.74879903e-05 -2.61163270e+00] [ 2.64673351e-04 -1.88445612e-05 9.99999965e-01 -6.39835476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960371743 meters 0.04090045364384327 Centerline is valid? [True, True] Translation: X:45.86, Y:-2.62, Z:-0.64 [[ 9.99959011e-01 -9.04575170e-03 -3.87402513e-04 4.58634840e+01] [ 9.04576193e-03 9.99959086e-01 2.46571986e-05 -2.62450040e+00] [ 3.87163620e-04 -2.81605389e-05 9.99999925e-01 -6.41662193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.990371743 meters 0.0448468423300876 Centerline is valid? [True, True] Translation: X:45.89, Y:-2.63, Z:-0.64 [[ 9.99941033e-01 -1.08230977e-02 -8.89863353e-04 4.58936286e+01] [ 1.08231521e-02 9.99941426e-01 5.63474413e-05 -2.63236097e+00] [ 8.89201376e-04 -6.59752451e-05 9.99999602e-01 -6.42847075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020371743 meters 0.047638138328748456 Centerline is valid? [True, True] Translation: X:45.92, Y:-2.64, Z:-0.64 [[ 9.99913346e-01 -1.30887372e-02 -1.40896795e-03 4.59228497e+01] [ 1.30888753e-02 9.99914333e-01 8.88349462e-05 -2.63904074e+00] [ 1.40768452e-03 -1.07269054e-04 9.99999003e-01 -6.43864131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.050371743 meters 0.040778694132857174 Centerline is valid? [True, True] Translation: X:45.96, Y:-2.63, Z:-0.64 [[ 9.99904707e-01 -1.37323982e-02 -1.41340466e-03 4.59550079e+01] [ 1.37325390e-02 9.99905700e-01 8.99428049e-05 -2.63206600e+00] [ 1.41203624e-03 -1.09343868e-04 9.99998997e-01 -6.42087203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080371743 meters 0.04150364143478833 Centerline is valid? [True, True] Translation: X:45.99, Y:-2.64, Z:-0.64 [[ 9.99906399e-01 -1.36438784e-02 -1.01840825e-03 4.59870994e+01] [ 1.36439520e-02 9.99906915e-01 6.53329572e-05 -2.63503674e+00] [ 1.01742205e-03 -7.92219552e-05 9.99999479e-01 -6.42299142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.110371743 meters 0.043286345745614525 Centerline is valid? [True, True] Translation: X:46.02, Y:-2.64, Z:-0.64 [[ 9.99911726e-01 -1.32584333e-02 -8.68877886e-04 4.60180830e+01] [ 1.32584866e-02 9.99912101e-01 5.56782664e-05 -2.63907905e+00] [ 8.68063306e-04 -6.71933572e-05 9.99999621e-01 -6.42570097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140371743 meters 0.04244185641762786 Centerline is valid? [True, True] Translation: X:46.05, Y:-2.64, Z:-0.64 [[ 9.99930027e-01 -1.18289000e-02 -1.36555037e-04 4.60492787e+01] [ 1.18289014e-02 9.99930036e-01 9.13070675e-06 -2.63882894e+00] [ 1.36437477e-04 -1.07453639e-05 9.99999991e-01 -6.41729778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170371743000004 meters 0.04183615011348246 Centerline is valid? [True, True] Translation: X:46.08, Y:-2.64, Z:-0.64 [[ 9.99958137e-01 -9.14125710e-03 4.02407870e-04 4.60799768e+01] [ 9.14126795e-03 9.99958217e-01 -2.51426850e-05 -2.63939666e+00] [-4.02161221e-04 2.88201506e-05 9.99999919e-01 -6.41018968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200371743 meters 0.04169604106663039 Centerline is valid? [True, True] Translation: X:46.11, Y:-2.64, Z:-0.64 [[ 9.99967886e-01 -8.00736766e-03 3.29596211e-04 4.61117594e+01] [ 8.00737473e-03 9.99967940e-01 -2.01478338e-05 -2.64065288e+00] [-3.29424313e-04 2.27863871e-05 9.99999945e-01 -6.41278167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230371743 meters 0.041420003913786155 Centerline is valid? [True, True] Translation: X:46.14, Y:-2.64, Z:-0.64 [[ 9.99977094e-01 -6.76585721e-03 1.87917414e-04 4.61435757e+01] [ 6.76585943e-03 9.99977111e-01 -1.11859089e-05 -2.64222064e+00] [-1.87837431e-04 1.24570755e-05 9.99999982e-01 -6.41772408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260371743 meters 0.03894038180529196 Centerline is valid? [True, True] Translation: X:46.18, Y:-2.64, Z:-0.64 [[ 9.99983934e-01 -5.66195985e-03 -2.72299771e-04 4.61756051e+01] [ 5.66196503e-03 9.99983971e-01 1.82687803e-05 -2.64037401e+00] [ 2.72191969e-04 -1.98102385e-05 9.99999963e-01 -6.41745922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.290371743 meters 0.03539764658029578 Centerline is valid? [True, True] Translation: X:46.21, Y:-2.64, Z:-0.64 [[ 9.99996102e-01 -2.35712099e-03 -1.49687698e-03 4.62064583e+01] [ 2.35726581e-03 9.99997217e-01 9.49914987e-05 -2.63666427e+00] [ 1.49664891e-03 -9.85196653e-05 9.99998875e-01 -6.41906530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320371743 meters 0.03969293829365595 Centerline is valid? [True, True] Translation: X:46.24, Y:-2.64, Z:-0.64 [[ 9.99997483e-01 -2.52953384e-04 -2.22941135e-03 4.62364899e+01] [ 2.53270078e-04 9.99999958e-01 1.41771633e-04 -2.64421304e+00] [ 2.22937540e-03 -1.42335920e-04 9.99997505e-01 -6.44357662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.350371743000004 meters 0.034996549453642375 Centerline is valid? [True, True] Translation: X:46.27, Y:-2.64, Z:-0.64 [[ 9.99994513e-01 2.09685748e-03 -2.56444765e-03 4.62668482e+01] [-2.09644901e-03 9.99997789e-01 1.61958862e-04 -2.63853482e+00] [ 2.56478158e-03 -1.56581740e-04 9.99996699e-01 -6.43331897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.380371743 meters 0.03190008693267819 Centerline is valid? [True, True] Translation: X:46.30, Y:-2.63, Z:-0.64 [[ 9.99960875e-01 8.42314612e-03 -2.70151311e-03 4.62969246e+01] [-8.42271510e-03 9.99964514e-01 1.70887653e-04 -2.63386797e+00] [ 2.70285665e-03 -1.48126892e-04 9.99996336e-01 -6.42831909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.410371743 meters 0.03386646548328358 Centerline is valid? [True, True] Translation: X:46.33, Y:-2.64, Z:-0.64 [[ 9.99928928e-01 1.16093821e-02 -2.71313182e-03 4.63256944e+01] [-1.16089596e-02 9.99932599e-01 1.71418370e-04 -2.63800780e+00] [ 2.71493901e-03 -1.39909549e-04 9.99996305e-01 -6.44592331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440371743 meters 0.028591423688131244 Centerline is valid? [True, True] Translation: X:46.36, Y:-2.63, Z:-0.64 [[ 9.99818066e-01 1.89445271e-02 -2.22255396e-03 4.63560907e+01] [-1.89442617e-02 9.99820532e-01 1.40389935e-04 -2.62946449e+00] [ 2.22481470e-03 -9.82597495e-05 9.99997520e-01 -6.42804374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470371743 meters 0.027039820617619843 Centerline is valid? [True, True] Translation: X:46.39, Y:-2.63, Z:-0.64 [[ 9.99746260e-01 2.24468544e-02 -1.88527374e-03 4.63859510e+01] [-2.24466701e-02 9.99748035e-01 1.18838949e-04 -2.62765360e+00] [ 1.88746627e-03 -7.64906771e-05 9.99998216e-01 -6.42472632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500371743 meters 0.026519286220892915 Centerline is valid? [True, True] Translation: X:46.41, Y:-2.63, Z:-0.64 [[ 9.99658489e-01 2.60794337e-02 -1.66363223e-03 4.64149505e+01] [-2.60792955e-02 9.99659872e-01 1.04753864e-04 -2.62742400e+00] [ 1.66579830e-03 -6.13317326e-05 9.99998611e-01 -6.42711217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530371743 meters 0.025260885263264525 Centerline is valid? [True, True] Translation: X:46.44, Y:-2.63, Z:-0.64 [[ 9.99431304e-01 3.37056101e-02 -1.00045676e-03 4.64440665e+01] [-3.37055640e-02 9.99431804e-01 6.29721580e-05 -2.62568021e+00] [ 1.00201082e-03 -2.92153865e-05 9.99999498e-01 -6.43336441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.560371743 meters 0.023320481256513707 Centerline is valid? [True, True] Translation: X:46.47, Y:-2.62, Z:-0.64 [[ 9.99310795e-01 3.71140591e-02 -6.93815025e-04 4.64735324e+01] [-3.71140400e-02 9.99311036e-01 4.04312485e-05 -2.62223849e+00] [ 6.94837579e-04 -1.46531045e-05 9.99999758e-01 -6.41775578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590371743 meters 0.023105219492334635 Centerline is valid? [True, True] Translation: X:46.50, Y:-2.62, Z:-0.64 [[ 9.99205118e-01 3.98583466e-02 -6.66496049e-04 4.65011885e+01] [-3.98583283e-02 9.99205340e-01 4.06841574e-05 -2.62280666e+00] [ 6.67588014e-04 -1.40864000e-05 9.99999777e-01 -6.42168340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620371743 meters 0.022182266086798397 Centerline is valid? [True, True] Translation: X:46.53, Y:-2.62, Z:-0.64 [[ 9.99018560e-01 4.42906948e-02 5.00771785e-04 4.65301751e+01] [-4.42906841e-02 9.99018686e-01 -3.24701323e-05 -2.62209684e+00] [-5.01718496e-04 1.02587399e-05 9.99999874e-01 -6.41512134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.650371743 meters 0.022392292156599644 Centerline is valid? [True, True] Translation: X:46.56, Y:-2.62, Z:-0.64 [[ 9.98954863e-01 4.56990593e-02 8.81910158e-04 4.65586001e+01] [-4.56990274e-02 9.98955252e-01 -5.63564242e-05 -2.62374328e+00] [-8.83564220e-04 1.59950875e-05 9.99999610e-01 -6.41504840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680371743 meters 0.021937555195995953 Centerline is valid? [True, True] Translation: X:46.59, Y:-2.63, Z:-0.64 [[ 9.98908073e-01 4.67125627e-02 7.73108943e-04 4.65872973e+01] [-4.67125384e-02 9.98908372e-01 -4.94667899e-05 -2.62559992e+00] [-7.74575716e-04 1.32988947e-05 9.99999700e-01 -6.41613501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710371743 meters 0.02243037352417523 Centerline is valid? [True, True] Translation: X:46.61, Y:-2.63, Z:-0.64 [[ 9.98892526e-01 4.70497916e-02 1.96040155e-04 4.66144686e+01] [-4.70497898e-02 9.98892545e-01 -1.39838029e-05 -2.62966188e+00] [-1.96480985e-04 4.74466810e-06 9.99999981e-01 -6.43448143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.740371743 meters 0.022525999751705116 Centerline is valid? [True, True] Translation: X:46.64, Y:-2.63, Z:-0.64 [[ 9.98945318e-01 4.59156266e-02 8.61199827e-05 4.66427700e+01] [-4.59156260e-02 9.98945321e-01 -8.74186930e-06 -2.63289752e+00] [-8.64305423e-05 4.77839649e-06 9.99999996e-01 -6.44342691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.770371743 meters 0.022626905508653122 Centerline is valid? [True, True] Translation: X:46.67, Y:-2.64, Z:-0.64 [[ 9.99075413e-01 4.29919957e-02 8.04712425e-05 4.66716084e+01] [-4.29919954e-02 9.99075417e-01 -5.99925622e-06 -2.63887827e+00] [-8.06547601e-05 2.53409011e-06 9.99999997e-01 -6.44804485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800371743 meters 0.023186566043757746 Centerline is valid? [True, True] Translation: X:46.70, Y:-2.64, Z:-0.65 [[ 9.99183298e-01 4.04033816e-02 -5.50639223e-04 4.67001058e+01] [-4.04033694e-02 9.99183450e-01 3.32722270e-05 -2.64395010e+00] [ 5.51533909e-04 -1.09973736e-05 9.99999848e-01 -6.45643209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830371743 meters 0.02349567285760857 Centerline is valid? [True, True] Translation: X:46.73, Y:-2.65, Z:-0.65 [[ 9.99274588e-01 3.80823990e-02 1.68387573e-04 4.67286260e+01] [-3.80823976e-02 9.99274602e-01 -1.14563744e-05 -2.64861772e+00] [-1.68701712e-04 5.03546135e-06 9.99999986e-01 -6.45844599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860371743 meters 0.0240346482353321 Centerline is valid? [True, True] Translation: X:46.76, Y:-2.65, Z:-0.65 [[ 9.99377388e-01 3.52813011e-02 2.56298337e-04 4.67556249e+01] [-3.52812976e-02 9.99377421e-01 -1.79765416e-05 -2.65400578e+00] [-2.56773006e-04 8.92281133e-06 9.99999967e-01 -6.46553413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.890371743 meters 0.02472242877318539 Centerline is valid? [True, True] Translation: X:46.79, Y:-2.66, Z:-0.65 [[ 9.99569087e-01 2.93441118e-02 7.50416360e-04 4.67855156e+01] [-2.93440850e-02 9.99569369e-01 -4.67531667e-05 -2.66213602e+00] [-7.51465137e-04 2.47127388e-05 9.99999717e-01 -6.46049797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920371743000004 meters 0.02531549362299909 Centerline is valid? [True, True] Translation: X:46.81, Y:-2.67, Z:-0.65 [[ 9.99653250e-01 2.63034763e-02 1.22769790e-03 4.68142451e+01] [-2.63034019e-02 9.99654003e-01 -7.67684885e-05 -2.66745634e+00] [-1.22929239e-03 4.44492379e-05 9.99999243e-01 -6.46035530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950371743 meters 0.02662830579983468 Centerline is valid? [True, True] Translation: X:46.84, Y:-2.67, Z:-0.65 [[ 9.99727035e-01 2.33152473e-02 1.50146218e-03 4.68419956e+01] [-2.33151326e-02 9.99728161e-01 -9.38547645e-05 -2.67443241e+00] [-1.50324227e-03 5.88223556e-05 9.99998868e-01 -6.46425383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980371743 meters 0.02662830579983468 Centerline is valid? [True, True] Translation: X:46.87, Y:-2.68, Z:-0.65 [[ 9.99729491e-01 2.32097188e-02 1.50144227e-03 4.68694244e+01] [-2.32096035e-02 9.99730616e-01 -9.41778646e-05 -2.67603720e+00] [-1.50322365e-03 5.93045089e-05 9.99998868e-01 -6.46811657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010371743 meters 0.027827143333877157 Centerline is valid? [True, True] Translation: X:46.90, Y:-2.68, Z:-0.65 [[ 9.99842406e-01 1.76283172e-02 2.09899252e-03 4.68990877e+01] [-1.76280835e-02 9.99844605e-01 -1.29794877e-04 -2.68445419e+00] [-2.10095442e-03 9.27732068e-05 9.99997789e-01 -6.46565574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040371743 meters 0.028951867818486566 Centerline is valid? [True, True] Translation: X:46.93, Y:-2.69, Z:-0.65 [[ 9.99886965e-01 1.48826945e-02 2.13583052e-03 4.69283087e+01] [-1.48824459e-02 9.99889242e-01 -1.32240498e-04 -2.68967128e+00] [-2.13756206e-03 1.00439168e-04 9.99997710e-01 -6.46972661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.070371743 meters 0.030920835233504758 Centerline is valid? [True, True] Translation: X:46.96, Y:-2.70, Z:-0.65 [[ 9.99949991e-01 9.82111699e-03 1.88722564e-03 4.69582799e+01] [-9.82091456e-03 9.99951767e-01 -1.16497776e-04 -2.69903842e+00] [-1.88827876e-03 9.79576678e-05 9.99998212e-01 -6.47694915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100371743000004 meters 0.03196369101148194 Centerline is valid? [True, True] Translation: X:46.99, Y:-2.70, Z:-0.65 [[ 9.99970823e-01 7.46454346e-03 1.62316972e-03 4.69873629e+01] [-7.46438970e-03 9.99972136e-01 -1.00765163e-04 -2.70399994e+00] [-1.62387665e-03 8.86462520e-05 9.99998678e-01 -6.48395137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.130371743 meters 0.03264555066082997 Centerline is valid? [True, True] Translation: X:47.02, Y:-2.71, Z:-0.65 [[ 9.99985347e-01 5.29408531e-03 1.13058078e-03 4.70170685e+01] [-5.29400940e-03 9.99985984e-01 -7.01227195e-05 -2.70886364e+00] [-1.13093617e-03 6.41363867e-05 9.99999358e-01 -6.49206434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160371743 meters 0.032985682472482646 Centerline is valid? [True, True] Translation: X:47.05, Y:-2.71, Z:-0.65 [[ 9.99993964e-01 3.41621344e-03 6.33736164e-04 4.70465147e+01] [-3.41618909e-03 9.99994164e-01 -3.95031563e-05 -2.71286228e+00] [-6.33867417e-04 3.73379552e-05 9.99999798e-01 -6.50151964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.190371743 meters 0.03685073052847093 Centerline is valid? [True, True] Translation: X:47.07, Y:-2.72, Z:-0.65 [[ 9.99998681e-01 8.81681677e-04 -1.36384446e-03 4.70749441e+01] [-8.81568740e-04 9.99999608e-01 8.34069458e-05 -2.72221968e+00] [ 1.36391746e-03 -8.22045131e-05 9.99999066e-01 -6.53107800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220371743 meters 0.03713521822326184 Centerline is valid? [True, True] Translation: X:47.10, Y:-2.73, Z:-0.65 [[ 9.99997987e-01 -7.59601643e-04 -1.85733362e-03 4.71045963e+01] [ 7.59814149e-04 9.99999705e-01 1.13711173e-04 -2.72617706e+00] [ 1.85724670e-03 -1.15122173e-04 9.99998269e-01 -6.53980996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.250371743 meters 0.035361292741694 Centerline is valid? [True, True] Translation: X:47.14, Y:-2.73, Z:-0.65 [[ 9.99993421e-01 -2.02860211e-03 -3.00706839e-03 4.71350460e+01] [ 2.02916720e-03 9.99997924e-01 1.84880913e-04 -2.72722752e+00] [ 3.00668709e-03 -1.90981541e-04 9.99995462e-01 -6.54769186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280371743 meters 0.038833542732345315 Centerline is valid? [True, True] Translation: X:47.16, Y:-2.73, Z:-0.66 [[ 9.99991310e-01 -2.04795546e-03 -3.63111560e-03 4.71643856e+01] [ 2.04877843e-03 9.99997876e-01 2.22938288e-04 -2.73439239e+00] [ 3.63065132e-03 -2.30375702e-04 9.99993383e-01 -6.56742566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.310371743 meters 0.036376896549087614 Centerline is valid? [True, True] Translation: X:47.19, Y:-2.73, Z:-0.66 [[ 9.99992509e-01 -1.45371560e-03 -3.58735136e-03 4.71945365e+01] [ 1.45451371e-03 9.99998918e-01 2.19880829e-04 -2.73277991e+00] [ 3.58702783e-03 -2.25097034e-04 9.99993541e-01 -6.55951573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340371743 meters 0.03545782183176372 Centerline is valid? [True, True] Translation: X:47.22, Y:-2.73, Z:-0.65 [[ 9.99994963e-01 4.31326987e-04 -3.14460982e-03 4.72248342e+01] [-4.30722600e-04 9.99999889e-01 1.92872251e-04 -2.73252754e+00] [ 3.14469266e-03 -1.91516825e-04 9.99995037e-01 -6.54986188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.370371743 meters 0.03503333930372065 Centerline is valid? [True, True] Translation: X:47.25, Y:-2.73, Z:-0.65 [[ 9.99995963e-01 1.53475586e-03 -2.39120792e-03 4.72541323e+01] [-1.53441799e-03 9.99998813e-01 1.43125631e-04 -2.73378094e+00] [ 2.39142475e-03 -1.39455941e-04 9.99997131e-01 -6.54719132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400371743 meters 0.03794650301492196 Centerline is valid? [True, True] Translation: X:47.28, Y:-2.74, Z:-0.65 [[ 9.99986474e-01 5.20062092e-03 -7.57708492e-05 4.72830251e+01] [-5.20062061e-03 9.99986477e-01 4.33965483e-06 -2.73956745e+00] [ 7.57923934e-05 -3.94554069e-06 9.99999997e-01 -6.54226187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.430371743 meters 0.03448365659988531 Centerline is valid? [True, True] Translation: X:47.31, Y:-2.74, Z:-0.65 [[ 9.99974934e-01 7.02836108e-03 8.56146427e-04 4.73132468e+01] [-7.02831862e-03 9.99975300e-01 -5.25889073e-05 -2.73585924e+00] [-8.56494893e-04 4.65703193e-05 9.99999632e-01 -6.52502590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460371743 meters 0.03394767718689044 Centerline is valid? [True, True] Translation: X:47.34, Y:-2.74, Z:-0.65 [[ 9.99955712e-01 9.19191764e-03 2.02073044e-03 4.73419736e+01] [-9.19168544e-03 9.99957748e-01 -1.24169236e-04 -2.73676103e+00] [-2.02178641e-03 1.05589819e-04 9.99997951e-01 -6.51838290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.490371743 meters 0.03354740358658387 Centerline is valid? [True, True] Translation: X:47.37, Y:-2.74, Z:-0.65 [[ 9.99928196e-01 1.16709881e-02 2.71879643e-03 4.73713083e+01] [-1.16705784e-02 9.99931883e-01 -1.66486853e-04 -2.73802133e+00] [-2.72055430e-03 1.34744971e-04 9.99996290e-01 -6.51600311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520371743 meters 0.028050718840442326 Centerline is valid? [True, True] Translation: X:47.40, Y:-2.73, Z:-0.65 [[ 9.99851765e-01 1.68963449e-02 3.31082853e-03 4.74021075e+01] [-1.68957677e-02 9.99857236e-01 -2.02210572e-04 -2.73102161e+00] [-3.31377248e-03 1.46241607e-04 9.99994499e-01 -6.49744297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550371743 meters 0.02770803108353706 Centerline is valid? [True, True] Translation: X:47.43, Y:-2.73, Z:-0.65 [[ 9.99798917e-01 1.98477947e-02 2.86200432e-03 4.74307149e+01] [-1.98473740e-02 9.99803006e-01 -1.75338244e-04 -2.73232650e+00] [-2.86492060e-03 1.18499717e-04 9.99995889e-01 -6.49970002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580371743 meters 0.028649144926092548 Centerline is valid? [True, True] Translation: X:47.46, Y:-2.74, Z:-0.65 [[ 9.99694834e-01 2.46778748e-02 1.11441307e-03 4.74593805e+01] [-2.46778138e-02 9.99695454e-01 -6.84363652e-05 -2.73620051e+00] [-1.11576255e-03 4.09142024e-05 9.99999377e-01 -6.53261573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.610371743 meters 0.024757741623372548 Centerline is valid? [True, True] Translation: X:47.49, Y:-2.73, Z:-0.65 [[ 9.99642624e-01 2.67324721e-02 -1.30994981e-07 4.74883276e+01] [-2.67324721e-02 9.99642624e-01 -9.90128501e-07 -2.73028266e+00] [ 1.04479544e-07 9.93276473e-07 1.00000000e+00 -6.52515851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640371743 meters 0.02492152894282324 Centerline is valid? [True, True] Translation: X:47.52, Y:-2.73, Z:-0.65 [[ 9.99599005e-01 2.82953277e-02 -1.09732490e-03 4.75163693e+01] [-2.82952728e-02 9.99599606e-01 6.54922346e-05 -2.73267141e+00] [ 1.09873866e-03 -3.44168652e-05 9.99999396e-01 -6.54304338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.670371743000004 meters 0.022908916814513635 Centerline is valid? [True, True] Translation: X:47.55, Y:-2.73, Z:-0.65 [[ 9.99520400e-01 3.09086849e-02 -1.90355561e-03 4.75450193e+01] [-3.09085226e-02 9.99522211e-01 1.14603163e-04 -2.73159837e+00] [ 1.90618834e-03 -5.57121076e-05 9.99998182e-01 -6.54717752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700371743 meters 0.023427173091446468 Centerline is valid? [True, True] Translation: X:47.57, Y:-2.73, Z:-0.66 [[ 9.99496970e-01 3.16591423e-02 -1.87228403e-03 4.75727921e+01] [-3.16589875e-02 9.99498722e-01 1.12290321e-04 -2.73476537e+00] [ 1.87490051e-03 -5.29592186e-05 9.99998241e-01 -6.55805485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.730371743 meters 0.023131054747365275 Centerline is valid? [True, True] Translation: X:47.60, Y:-2.74, Z:-0.66 [[ 9.99483717e-01 3.20995845e-02 -1.38398704e-03 4.76011368e+01] [-3.20995006e-02 9.99484675e-01 8.28352008e-05 -2.73606143e+00] [ 1.38593281e-03 -3.83671417e-05 9.99999039e-01 -6.55395350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760371743 meters 0.023365092708526946 Centerline is valid? [True, True] Translation: X:47.63, Y:-2.74, Z:-0.66 [[ 9.99473495e-01 3.24329142e-02 -9.15807986e-04 4.76292091e+01] [-3.24328781e-02 9.99473914e-01 5.41503900e-05 -2.73900549e+00] [ 9.17082447e-04 -2.44195908e-05 9.99999579e-01 -6.55191958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790371743 meters 0.022947203968319455 Centerline is valid? [True, True] Translation: X:47.66, Y:-2.74, Z:-0.65 [[ 9.99460312e-01 3.28132971e-02 1.54008317e-03 4.76575181e+01] [-3.28131911e-02 9.99461498e-01 -9.40391204e-05 -2.74167054e+00] [-1.54233957e-03 4.34533252e-05 9.99998810e-01 -6.53412535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820371743 meters 0.0226979923232574 Centerline is valid? [True, True] Translation: X:47.69, Y:-2.74, Z:-0.65 [[ 9.99461112e-01 3.27382566e-02 2.38588273e-03 4.76858517e+01] [-3.27380037e-02 9.99463957e-01 -1.44989408e-04 -2.74375468e+00] [-2.38935049e-03 6.68022377e-05 9.99997143e-01 -6.52592160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850371743000004 meters 0.022401576129494248 Centerline is valid? [True, True] Translation: X:47.71, Y:-2.75, Z:-0.65 [[ 9.99524081e-01 3.06463713e-02 3.52298118e-03 4.77142149e+01] [-3.06458094e-02 9.99530284e-01 -2.13373149e-04 -2.74820351e+00] [-3.52786549e-03 1.05306991e-04 9.99993772e-01 -6.51334555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.880371743 meters 0.022759233709707553 Centerline is valid? [True, True] Translation: X:47.74, Y:-2.75, Z:-0.65 [[ 9.99575356e-01 2.89749921e-02 3.09146851e-03 4.77423458e+01] [-2.89745511e-02 9.99580132e-01 -1.87333595e-04 -2.75214157e+00] [-3.09559849e-03 9.76801327e-05 9.99995204e-01 -6.52078624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.910371743 meters 0.023785385508252505 Centerline is valid? [True, True] Translation: X:47.77, Y:-2.76, Z:-0.65 [[ 9.99642585e-01 2.65945084e-02 2.72642819e-03 4.77700830e+01] [-2.65941569e-02 9.99646299e-01 -1.65106366e-04 -2.75720525e+00] [-2.72985478e-03 9.25402952e-05 9.99996270e-01 -6.53215416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940371743 meters 0.02610383633078995 Centerline is valid? [True, True] Translation: X:47.80, Y:-2.77, Z:-0.66 [[ 9.99779665e-01 2.09289326e-02 1.61270406e-03 4.77988326e+01] [-2.09288028e-02 9.99780964e-01 -9.73537866e-05 -2.76735879e+00] [-1.61438833e-03 6.35803710e-05 9.99998695e-01 -6.56426255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.970371743 meters 0.026029141993976542 Centerline is valid? [True, True] Translation: X:47.83, Y:-2.77, Z:-0.66 [[ 9.99844203e-01 1.76396904e-02 6.41310447e-04 4.78277346e+01] [-1.76396686e-02 9.99844408e-01 -3.95102736e-05 -2.77101391e+00] [-6.41907614e-04 2.81916142e-05 9.99999794e-01 -6.57564427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000371743 meters 0.028766314965528835 Centerline is valid? [True, True] Translation: X:47.86, Y:-2.78, Z:-0.66 [[ 9.99897062e-01 1.43479865e-02 3.54493398e-05 4.78558481e+01] [-1.43479864e-02 9.99897062e-01 -2.87998065e-06 -2.77898411e+00] [-3.54870127e-05 2.37105755e-06 9.99999999e-01 -6.59901965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030371743 meters 0.03156946980552794 Centerline is valid? [True, True] Translation: X:47.88, Y:-2.79, Z:-0.66 [[ 9.99962305e-01 8.68241256e-03 7.05848480e-05 4.78846677e+01] [-8.68241229e-03 9.99962307e-01 -4.19308350e-06 -2.78868754e+00] [-7.06185935e-05 3.58007869e-06 9.99999998e-01 -6.61443110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.060371743 meters 0.028276412938098794 Centerline is valid? [True, True] Translation: X:47.91, Y:-2.79, Z:-0.66 [[ 9.99980491e-01 6.23508461e-03 3.76756524e-04 4.79148110e+01] [-6.23507636e-03 9.99980561e-01 -2.30849396e-05 -2.78631878e+00] [-3.76893137e-04 2.07353835e-05 9.99999929e-01 -6.59620466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090371743 meters 0.02961709297171359 Centerline is valid? [True, True] Translation: X:47.94, Y:-2.79, Z:-0.66 [[ 9.99991985e-01 3.89695698e-03 9.18905220e-04 4.79433345e+01] [-3.89690739e-03 9.99992405e-01 -5.57581412e-05 -2.79097546e+00] [-9.19115529e-04 5.21768057e-05 9.99999576e-01 -6.59477577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120371743 meters 0.033172243704976116 Centerline is valid? [True, True] Translation: X:47.97, Y:-2.80, Z:-0.66 [[ 9.99994286e-01 1.21918198e-03 3.15297860e-03 4.79723613e+01] [-1.21859255e-03 9.99999240e-01 -1.88858492e-04 -2.79955180e+00] [-3.15320646e-03 1.85015217e-04 9.99995012e-01 -6.58453161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150371743 meters 0.032563230132512055 Centerline is valid? [True, True] Translation: X:48.00, Y:-2.80, Z:-0.66 [[ 9.99989981e-01 5.73819202e-04 4.43940167e-03 4.80039268e+01] [-5.72647444e-04 9.99999801e-01 -2.65211703e-04 -2.80118272e+00] [-4.43955297e-03 2.62666833e-04 9.99990111e-01 -6.57817548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180371743 meters 0.032081423322351886 Centerline is valid? [True, True] Translation: X:48.04, Y:-2.80, Z:-0.66 [[ 9.99984697e-01 -4.34084672e-05 5.53200068e-03 4.80360728e+01] [ 4.52289509e-05 9.99999945e-01 -3.28957648e-04 -2.80380729e+00] [-5.53198609e-03 3.29202821e-04 9.99984644e-01 -6.57168745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210371743 meters 0.03223091686566889 Centerline is valid? [True, True] Translation: X:48.07, Y:-2.81, Z:-0.66 [[ 9.99986247e-01 -8.99137373e-05 5.24387095e-03 4.80685610e+01] [ 9.15561328e-05 9.99999947e-01 -3.12963659e-04 -2.80614295e+00] [-5.24384253e-03 3.13439463e-04 9.99986202e-01 -6.57743072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.240371743 meters 0.03375963249737803 Centerline is valid? [True, True] Translation: X:48.10, Y:-2.81, Z:-0.66 [[ 9.99987901e-01 3.80783977e-04 4.90445075e-03 4.80993651e+01] [-3.79341956e-04 9.99999885e-01 -2.94949895e-04 -2.81028819e+00] [-4.90456250e-03 2.93085862e-04 9.99987930e-01 -6.58923961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270371743 meters 0.032943642100762754 Centerline is valid? [True, True] Translation: X:48.13, Y:-2.81, Z:-0.66 [[ 9.99994180e-01 4.83424799e-04 3.37722408e-03 4.81312528e+01] [-4.82740304e-04 9.99999863e-01 -2.03491909e-04 -2.81031579e+00] [-3.37732199e-03 2.01860402e-04 9.99994276e-01 -6.59897708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300371743 meters 0.03347269300119559 Centerline is valid? [True, True] Translation: X:48.16, Y:-2.81, Z:-0.66 [[ 9.99995187e-01 9.95804136e-04 2.93846522e-03 4.81624604e+01] [-9.95289640e-04 9.99999489e-01 -1.76546967e-04 -2.81301518e+00] [-2.93863953e-03 1.73621494e-04 9.99995667e-01 -6.60853872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.330371743 meters 0.032797650716223065 Centerline is valid? [True, True] Translation: X:48.19, Y:-2.81, Z:-0.66 [[ 9.99996226e-01 1.10064092e-03 2.51744974e-03 4.81940485e+01] [-1.10026089e-03 9.99999383e-01 -1.52339639e-04 -2.81416079e+00] [-2.51761586e-03 1.49569212e-04 9.99996820e-01 -6.61695326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360371743 meters 0.030926441447316065 Centerline is valid? [True, True] Translation: X:48.23, Y:-2.81, Z:-0.66 [[ 9.99996495e-01 1.42420388e-03 2.23199644e-03 4.82252397e+01] [-1.42390592e-03 9.99998977e-01 -1.35078631e-04 -2.81344215e+00] [-2.23218654e-03 1.31900005e-04 9.99997500e-01 -6.61895160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390371743 meters 0.031159375888500453 Centerline is valid? [True, True] Translation: X:48.26, Y:-2.82, Z:-0.66 [[ 9.99997460e-01 1.67968958e-03 1.50291004e-03 4.82562271e+01] [-1.67955494e-03 9.99998585e-01 -9.08433229e-05 -2.81503784e+00] [-1.50306050e-03 8.83188721e-05 9.99998867e-01 -6.62939611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420371743000004 meters 0.02981678369859147 Centerline is valid? [True, True] Translation: X:48.29, Y:-2.81, Z:-0.66 [[ 9.99994473e-01 3.14171083e-03 1.08806992e-03 4.82872635e+01] [-3.14164098e-03 9.99995063e-01 -6.59003399e-05 -2.81337855e+00] [-1.08827159e-03 6.24816506e-05 9.99999406e-01 -6.62703699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.450371743 meters 0.030166477417106177 Centerline is valid? [True, True] Translation: X:48.32, Y:-2.82, Z:-0.66 [[ 9.99989584e-01 4.30334619e-03 1.52095511e-03 4.83169180e+01] [-4.30321015e-03 9.99990737e-01 -9.27083221e-05 -2.81500523e+00] [-1.52133998e-03 8.61623670e-05 9.99998839e-01 -6.63067857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480371743 meters 0.0312880208314394 Centerline is valid? [True, True] Translation: X:48.35, Y:-2.82, Z:-0.66 [[ 9.99983584e-01 5.48610606e-03 1.65373264e-03 4.83462456e+01] [-5.48594692e-03 9.99984947e-01 -1.00746745e-04 -2.81753425e+00] [-1.65426046e-03 9.16728013e-05 9.99998628e-01 -6.64036496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510371743 meters 0.031197283567340195 Centerline is valid? [True, True] Translation: X:48.38, Y:-2.82, Z:-0.66 [[ 9.99970867e-01 7.50446251e-03 1.39584451e-03 4.83759687e+01] [-7.50435189e-03 9.99971838e-01 -8.44723180e-05 -2.81848565e+00] [-1.39643912e-03 7.39949486e-05 9.99999022e-01 -6.64243877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540371743 meters 0.03011596946973813 Centerline is valid? [True, True] Translation: X:48.41, Y:-2.82, Z:-0.66 [[ 9.99928317e-01 1.18576821e-02 1.66001840e-03 4.84051001e+01] [-1.18575303e-02 9.99929692e-01 -1.01274414e-04 -2.81653461e+00] [-1.66110256e-03 8.15834358e-05 9.99998617e-01 -6.64368981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.570371743 meters 0.026769325764978327 Centerline is valid? [True, True] Translation: X:48.43, Y:-2.81, Z:-0.66 [[ 9.99900633e-01 1.39970552e-02 1.67557459e-03 4.84344035e+01] [-1.39969027e-02 9.99902033e-01 -1.02724123e-04 -2.81141141e+00] [-1.67684828e-03 7.92610606e-05 9.99998591e-01 -6.62979237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600371743000004 meters 0.026648880689535658 Centerline is valid? [True, True] Translation: X:48.46, Y:-2.81, Z:-0.66 [[ 9.99837214e-01 1.78046011e-02 2.92253658e-03 4.84630552e+01] [-1.78041577e-02 9.99841478e-01 -1.77673388e-04 -2.81065494e+00] [-2.92523670e-03 1.25611163e-04 9.99995714e-01 -6.62803195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.630371743 meters 0.02673544174922707 Centerline is valid? [True, True] Translation: X:48.49, Y:-2.81, Z:-0.66 [[ 9.99811007e-01 1.91745363e-02 3.20728040e-03 4.84907519e+01] [-1.91740076e-02 9.99816143e-01 -1.95535225e-04 -2.81145794e+00] [-3.21044002e-03 1.34001851e-04 9.99994838e-01 -6.63242835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660371743 meters 0.026085840242671375 Centerline is valid? [True, True] Translation: X:48.52, Y:-2.81, Z:-0.66 [[ 9.99782461e-01 2.06038572e-02 3.24204897e-03 4.85193193e+01] [-2.06033261e-02 9.99787710e-01 -1.97160553e-04 -2.81051021e+00] [-3.24542298e-03 1.30320671e-04 9.99994725e-01 -6.63466657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.690371743 meters 0.025417650042352573 Centerline is valid? [True, True] Translation: X:48.55, Y:-2.81, Z:-0.66 [[ 9.99783578e-01 2.05942576e-02 2.94523307e-03 4.85473713e+01] [-2.05938183e-02 9.99787909e-01 -1.79406249e-04 -2.81040563e+00] [-2.94830315e-03 1.18713827e-04 9.99995647e-01 -6.63825097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720371743 meters 0.02608066765567333 Centerline is valid? [True, True] Translation: X:48.57, Y:-2.81, Z:-0.66 [[ 9.99793119e-01 2.01464568e-02 2.79995279e-03 4.85747948e+01] [-2.01460593e-02 9.99797033e-01 -1.70117073e-04 -2.81309429e+00] [-2.80281175e-03 1.13673864e-04 9.99996066e-01 -6.64714788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750371743 meters 0.024731282090583097 Centerline is valid? [True, True] Translation: X:48.60, Y:-2.81, Z:-0.66 [[ 9.99816040e-01 1.89836586e-02 2.74002634e-03 4.86033725e+01] [-1.89832746e-02 9.99819788e-01 -1.66080382e-04 -2.81198302e+00] [-2.74268537e-03 1.14035157e-04 9.99996232e-01 -6.64320871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780371743 meters 0.025999190280482226 Centerline is valid? [True, True] Translation: X:48.63, Y:-2.82, Z:-0.66 [[ 9.99841193e-01 1.75789024e-02 2.92760038e-03 4.86311298e+01] [-1.75784579e-02 9.99845471e-01 -1.77483258e-04 -2.81599142e+00] [-2.93026794e-03 1.25992372e-04 9.99995699e-01 -6.64995752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.810371743 meters 0.026836311105376973 Centerline is valid? [True, True] Translation: X:48.66, Y:-2.82, Z:-0.67 [[ 9.99897778e-01 1.40343935e-02 2.73301032e-03 4.86608430e+01] [-1.40339955e-02 9.99901505e-01 -1.64750974e-04 -2.81898143e+00] [-2.73505331e-03 1.26379078e-04 9.99996252e-01 -6.65783188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840371743 meters 0.02873152876041424 Centerline is valid? [True, True] Translation: X:48.69, Y:-2.82, Z:-0.67 [[ 9.99918796e-01 1.26365484e-02 1.64893366e-03 4.86898142e+01] [-1.26364010e-02 9.99920153e-01 -9.97665809e-05 -2.82237815e+00] [-1.65006270e-03 7.89218926e-05 9.99998636e-01 -6.66748056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870371743 meters 0.02873152876041424 Centerline is valid? [True, True] Translation: X:48.72, Y:-2.82, Z:-0.67 [[ 9.99919706e-01 1.25643099e-02 1.64892568e-03 4.87181037e+01] [-1.25641622e-02 9.99921063e-01 -9.98999553e-05 -2.82401758e+00] [-1.65005069e-03 7.91745643e-05 9.99998636e-01 -6.67146312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900371743 meters 0.03028047967886809 Centerline is valid? [True, True] Translation: X:48.75, Y:-2.83, Z:-0.67 [[ 9.99964555e-01 8.20250572e-03 1.89921670e-03 4.87471013e+01] [-8.20230333e-03 9.99966354e-01 -1.14329252e-04 -2.82922982e+00] [-1.90009058e-03 9.87472477e-05 9.99998190e-01 -6.68085366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.930371743 meters 0.02835864913182251 Centerline is valid? [True, True] Translation: X:48.78, Y:-2.83, Z:-0.67 [[ 9.99976803e-01 6.54215912e-03 1.89542765e-03 4.87770973e+01] [-6.54195467e-03 9.99978595e-01 -1.14045810e-04 -2.82797711e+00] [-1.89613318e-03 1.01643363e-04 9.99998197e-01 -6.67595360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960371743 meters 0.029718190853065263 Centerline is valid? [True, True] Translation: X:48.81, Y:-2.83, Z:-0.67 [[ 9.99982917e-01 5.40848841e-03 2.21657826e-03 4.88058895e+01] [-5.40820875e-03 9.99985367e-01 -1.32140981e-04 -2.83148344e+00] [-2.21726051e-03 1.20151006e-04 9.99997535e-01 -6.67968461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.990371743 meters 0.03195796370167519 Centerline is valid? [True, True] Translation: X:48.83, Y:-2.84, Z:-0.67 [[ 9.99987294e-01 3.83981045e-03 3.26620432e-03 4.88349016e+01] [-3.83919069e-03 9.99992611e-01 -1.95997990e-04 -2.83611740e+00] [-3.26693278e-03 1.83455918e-04 9.99994647e-01 -6.67895355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020371743 meters 0.031115035173407708 Centerline is valid? [True, True] Translation: X:48.87, Y:-2.84, Z:-0.67 [[ 9.99987969e-01 3.40442236e-03 3.53153089e-03 4.88656714e+01] [-3.40369608e-03 9.99994185e-01 -2.11645060e-04 -2.83639796e+00] [-3.53223088e-03 1.99622256e-04 9.99993742e-01 -6.67935587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050371743 meters 0.03148319807662172 Centerline is valid? [True, True] Translation: X:48.90, Y:-2.84, Z:-0.67 [[ 9.99986240e-01 3.74301002e-03 3.67559918e-03 4.88958270e+01] [-3.74222556e-03 9.99992974e-01 -2.20279090e-04 -2.83741884e+00] [-3.67639786e-03 2.06521138e-04 9.99993221e-01 -6.68383298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080371743 meters 0.032573329365968455 Centerline is valid? [True, True] Translation: X:48.93, Y:-2.84, Z:-0.67 [[ 9.99981353e-01 4.78771506e-03 3.79088360e-03 4.89256445e+01] [-4.78688809e-03 9.99988517e-01 -2.27188098e-04 -2.84064794e+00] [-3.79192778e-03 2.09037326e-04 9.99992789e-01 -6.69263435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110371743 meters 0.031132136491339075 Centerline is valid? [True, True] Translation: X:48.96, Y:-2.84, Z:-0.67 [[ 9.99980160e-01 4.75818633e-03 4.12797691e-03 4.89559894e+01] [-4.75720550e-03 9.99988654e-01 -2.47390140e-04 -2.84003024e+00] [-4.12910720e-03 2.27747597e-04 9.99991449e-01 -6.69383256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140371743 meters 0.030961065852293128 Centerline is valid? [True, True] Translation: X:48.99, Y:-2.84, Z:-0.67 [[ 9.99971738e-01 6.33894381e-03 4.04245352e-03 4.89866341e+01] [-6.33801681e-03 9.99979885e-01 -2.42086461e-04 -2.84069470e+00] [-4.04390678e-03 2.16458481e-04 9.99991800e-01 -6.69861642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170371743000004 meters 0.029328195497598637 Centerline is valid? [True, True] Translation: X:49.02, Y:-2.84, Z:-0.67 [[ 9.99970082e-01 7.02517892e-03 3.23774130e-03 4.90170150e+01] [-7.02458719e-03 9.99975308e-01 -1.94096069e-04 -2.83846081e+00] [-3.23902492e-03 1.71346466e-04 9.99994740e-01 -6.69714378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200371743 meters 0.02938995656909764 Centerline is valid? [True, True] Translation: X:49.05, Y:-2.84, Z:-0.67 [[ 9.99951194e-01 9.41909696e-03 2.98174385e-03 4.90461570e+01] [-9.41860452e-03 9.99955628e-01 -1.79148526e-04 -2.83919527e+00] [-2.98329896e-03 1.51055917e-04 9.99995539e-01 -6.70378120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230371743 meters 0.02885696337078964 Centerline is valid? [True, True] Translation: X:49.08, Y:-2.84, Z:-0.67 [[ 9.99941253e-01 1.04944112e-02 2.71269700e-03 4.90753209e+01] [-1.04940066e-02 9.99944923e-01 -1.63334100e-04 -2.83934596e+00] [-2.71426169e-03 1.34857444e-04 9.99996307e-01 -6.71093621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260371743 meters 0.027893595632878618 Centerline is valid? [True, True] Translation: X:49.10, Y:-2.84, Z:-0.67 [[ 9.99930202e-01 1.15204823e-02 2.62097565e-03 4.91038842e+01] [-1.15201085e-02 9.99933629e-01 -1.57666485e-04 -2.83912077e+00] [-2.62261809e-03 1.27461557e-04 9.99996553e-01 -6.71316661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290371743 meters 0.028955810636827315 Centerline is valid? [True, True] Translation: X:49.13, Y:-2.84, Z:-0.67 [[ 9.99914661e-01 1.26881790e-02 3.11147279e-03 4.91316199e+01] [-1.26876587e-02 9.99919491e-01 -1.86912314e-04 -2.84276290e+00] [-3.11359386e-03 1.47419059e-04 9.99995142e-01 -6.72028729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320371743 meters 0.0289236552508015 Centerline is valid? [True, True] Translation: X:49.16, Y:-2.84, Z:-0.67 [[ 9.99877364e-01 1.50659863e-02 4.27477788e-03 4.91601338e+01] [-1.50650317e-02 9.99886483e-01 -2.55414808e-04 -2.84403676e+00] [-4.27814070e-03 1.90983821e-04 9.99990830e-01 -6.71853217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.350371743000004 meters 0.028072404206169792 Centerline is valid? [True, True] Translation: X:49.19, Y:-2.84, Z:-0.67 [[ 9.99850714e-01 1.66943899e-02 4.45500247e-03 4.91889169e+01] [-1.66933683e-02 9.99860621e-01 -2.66406943e-04 -2.84386050e+00] [-4.45882904e-03 1.91998175e-04 9.99990041e-01 -6.71306118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.380371743 meters 0.026198191867061404 Centerline is valid? [True, True] Translation: X:49.22, Y:-2.84, Z:-0.67 [[ 9.99791735e-01 1.98165509e-02 4.87762161e-03 4.92188270e+01] [-1.98153670e-02 9.99803614e-01 -2.90937493e-04 -2.84091968e+00] [-4.88242909e-03 1.94225039e-04 9.99988062e-01 -6.70314383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410371743 meters 0.026151450834205985 Centerline is valid? [True, True] Translation: X:49.25, Y:-2.84, Z:-0.67 [[ 9.99770912e-01 2.07888826e-02 5.09370475e-03 4.92471313e+01] [-2.07876035e-02 9.99783868e-01 -3.03934595e-04 -2.84229571e+00] [-5.09892230e-03 1.97979053e-04 9.99986981e-01 -6.70535079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440371743 meters 0.027253562527680412 Centerline is valid? [True, True] Translation: X:49.27, Y:-2.85, Z:-0.67 [[ 9.99762640e-01 2.12350993e-02 4.87181230e-03 4.92744920e+01] [-2.12339352e-02 9.99774492e-01 -2.90548302e-04 -2.84556559e+00] [-4.87688349e-03 1.87031590e-04 9.99988090e-01 -6.71933583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470371743 meters 0.026149384892070082 Centerline is valid? [True, True] Translation: X:49.30, Y:-2.85, Z:-0.67 [[ 9.99755544e-01 2.16329771e-02 4.56788509e-03 4.93034271e+01] [-2.16319601e-02 9.99765965e-01 -2.71937334e-04 -2.84560693e+00] [-4.57269885e-03 1.73058549e-04 9.99989530e-01 -6.72431915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500371743 meters 0.02430690048358452 Centerline is valid? [True, True] Translation: X:49.33, Y:-2.84, Z:-0.67 [[ 9.99759813e-01 2.14507619e-02 4.49233414e-03 4.93318915e+01] [-2.14497777e-02 9.99769891e-01 -2.67169613e-04 -2.84470650e+00] [-4.49703141e-03 1.70745874e-04 9.99989874e-01 -6.72075596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.530371743 meters 0.02495553474843871 Centerline is valid? [True, True] Translation: X:49.36, Y:-2.85, Z:-0.67 [[ 9.99772123e-01 2.07824202e-02 4.87772401e-03 4.93609564e+01] [-2.07812541e-02 9.99784004e-01 -2.89647344e-04 -2.84746919e+00] [-4.88269001e-03 1.88216118e-04 9.99988062e-01 -6.72687261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.560371743 meters 0.02591540299673627 Centerline is valid? [True, True] Translation: X:49.39, Y:-2.85, Z:-0.67 [[ 9.99800510e-01 1.93713376e-02 4.86729052e-03 4.93883170e+01] [-1.93701607e-02 9.99812339e-01 -2.88838939e-04 -2.85155920e+00] [-4.87197231e-03 1.94501120e-04 9.99988113e-01 -6.72640515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.590371743 meters 0.026234883171365495 Centerline is valid? [True, True] Translation: X:49.42, Y:-2.85, Z:-0.67 [[ 9.99815607e-01 1.83991791e-02 5.49744782e-03 4.94172695e+01] [-1.83976674e-02 9.99830696e-01 -3.25423757e-04 -2.85449282e+00] [-5.50250461e-03 2.24223534e-04 9.99984836e-01 -6.72557135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620371743 meters 0.025390318334508923 Centerline is valid? [True, True] Translation: X:49.45, Y:-2.86, Z:-0.67 [[ 9.99831072e-01 1.73941857e-02 5.93878027e-03 4.94464856e+01] [-1.73924068e-02 9.99848679e-01 -3.51061326e-04 -2.85584067e+00] [-5.94398804e-03 2.47712339e-04 9.99982304e-01 -6.72213057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650371743 meters 0.02830400268267565 Centerline is valid? [True, True] Translation: X:49.47, Y:-2.86, Z:-0.67 [[ 9.99866234e-01 1.49446737e-02 6.64606315e-03 4.94743050e+01] [-1.49423983e-02 9.99888279e-01 -3.91892694e-04 -2.86432351e+00] [-6.65117735e-03 2.92532149e-04 9.99977838e-01 -6.72512038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680371743 meters 0.027041680616797643 Centerline is valid? [True, True] Translation: X:49.50, Y:-2.86, Z:-0.67 [[ 9.99884771e-01 1.36090326e-02 6.72592079e-03 4.95035271e+01] [-1.36066714e-02 9.99907346e-01 -3.96694332e-04 -2.86481060e+00] [-6.73069623e-03 3.05131227e-04 9.99977302e-01 -6.72466958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710371743 meters 0.0316049970772329 Centerline is valid? [True, True] Translation: X:49.53, Y:-2.88, Z:-0.67 [[ 9.99930413e-01 9.95315743e-03 6.33269485e-03 4.95318362e+01] [-9.95099624e-03 9.99950418e-01 -3.72692495e-04 -2.87556795e+00] [-6.33609033e-03 3.09649938e-04 9.99979879e-01 -6.74105011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.740371743 meters 0.029799093443454442 Centerline is valid? [True, True] Translation: X:49.56, Y:-2.88, Z:-0.67 [[ 9.99953684e-01 7.70889225e-03 5.76214855e-03 4.95618041e+01] [-7.70706401e-03 9.99970243e-01 -3.39422475e-04 -2.87582323e+00] [-5.76459365e-03 2.94997506e-04 9.99983341e-01 -6.74549487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770371743 meters 0.03227531824530682 Centerline is valid? [True, True] Translation: X:49.59, Y:-2.88, Z:-0.68 [[ 9.99969219e-01 5.63487569e-03 5.45972387e-03 4.95912253e+01] [-5.63320479e-03 9.99984082e-01 -3.21371558e-04 -2.88258333e+00] [-5.46144785e-03 2.90605923e-04 9.99985044e-01 -6.75682688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800371743 meters 0.030527326460678288 Centerline is valid? [True, True] Translation: X:49.62, Y:-2.88, Z:-0.68 [[ 9.99987333e-01 1.44703991e-03 4.82070205e-03 4.96223767e+01] [-1.44568971e-03 9.99998915e-01 -2.83557052e-04 -2.88330505e+00] [-4.82110713e-03 2.76584221e-04 9.99988340e-01 -6.75900646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.830371743 meters 0.03786061000388857 Centerline is valid? [True, True] Translation: X:49.65, Y:-2.90, Z:-0.68 [[ 9.99989734e-01 -2.21454228e-04 4.52585179e-03 4.96528785e+01] [ 2.22652555e-04 9.99999940e-01 -2.64271589e-04 -2.89692403e+00] [-4.52579300e-03 2.65276568e-04 9.99989723e-01 -6.78289126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860371743 meters 0.03380579641707749 Centerline is valid? [True, True] Translation: X:49.69, Y:-2.89, Z:-0.68 [[ 9.99989580e-01 -1.88819558e-03 4.15627744e-03 4.96855505e+01] [ 1.88923018e-03 9.99998185e-01 -2.45013021e-04 -2.89363030e+00] [-4.15580727e-03 2.52862633e-04 9.99991333e-01 -6.77928198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.890371743 meters 0.036097042189218595 Centerline is valid? [True, True] Translation: X:49.72, Y:-2.90, Z:-0.68 [[ 9.99987375e-01 -2.72579635e-03 4.22134246e-03 4.97162161e+01] [ 2.72686586e-03 9.99996251e-01 -2.47621969e-04 -2.89923813e+00] [-4.22065167e-03 2.59129877e-04 9.99991059e-01 -6.79016535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920371743000004 meters 0.03667493764540544 Centerline is valid? [True, True] Translation: X:49.75, Y:-2.90, Z:-0.68 [[ 9.99983815e-01 -4.17101379e-03 3.86952748e-03 4.97483547e+01] [ 4.17193184e-03 9.99991271e-01 -2.29210742e-04 -2.90254078e+00] [-3.86853766e-03 2.45350437e-04 9.99992487e-01 -6.79524519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.950371743 meters 0.0367205697925808 Centerline is valid? [True, True] Translation: X:49.78, Y:-2.90, Z:-0.68 [[ 9.99984581e-01 -3.99413692e-03 3.85807468e-03 4.97802347e+01] [ 3.99504927e-03 9.99991994e-01 -2.28802217e-04 -2.90488677e+00] [-3.85712992e-03 2.44211888e-04 9.99992531e-01 -6.80059326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980371743 meters 0.03555067404339911 Centerline is valid? [True, True] Translation: X:49.81, Y:-2.91, Z:-0.68 [[ 9.99985399e-01 -3.70680006e-03 3.93200773e-03 4.98128685e+01] [ 3.70774662e-03 9.99993099e-01 -2.33472017e-04 -2.90508022e+00] [-3.93111516e-03 2.48047496e-04 9.99992242e-01 -6.80363368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010371743 meters 0.033002655142290914 Centerline is valid? [True, True] Translation: X:49.84, Y:-2.90, Z:-0.68 [[ 9.99985431e-01 -1.58583676e-03 5.15979111e-03 4.98445957e+01] [ 1.58744368e-03 9.99998693e-01 -3.07350816e-04 -2.90229054e+00] [-5.15929695e-03 3.15537216e-04 9.99986641e-01 -6.79647846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040371743 meters 0.03787424610923356 Centerline is valid? [True, True] Translation: X:49.87, Y:-2.91, Z:-0.68 [[ 9.99984575e-01 -3.06005206e-05 5.55426028e-03 4.98744140e+01] [ 3.24408235e-05 9.99999945e-01 -3.31241988e-04 -2.91020611e+00] [-5.55424984e-03 3.31417063e-04 9.99984520e-01 -6.80684612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070371743 meters 0.03167852292197823 Centerline is valid? [True, True] Translation: X:49.91, Y:-2.90, Z:-0.68 [[ 9.99975369e-01 4.26875478e-03 5.57121522e-03 4.99053864e+01] [-4.26696879e-03 9.99990841e-01 -3.32421395e-04 -2.90085672e+00] [-5.57258322e-03 3.08641006e-04 9.99984425e-01 -6.80162294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100371743000004 meters 0.031182106793854143 Centerline is valid? [True, True] Translation: X:49.94, Y:-2.90, Z:-0.68 [[ 9.99961928e-01 6.81648858e-03 5.44775051e-03 4.99369512e+01] [-6.81481950e-03 9.99976726e-01 -3.24884715e-04 -2.90063969e+00] [-5.44983829e-03 2.87746910e-04 9.99985108e-01 -6.81003970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.130371743 meters 0.029444986175550244 Centerline is valid? [True, True] Translation: X:49.97, Y:-2.90, Z:-0.68 [[ 9.99945776e-01 9.04879251e-03 5.15401000e-03 4.99682235e+01] [-9.04732655e-03 9.99959025e-01 -3.07676856e-04 -2.89857281e+00] [-5.15658292e-03 2.61030161e-04 9.99986671e-01 -6.81497806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160371743 meters 0.02713652157398462 Centerline is valid? [True, True] Translation: X:50.00, Y:-2.89, Z:-0.68 [[ 9.99911887e-01 1.19691325e-02 5.74091066e-03 4.99988663e+01] [-1.19673592e-02 9.99928330e-01 -3.43140150e-04 -2.89426170e+00] [-5.74460630e-03 2.74406375e-04 9.99983462e-01 -6.81204263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190371743 meters 0.030001989012440427 Centerline is valid? [True, True] Translation: X:50.03, Y:-2.90, Z:-0.68 [[ 9.99895505e-01 1.31058637e-02 6.10039243e-03 5.00274747e+01] [-1.31038815e-02 9.99914074e-01 -3.64784084e-04 -2.89966722e+00] [-6.10464906e-03 2.84807146e-04 9.99981326e-01 -6.82002387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220371743 meters 0.030200167311678693 Centerline is valid? [True, True] Translation: X:50.06, Y:-2.90, Z:-0.68 [[ 9.99885238e-01 1.36931970e-02 6.48124482e-03 5.00562517e+01] [-1.36909746e-02 9.99906199e-01 -3.87137012e-04 -2.90065631e+00] [-6.48593802e-03 2.98358025e-04 9.99978922e-01 -6.82496422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250371743 meters 0.028462306560931072 Centerline is valid? [True, True] Translation: X:50.09, Y:-2.90, Z:-0.68 [[ 9.99877636e-01 1.42569682e-02 6.43826016e-03 5.00853393e+01] [-1.42547881e-02 9.99898321e-01 -3.84387327e-04 -2.89913267e+00] [-6.44308572e-03 2.92564258e-04 9.99979200e-01 -6.82627590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280371743 meters 0.028797753780291015 Centerline is valid? [True, True] Translation: X:50.11, Y:-2.90, Z:-0.68 [[ 9.99879767e-01 1.46650182e-02 5.03868912e-03 5.01135842e+01] [-1.46636880e-02 9.99892437e-01 -3.00839755e-04 -2.89983354e+00] [-5.04255896e-03 2.26917819e-04 9.99987260e-01 -6.84384143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.310371743 meters 0.028396618199947585 Centerline is valid? [True, True] Translation: X:50.14, Y:-2.90, Z:-0.69 [[ 9.99883566e-01 1.45836380e-02 4.49125523e-03 5.01422885e+01] [-1.45825822e-02 9.99893633e-01 -2.67736850e-04 -2.90012633e+00] [-4.49468209e-03 2.02211577e-04 9.99989878e-01 -6.85109615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340371743 meters 0.026898359174263687 Centerline is valid? [True, True] Translation: X:50.17, Y:-2.90, Z:-0.69 [[ 9.99892495e-01 1.42095783e-02 3.61751491e-03 5.01716607e+01] [-1.42088911e-02 9.99899025e-01 -2.15612147e-04 -2.89825943e+00] [-3.62021339e-03 1.64188093e-04 9.99993434e-01 -6.85102003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370371743 meters 0.02614878586658975 Centerline is valid? [True, True] Translation: X:50.20, Y:-2.90, Z:-0.69 [[ 9.99906848e-01 1.31322916e-02 3.72003064e-03 5.02006457e+01] [-1.31315585e-02 9.99913753e-01 -2.21442932e-04 -2.89722240e+00] [-3.72261785e-03 1.72572505e-04 9.99993056e-01 -6.85117640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400371743 meters 0.030421669724077557 Centerline is valid? [True, True] Translation: X:50.23, Y:-2.90, Z:-0.69 [[ 9.99917130e-01 1.22219214e-02 4.04435164e-03 5.02279281e+01] [-1.22210482e-02 9.99925291e-01 -2.40537961e-04 -2.90482936e+00] [-4.04698933e-03 1.91091811e-04 9.99991793e-01 -6.86653427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.430371743 meters 0.03101656031392298 Centerline is valid? [True, True] Translation: X:50.26, Y:-2.91, Z:-0.69 [[ 9.99930038e-01 1.10022793e-02 4.34374997e-03 5.02569734e+01] [-1.10012645e-02 9.99939451e-01 -2.57436213e-04 -2.90753261e+00] [-4.34631934e-03 2.09631459e-04 9.99990533e-01 -6.86920161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460371743 meters 0.028908264331397655 Centerline is valid? [True, True] Translation: X:50.29, Y:-2.91, Z:-0.69 [[ 9.99947051e-01 9.34589168e-03 4.30682024e-03 5.02870553e+01] [-9.34488014e-03 9.99956303e-01 -2.54935392e-04 -2.90550537e+00] [-4.30901464e-03 2.14675175e-04 9.99990693e-01 -6.86547986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.490371743 meters 0.029869545487842455 Centerline is valid? [True, True] Translation: X:50.32, Y:-2.91, Z:-0.69 [[ 9.99968146e-01 6.66144901e-03 4.39675079e-03 5.03167595e+01] [-6.66036963e-03 9.99977786e-01 -2.60092576e-04 -2.90725694e+00] [-4.39838571e-03 2.30800305e-04 9.99990300e-01 -6.86725486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520371743 meters 0.034663355552649544 Centerline is valid? [True, True] Translation: X:50.35, Y:-2.92, Z:-0.69 [[ 9.99970144e-01 5.99833737e-03 4.87153719e-03 5.03458492e+01] [-5.99700753e-03 9.99981976e-01 -2.87543052e-04 -2.91535451e+00] [-4.87317417e-03 2.58319822e-04 9.99988093e-01 -6.88086322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550371743 meters 0.031831590936008736 Centerline is valid? [True, True] Translation: X:50.38, Y:-2.91, Z:-0.69 [[ 9.99974569e-01 4.29086960e-03 5.69654191e-03 5.03763305e+01] [-4.28902188e-03 9.99990745e-01 -3.36534217e-04 -2.91032319e+00] [-5.69793322e-03 3.12093066e-04 9.99983718e-01 -6.86309756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580371743 meters 0.03260237925020569 Centerline is valid? [True, True] Translation: X:50.41, Y:-2.91, Z:-0.69 [[ 9.99974592e-01 3.47551476e-03 6.22377987e-03 5.04072397e+01] [-3.47329681e-03 9.99993901e-01 -3.67141399e-04 -2.91251048e+00] [-6.22501791e-03 3.45515036e-04 9.99980565e-01 -6.86400058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.610371743 meters 0.03359193827949249 Centerline is valid? [True, True] Translation: X:50.44, Y:-2.92, Z:-0.69 [[ 9.99976902e-01 2.76577526e-03 6.20859485e-03 5.04384655e+01] [-2.76356234e-03 9.99996115e-01 -3.64978171e-04 -2.91530870e+00] [-6.20958017e-03 3.47811902e-04 9.99980660e-01 -6.86694257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640371743 meters 0.03241118902774231 Centerline is valid? [True, True] Translation: X:50.47, Y:-2.91, Z:-0.69 [[ 9.99984554e-01 3.99320560e-04 5.54360801e-03 5.04694836e+01] [-3.97505310e-04 9.99999867e-01 -3.28547195e-04 -2.91466649e+00] [-5.54373847e-03 3.26338507e-04 9.99984580e-01 -6.87673727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.670371743 meters 0.033630436152573474 Centerline is valid? [True, True] Translation: X:50.50, Y:-2.92, Z:-0.69 [[ 9.99988123e-01 -7.26782912e-04 4.81929891e-03 5.05018561e+01] [ 7.28165733e-04 9.99999694e-01 -2.85185462e-04 -2.91790894e+00] [-4.81909017e-03 2.88691323e-04 9.99988346e-01 -6.89178983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700371743 meters 0.034378059668527354 Centerline is valid? [True, True] Translation: X:50.53, Y:-2.92, Z:-0.69 [[ 9.99988569e-01 -1.90876596e-03 4.38378172e-03 5.05340485e+01] [ 1.90992242e-03 9.99998142e-01 -2.59633353e-04 -2.92003950e+00] [-4.38327799e-03 2.68003068e-04 9.99990357e-01 -6.89979777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.730371743 meters 0.035693051327026756 Centerline is valid? [True, True] Translation: X:50.57, Y:-2.92, Z:-0.69 [[ 9.99988596e-01 -2.87070289e-03 3.81656177e-03 5.05653464e+01] [ 2.87158084e-03 9.99995852e-01 -2.24575035e-04 -2.92258559e+00] [-3.81590125e-03 2.35532040e-04 9.99992692e-01 -6.91055295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760371743 meters 0.037402961101079206 Centerline is valid? [True, True] Translation: X:50.60, Y:-2.93, Z:-0.69 [[ 9.99988878e-01 -3.79014710e-03 2.80706005e-03 5.05964549e+01] [ 3.79062854e-03 9.99992802e-01 -1.66210862e-04 -2.92513988e+00] [-2.80640988e-03 1.76849536e-04 9.99996046e-01 -6.92070318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.790371743 meters 0.03645418848242173 Centerline is valid? [True, True] Translation: X:50.63, Y:-2.92, Z:-0.69 [[ 9.99987886e-01 -4.09291908e-03 2.73433039e-03 5.06286762e+01] [ 4.09337925e-03 9.99991609e-01 -1.62716733e-04 -2.92449211e+00] [-2.73364146e-03 1.73907413e-04 9.99996248e-01 -6.92274685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820371743 meters 0.03645418848242173 Centerline is valid? [True, True] Translation: X:50.66, Y:-2.93, Z:-0.69 [[ 9.99988171e-01 -4.02272728e-03 2.73431908e-03 5.06603741e+01] [ 4.02318770e-03 9.99991894e-01 -1.62906029e-04 -2.92645351e+00] [-2.73364159e-03 1.73904781e-04 9.99996248e-01 -6.92720411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850371743000004 meters 0.0385884901885457 Centerline is valid? [True, True] Translation: X:50.69, Y:-2.93, Z:-0.69 [[ 9.99988333e-01 -3.97819732e-03 2.74020505e-03 5.06915004e+01] [ 3.97865878e-03 9.99992072e-01 -1.62974680e-04 -2.93036253e+00] [-2.73953498e-03 1.73875120e-04 9.99996232e-01 -6.93090213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.880371743 meters 0.03339360741003582 Centerline is valid? [True, True] Translation: X:50.72, Y:-2.92, Z:-0.69 [[ 9.99990489e-01 -3.16775904e-03 2.99773901e-03 5.07246173e+01] [ 3.16831048e-03 9.99994965e-01 -1.79221872e-04 -2.92190565e+00] [-2.99715619e-03 1.88717936e-04 9.99995491e-01 -6.91035457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.910371743 meters 0.032898683034063944 Centerline is valid? [True, True] Translation: X:50.76, Y:-2.92, Z:-0.69 [[ 9.99992331e-01 -2.34766546e-03 3.13468554e-03 5.07569079e+01] [ 2.34826527e-03 9.99997225e-01 -1.87680462e-04 -2.92165393e+00] [-3.13423623e-03 1.95040096e-04 9.99995069e-01 -6.91244420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940371743 meters 0.0388241845348206 Centerline is valid? [True, True] Translation: X:50.79, Y:-2.93, Z:-0.69 [[ 9.99992638e-01 -1.40987797e-03 3.56884932e-03 5.07877598e+01] [ 1.41065162e-03 9.99998982e-01 -2.14269159e-04 -2.93094566e+00] [-3.56854359e-03 2.19301984e-04 9.99993609e-01 -6.92934281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970371743 meters 0.033543931682455216 Centerline is valid? [True, True] Translation: X:50.82, Y:-2.92, Z:-0.69 [[ 9.99994088e-01 4.78346043e-04 3.40509610e-03 5.08196442e+01] [-4.77651493e-04 9.99999865e-01 -2.04783866e-04 -2.92217582e+00] [-3.40519360e-03 2.03156207e-04 9.99994182e-01 -6.92163356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000371743 meters 0.033587095566218556 Centerline is valid? [True, True] Translation: X:50.85, Y:-2.92, Z:-0.69 [[ 9.99992406e-01 2.16975936e-03 3.23716170e-03 5.08510457e+01] [-2.16914016e-03 9.99997628e-01 -1.94777687e-04 -2.92255176e+00] [-3.23757664e-03 1.87754351e-04 9.99994741e-01 -6.92892059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030371743 meters 0.030966352841216755 Centerline is valid? [True, True] Translation: X:50.88, Y:-2.92, Z:-0.69 [[ 9.99981032e-01 5.56889210e-03 2.63114053e-03 5.08822039e+01] [-5.56849424e-03 9.99984483e-01 -1.58512441e-04 -2.91645221e+00] [-2.63198244e-03 1.43857944e-04 9.99996526e-01 -6.92630992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.060371743 meters 0.029581417948138625 Centerline is valid? [True, True] Translation: X:50.91, Y:-2.91, Z:-0.69 [[ 9.99971727e-01 7.20286602e-03 2.15963104e-03 5.09120625e+01] [-7.20260039e-03 9.99974052e-01 -1.30746212e-04 -2.91406856e+00] [-2.16051675e-03 1.15187556e-04 9.99997659e-01 -6.92923406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090371743 meters 0.02967684021449653 Centerline is valid? [True, True] Translation: X:50.94, Y:-2.91, Z:-0.69 [[ 9.99957375e-01 8.98652185e-03 2.11933227e-03 5.09408260e+01] [-8.98627059e-03 9.99959614e-01 -1.28046786e-04 -2.91446573e+00] [-2.12039737e-03 1.08996434e-04 9.99997746e-01 -6.93757009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120371743 meters 0.030260724319274967 Centerline is valid? [True, True] Translation: X:50.97, Y:-2.92, Z:-0.69 [[ 9.99942010e-01 1.06714805e-02 1.44796065e-03 5.09689499e+01] [-1.06713639e-02 9.99943055e-01 -8.81872720e-05 -2.91541600e+00] [-1.44881928e-03 7.27304430e-05 9.99998948e-01 -6.94985722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150371743 meters 0.0313657436857101 Centerline is valid? [True, True] Translation: X:51.00, Y:-2.92, Z:-0.70 [[ 9.99904593e-01 1.37595912e-02 1.21596004e-03 5.09979556e+01] [-1.37595117e-02 9.99905331e-01 -7.36625066e-05 -2.91571412e+00] [-1.21685849e-03 5.69244623e-05 9.99999258e-01 -6.96353887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180371743 meters 0.03145486213779084 Centerline is valid? [True, True] Translation: X:51.03, Y:-2.92, Z:-0.70 [[ 9.99879990e-01 1.53712964e-02 1.93103379e-03 5.10265824e+01] [-1.53710990e-02 9.99881851e-01 -1.17012497e-04 -2.91544815e+00] [-1.93260427e-03 8.73163425e-05 9.99998129e-01 -6.96651623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210371743 meters 0.0270915712535065 Centerline is valid? [True, True] Translation: X:51.06, Y:-2.91, Z:-0.69 [[ 9.99817007e-01 1.89051504e-02 2.92360703e-03 5.10573290e+01] [-1.89047157e-02 9.99821274e-01 -1.76231872e-04 -2.90756627e+00] [-2.92641619e-03 1.20929663e-04 9.99995711e-01 -6.94345969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.240371743 meters 0.026955755920958235 Centerline is valid? [True, True] Translation: X:51.09, Y:-2.91, Z:-0.69 [[ 9.99785219e-01 2.03488545e-02 3.92934803e-03 5.10867640e+01] [-2.03480792e-02 9.99792928e-01 -2.37204944e-04 -2.90746579e+00] [-3.93336122e-03 1.57199312e-04 9.99992252e-01 -6.94670897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270371743 meters 0.025956375473651982 Centerline is valid? [True, True] Translation: X:51.12, Y:-2.91, Z:-0.69 [[ 9.99730584e-01 2.27768867e-02 4.46911372e-03 5.11160474e+01] [-2.27759140e-02 9.99740559e-01 -2.68426904e-04 -2.90551467e+00] [-4.47406818e-03 1.66566436e-04 9.99989977e-01 -6.94889277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300371743 meters 0.025254119159052603 Centerline is valid? [True, True] Translation: X:51.15, Y:-2.90, Z:-0.69 [[ 9.99708290e-01 2.37706227e-02 4.27698875e-03 5.11451977e+01] [-2.37697409e-02 9.99717427e-01 -2.56874844e-04 -2.90487836e+00] [-4.28188626e-03 1.55136996e-04 9.99990821e-01 -6.94925346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330371743 meters 0.025734457040601906 Centerline is valid? [True, True] Translation: X:51.17, Y:-2.91, Z:-0.70 [[ 9.99694314e-01 2.43778970e-02 4.12273328e-03 5.11731805e+01] [-2.43770832e-02 9.99702804e-01 -2.47520906e-04 -2.90645483e+00] [-4.12754206e-03 1.46945030e-04 9.99991471e-01 -6.95702136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360371743 meters 0.024940489091714337 Centerline is valid? [True, True] Translation: X:51.20, Y:-2.91, Z:-0.70 [[ 9.99668308e-01 2.53967508e-02 4.27536126e-03 5.12025794e+01] [-2.53958883e-02 9.99677440e-01 -2.55912883e-04 -2.90508662e+00] [-4.28048155e-03 1.47251402e-04 9.99990828e-01 -6.95583841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390371743 meters 0.024717936083827854 Centerline is valid? [True, True] Translation: X:51.23, Y:-2.91, Z:-0.70 [[ 9.99665327e-01 2.54891964e-02 4.41992226e-03 5.12317340e+01] [-2.54882759e-02 9.99675086e-01 -2.64477346e-04 -2.90600768e+00] [-4.42522748e-03 1.51732634e-04 9.99990197e-01 -6.95987078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.420371743 meters 0.025199668020634294 Centerline is valid? [True, True] Translation: X:51.26, Y:-2.91, Z:-0.70 [[ 9.99671060e-01 2.53116495e-02 4.13433271e-03 5.12597204e+01] [-2.53108428e-02 9.99679599e-01 -2.47327674e-04 -2.90835634e+00] [-4.13926834e-03 1.42602872e-04 9.99991423e-01 -6.97218862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.450371743 meters 0.025304261793576296 Centerline is valid? [True, True] Translation: X:51.29, Y:-2.91, Z:-0.70 [[ 9.99684640e-01 2.48631259e-02 3.52789956e-03 5.12885665e+01] [-2.48625369e-02 9.99690857e-01 -2.10727651e-04 -2.90995774e+00] [-3.53204829e-03 1.22948663e-04 9.99993755e-01 -6.98189940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480371743 meters 0.025909848792294642 Centerline is valid? [True, True] Translation: X:51.32, Y:-2.91, Z:-0.70 [[ 9.99727832e-01 2.31490456e-02 2.89536749e-03 5.13172652e+01] [-2.31486418e-02 9.99732019e-01 -1.72914819e-04 -2.91343372e+00] [-2.89859440e-03 1.05843932e-04 9.99995793e-01 -6.99738912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510371743 meters 0.02686460556983619 Centerline is valid? [True, True] Translation: X:51.35, Y:-2.92, Z:-0.70 [[ 9.99758544e-01 2.17853238e-02 2.87296541e-03 5.13451676e+01] [-2.17849206e-02 9.99762666e-01 -1.71571095e-04 -2.91680168e+00] [-2.87602129e-03 1.08942344e-04 9.99995858e-01 -7.00530602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540371743 meters 0.02612546863355818 Centerline is valid? [True, True] Translation: X:51.37, Y:-2.92, Z:-0.70 [[ 9.99803778e-01 1.95359633e-02 3.27888459e-03 5.13742709e+01] [-1.95354281e-02 9.99809146e-01 -1.95179349e-04 -2.91825409e+00] [-3.28207181e-03 1.31086637e-04 9.99994605e-01 -7.00344652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570371743 meters 0.0277703689105927 Centerline is valid? [True, True] Translation: X:51.40, Y:-2.92, Z:-0.70 [[ 9.99828672e-01 1.82269214e-02 3.22597578e-03 5.14014379e+01] [-1.82263966e-02 9.99833867e-01 -1.92001002e-04 -2.92339998e+00] [-3.22893942e-03 1.33170193e-04 9.99994778e-01 -7.01264703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600371743000004 meters 0.02834613579775567 Centerline is valid? [True, True] Translation: X:51.43, Y:-2.93, Z:-0.70 [[ 9.99847126e-01 1.71361781e-02 3.47511076e-03 5.14297824e+01] [-1.71355647e-02 9.99853154e-01 -2.06206183e-04 -2.92676007e+00] [-3.47813404e-03 1.46626674e-04 9.99993941e-01 -7.01339616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.630371743 meters 0.029386545527681548 Centerline is valid? [True, True] Translation: X:51.46, Y:-2.93, Z:-0.70 [[ 9.99895375e-01 1.40396500e-02 3.48251896e-03 5.14587843e+01] [-1.40390167e-02 9.99901427e-01 -2.06218005e-04 -2.93129516e+00] [-3.48507090e-03 1.57305288e-04 9.99993915e-01 -7.01147691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660371743 meters 0.0307167864322122 Centerline is valid? [True, True] Translation: X:51.49, Y:-2.94, Z:-0.70 [[ 9.99921971e-01 1.19985522e-02 3.47667693e-03 5.14868636e+01] [-1.19979105e-02 9.99928001e-01 -2.05351459e-04 -2.93586755e+00] [-3.47889053e-03 1.63622577e-04 9.99993935e-01 -7.01054820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690371743 meters 0.030120021635738892 Centerline is valid? [True, True] Translation: X:51.52, Y:-2.94, Z:-0.70 [[ 9.99942143e-01 1.00763636e-02 3.76535919e-03 5.15168247e+01] [-1.00755972e-02 9.99949215e-01 -2.22457467e-04 -2.93780429e+00] [-3.76740953e-03 1.84506354e-04 9.99992886e-01 -7.00679960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720371743 meters 0.033167252422782276 Centerline is valid? [True, True] Translation: X:51.54, Y:-2.95, Z:-0.70 [[ 9.99959872e-01 7.97832860e-03 4.07445798e-03 5.15444782e+01] [-7.97741316e-03 9.99968151e-01 -2.40880694e-04 -2.94527885e+00] [-4.07625004e-03 2.08367393e-04 9.99991670e-01 -7.01573494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750371743 meters 0.03196232720248783 Centerline is valid? [True, True] Translation: X:51.57, Y:-2.95, Z:-0.70 [[ 9.99977634e-01 5.19095510e-03 4.21733694e-03 5.15744538e+01] [-5.18995355e-03 9.99986501e-01 -2.48393318e-04 -2.94792161e+00] [-4.21856941e-03 2.26499980e-04 9.99991076e-01 -7.00718003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780371743 meters 0.032001744472559546 Centerline is valid? [True, True] Translation: X:51.61, Y:-2.95, Z:-0.70 [[ 9.99981944e-01 4.14710981e-03 4.34884751e-03 5.16051931e+01] [-4.14603550e-03 9.99991372e-01 -2.56019116e-04 -2.95055362e+00] [-4.34987173e-03 2.37984017e-04 9.99990511e-01 -7.01000814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.810371743 meters 0.03153564339544077 Centerline is valid? [True, True] Translation: X:51.64, Y:-2.95, Z:-0.70 [[ 9.99980383e-01 3.85884012e-03 4.93383468e-03 5.16351991e+01] [-3.85745385e-03 9.99992518e-01 -2.90457642e-04 -2.95256926e+00] [-4.93491859e-03 2.71419904e-04 9.99987786e-01 -7.00562910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840371743 meters 0.03375458111248389 Centerline is valid? [True, True] Translation: X:51.67, Y:-2.96, Z:-0.70 [[ 9.99979870e-01 4.35309285e-03 4.61634806e-03 5.16653246e+01] [-4.35188858e-03 9.99990494e-01 -2.70882293e-04 -2.95779443e+00] [-4.61748335e-03 2.50787008e-04 9.99989308e-01 -7.01829120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.870371743 meters 0.03187774752628046 Centerline is valid? [True, True] Translation: X:51.70, Y:-2.96, Z:-0.70 [[ 9.99977159e-01 5.12146196e-03 4.41050758e-03 5.16960878e+01] [-5.12036459e-03 9.99986857e-01 -2.60064072e-04 -2.95688244e+00] [-4.41178152e-03 2.37474725e-04 9.99990240e-01 -7.02327701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900371743 meters 0.03199958142574011 Centerline is valid? [True, True] Translation: X:51.73, Y:-2.96, Z:-0.70 [[ 9.99975215e-01 5.87393506e-03 3.88140885e-03 5.17255399e+01] [-5.87309014e-03 9.99982727e-01 -2.29045559e-04 -2.95917041e+00] [-3.88268721e-03 2.06244019e-04 9.99992441e-01 -7.03359874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.930371743 meters 0.030987943037324866 Centerline is valid? [True, True] Translation: X:51.76, Y:-2.96, Z:-0.70 [[ 9.99962229e-01 7.90897514e-03 3.60405889e-03 5.17558393e+01] [-7.90826001e-03 9.99968707e-01 -2.12631888e-04 -2.95944454e+00] [-3.60562781e-03 1.84122021e-04 9.99993483e-01 -7.04294993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960371743 meters 0.031130399947495172 Centerline is valid? [True, True] Translation: X:51.78, Y:-2.96, Z:-0.70 [[ 9.99953953e-01 9.03846952e-03 3.22464632e-03 5.17840563e+01] [-9.03790178e-03 9.99959139e-01 -1.90593268e-04 -2.96103199e+00] [-3.22623723e-03 1.61440455e-04 9.99994783e-01 -7.04978008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.990371743 meters 0.028610621919453846 Centerline is valid? [True, True] Translation: X:51.81, Y:-2.96, Z:-0.71 [[ 9.99915966e-01 1.27897690e-02 2.11726182e-03 5.18138248e+01] [-1.27895327e-02 9.99918203e-01 -1.25082094e-04 -2.95759351e+00] [-2.11868841e-03 9.79927937e-05 9.99997751e-01 -7.05051310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020371743 meters 0.029880934683122314 Centerline is valid? [True, True] Translation: X:51.84, Y:-2.96, Z:-0.71 [[ 9.99889732e-01 1.47491978e-02 1.72749113e-03 5.18413304e+01] [-1.47490423e-02 9.99891222e-01 -1.02683888e-04 -2.96067884e+00] [-1.72881772e-03 7.71937253e-05 9.99998503e-01 -7.06637817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050371743 meters 0.02629245217500553 Centerline is valid? [True, True] Translation: X:51.87, Y:-2.96, Z:-0.71 [[ 9.99850408e-01 1.72222434e-02 1.59861006e-03 5.18705764e+01] [-1.72221138e-02 9.99851684e-01 -9.48292223e-05 -2.95549598e+00] [-1.60000614e-03 6.72835922e-05 9.99998718e-01 -7.06056598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080371743 meters 0.028814431899797037 Centerline is valid? [True, True] Translation: X:51.90, Y:-2.96, Z:-0.71 [[ 9.99799333e-01 1.99844300e-02 1.38455777e-03 5.18981983e+01] [-1.99843347e-02 9.99800290e-01 -8.26437867e-05 -2.96087067e+00] [-1.38593285e-03 5.49577368e-05 9.99999038e-01 -7.08521474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110371743 meters 0.024851770253934136 Centerline is valid? [True, True] Translation: X:51.93, Y:-2.95, Z:-0.71 [[ 9.99684355e-01 2.50592941e-02 1.79494366e-03 5.19290592e+01] [-2.50591453e-02 9.99685965e-01 -1.05354088e-04 -2.95436556e+00] [-1.79702009e-03 6.03410795e-05 9.99998384e-01 -7.07121131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140371743 meters 0.02436167261799241 Centerline is valid? [True, True] Translation: X:51.96, Y:-2.95, Z:-0.71 [[ 9.99615399e-01 2.76279362e-02 2.39837754e-03 5.19575400e+01] [-2.76276767e-02 9.99618273e-01 -1.41260527e-04 -2.95472847e+00] [-2.40136476e-03 7.49445990e-05 9.99997114e-01 -7.07553649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.170371743 meters 0.024140716734944785 Centerline is valid? [True, True] Translation: X:51.99, Y:-2.96, Z:-0.71 [[ 9.99562132e-01 2.94593700e-02 2.77294284e-03 5.19869024e+01] [-2.94590317e-02 9.99565975e-01 -1.62770195e-04 -2.95533600e+00] [-2.77653442e-03 8.10107120e-05 9.99996142e-01 -7.07634747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200371743 meters 0.022955117536072586 Centerline is valid? [True, True] Translation: X:52.02, Y:-2.95, Z:-0.71 [[ 9.99488203e-01 3.18009245e-02 3.46901364e-03 5.20164406e+01] [-3.18004104e-02 9.99494218e-01 -2.03276363e-04 -2.95439237e+00] [-3.47372346e-03 9.28562687e-05 9.99993962e-01 -7.06522946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230371743 meters 0.022420265219804943 Centerline is valid? [True, True] Translation: X:52.05, Y:-2.96, Z:-0.71 [[ 9.99478871e-01 3.20267983e-02 4.03373062e-03 5.20454436e+01] [-3.20261056e-02 9.99487005e-01 -2.36218643e-04 -2.95525041e+00] [-4.03922667e-03 1.06910860e-04 9.99991837e-01 -7.06139617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260371743 meters 0.022304942756940047 Centerline is valid? [True, True] Translation: X:52.07, Y:-2.96, Z:-0.71 [[ 9.99474448e-01 3.20933351e-02 4.56579042e-03 5.20735220e+01] [-3.20924497e-02 9.99484869e-01 -2.67071829e-04 -2.95842383e+00] [-4.57200967e-03 1.20404069e-04 9.99989541e-01 -7.06673315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.290371743 meters 0.022737155406732733 Centerline is valid? [True, True] Translation: X:52.10, Y:-2.96, Z:-0.71 [[ 9.99494165e-01 3.14272572e-02 4.87258016e-03 5.21007763e+01] [-3.14262435e-02 9.99506033e-01 -2.84476911e-04 -2.96164449e+00] [-4.87911360e-03 1.31206121e-04 9.99988088e-01 -7.07534594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320371743 meters 0.022874552625706895 Centerline is valid? [True, True] Translation: X:52.13, Y:-2.97, Z:-0.71 [[ 9.99570605e-01 2.89246353e-02 4.68743237e-03 5.21288249e+01] [-2.89236715e-02 9.99581586e-01 -2.73306931e-04 -2.96616846e+00] [-4.69337638e-03 1.37611820e-04 9.99988977e-01 -7.08233811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350371743000004 meters 0.02400966705786708 Centerline is valid? [True, True] Translation: X:52.16, Y:-2.97, Z:-0.71 [[ 9.99630571e-01 2.67836592e-02 4.62127798e-03 5.21559580e+01] [-2.67827009e-02 9.99641243e-01 -2.69139859e-04 -2.97127757e+00] [-4.62682861e-03 1.45270125e-04 9.99989286e-01 -7.09510066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.380371743 meters 0.025026439850886605 Centerline is valid? [True, True] Translation: X:52.19, Y:-2.98, Z:-0.71 [[ 9.99739885e-01 2.24108992e-02 4.23258649e-03 5.21850360e+01] [-2.24100594e-02 9.99748833e-01 -2.45724060e-04 -2.97764088e+00] [-4.23703030e-03 1.50807628e-04 9.99991012e-01 -7.10560524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.410371743 meters 0.025773057850331235 Centerline is valid? [True, True] Translation: X:52.21, Y:-2.98, Z:-0.71 [[ 9.99791717e-01 2.00407584e-02 3.85879797e-03 5.22141922e+01] [-2.00400440e-02 9.99799153e-01 -2.23702871e-04 -2.98192721e+00] [-3.86250612e-03 1.46325796e-04 9.99992530e-01 -7.11147010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440371743 meters 0.026184218672956224 Centerline is valid? [True, True] Translation: X:52.24, Y:-2.99, Z:-0.71 [[ 9.99834309e-01 1.77544154e-02 4.01689334e-03 5.22440202e+01] [-1.77536235e-02 9.99842365e-01 -2.32709841e-04 -2.98527542e+00] [-4.02039176e-03 1.61356871e-04 9.99991905e-01 -7.11295605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470371743 meters 0.02704734741257515 Centerline is valid? [True, True] Translation: X:52.27, Y:-2.99, Z:-0.71 [[ 9.99896493e-01 1.36696099e-02 4.48838640e-03 5.22728357e+01] [-1.36685796e-02 9.99906547e-01 -2.60142760e-04 -2.99107575e+00] [-4.49152299e-03 1.98765967e-04 9.99989893e-01 -7.11172517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500371743 meters 0.02818336812882717 Centerline is valid? [True, True] Translation: X:52.30, Y:-3.00, Z:-0.71 [[ 9.99915327e-01 1.21238189e-02 4.72776787e-03 5.23013360e+01] [-1.21226612e-02 9.99926480e-01 -2.73466387e-04 -2.99558652e+00] [-4.73073575e-03 2.16130104e-04 9.99988787e-01 -7.11630404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530371743 meters 0.02768726286645053 Centerline is valid? [True, True] Translation: X:52.33, Y:-3.00, Z:-0.71 [[ 9.99931445e-01 1.07090817e-02 4.73509600e-03 5.23299556e+01] [-1.07079049e-02 9.99942631e-01 -2.73808321e-04 -2.99721388e+00] [-4.73775659e-03 2.23086592e-04 9.99988752e-01 -7.11276402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.560371743 meters 0.029165312806223326 Centerline is valid? [True, True] Translation: X:52.36, Y:-3.00, Z:-0.71 [[ 9.99942492e-01 9.35886892e-03 5.23681659e-03 5.23584972e+01] [-9.35741446e-03 9.99956173e-01 -3.02171651e-04 -3.00219341e+00] [-5.23941506e-03 2.53151211e-04 9.99986242e-01 -7.11122952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.590371743 meters 0.029186990039396125 Centerline is valid? [True, True] Translation: X:52.39, Y:-3.00, Z:-0.71 [[ 9.99941191e-01 9.32099090e-03 5.54382543e-03 5.23884474e+01] [-9.31936309e-03 9.99956523e-01 -3.19386497e-04 -3.00450108e+00] [-5.54656140e-03 2.67702792e-04 9.99984582e-01 -7.11452084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620371743 meters 0.029071576368753814 Centerline is valid? [True, True] Translation: X:52.42, Y:-3.01, Z:-0.71 [[ 9.99933598e-01 9.78621620e-03 6.08518909e-03 5.24183441e+01] [-9.78426515e-03 9.99952072e-01 -3.50310984e-04 -3.00674538e+00] [-6.08832566e-03 2.90748619e-04 9.99981424e-01 -7.11924211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650371743 meters 0.02789543875694291 Centerline is valid? [True, True] Translation: X:52.45, Y:-3.01, Z:-0.71 [[ 9.99914457e-01 1.15705734e-02 6.09929602e-03 5.24478328e+01] [-1.15686477e-02 9.99933019e-01 -3.50909969e-04 -3.00692115e+00] [-6.10294772e-03 2.80319344e-04 9.99981338e-01 -7.11614063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680371743 meters 0.027916717494496524 Centerline is valid? [True, True] Translation: X:52.48, Y:-3.01, Z:-0.71 [[ 9.99895280e-01 1.30602031e-02 6.23377425e-03 5.24766159e+01] [-1.30582211e-02 9.99914674e-01 -3.58548268e-04 -3.00910675e+00] [-6.23792505e-03 2.77108719e-04 9.99980506e-01 -7.12131546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710371743 meters 0.027916717494496524 Centerline is valid? [True, True] Translation: X:52.50, Y:-3.01, Z:-0.71 [[ 9.99896205e-01 1.29892082e-02 6.23378543e-03 5.25049024e+01] [-1.29872260e-02 9.99915598e-01 -3.58353789e-04 -3.01066929e+00] [-6.23791402e-03 2.77357013e-04 9.99980506e-01 -7.12529721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.740371743 meters 0.02721377316356147 Centerline is valid? [True, True] Translation: X:52.53, Y:-3.01, Z:-0.71 [[ 9.99845592e-01 1.63927769e-02 6.33002589e-03 5.25342387e+01] [-1.63908058e-02 9.99865596e-01 -3.63143733e-04 -3.01092963e+00] [-6.33512804e-03 2.59333436e-04 9.99979899e-01 -7.13208571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770371743 meters 0.027137700403892986 Centerline is valid? [True, True] Translation: X:52.56, Y:-3.01, Z:-0.71 [[ 9.99817279e-01 1.81701294e-02 5.93767682e-03 5.25631665e+01] [-1.81684258e-02 9.99834882e-01 -3.40735192e-04 -3.01172723e+00] [-5.94288761e-03 2.32794692e-04 9.99982314e-01 -7.13882907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800371743 meters 0.02516180945381989 Centerline is valid? [True, True] Translation: X:52.59, Y:-3.01, Z:-0.71 [[ 9.99785900e-01 2.00595184e-02 5.07640789e-03 5.25917870e+01] [-2.00582984e-02 9.99798770e-01 -2.91122736e-04 -3.00954864e+00] [-5.08122615e-03 1.89236303e-04 9.99987073e-01 -7.14141696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830371743 meters 0.025446700258536112 Centerline is valid? [True, True] Translation: X:52.62, Y:-3.01, Z:-0.72 [[ 9.99719890e-01 2.33467971e-02 3.88189396e-03 5.26196597e+01] [-2.33461075e-02 9.99727418e-01 -2.22849292e-04 -3.01204034e+00] [-3.88603864e-03 1.32159756e-04 9.99992441e-01 -7.16689888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860371743 meters 0.024939773111952286 Centerline is valid? [True, True] Translation: X:52.65, Y:-3.01, Z:-0.72 [[ 9.99676563e-01 2.52077051e-02 3.36778519e-03 5.26489800e+01] [-2.52071989e-02 9.99682230e-01 -1.92684265e-04 -3.01315957e+00] [-3.37157213e-03 1.07729513e-04 9.99994310e-01 -7.17953333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890371743 meters 0.024093177468961884 Centerline is valid? [True, True] Translation: X:52.68, Y:-3.01, Z:-0.72 [[ 9.99646709e-01 2.64283437e-02 2.82825417e-03 5.26780463e+01] [-2.64279911e-02 9.99650707e-01 -1.61988501e-04 -3.01325013e+00] [-2.83154737e-03 8.71861965e-05 9.99995987e-01 -7.18242425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.920371743 meters 0.023822469528810966 Centerline is valid? [True, True] Translation: X:52.71, Y:-3.01, Z:-0.72 [[ 9.99597277e-01 2.82586698e-02 2.59432304e-03 5.27068787e+01] [-2.82583795e-02 9.99600641e-01 -1.48486681e-04 -3.01413287e+00] [-2.59748301e-03 7.51155174e-05 9.99996624e-01 -7.18721112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950371743 meters 0.022727272284438736 Centerline is valid? [True, True] Translation: X:52.74, Y:-3.01, Z:-0.72 [[ 9.99471947e-01 3.23485921e-02 3.06522163e-03 5.27362373e+01] [-3.23482079e-02 9.99476644e-01 -1.74842350e-04 -3.01336628e+00] [-3.06927334e-03 7.55955968e-05 9.99995287e-01 -7.18516489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980371743 meters 0.02235778091764593 Centerline is valid? [True, True] Translation: X:52.77, Y:-3.01, Z:-0.72 [[ 9.99398846e-01 3.44850362e-02 3.56765451e-03 5.27650455e+01] [-3.44845298e-02 9.99405211e-01 -2.03383007e-04 -3.01419347e+00] [-3.57254618e-03 8.02318543e-05 9.99993615e-01 -7.18742874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.010371743 meters 0.021929513836996786 Centerline is valid? [True, True] Translation: X:52.79, Y:-3.01, Z:-0.72 [[ 9.99315640e-01 3.67224497e-02 4.43999908e-03 5.27939195e+01] [-3.67216898e-02 9.99325499e-01 -2.52565599e-04 -3.01468421e+00] [-4.44627913e-03 8.93484842e-05 9.99990111e-01 -7.18389522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040371743 meters 0.021508666662488015 Centerline is valid? [True, True] Translation: X:52.82, Y:-3.02, Z:-0.72 [[ 9.99168126e-01 4.03233740e-02 6.08950869e-03 5.28228448e+01] [-4.03220163e-02 9.99186677e-01 -3.45605928e-04 -3.01548617e+00] [-6.09849195e-03 9.97771579e-05 9.99981399e-01 -7.17628735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.070371743 meters 0.021287982541946658 Centerline is valid? [True, True] Translation: X:52.85, Y:-3.02, Z:-0.72 [[ 9.99124168e-01 4.13279090e-02 6.54991742e-03 5.28518268e+01] [-4.13263632e-02 9.99145632e-01 -3.71226317e-04 -3.01659998e+00] [-6.55966339e-03 1.00216919e-04 9.99978480e-01 -7.17317250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100371743000004 meters 0.021110261944049323 Centerline is valid? [True, True] Translation: X:52.88, Y:-3.02, Z:-0.72 [[ 9.99106929e-01 4.16220861e-02 7.27641910e-03 5.28792431e+01] [-4.16201900e-02 9.99133420e-01 -4.11884544e-04 -3.01976565e+00] [-7.28725699e-03 1.08670757e-04 9.99973442e-01 -7.17938973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.130371743 meters 0.02091777882194114 Centerline is valid? [True, True] Translation: X:52.91, Y:-3.02, Z:-0.72 [[ 9.99139177e-01 4.08052088e-02 7.47257938e-03 5.29082149e+01] [-4.08031922e-02 9.99167114e-01 -4.22185427e-04 -3.02306057e+00] [-7.48358294e-03 1.16916907e-04 9.99971991e-01 -7.18066664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160371743 meters 0.020848869976259805 Centerline is valid? [True, True] Translation: X:52.94, Y:-3.03, Z:-0.72 [[ 9.99172378e-01 4.00308855e-02 7.21721355e-03 5.29372702e+01] [-4.00289877e-02 9.99198436e-01 -4.07261484e-04 -3.02681916e+00] [-7.22773152e-03 1.18026672e-04 9.99973873e-01 -7.18884829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190371743 meters 0.02143756251487071 Centerline is valid? [True, True] Translation: X:52.96, Y:-3.03, Z:-0.72 [[ 9.99280336e-01 3.74352438e-02 6.11666093e-03 5.29648851e+01] [-3.74338331e-02 9.99299049e-01 -3.45007020e-04 -3.03367538e+00] [-6.12528887e-03 1.15788667e-04 9.99981234e-01 -7.20592852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220371743 meters 0.02195399633332958 Centerline is valid? [True, True] Translation: X:52.99, Y:-3.04, Z:-0.72 [[ 9.99362107e-01 3.52529781e-02 5.71016275e-03 5.29918788e+01] [-3.52517133e-02 9.99378413e-01 -3.22012979e-04 -3.03825319e+00] [-5.71796530e-03 1.20514549e-04 9.99983645e-01 -7.21500513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250371743 meters 0.021968979260978894 Centerline is valid? [True, True] Translation: X:53.02, Y:-3.04, Z:-0.72 [[ 9.99443423e-01 3.28620238e-02 5.73865236e-03 5.30201457e+01] [-3.28607145e-02 9.99459889e-01 -3.22328331e-04 -3.04246009e+00] [-5.74614521e-03 1.33572714e-04 9.99983482e-01 -7.21623724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280371743 meters 0.02221136129973941 Centerline is valid? [True, True] Translation: X:53.05, Y:-3.05, Z:-0.72 [[ 9.99513308e-01 3.06173435e-02 5.97708526e-03 5.30484309e+01] [-3.06158858e-02 9.99531168e-01 -3.35248975e-04 -3.04786678e+00] [-5.98454744e-03 1.52092052e-04 9.99982081e-01 -7.22081604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.310371743 meters 0.02376745468421201 Centerline is valid? [True, True] Translation: X:53.08, Y:-3.06, Z:-0.72 [[ 9.99655218e-01 2.54491148e-02 6.46430923e-03 5.30761554e+01] [-2.54473053e-02 9.99676099e-01 -3.62028711e-04 -3.05775085e+00] [-6.47142875e-03 1.97404639e-04 9.99979041e-01 -7.22453514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340371743 meters 0.02465310911580674 Centerline is valid? [True, True] Translation: X:53.10, Y:-3.06, Z:-0.72 [[ 9.99709466e-01 2.30993708e-02 6.88499534e-03 5.31040591e+01] [-2.30972655e-02 9.99733148e-01 -3.85148390e-04 -3.06344234e+00] [-6.89205475e-03 2.26011926e-04 9.99976224e-01 -7.22802861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370371743 meters 0.02477877942165804 Centerline is valid? [True, True] Translation: X:53.13, Y:-3.07, Z:-0.72 [[ 9.99764244e-01 2.06212301e-02 6.79860057e-03 5.31326299e+01] [-2.06191248e-02 9.99787331e-01 -3.79612308e-04 -3.06727278e+00] [-6.80498280e-03 2.39341619e-04 9.99976817e-01 -7.22640868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400371743 meters 0.025023123656274286 Centerline is valid? [True, True] Translation: X:53.16, Y:-3.07, Z:-0.72 [[ 9.99844791e-01 1.58722689e-02 7.64622641e-03 5.31628561e+01] [-1.58694757e-02 9.99873981e-01 -4.25840446e-04 -3.07350344e+00] [-7.65202190e-03 3.04432748e-04 9.99970677e-01 -7.22685025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430371743 meters 0.026136523683171087 Centerline is valid? [True, True] Translation: X:53.19, Y:-3.08, Z:-0.72 [[ 9.99874104e-01 1.37321975e-02 7.94998818e-03 5.31914880e+01] [-1.37291078e-02 9.99905653e-01 -4.43087279e-04 -3.07878272e+00] [-7.95532269e-03 3.33885251e-04 9.99968300e-01 -7.23349437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460371743 meters 0.029379000647221327 Centerline is valid? [True, True] Translation: X:53.22, Y:-3.09, Z:-0.72 [[ 9.99925093e-01 9.19184913e-03 8.08193759e-03 5.32198907e+01] [-9.18851254e-03 9.99957684e-01 -4.49879988e-04 -3.08930569e+00] [-8.08573082e-03 3.75585304e-04 9.99967239e-01 -7.23845658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.490371743 meters 0.028171038006256345 Centerline is valid? [True, True] Translation: X:53.25, Y:-3.09, Z:-0.72 [[ 9.99944865e-01 6.39255951e-03 8.33081014e-03 5.32505381e+01] [-6.38892163e-03 9.99979483e-01 -4.63217507e-04 -3.09073583e+00] [-8.33360036e-03 4.09967074e-04 9.99965191e-01 -7.23571554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520371743 meters 0.02997930425420939 Centerline is valid? [True, True] Translation: X:53.28, Y:-3.10, Z:-0.72 [[ 9.99954820e-01 4.17901576e-03 8.53773433e-03 5.32810822e+01] [-4.17511614e-03 9.99991172e-01 -4.74524378e-04 -3.09717960e+00] [-8.53964200e-03 4.38856906e-04 9.99963440e-01 -7.24022962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550371743 meters 0.030320827331414026 Centerline is valid? [True, True] Translation: X:53.31, Y:-3.10, Z:-0.72 [[ 9.99967022e-01 -1.65509572e-04 8.11961472e-03 5.33117303e+01] [ 1.69182266e-04 9.99999884e-01 -4.51638926e-04 -3.10165855e+00] [-8.11953902e-03 4.52997727e-04 9.99966933e-01 -7.24616661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580371743 meters 0.03581176506367422 Centerline is valid? [True, True] Translation: X:53.34, Y:-3.11, Z:-0.73 [[ 9.99967617e-01 -1.30293382e-03 7.94151838e-03 5.33420687e+01] [ 1.30647399e-03 9.99999049e-01 -4.40608964e-04 -3.11293789e+00] [-7.94093675e-03 4.50970082e-04 9.99968369e-01 -7.26594526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.610371743 meters 0.03167592036291736 Centerline is valid? [True, True] Translation: X:53.37, Y:-3.11, Z:-0.73 [[ 9.99970431e-01 -2.66704690e-03 7.21273958e-03 5.33739579e+01] [ 2.67001245e-03 9.99996355e-01 -4.01555406e-04 -3.10919077e+00] [-7.21164232e-03 4.20801637e-04 9.99973907e-01 -7.27199950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640371743 meters 0.033764137957477076 Centerline is valid? [True, True] Translation: X:53.40, Y:-3.11, Z:-0.73 [[ 9.99971245e-01 -4.71326156e-03 5.94094002e-03 5.34042723e+01] [ 4.71532477e-03 9.99988827e-01 -3.33326536e-04 -3.11480643e+00] [-5.93930259e-03 3.61330413e-04 9.99982297e-01 -7.29745263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.670371743 meters 0.033275632451092545 Centerline is valid? [True, True] Translation: X:53.44, Y:-3.12, Z:-0.73 [[ 9.99973920e-01 -4.59337984e-03 5.57325118e-03 5.34361649e+01] [ 4.59519164e-03 9.99989393e-01 -3.12326497e-04 -3.11599181e+00] [-5.57175743e-03 3.37928508e-04 9.99984421e-01 -7.30688658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700371743 meters 0.034250650963858466 Centerline is valid? [True, True] Translation: X:53.47, Y:-3.12, Z:-0.73 [[ 9.99973574e-01 -4.57197215e-03 5.65220641e-03 5.34675530e+01] [ 4.57383854e-03 9.99989490e-01 -3.17324201e-04 -3.11864476e+00] [-5.65069620e-03 3.43168095e-04 9.99983976e-01 -7.31391793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730371743 meters 0.03380458106886776 Centerline is valid? [True, True] Translation: X:53.50, Y:-3.12, Z:-0.73 [[ 9.99973743e-01 -4.09173221e-03 5.98089913e-03 5.34993558e+01] [ 4.09381476e-03 9.99991564e-01 -3.35999124e-04 -3.11903430e+00] [-5.97947386e-03 3.60474995e-04 9.99982058e-01 -7.32016990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760371743 meters 0.03386572934175606 Centerline is valid? [True, True] Translation: X:53.53, Y:-3.12, Z:-0.73 [[ 9.99977812e-01 -3.37880654e-03 5.74102307e-03 5.35317253e+01] [ 3.38071581e-03 9.99994233e-01 -3.22893488e-04 -3.11858952e+00] [-5.73989897e-03 3.42295091e-04 9.99983468e-01 -7.32412721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790371743 meters 0.033267906013010835 Centerline is valid? [True, True] Translation: X:53.56, Y:-3.12, Z:-0.73 [[ 9.99978061e-01 -3.00380414e-03 5.90384788e-03 5.35641107e+01] [ 3.00581934e-03 9.99995427e-01 -3.32493237e-04 -3.11821536e+00] [-5.90282214e-03 3.50231842e-04 9.99982517e-01 -7.32592566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820371743 meters 0.03310826680113644 Centerline is valid? [True, True] Translation: X:53.60, Y:-3.12, Z:-0.73 [[ 9.99975374e-01 -1.82373942e-03 6.77678604e-03 5.35960953e+01] [ 1.82637192e-03 9.99998259e-01 -3.82289584e-04 -3.11663552e+00] [-6.77607705e-03 3.94657102e-04 9.99976964e-01 -7.32158466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.850371743000004 meters 0.035065852220578314 Centerline is valid? [True, True] Translation: X:53.63, Y:-3.12, Z:-0.73 [[ 9.99975176e-01 -1.02909766e-03 6.97046685e-03 5.36272676e+01] [ 1.03186809e-03 9.99999390e-01 -3.93867012e-04 -3.11944697e+00] [-6.97005727e-03 4.01049837e-04 9.99975628e-01 -7.32387389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.880371743 meters 0.032163465588545784 Centerline is valid? [True, True] Translation: X:53.66, Y:-3.12, Z:-0.73 [[ 9.99975052e-01 -3.27427416e-04 7.05609806e-03 5.36593744e+01] [ 3.30250696e-04 9.99999866e-01 -3.98957683e-04 -3.11516302e+00] [-7.05596649e-03 4.01278011e-04 9.99975026e-01 -7.32191609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.910371743 meters 0.032134371444785315 Centerline is valid? [True, True] Translation: X:53.69, Y:-3.11, Z:-0.73 [[ 9.99978373e-01 1.14415058e-03 6.47646791e-03 5.36913898e+01] [-1.14180038e-03 9.99999281e-01 -3.66568703e-04 -3.11275805e+00] [-6.47688267e-03 3.59165942e-04 9.99978960e-01 -7.33003553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940371743 meters 0.031906118998598174 Centerline is valid? [True, True] Translation: X:53.72, Y:-3.11, Z:-0.73 [[ 9.99975847e-01 1.79949431e-03 6.71328425e-03 5.37234727e+01] [-1.79698036e-03 9.99998313e-01 -3.80486566e-04 -3.11208976e+00] [-6.71395761e-03 3.68413736e-04 9.99977393e-01 -7.33866848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.970371743 meters 0.03131409197882908 Centerline is valid? [True, True] Translation: X:53.76, Y:-3.11, Z:-0.73 [[ 9.99976284e-01 2.63600842e-03 6.36265886e-03 5.37562206e+01] [-2.63376544e-03 9.99996467e-01 -3.60876018e-04 -3.11114396e+00] [-6.36358765e-03 3.44109709e-04 9.99979693e-01 -7.34401080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000371743 meters 0.030905158031553033 Centerline is valid? [True, True] Translation: X:53.79, Y:-3.11, Z:-0.74 [[ 9.99973005e-01 3.48213506e-03 6.47029756e-03 5.37883551e+01] [-3.47982848e-03 9.99993878e-01 -3.67711728e-04 -3.10798344e+00] [-6.47153837e-03 3.45186276e-04 9.99979000e-01 -7.35535117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030371743 meters 0.031754877730902964 Centerline is valid? [True, True] Translation: X:53.82, Y:-3.11, Z:-0.74 [[ 9.99971472e-01 4.44640264e-03 6.10610397e-03 5.38191548e+01] [-4.44436743e-03 9.99990064e-01 -3.46836045e-04 -3.10942163e+00] [-6.10758547e-03 3.19688381e-04 9.99981297e-01 -7.36461004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.060371743 meters 0.03154333267365897 Centerline is valid? [True, True] Translation: X:53.85, Y:-3.11, Z:-0.74 [[ 9.99970492e-01 4.98704246e-03 5.84326744e-03 5.38508867e+01] [-4.98517838e-03 9.99987518e-01 -3.33535553e-04 -3.10900726e+00] [-5.84485787e-03 3.04395981e-04 9.99982872e-01 -7.37355878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090371743 meters 0.029616949526562603 Centerline is valid? [True, True] Translation: X:53.88, Y:-3.11, Z:-0.74 [[ 9.99970226e-01 5.32441603e-03 5.58541947e-03 5.38823442e+01] [-5.32271716e-03 9.99985783e-01 -3.18982014e-04 -3.10566174e+00] [-5.58703845e-03 2.89242909e-04 9.99984351e-01 -7.37577024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120371743 meters 0.03035289114446445 Centerline is valid? [True, True] Translation: X:53.91, Y:-3.11, Z:-0.74 [[ 9.99966363e-01 5.98389383e-03 5.60936440e-03 5.39124405e+01] [-5.98218786e-03 9.99982055e-01 -3.20859397e-04 -3.10513702e+00] [-5.61118372e-03 2.87292333e-04 9.99984216e-01 -7.38040162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150371743 meters 0.030506429471965968 Centerline is valid? [True, True] Translation: X:53.94, Y:-3.11, Z:-0.74 [[ 9.99960519e-01 6.62366978e-03 5.92345502e-03 5.39434348e+01] [-6.62177880e-03 9.99978018e-01 -3.38791583e-04 -3.10513180e+00] [-5.92556886e-03 2.99554399e-04 9.99982399e-01 -7.38206822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180371743 meters 0.030515580895928627 Centerline is valid? [True, True] Translation: X:53.97, Y:-3.10, Z:-0.74 [[ 9.99955114e-01 7.54749400e-03 5.72762173e-03 5.39743499e+01] [-7.54574078e-03 9.99971477e-01 -3.27647851e-04 -3.10283415e+00] [-5.72993128e-03 2.84413996e-04 9.99983543e-01 -7.38101005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210371743 meters 0.029042904999526584 Centerline is valid? [True, True] Translation: X:54.00, Y:-3.10, Z:-0.74 [[ 9.99946341e-01 8.28651091e-03 6.21679467e-03 5.40047323e+01] [-8.28445703e-03 9.99965620e-01 -3.56055398e-04 -3.10072240e+00] [-6.21953139e-03 3.04533524e-04 9.99980612e-01 -7.38049691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.240371743 meters 0.029947698367259266 Centerline is valid? [True, True] Translation: X:54.03, Y:-3.10, Z:-0.74 [[ 9.99938687e-01 9.19452859e-03 6.17109729e-03 5.40344635e+01] [-9.19252585e-03 9.99957686e-01 -3.52822818e-04 -3.10214861e+00] [-6.17408021e-03 2.96073214e-04 9.99980896e-01 -7.38625690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270371743 meters 0.02932046438588981 Centerline is valid? [True, True] Translation: X:54.06, Y:-3.10, Z:-0.74 [[ 9.99917823e-01 1.08836369e-02 6.77453100e-03 5.40639242e+01] [-1.08812622e-02 9.99940722e-01 -3.87303183e-04 -3.09974243e+00] [-6.77834469e-03 3.13555908e-04 9.99976978e-01 -7.39611166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300371743 meters 0.029230475519214098 Centerline is valid? [True, True] Translation: X:54.09, Y:-3.10, Z:-0.74 [[ 9.99908086e-01 1.16672724e-02 6.90604228e-03 5.40932508e+01] [-1.16648241e-02 9.99931886e-01 -3.94691026e-04 -3.10015774e+00] [-6.91017685e-03 3.14096980e-04 9.99976075e-01 -7.40018737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330371743 meters 0.028812811969964554 Centerline is valid? [True, True] Translation: X:54.12, Y:-3.10, Z:-0.74 [[ 9.99891144e-01 1.27259251e-02 7.46666950e-03 5.41226813e+01] [-1.27230969e-02 9.99918967e-01 -4.26160325e-04 -3.09970053e+00] [-7.47148774e-03 3.31114775e-04 9.99972033e-01 -7.40390572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360371743 meters 0.027485587587158956 Centerline is valid? [True, True] Translation: X:54.15, Y:-3.10, Z:-0.74 [[ 9.99866616e-01 1.44257525e-02 7.65823611e-03 5.41518156e+01] [-1.44228274e-02 9.99895890e-01 -4.37041943e-04 -3.09662744e+00] [-7.66374347e-03 3.26530231e-04 9.99970580e-01 -7.40928022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.390371743 meters 0.02883923877684262 Centerline is valid? [True, True] Translation: X:54.18, Y:-3.10, Z:-0.74 [[ 9.99852752e-01 1.53251661e-02 7.72104594e-03 5.41791361e+01] [-1.53222232e-02 9.99882511e-01 -4.40169205e-04 -3.09944883e+00] [-7.72688447e-03 3.21800802e-04 9.99970095e-01 -7.42167529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.420371743 meters 0.03030134766056602 Centerline is valid? [True, True] Translation: X:54.21, Y:-3.10, Z:-0.74 [[ 9.99847160e-01 1.58458239e-02 7.38689666e-03 5.42066544e+01] [-1.58431490e-02 9.99874401e-01 -4.20492200e-04 -3.10271747e+00] [-7.39263191e-03 3.03396228e-04 9.99972628e-01 -7.43024939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450371743 meters 0.027799637599247022 Centerline is valid? [True, True] Translation: X:54.24, Y:-3.10, Z:-0.74 [[ 9.99843245e-01 1.60890109e-02 7.39118872e-03 5.42360075e+01] [-1.60863450e-02 9.99870518e-01 -4.19988033e-04 -3.09920908e+00] [-7.39698889e-03 3.01024986e-04 9.99972597e-01 -7.43028388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480371743 meters 0.028657586799525517 Centerline is valid? [True, True] Translation: X:54.26, Y:-3.10, Z:-0.74 [[ 9.99854857e-01 1.57858269e-02 6.40877251e-03 5.42641910e+01] [-1.57838177e-02 9.99875362e-01 -3.63973950e-04 -3.10082123e+00] [-6.41371936e-03 2.62766225e-04 9.99979397e-01 -7.44672807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510371743 meters 0.028379386211549097 Centerline is valid? [True, True] Translation: X:54.29, Y:-3.10, Z:-0.75 [[ 9.99868079e-01 1.51359013e-02 5.89318183e-03 5.42932858e+01] [-1.51341943e-02 9.99885416e-01 -3.34135146e-04 -3.10180468e+00] [-5.89756400e-03 2.44902508e-04 9.99982579e-01 -7.45204772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540371743 meters 0.029526108937379926 Centerline is valid? [True, True] Translation: X:54.32, Y:-3.11, Z:-0.75 [[ 9.99880283e-01 1.43374007e-02 5.81888159e-03 5.43208098e+01] [-1.43357246e-02 9.99897184e-01 -3.29665632e-04 -3.10550393e+00] [-5.82300987e-03 2.46208282e-04 9.99983016e-01 -7.46619503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.570371743 meters 0.028817191017833248 Centerline is valid? [True, True] Translation: X:54.35, Y:-3.11, Z:-0.75 [[ 9.99897977e-01 1.30656098e-02 5.77278877e-03 5.43493260e+01] [-1.30639426e-02 9.99914610e-01 -3.26424254e-04 -3.10507470e+00] [-5.77656076e-03 2.50975570e-04 9.99983284e-01 -7.46800713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600371743000004 meters 0.030362333453495736 Centerline is valid? [True, True] Translation: X:54.38, Y:-3.11, Z:-0.75 [[ 9.99925215e-01 1.08115680e-02 5.71613229e-03 5.43778610e+01] [-1.08098997e-02 9.99941519e-01 -3.22676109e-04 -3.10856293e+00] [-5.71928664e-03 2.60861161e-04 9.99983611e-01 -7.47330533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.630371743 meters 0.030362333453495736 Centerline is valid? [True, True] Translation: X:54.41, Y:-3.11, Z:-0.75 [[ 9.99925960e-01 1.07424390e-02 5.71614126e-03 5.44061508e+01] [-1.07407705e-02 9.99942264e-01 -3.22517123e-04 -3.11009349e+00] [-5.71927586e-03 2.61097483e-04 9.99983611e-01 -7.47728730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660371743 meters 0.02922195555989987 Centerline is valid? [True, True] Translation: X:54.44, Y:-3.11, Z:-0.75 [[ 9.99940824e-01 9.27675907e-03 5.68247595e-03 5.44357113e+01] [-9.27509032e-03 9.99956934e-01 -3.19949673e-04 -3.10902299e+00] [-5.68519932e-03 2.67225262e-04 9.99983803e-01 -7.47804496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690371743 meters 0.029947095216734627 Centerline is valid? [True, True] Translation: X:54.46, Y:-3.11, Z:-0.75 [[ 9.99948421e-01 8.41137287e-03 5.69241137e-03 5.44646512e+01] [-8.40968462e-03 9.99964587e-01 -3.20450241e-04 -3.11182575e+00] [-5.69490521e-03 2.72562329e-04 9.99983747e-01 -7.48645742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720371743 meters 0.031356142056188314 Centerline is valid? [True, True] Translation: X:54.49, Y:-3.11, Z:-0.75 [[ 9.99972520e-01 5.66093168e-03 4.78672611e-03 5.44946653e+01] [-5.65970871e-03 9.99983948e-01 -2.68999043e-04 -3.11473856e+00] [-4.78817206e-03 2.41900176e-04 9.99988507e-01 -7.49411535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.750371743 meters 0.031270845739240175 Centerline is valid? [True, True] Translation: X:54.52, Y:-3.12, Z:-0.75 [[ 9.99978761e-01 4.25592950e-03 4.93597604e-03 5.45247787e+01] [-4.25461327e-03 9.99990911e-01 -2.77131603e-04 -3.11623095e+00] [-4.93711062e-03 2.56125048e-04 9.99987780e-01 -7.50138727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780371743 meters 0.03300325146504373 Centerline is valid? [True, True] Translation: X:54.55, Y:-3.12, Z:-0.75 [[ 9.99986674e-01 2.34034217e-03 4.60167410e-03 5.45547083e+01] [-2.33917873e-03 9.99997231e-01 -2.58196359e-04 -3.12079712e+00] [-4.60226562e-03 2.47428780e-04 9.99989379e-01 -7.51188787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.810371743 meters 0.0339214256646829 Centerline is valid? [True, True] Translation: X:54.59, Y:-3.12, Z:-0.75 [[ 9.99989595e-01 2.86375549e-04 4.55277170e-03 5.45859199e+01] [-2.85215867e-04 9.99999927e-01 -2.55367404e-04 -3.12415373e+00] [-4.55284450e-03 2.54066224e-04 9.99989603e-01 -7.51841888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840371743 meters 0.03691653542588761 Centerline is valid? [True, True] Translation: X:54.61, Y:-3.13, Z:-0.75 [[ 9.99982749e-01 -3.81023269e-03 4.47036043e-03 5.46149305e+01] [ 3.81139428e-03 9.99992705e-01 -2.51352339e-04 -3.12982872e+00] [-4.46937011e-03 2.68386309e-04 9.99989976e-01 -7.52255141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.870371743 meters 0.036122955758429616 Centerline is valid? [True, True] Translation: X:54.65, Y:-3.13, Z:-0.75 [[ 9.99972243e-01 -6.09285193e-03 4.28828881e-03 5.46456657e+01] [ 6.09394023e-03 9.99981403e-01 -2.40763139e-04 -3.13033550e+00] [-4.28674213e-03 2.66889032e-04 9.99990776e-01 -7.51736439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900371743 meters 0.035514875666310286 Centerline is valid? [True, True] Translation: X:54.68, Y:-3.13, Z:-0.75 [[ 9.99959016e-01 -8.09293425e-03 4.05832142e-03 5.46764305e+01] [ 8.09392422e-03 9.99967218e-01 -2.27570703e-04 -3.13087837e+00] [-4.05634666e-03 2.60409122e-04 9.99991739e-01 -7.52162296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930371743 meters 0.04218247008071455 Centerline is valid? [True, True] Translation: X:54.71, Y:-3.14, Z:-0.75 [[ 9.99930117e-01 -1.13298469e-02 3.37560441e-03 5.47056341e+01] [ 1.13305522e-02 9.99935789e-01 -1.89892155e-04 -3.14173477e+00] [-3.37323621e-03 2.28126346e-04 9.99994285e-01 -7.54942149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960371743 meters 0.036127228658863086 Centerline is valid? [True, True] Translation: X:54.74, Y:-3.13, Z:-0.75 [[ 9.99922843e-01 -1.20105472e-02 3.17098300e-03 5.47382494e+01] [ 1.20111705e-02 9.99927848e-01 -1.77591153e-04 -3.13452142e+00] [-3.16862124e-03 2.15664668e-04 9.99994957e-01 -7.54678543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.990371743 meters 0.03579778315068288 Centerline is valid? [True, True] Translation: X:54.77, Y:-3.14, Z:-0.76 [[ 9.99917824e-01 -1.25299302e-02 2.71028572e-03 5.47700799e+01] [ 1.25303876e-02 9.99921480e-01 -1.51832934e-04 -3.13501660e+00] [-2.70817045e-03 1.85781387e-04 9.99996316e-01 -7.55622393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020371743 meters 0.03827774971374141 Centerline is valid? [True, True] Translation: X:54.80, Y:-3.14, Z:-0.76 [[ 9.99919039e-01 -1.25457100e-02 2.12617924e-03 5.48009138e+01] [ 1.25459918e-02 9.99921289e-01 -1.19267586e-04 -3.13847549e+00] [-2.12451559e-03 1.45932958e-04 9.99997733e-01 -7.57522822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050371743 meters 0.03649507208604645 Centerline is valid? [True, True] Translation: X:54.83, Y:-3.14, Z:-0.76 [[ 9.99924208e-01 -1.21644553e-02 1.89824280e-03 5.48336605e+01] [ 1.21646789e-02 9.99926002e-01 -1.06285036e-04 -3.13673259e+00] [-1.89680944e-03 1.29368494e-04 9.99998193e-01 -7.57702031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080371743 meters 0.037133692911801935 Centerline is valid? [True, True] Translation: X:54.86, Y:-3.14, Z:-0.76 [[ 9.99927294e-01 -1.18911868e-02 2.00181083e-03 5.48643588e+01] [ 1.18914357e-02 9.99929288e-01 -1.12504037e-04 -3.13821245e+00] [-2.00033147e-03 1.36300262e-04 9.99997990e-01 -7.58344774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110371743 meters 0.03607387132336228 Centerline is valid? [True, True] Translation: X:54.90, Y:-3.14, Z:-0.76 [[ 9.99929707e-01 -1.17516544e-02 1.57473905e-03 5.48969169e+01] [ 1.17518078e-02 9.99930941e-01 -8.81952029e-05 -3.13745552e+00] [-1.57359386e-03 1.06695034e-04 9.99998756e-01 -7.58117198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140371743 meters 0.03722860526974325 Centerline is valid? [True, True] Translation: X:54.93, Y:-3.14, Z:-0.76 [[ 9.99929648e-01 -1.17300758e-02 1.76207426e-03 5.49276328e+01] [ 1.17302687e-02 9.99931193e-01 -9.91608478e-05 -3.13908165e+00] [-1.76078985e-03 1.19823476e-04 9.99998443e-01 -7.58710260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.170371743 meters 0.037376578150150795 Centerline is valid? [True, True] Translation: X:54.96, Y:-3.14, Z:-0.76 [[ 9.99928154e-01 -1.18612251e-02 1.73132127e-03 5.49601325e+01] [ 1.18614112e-02 9.99929646e-01 -9.72943319e-05 -3.14047727e+00] [-1.73004544e-03 1.17823255e-04 9.99998497e-01 -7.58923744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200371743 meters 0.038033294275077546 Centerline is valid? [True, True] Translation: X:54.99, Y:-3.14, Z:-0.76 [[ 9.99927295e-01 -1.19730369e-02 1.43230201e-03 5.49907397e+01] [ 1.19731650e-02 9.99928316e-01 -8.08706196e-05 -3.14294619e+00] [-1.43123107e-03 9.80139281e-05 9.99998971e-01 -7.59674323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.230371743 meters 0.03795593651359643 Centerline is valid? [True, True] Translation: X:55.02, Y:-3.14, Z:-0.76 [[ 9.99925792e-01 -1.21052995e-02 1.36852011e-03 5.50233523e+01] [ 1.21054160e-02 9.99926724e-01 -7.68525001e-05 -3.14304723e+00] [-1.36748951e-03 9.34133022e-05 9.99999061e-01 -7.59700844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260371743 meters 0.03833880239604541 Centerline is valid? [True, True] Translation: X:55.06, Y:-3.14, Z:-0.76 [[ 9.99926464e-01 -1.20526865e-02 1.34158108e-03 5.50551312e+01] [ 1.20527985e-02 9.99927360e-01 -7.54168706e-05 -3.14428960e+00] [-1.34057465e-03 9.15811311e-05 9.99999097e-01 -7.60024424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.290371743 meters 0.038712224759957295 Centerline is valid? [True, True] Translation: X:55.09, Y:-3.15, Z:-0.76 [[ 9.99935750e-01 -1.12568639e-02 1.33386862e-03 5.50872284e+01] [ 1.12569741e-02 9.99936635e-01 -7.50760434e-05 -3.14602179e+00] [-1.33293898e-03 9.00865442e-05 9.99999108e-01 -7.60492368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320371743 meters 0.03823356350655947 Centerline is valid? [True, True] Translation: X:55.12, Y:-3.15, Z:-0.76 [[ 9.99946796e-01 -1.02090485e-02 1.47674417e-03 5.51191316e+01] [ 1.02091826e-02 9.99947881e-01 -8.33266338e-05 -3.14632213e+00] [-1.47581651e-03 9.83985513e-05 9.99998906e-01 -7.60736076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.350371743000004 meters 0.036182617502646314 Centerline is valid? [True, True] Translation: X:55.15, Y:-3.14, Z:-0.76 [[ 9.99977262e-01 -6.46572633e-03 1.91546741e-03 5.51501489e+01] [ 6.46594745e-03 9.99979090e-01 -1.09268848e-04 -3.14286373e+00] [-1.91472085e-03 1.21651675e-04 9.99998160e-01 -7.60663003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.380371743 meters 0.03637464112184588 Centerline is valid? [True, True] Translation: X:55.18, Y:-3.14, Z:-0.76 [[ 9.99991519e-01 -3.72417913e-03 1.75870031e-03 5.51801114e+01] [ 3.72436149e-03 9.99993060e-01 -1.00426982e-04 -3.14326607e+00] [-1.75831409e-03 1.06976166e-04 9.99998448e-01 -7.61265402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.410371743 meters 0.03586070893889462 Centerline is valid? [True, True] Translation: X:55.21, Y:-3.14, Z:-0.76 [[ 9.99998765e-01 -3.86170260e-04 1.52357012e-03 5.52102993e+01] [ 3.86303258e-04 9.99999922e-01 -8.70003542e-05 -3.14257378e+00] [-1.52353641e-03 8.75888068e-05 9.99998836e-01 -7.61928723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440371743 meters 0.03276972746696163 Centerline is valid? [True, True] Translation: X:55.24, Y:-3.14, Z:-0.76 [[ 9.99977433e-01 6.32534162e-03 2.26337702e-03 5.52418719e+01] [-6.32506563e-03 9.99979988e-01 -1.29071946e-04 -3.13571372e+00] [-2.26414815e-03 1.14753025e-04 9.99997430e-01 -7.60991496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470371743 meters 0.033000184293524935 Centerline is valid? [True, True] Translation: X:55.27, Y:-3.14, Z:-0.76 [[ 9.99950914e-01 9.55124633e-03 2.63499166e-03 5.52707969e+01] [-9.55088180e-03 9.99954378e-01 -1.50891375e-04 -3.13607611e+00] [-2.63631265e-03 1.25717475e-04 9.99996517e-01 -7.61371921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500371743 meters 0.03221876848284957 Centerline is valid? [True, True] Translation: X:55.30, Y:-3.14, Z:-0.76 [[ 9.99916328e-01 1.26404850e-02 2.74862493e-03 5.53011373e+01] [-1.26401009e-02 9.99920098e-01 -1.57087968e-04 -3.13525470e+00] [-2.75039098e-03 1.22331928e-04 9.99996210e-01 -7.61213170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530371743 meters 0.029378460499601952 Centerline is valid? [True, True] Translation: X:55.33, Y:-3.13, Z:-0.76 [[ 9.99835591e-01 1.79238315e-02 2.74363932e-03 5.53322244e+01] [-1.79234690e-02 9.99839349e-01 -1.56649974e-04 -3.12973528e+00] [-2.74600632e-03 1.07448686e-04 9.99996224e-01 -7.61298517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.560371743 meters 0.02959744556824718 Centerline is valid? [True, True] Translation: X:55.36, Y:-3.13, Z:-0.76 [[ 9.99789892e-01 2.03304997e-02 2.61591033e-03 5.53606151e+01] [-2.03301767e-02 9.99793309e-01 -1.50023271e-04 -3.13072577e+00] [-2.61841970e-03 9.68098311e-05 9.99996567e-01 -7.62356779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590371743 meters 0.02859441388019395 Centerline is valid? [True, True] Translation: X:55.39, Y:-3.13, Z:-0.76 [[ 9.99743782e-01 2.25221669e-02 2.26308061e-03 5.53899709e+01] [-2.25219297e-02 9.99746341e-01 -1.30249185e-04 -3.12917352e+00] [-2.26544005e-03 7.92468703e-05 9.99997431e-01 -7.62790852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620371743 meters 0.026872702978403513 Centerline is valid? [True, True] Translation: X:55.42, Y:-3.12, Z:-0.76 [[ 9.99650002e-01 2.64340591e-02 1.05578113e-03 5.54204910e+01] [-2.64340102e-02 9.99650559e-01 -6.02715327e-05 -3.12485725e+00] [-1.05700542e-03 3.23419086e-05 9.99999441e-01 -7.63547743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650371743 meters 0.024277011889629968 Centerline is valid? [True, True] Translation: X:55.45, Y:-3.12, Z:-0.76 [[ 9.99605322e-01 2.80685695e-02 1.16459291e-03 5.54493387e+01] [-2.80685104e-02 9.99605999e-01 -6.71387748e-05 -3.12015854e+00] [-1.16601855e-03 3.44238885e-05 9.99999320e-01 -7.62394582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680371743 meters 0.026223513709468727 Centerline is valid? [True, True] Translation: X:55.48, Y:-3.13, Z:-0.77 [[ 9.99562744e-01 2.95414149e-02 1.27501320e-03 5.54771810e+01] [-2.95413451e-02 9.99563557e-01 -7.35380887e-05 -3.12536495e+00] [-1.27662915e-03 3.58403288e-05 9.99999184e-01 -7.65348975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710371743 meters 0.025956461703429693 Centerline is valid? [True, True] Translation: X:55.50, Y:-3.13, Z:-0.77 [[ 9.99525604e-01 3.07701535e-02 1.32829438e-03 5.55045688e+01] [-3.07700792e-02 9.99526486e-01 -7.63424664e-05 -3.12627767e+00] [-1.33001448e-03 3.54345267e-05 9.99999115e-01 -7.66346499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.740371743 meters 0.0236128458958703 Centerline is valid? [True, True] Translation: X:55.53, Y:-3.12, Z:-0.76 [[ 9.99525634e-01 3.07816420e-02 9.98402770e-04 5.55325397e+01] [-3.07815995e-02 9.99526133e-01 -5.79322687e-05 -3.12142121e+00] [-9.99712909e-04 2.71723535e-05 9.99999500e-01 -7.64572183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770371743 meters 0.02356393320282513 Centerline is valid? [True, True] Translation: X:55.56, Y:-3.12, Z:-0.76 [[ 9.99547180e-01 3.00715154e-02 1.06741097e-03 5.55611970e+01] [-3.00714671e-02 9.99547749e-01 -6.12675886e-05 -3.12275561e+00] [-1.06877064e-03 2.91412316e-05 9.99999428e-01 -7.64713254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800371743 meters 0.023857542114042233 Centerline is valid? [True, True] Translation: X:55.59, Y:-3.13, Z:-0.76 [[ 9.99578888e-01 2.89795749e-02 1.49362355e-03 5.55894904e+01] [-2.89794799e-02 9.99580003e-01 -8.52130312e-05 -3.12530346e+00] [-1.49546567e-03 4.18927135e-05 9.99998881e-01 -7.64731177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830371743 meters 0.026509167227337604 Centerline is valid? [True, True] Translation: X:55.62, Y:-3.13, Z:-0.77 [[ 9.99677827e-01 2.52804895e-02 2.26686998e-03 5.56179103e+01] [-2.52802632e-02 9.99680395e-01 -1.28433036e-04 -3.13364830e+00] [-2.26939232e-03 7.10845886e-05 9.99997422e-01 -7.65204686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860371743 meters 0.02532272927394832 Centerline is valid? [True, True] Translation: X:55.65, Y:-3.13, Z:-0.76 [[ 9.99740047e-01 2.26571220e-02 2.54822025e-03 5.56468327e+01] [-2.26568276e-02 9.99743291e-01 -1.44357883e-04 -3.13319863e+00] [-2.55083683e-03 8.65857702e-05 9.99996743e-01 -7.63230413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890371743 meters 0.02644213773389756 Centerline is valid? [True, True] Translation: X:55.67, Y:-3.14, Z:-0.76 [[ 9.99797102e-01 1.99344901e-02 2.89310569e-03 5.56747567e+01] [-1.99341001e-02 9.99801283e-01 -1.63549045e-04 -3.13794852e+00] [-2.89579105e-03 1.05844403e-04 9.99995802e-01 -7.63244164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.920371743 meters 0.028188152922599578 Centerline is valid? [True, True] Translation: X:55.70, Y:-3.15, Z:-0.76 [[ 9.99896995e-01 1.41940734e-02 2.12783382e-03 5.57043649e+01] [-1.41938507e-02 9.99899255e-01 -1.19759939e-04 -3.14521991e+00] [-2.12931933e-03 8.95454474e-05 9.99997729e-01 -7.63966481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.950371743 meters 0.028913759779022222 Centerline is valid? [True, True] Translation: X:55.73, Y:-3.15, Z:-0.76 [[ 9.99933538e-01 1.14064120e-02 1.67729752e-03 5.57334492e+01] [-1.14062689e-02 9.99934942e-01 -9.48698535e-05 -3.14936569e+00] [-1.67827052e-03 7.57318417e-05 9.99998589e-01 -7.64359080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980371743 meters 0.02997147504743463 Centerline is valid? [True, True] Translation: X:55.76, Y:-3.15, Z:-0.77 [[ 9.99963984e-01 8.39109001e-03 1.27305895e-03 5.57616369e+01] [-8.39100515e-03 9.99964792e-01 -7.19825717e-05 -3.15366039e+00] [-1.27361814e-03 6.12977349e-05 9.99999187e-01 -7.65521324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010371743 meters 0.02946566506228575 Centerline is valid? [True, True] Translation: X:55.79, Y:-3.16, Z:-0.77 [[ 9.99982038e-01 5.97115077e-03 5.19345372e-04 5.57915063e+01] [-5.97113619e-03 9.99982172e-01 -2.96079010e-05 -3.15552911e+00] [-5.19512907e-04 2.65062873e-05 9.99999865e-01 -7.65689157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040371743 meters 0.032441212432874594 Centerline is valid? [True, True] Translation: X:55.82, Y:-3.16, Z:-0.77 [[ 9.99998326e-01 1.81722471e-03 2.14699298e-04 5.58200308e+01] [-1.81722206e-03 9.99998349e-01 -1.25255241e-05 -3.16355828e+00] [-2.14721705e-04 1.21353468e-05 9.99999977e-01 -7.67391199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070371743 meters 0.03254058148621817 Centerline is valid? [True, True] Translation: X:55.85, Y:-3.17, Z:-0.77 [[ 9.99999926e-01 2.90501599e-04 2.52454198e-04 5.58500307e+01] [-2.90497978e-04 9.99999958e-01 -1.43815078e-05 -3.16641737e+00] [-2.52458365e-04 1.43081693e-05 9.99999968e-01 -7.67525790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100371743000004 meters 0.03208383308736703 Centerline is valid? [True, True] Translation: X:55.88, Y:-3.17, Z:-0.77 [[ 9.99998979e-01 -1.29929482e-03 5.94795646e-04 5.58808403e+01] [ 1.29931485e-03 9.99999155e-01 -3.32974935e-05 -3.16770269e+00] [-5.94751880e-04 3.40702864e-05 9.99999823e-01 -7.67291953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.130371743 meters 0.03352007710620525 Centerline is valid? [True, True] Translation: X:55.91, Y:-3.17, Z:-0.77 [[ 9.99996656e-01 -2.48522520e-03 7.14632324e-04 5.59108330e+01] [ 2.48525376e-03 9.99996911e-01 -3.90767589e-05 -3.17252488e+00] [-7.14533002e-04 4.08526709e-05 9.99999744e-01 -7.67729528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160371743 meters 0.032921428942755626 Centerline is valid? [True, True] Translation: X:55.94, Y:-3.17, Z:-0.77 [[ 9.99990515e-01 -4.11070572e-03 1.43917287e-03 5.59425141e+01] [ 4.11082177e-03 9.99991548e-01 -7.76872186e-05 -3.17467119e+00] [-1.43884135e-03 8.36026649e-05 9.99998961e-01 -7.67425706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190371743 meters 0.033744008735621556 Centerline is valid? [True, True] Translation: X:55.97, Y:-3.18, Z:-0.77 [[ 9.99988401e-01 -4.69656018e-03 1.06790492e-03 5.59733123e+01] [ 4.69662628e-03 9.99988969e-01 -5.94063548e-05 -3.17781700e+00] [-1.06761414e-03 6.44212161e-05 9.99999428e-01 -7.68250190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220371743 meters 0.03390111391396968 Centerline is valid? [True, True] Translation: X:56.00, Y:-3.18, Z:-0.77 [[ 9.99988538e-01 -4.74300702e-03 6.53687706e-04 5.60049606e+01] [ 4.74303148e-03 9.99988751e-01 -3.58661669e-05 -3.18005515e+00] [-6.53510239e-04 3.89662171e-05 9.99999786e-01 -7.68869568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250371743 meters 0.03370651971581388 Centerline is valid? [True, True] Translation: X:56.04, Y:-3.18, Z:-0.77 [[ 9.99993637e-01 -3.56444333e-03 -1.42925443e-04 5.60364090e+01] [ 3.56444459e-03 9.99993647e-01 8.56984674e-06 -3.18173860e+00] [ 1.42893988e-04 -9.07924203e-06 9.99999990e-01 -7.70572724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280371743 meters 0.03269809775201067 Centerline is valid? [True, True] Translation: X:56.07, Y:-3.18, Z:-0.77 [[ 9.99996577e-01 -2.47669215e-03 -8.43504978e-04 5.60675484e+01] [ 2.47673365e-03 9.99996932e-01 4.81553479e-05 -3.18177898e+00] [ 8.43383124e-04 -5.02443202e-05 9.99999643e-01 -7.71264209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.310371743 meters 0.03667395151053995 Centerline is valid? [True, True] Translation: X:56.10, Y:-3.19, Z:-0.77 [[ 9.99998652e-01 -1.19148979e-03 -1.12944197e-03 5.60973651e+01] [ 1.19156388e-03 9.99999288e-01 6.49262350e-05 -3.18894627e+00] [ 1.12936381e-03 -6.62719498e-05 9.99999360e-01 -7.73868356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340371743 meters 0.031463938799952254 Centerline is valid? [True, True] Translation: X:56.13, Y:-3.18, Z:-0.77 [[ 9.99997018e-01 1.83234330e-03 -1.61464818e-03 5.61289093e+01] [-1.83219788e-03 9.99998317e-01 9.15423917e-05 -3.18053868e+00] [ 1.61481320e-03 -8.85837637e-05 9.99998692e-01 -7.72416079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370371743 meters 0.03148086951499501 Centerline is valid? [True, True] Translation: X:56.16, Y:-3.18, Z:-0.77 [[ 9.99992719e-01 3.40434366e-03 -1.72433765e-03 5.61572310e+01] [-3.40418196e-03 9.99994201e-01 9.66978382e-05 -3.18111550e+00] [ 1.72465684e-03 -9.08271749e-05 9.99998509e-01 -7.72909266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400371743 meters 0.030872246906317947 Centerline is valid? [True, True] Translation: X:56.19, Y:-3.18, Z:-0.77 [[ 9.99985594e-01 5.02722999e-03 -1.88090835e-03 5.61862841e+01] [-5.02704103e-03 9.99987359e-01 1.05178717e-04 -3.18081590e+00] [ 1.88141333e-03 -9.57217983e-05 9.99998226e-01 -7.73718851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430371743 meters 0.02975940209383379 Centerline is valid? [True, True] Translation: X:56.22, Y:-3.18, Z:-0.77 [[ 9.99964196e-01 8.34917427e-03 -1.37733732e-03 5.62163822e+01] [-8.34907546e-03 9.99965143e-01 7.74764764e-05 -3.17940090e+00] [ 1.37793617e-03 -6.59742093e-05 9.99999048e-01 -7.74611387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460371743 meters 0.029222840971204644 Centerline is valid? [True, True] Translation: X:56.25, Y:-3.18, Z:-0.77 [[ 9.99951956e-01 9.72936601e-03 -1.19362461e-03 5.62451235e+01] [-9.72929381e-03 9.99952667e-01 6.62768730e-05 -3.17921808e+00] [ 1.19421295e-03 -5.46605642e-05 9.99999285e-01 -7.74978365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.490371743 meters 0.029222840971204644 Centerline is valid? [True, True] Translation: X:56.27, Y:-3.18, Z:-0.78 [[ 9.99952642e-01 9.65858649e-03 -1.19362928e-03 5.62734140e+01] [-9.65851434e-03 9.99953353e-01 6.61933149e-05 -3.18075190e+00] [ 1.19421294e-03 -5.46614946e-05 9.99999285e-01 -7.75376705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520371743 meters 0.028825701189299544 Centerline is valid? [True, True] Translation: X:56.30, Y:-3.18, Z:-0.78 [[ 9.99937985e-01 1.11170050e-02 -6.62517969e-04 5.63021428e+01] [-1.11169834e-02 9.99938204e-01 3.62478628e-05 -3.18041303e+00] [ 6.62879996e-04 -2.88804136e-05 9.99999780e-01 -7.75176630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550371743 meters 0.029382303942225026 Centerline is valid? [True, True] Translation: X:56.33, Y:-3.18, Z:-0.77 [[ 9.99903228e-01 1.39103098e-02 -1.94041600e-04 5.63308027e+01] [-1.39103080e-02 9.99903247e-01 1.01541095e-05 -3.18041773e+00] [ 1.94164073e-04 -7.45394839e-06 9.99999981e-01 -7.74914304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580371743 meters 0.029212882473465755 Centerline is valid? [True, True] Translation: X:56.36, Y:-3.18, Z:-0.77 [[ 9.99879597e-01 1.55083293e-02 5.32073618e-04 5.63591695e+01] [-1.55083151e-02 9.99879738e-01 -3.08040563e-05 -3.18006796e+00] [-5.32487349e-04 2.25487820e-05 9.99999858e-01 -7.74966793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610371743 meters 0.028499149351843233 Centerline is valid? [True, True] Translation: X:56.39, Y:-3.18, Z:-0.77 [[ 9.99849371e-01 1.73138002e-02 1.21108044e-03 5.63884983e+01] [-1.73137298e-02 9.99850104e-01 -6.85922159e-05 -3.17939802e+00] [-1.21208649e-03 4.76135645e-05 9.99999264e-01 -7.74605033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640371743 meters 0.027611564465616134 Centerline is valid? [True, True] Translation: X:56.42, Y:-3.18, Z:-0.77 [[ 9.99812399e-01 1.93046477e-02 1.58042595e-03 5.64178553e+01] [-1.93045308e-02 9.99813646e-01 -8.92156858e-05 -3.17823699e+00] [-1.58185371e-03 5.86895674e-05 9.99998747e-01 -7.74360915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.670371743 meters 0.024845364596469473 Centerline is valid? [True, True] Translation: X:56.45, Y:-3.17, Z:-0.77 [[ 9.99734903e-01 2.29118078e-02 2.27453494e-03 5.64476372e+01] [-2.29115763e-02 9.99737487e-01 -1.27786083e-04 -3.17314092e+00] [-2.27686565e-03 7.56390269e-05 9.99997405e-01 -7.73396877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700371743 meters 0.02649469605044833 Centerline is valid? [True, True] Translation: X:56.47, Y:-3.18, Z:-0.77 [[ 9.99699334e-01 2.44016152e-02 2.40898766e-03 5.64749298e+01] [-2.44013586e-02 9.99702233e-01 -1.35843979e-04 -3.17708766e+00] [-2.41158516e-03 7.70205633e-05 9.99997089e-01 -7.74821648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730371743 meters 0.02474009949219198 Centerline is valid? [True, True] Translation: X:56.50, Y:-3.17, Z:-0.77 [[ 9.99629202e-01 2.71245408e-02 2.39113127e-03 5.65038532e+01] [-2.71242969e-02 9.99632060e-01 -1.34406450e-04 -3.17305139e+00] [-2.39389719e-03 6.94988582e-05 9.99997132e-01 -7.73624433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760371743 meters 0.024305961684665534 Centerline is valid? [True, True] Translation: X:56.53, Y:-3.17, Z:-0.77 [[ 9.99592520e-01 2.84261618e-02 2.59767354e-03 5.65330118e+01] [-2.84258790e-02 9.99595892e-01 -1.45753592e-04 -3.17298593e+00] [-2.60076702e-03 7.18530465e-05 9.99996615e-01 -7.73617328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790371743 meters 0.023975428739247403 Centerline is valid? [True, True] Translation: X:56.56, Y:-3.17, Z:-0.77 [[ 9.99559364e-01 2.95729085e-02 2.55378708e-03 5.65620242e+01] [-2.95726392e-02 9.99562624e-01 -1.43136761e-04 -3.17325622e+00] [-2.55690309e-03 6.75514655e-05 9.99996729e-01 -7.73688984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820371743 meters 0.023746807224341627 Centerline is valid? [True, True] Translation: X:56.59, Y:-3.17, Z:-0.77 [[ 9.99530016e-01 3.05751275e-02 2.21550492e-03 5.65911877e+01] [-3.05749274e-02 9.99532470e-01 -1.24155465e-04 -3.17412539e+00] [-2.21826518e-03 5.63582120e-05 9.99997538e-01 -7.74341054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850371743000004 meters 0.023525095541619384 Centerline is valid? [True, True] Translation: X:56.62, Y:-3.18, Z:-0.78 [[ 9.99458027e-01 3.28163698e-02 2.59571720e-03 5.66189811e+01] [-3.28161030e-02 9.99461396e-01 -1.45298908e-04 -3.17565511e+00] [-2.59908732e-03 6.00388374e-05 9.99996621e-01 -7.75278243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.880371743 meters 0.023741282434045198 Centerline is valid? [True, True] Translation: X:56.65, Y:-3.18, Z:-0.78 [[ 9.99424185e-01 3.38445809e-02 2.41710571e-03 5.66466230e+01] [-3.38443529e-02 9.99427107e-01 -1.35156112e-04 -3.17711519e+00] [-2.42029527e-03 5.32729082e-05 9.99997070e-01 -7.75551261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910371743 meters 0.02251569056571686 Centerline is valid? [True, True] Translation: X:56.68, Y:-3.18, Z:-0.77 [[ 9.99334780e-01 3.63543787e-02 2.89084530e-03 5.66758778e+01] [-3.63540651e-02 9.99338960e-01 -1.60981899e-04 -3.17650134e+00] [-2.89478673e-03 5.57808328e-05 9.99995809e-01 -7.74462795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940371743 meters 0.022732005817364453 Centerline is valid? [True, True] Translation: X:56.70, Y:-3.18, Z:-0.78 [[ 9.99289097e-01 3.75668380e-02 3.16742278e-03 5.67038173e+01] [-3.75664665e-02 9.99294116e-01 -1.76718124e-04 -3.17914003e+00] [-3.17182569e-03 5.76036132e-05 9.99994968e-01 -7.75629722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970371743 meters 0.02249383950926249 Centerline is valid? [True, True] Translation: X:56.73, Y:-3.18, Z:-0.78 [[ 9.99250810e-01 3.85881977e-02 2.96121934e-03 5.67325754e+01] [-3.85878803e-02 9.99255197e-01 -1.64241979e-04 -3.18085349e+00] [-2.96535162e-03 4.98517531e-05 9.99995602e-01 -7.75818895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000371743 meters 0.02202986735209004 Centerline is valid? [True, True] Translation: X:56.76, Y:-3.18, Z:-0.78 [[ 9.99197724e-01 3.98606029e-02 3.87818031e-03 5.67612046e+01] [-3.98600704e-02 9.99205249e-01 -2.14531022e-04 -3.18372712e+00] [-3.88364946e-03 5.97743689e-05 9.99992457e-01 -7.76231889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030371743 meters 0.022013085892757113 Centerline is valid? [True, True] Translation: X:56.79, Y:-3.19, Z:-0.78 [[ 9.99184495e-01 4.01291337e-02 4.47181380e-03 5.67888946e+01] [-4.01284298e-02 9.99194500e-01 -2.47065690e-04 -3.18656417e+00] [-4.47812628e-03 6.74173409e-05 9.99989971e-01 -7.76363671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.060371743 meters 0.021814601028015773 Centerline is valid? [True, True] Translation: X:56.82, Y:-3.19, Z:-0.78 [[ 9.99188377e-01 3.99593120e-02 5.08338181e-03 5.68155441e+01] [-3.99583986e-02 9.99201305e-01 -2.81164302e-04 -3.18977502e+00] [-5.09055687e-03 7.78123058e-05 9.99987040e-01 -7.76585068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090371743 meters 0.02205439931992416 Centerline is valid? [True, True] Translation: X:56.84, Y:-3.19, Z:-0.78 [[ 9.99231615e-01 3.88420244e-02 5.24174484e-03 5.68442180e+01] [-3.88410491e-02 9.99245360e-01 -2.87773423e-04 -3.19267785e+00] [-5.24896692e-03 8.39574338e-05 9.99986221e-01 -7.76902063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120371743 meters 0.022416683902770483 Centerline is valid? [True, True] Translation: X:56.87, Y:-3.20, Z:-0.78 [[ 9.99332595e-01 3.60723510e-02 5.75752586e-03 5.68711592e+01] [-3.60711296e-02 9.99349175e-01 -3.15870048e-04 -3.19954660e+00] [-5.76517290e-03 1.07978773e-04 9.99983375e-01 -7.77111113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150371743 meters 0.022882362176579903 Centerline is valid? [True, True] Translation: X:56.90, Y:-3.20, Z:-0.78 [[ 9.99409817e-01 3.38269427e-02 5.97964961e-03 5.68997812e+01] [-3.38255908e-02 9.99427697e-01 -3.27096912e-04 -3.20489312e+00] [-5.98729213e-03 1.24638684e-04 9.99982068e-01 -7.78077699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180371743 meters 0.02267487984450008 Centerline is valid? [True, True] Translation: X:56.93, Y:-3.21, Z:-0.78 [[ 9.99507332e-01 3.09367703e-02 5.29247947e-03 5.69283727e+01] [-3.09356720e-02 9.99521336e-01 -2.89284594e-04 -3.20817544e+00] [-5.29889568e-03 1.25415664e-04 9.99985953e-01 -7.78606030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.210371743 meters 0.023950238087821124 Centerline is valid? [True, True] Translation: X:56.96, Y:-3.22, Z:-0.78 [[ 9.99683036e-01 2.47335824e-02 4.69867407e-03 5.69584861e+01] [-2.47326524e-02 9.99694068e-01 -2.55934723e-04 -3.21814171e+00] [-4.70356678e-03 1.39642928e-04 9.99988928e-01 -7.80680302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.240371743 meters 0.02425816156085469 Centerline is valid? [True, True] Translation: X:56.99, Y:-3.22, Z:-0.78 [[ 9.99759768e-01 2.14257378e-02 4.61992428e-03 5.69877520e+01] [-2.14248018e-02 9.99770431e-01 -2.51985443e-04 -3.22304773e+00] [-4.62426266e-03 1.52943946e-04 9.99989296e-01 -7.81011332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270371743 meters 0.025399638856340244 Centerline is valid? [True, True] Translation: X:57.02, Y:-3.23, Z:-0.78 [[ 9.99827472e-01 1.80891942e-02 4.21979661e-03 5.70158188e+01] [-1.80883830e-02 9.99836365e-01 -2.30324822e-04 -3.22935138e+00] [-4.22327250e-03 1.53955787e-04 9.99991070e-01 -7.81802033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300371743 meters 0.03083260729658827 Centerline is valid? [True, True] Translation: X:57.04, Y:-3.24, Z:-0.78 [[ 9.99918139e-01 1.22838463e-02 3.58091620e-03 5.70443306e+01] [-1.22832263e-02 9.99924539e-01 -1.95063303e-04 -3.24466263e+00] [-3.58304211e-03 1.51062130e-04 9.99993569e-01 -7.84114107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.330371743 meters 0.02801509887894629 Centerline is valid? [True, True] Translation: X:57.07, Y:-3.24, Z:-0.78 [[ 9.99948596e-01 9.45151136e-03 3.67064185e-03 5.70740869e+01] [-9.45084145e-03 9.99955320e-01 -1.99808353e-04 -3.24341227e+00] [-3.67236633e-03 1.65107428e-04 9.99993243e-01 -7.83223721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360371743 meters 0.02931339970925843 Centerline is valid? [True, True] Translation: X:57.10, Y:-3.25, Z:-0.78 [[ 9.99971928e-01 6.48393060e-03 3.75530853e-03 5.71029140e+01] [-6.48320841e-03 9.99978963e-01 -2.04453418e-04 -3.24888710e+00] [-3.75655519e-03 1.80101231e-04 9.99992928e-01 -7.83326956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390371743 meters 0.029953168959386198 Centerline is valid? [True, True] Translation: X:57.13, Y:-3.25, Z:-0.78 [[ 9.99979472e-01 4.31721772e-03 4.73476768e-03 5.71321877e+01] [-4.31604835e-03 9.99990653e-01 -2.57166646e-04 -3.25434376e+00] [-4.73583367e-03 2.36725881e-04 9.99988758e-01 -7.83444566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.420371743 meters 0.03268828614770676 Centerline is valid? [True, True] Translation: X:57.16, Y:-3.26, Z:-0.78 [[ 9.99975313e-01 1.06571746e-04 7.02575590e-03 5.71622111e+01] [-1.03899305e-04 9.99999922e-01 -3.80741596e-04 -3.26410670e+00] [-7.02579593e-03 3.80002226e-04 9.99975247e-01 -7.82212331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450371743 meters 0.03322815112206949 Centerline is valid? [True, True] Translation: X:57.19, Y:-3.27, Z:-0.78 [[ 9.99965987e-01 -9.14644643e-04 8.19689474e-03 5.71945070e+01] [ 9.18307228e-04 9.99999480e-01 -4.43073359e-04 -3.26838458e+00] [-8.19648522e-03 4.50585556e-04 9.99966307e-01 -7.81575584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480371743 meters 0.0342110975175508 Centerline is valid? [True, True] Translation: X:57.23, Y:-3.27, Z:-0.78 [[ 9.99961836e-01 -1.74582189e-03 8.56026579e-03 5.72261494e+01] [ 1.74986689e-03 9.99998361e-01 -4.65064894e-04 -3.27293607e+00] [-8.55943983e-03 4.80026471e-04 9.99963252e-01 -7.81157856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510371743 meters 0.03516369603431553 Centerline is valid? [True, True] Translation: X:57.26, Y:-3.28, Z:-0.78 [[ 9.99961266e-01 -2.31199852e-03 8.49240547e-03 5.72571821e+01] [ 2.31602047e-03 9.99997210e-01 -4.63789532e-04 -3.27742478e+00] [-8.49130950e-03 4.83440152e-04 9.99963831e-01 -7.81601264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540371743 meters 0.036601132151733766 Centerline is valid? [True, True] Translation: X:57.29, Y:-3.28, Z:-0.78 [[ 9.99963185e-01 -2.91387136e-03 8.07075641e-03 5.72879477e+01] [ 2.91753465e-03 9.99995646e-01 -4.42160522e-04 -3.28408506e+00] [-8.06943288e-03 4.65690955e-04 9.99967333e-01 -7.82195753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570371743 meters 0.036565857202717315 Centerline is valid? [True, True] Translation: X:57.32, Y:-3.29, Z:-0.78 [[ 9.99966837e-01 -3.18614673e-03 7.49489242e-03 5.73203642e+01] [ 3.18931520e-03 9.99994830e-01 -4.10836273e-04 -3.28779272e+00] [-7.49354469e-03 4.34726223e-04 9.99971829e-01 -7.83038594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.600371743 meters 0.03779507870936242 Centerline is valid? [True, True] Translation: X:57.35, Y:-3.29, Z:-0.78 [[ 9.99970401e-01 -3.22227633e-03 6.98664001e-03 5.73513769e+01] [ 3.22503421e-03 9.99994726e-01 -3.83505433e-04 -3.29281392e+00] [-6.98536740e-03 4.06026235e-04 9.99975520e-01 -7.83850410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.630371743 meters 0.03793853033862272 Centerline is valid? [True, True] Translation: X:57.38, Y:-3.30, Z:-0.79 [[ 9.99982569e-01 -2.63329650e-03 5.28464743e-03 5.73822636e+01] [ 2.63486668e-03 9.99996487e-01 -2.90180339e-04 -3.29655988e+00] [-5.28386473e-03 3.04099623e-04 9.99985994e-01 -7.86062048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660371743 meters 0.0378630969465776 Centerline is valid? [True, True] Translation: X:57.41, Y:-3.30, Z:-0.79 [[ 9.99988274e-01 -1.18827930e-03 4.69470968e-03 5.74140664e+01] [ 1.18950335e-03 9.99999259e-01 -2.57947378e-04 -3.29829751e+00] [-4.69439969e-03 2.63528726e-04 9.99988947e-01 -7.87537314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.690371743 meters 0.03746629613846078 Centerline is valid? [True, True] Translation: X:57.44, Y:-3.30, Z:-0.79 [[ 9.99991984e-01 2.56056654e-04 3.99574150e-03 5.74449257e+01] [-2.55180406e-04 9.99999943e-01 -2.19803769e-04 -3.29982231e+00] [-3.99579756e-03 2.18782372e-04 9.99991993e-01 -7.89004425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720371743 meters 0.03646246214356305 Centerline is valid? [True, True] Translation: X:57.47, Y:-3.30, Z:-0.79 [[ 9.99985926e-01 4.47371039e-03 2.85195921e-03 5.74744106e+01] [-4.47327966e-03 9.99989982e-01 -1.57392426e-04 -3.29930031e+00] [-2.85263477e-03 1.44632600e-04 9.99995921e-01 -7.90669877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.750371743 meters 0.028938918540099133 Centerline is valid? [True, True] Translation: X:57.51, Y:-3.29, Z:-0.79 [[ 9.99972804e-01 6.86329196e-03 2.69926663e-03 5.75051608e+01] [-6.86291483e-03 9.99976439e-01 -1.48954487e-04 -3.28848523e+00] [-2.70022535e-03 1.30425599e-04 9.99996346e-01 -7.88938532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780371743 meters 0.027178978099281586 Centerline is valid? [True, True] Translation: X:57.54, Y:-3.29, Z:-0.79 [[ 9.99947098e-01 9.87001279e-03 2.89543636e-03 5.75351775e+01] [-9.86959163e-03 9.99951282e-01 -1.59711697e-04 -3.28691322e+00] [-2.89687166e-03 1.31126474e-04 9.99995795e-01 -7.88377046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.810371743 meters 0.0270717781307995 Centerline is valid? [True, True] Translation: X:57.56, Y:-3.29, Z:-0.79 [[ 9.99911218e-01 1.29822374e-02 3.00307020e-03 5.75641753e+01] [-1.29817979e-02 9.99915719e-01 -1.65781312e-04 -3.28732032e+00] [-3.00496931e-03 1.26781343e-04 9.99995477e-01 -7.88295342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840371743 meters 0.031100866362607442 Centerline is valid? [True, True] Translation: X:57.59, Y:-3.29, Z:-0.79 [[ 9.99856782e-01 1.64364927e-02 4.03213685e-03 5.75923109e+01] [-1.64357291e-02 9.99864900e-01 -2.22447588e-04 -3.29463171e+00] [-4.03524836e-03 1.56144621e-04 9.99991846e-01 -7.89779910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.870371743 meters 0.024207432558011555 Centerline is valid? [True, True] Translation: X:57.62, Y:-3.28, Z:-0.79 [[ 9.99719144e-01 2.32466636e-02 4.60710411e-03 5.76238564e+01] [-2.32457424e-02 9.99729749e-01 -2.53417241e-04 -3.28111711e+00] [-4.61175014e-03 1.46250512e-04 9.99989355e-01 -7.86342190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900371743 meters 0.023146062982639957 Centerline is valid? [True, True] Translation: X:57.65, Y:-3.28, Z:-0.79 [[ 9.99641871e-01 2.63532063e-02 4.65169338e-03 5.76528583e+01] [-2.63522984e-02 9.99652685e-01 -2.56386523e-04 -3.27949622e+00] [-4.65683439e-03 1.33711892e-04 9.99989148e-01 -7.85721556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930371743 meters 0.02238385764749735 Centerline is valid? [True, True] Translation: X:57.68, Y:-3.28, Z:-0.79 [[ 9.99485127e-01 3.17130914e-02 4.87443010e-03 5.76820830e+01] [-3.17121617e-02 9.99497007e-01 -2.67930848e-04 -3.27789178e+00] [-4.88047521e-03 1.13214183e-04 9.99988084e-01 -7.85973101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960371743 meters 0.021737060876570288 Centerline is valid? [True, True] Translation: X:57.71, Y:-3.28, Z:-0.79 [[ 9.99425054e-01 3.35194076e-02 5.09999422e-03 5.77111133e+01] [-3.35184128e-02 9.99438061e-01 -2.80445394e-04 -3.27731059e+00] [-5.10652870e-03 1.09340442e-04 9.99986956e-01 -7.86019030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.990371743 meters 0.021728720075430256 Centerline is valid? [True, True] Translation: X:57.74, Y:-3.28, Z:-0.79 [[ 9.99390839e-01 3.45345533e-02 5.03151272e-03 5.77396787e+01] [-3.45335996e-02 9.99403499e-01 -2.76329257e-04 -3.27823572e+00] [-5.03805433e-03 1.02404682e-04 9.99987304e-01 -7.87061982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020371743 meters 0.02177250263170075 Centerline is valid? [True, True] Translation: X:57.77, Y:-3.28, Z:-0.79 [[ 9.99389258e-01 3.47085896e-02 4.05283799e-03 5.77672856e+01] [-3.47079719e-02 9.99397472e-01 -2.22659872e-04 -3.28003526e+00] [-4.05812425e-03 8.18580973e-05 9.99991762e-01 -7.88564563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.050371743 meters 0.021883630670942233 Centerline is valid? [True, True] Translation: X:57.80, Y:-3.28, Z:-0.79 [[ 9.99420651e-01 3.38059653e-02 3.93932195e-03 5.77964913e+01] [-3.38053766e-02 9.99428412e-01 -2.15937188e-04 -3.28197029e+00] [-3.94437024e-03 8.26418233e-05 9.99992218e-01 -7.89194157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080371743 meters 0.02218500904688985 Centerline is valid? [True, True] Translation: X:57.82, Y:-3.28, Z:-0.79 [[ 9.99478217e-01 3.20646701e-02 3.89250607e-03 5.78246000e+01] [-3.20640810e-02 9.99485792e-01 -2.13674904e-04 -3.28496870e+00] [-3.89735593e-03 8.87537824e-05 9.99992401e-01 -7.90059172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.110371743 meters 0.022402847007573938 Centerline is valid? [True, True] Translation: X:57.85, Y:-3.29, Z:-0.79 [[ 9.99614036e-01 2.74234639e-02 4.44216175e-03 5.78542998e+01] [-2.74226584e-02 9.99623899e-01 -2.42149803e-04 -3.29028700e+00] [-4.44713164e-03 1.20240458e-04 9.99990104e-01 -7.89759631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140371743 meters 0.023924099285525285 Centerline is valid? [True, True] Translation: X:57.88, Y:-3.30, Z:-0.79 [[ 9.99685028e-01 2.46447434e-02 4.74152681e-03 5.78818601e+01] [-2.46437930e-02 9.99696262e-01 -2.58762965e-04 -3.29676517e+00] [-4.74646378e-03 1.41832257e-04 9.99988725e-01 -7.90992366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.170371743 meters 0.023987713543708003 Centerline is valid? [True, True] Translation: X:57.91, Y:-3.30, Z:-0.79 [[ 9.99759478e-01 2.13842681e-02 4.86821427e-03 5.79110341e+01] [-2.13832316e-02 9.99771317e-01 -2.64867949e-04 -3.29992847e+00] [-4.87276500e-03 1.60706089e-04 9.99988115e-01 -7.90789044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200371743 meters 0.026623229250153636 Centerline is valid? [True, True] Translation: X:57.94, Y:-3.31, Z:-0.79 [[ 9.99886278e-01 1.45417848e-02 3.99604533e-03 5.79394376e+01] [-1.45410343e-02 9.99894250e-01 -2.16802718e-04 -3.30936550e+00] [-3.99877545e-03 1.58671430e-04 9.99991992e-01 -7.91986210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230371743 meters 0.02722194174245511 Centerline is valid? [True, True] Translation: X:57.97, Y:-3.31, Z:-0.79 [[ 9.99928595e-01 1.12699771e-02 3.97403831e-03 5.79688456e+01] [-1.12692077e-02 9.99936477e-01 -2.15953750e-04 -3.31306751e+00] [-3.97621966e-03 1.71154067e-04 9.99992080e-01 -7.92471511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260371743 meters 0.028137281024346997 Centerline is valid? [True, True] Translation: X:58.00, Y:-3.32, Z:-0.79 [[ 9.99959466e-01 8.23498744e-03 3.64015631e-03 5.79983184e+01] [-8.23432212e-03 9.99966078e-01 -1.97720655e-04 -3.31795112e+00] [-3.64166106e-03 1.67738421e-04 9.99993355e-01 -7.93198230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.290371743 meters 0.029409919435341058 Centerline is valid? [True, True] Translation: X:58.03, Y:-3.32, Z:-0.79 [[ 9.99990569e-01 3.01920373e-03 3.12177634e-03 5.80286149e+01] [-3.01869014e-03 9.99995429e-01 -1.69215612e-04 -3.32426472e+00] [-3.12227296e-03 1.59790341e-04 9.99995113e-01 -7.93307643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320371743 meters 0.030599600320175 Centerline is valid? [True, True] Translation: X:58.06, Y:-3.33, Z:-0.79 [[ 9.99994983e-01 9.88665872e-04 3.00947650e-03 5.80589495e+01] [-9.88180308e-04 9.99999498e-01 -1.62827867e-04 -3.32889994e+00] [-3.00963597e-03 1.59853145e-04 9.99995458e-01 -7.94193776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.350371743 meters 0.03061981873811959 Centerline is valid? [True, True] Translation: X:58.09, Y:-3.33, Z:-0.79 [[ 9.99991706e-01 -1.67697075e-03 3.71165025e-03 5.80897533e+01] [ 1.67772810e-03 9.99998572e-01 -2.00943130e-04 -3.33169545e+00] [-3.71130797e-03 2.07168604e-04 9.99993092e-01 -7.94129460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.380371743 meters 0.0318366688038716 Centerline is valid? [True, True] Translation: X:58.12, Y:-3.34, Z:-0.79 [[ 9.99989174e-01 -2.29105252e-03 4.04999477e-03 5.81211527e+01] [ 2.29195820e-03 9.99997349e-01 -2.18997847e-04 -3.33508744e+00] [-4.04948230e-03 2.28277895e-04 9.99991775e-01 -7.94363876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.410371743 meters 0.0318366688038716 Centerline is valid? [True, True] Translation: X:58.15, Y:-3.34, Z:-0.79 [[ 9.99989336e-01 -2.21951351e-03 4.04999248e-03 5.81528480e+01] [ 2.22041877e-03 9.99997511e-01 -2.19040574e-04 -3.33686768e+00] [-4.04949623e-03 2.28030918e-04 9.99991775e-01 -7.94809487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440371743 meters 0.030967160931347718 Centerline is valid? [True, True] Translation: X:58.19, Y:-3.34, Z:-0.79 [[ 9.99985596e-01 -2.40910736e-03 4.79619352e-03 5.81854659e+01] [ 2.41038162e-03 9.99997061e-01 -2.59919820e-04 -3.33743107e+00] [-4.79555325e-03 2.71476733e-04 9.99988464e-01 -7.94312734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.470371743 meters 0.03167906032017357 Centerline is valid? [True, True] Translation: X:58.22, Y:-3.34, Z:-0.79 [[ 9.99983265e-01 -2.08668083e-03 5.39582680e-03 5.82161425e+01] [ 2.08828930e-03 9.99997777e-01 -2.92479323e-04 -3.34002928e+00] [-5.39520450e-03 3.03742476e-04 9.99985400e-01 -7.94369224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500371743 meters 0.03093266173692435 Centerline is valid? [True, True] Translation: X:58.25, Y:-3.34, Z:-0.79 [[ 9.99977830e-01 -1.06712494e-03 6.57272866e-03 5.82487713e+01] [ 1.06949932e-03 9.99999364e-01 -3.57742545e-04 -3.34113991e+00] [-6.57234273e-03 3.64764143e-04 9.99978335e-01 -7.94577421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.530371743 meters 0.03167777932743434 Centerline is valid? [True, True] Translation: X:58.28, Y:-3.34, Z:-0.80 [[ 9.99976960e-01 -4.27935156e-04 6.77461559e-03 5.82798252e+01] [ 4.30449212e-04 9.99999839e-01 -3.69645630e-04 -3.34420565e+00] [-6.77445631e-03 3.72553242e-04 9.99976984e-01 -7.95534851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.560371743 meters 0.031688519984383275 Centerline is valid? [True, True] Translation: X:58.31, Y:-3.35, Z:-0.80 [[ 9.99978714e-01 2.43345655e-04 6.52021658e-03 5.83115488e+01] [-2.41029861e-04 9.99999908e-01 -3.55954648e-04 -3.34599290e+00] [-6.52030260e-03 3.54375504e-04 9.99978680e-01 -7.96511101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.590371743 meters 0.03056037969092719 Centerline is valid? [True, True] Translation: X:58.34, Y:-3.35, Z:-0.80 [[ 9.99983937e-01 1.68303529e-03 5.41228221e-03 5.83434239e+01] [-1.68145952e-03 9.99998543e-01 -2.95683823e-04 -3.34564856e+00] [-5.41277196e-03 2.86578540e-04 9.99985310e-01 -7.97951071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620371743 meters 0.030913092231661592 Centerline is valid? [True, True] Translation: X:58.37, Y:-3.35, Z:-0.80 [[ 9.99986300e-01 2.36286915e-03 4.67083010e-03 5.83745898e+01] [-2.36170121e-03 9.99997179e-01 -2.55547759e-04 -3.34702991e+00] [-4.67142075e-03 2.44513153e-04 9.99989059e-01 -7.99597311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650371743 meters 0.03083654188555217 Centerline is valid? [True, True] Translation: X:58.41, Y:-3.35, Z:-0.80 [[ 9.99986756e-01 4.06882641e-03 3.15171600e-03 5.84058924e+01] [-4.06830271e-03 9.99991710e-01 -1.72557726e-04 -3.34785818e+00] [-3.15239197e-03 1.59733306e-04 9.99995018e-01 -8.01657357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680371743 meters 0.03074944063613559 Centerline is valid? [True, True] Translation: X:58.44, Y:-3.35, Z:-0.80 [[ 9.99984060e-01 4.85536510e-03 2.88196289e-03 5.84359535e+01] [-4.85492860e-03 9.99988202e-01 -1.58434615e-04 -3.34942669e+00] [-2.88269815e-03 1.44440366e-04 9.99995835e-01 -8.03075164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710371743 meters 0.029208863855995245 Centerline is valid? [True, True] Translation: X:58.47, Y:-3.35, Z:-0.80 [[ 9.99977975e-01 5.97554932e-03 2.88817333e-03 5.84653799e+01] [-5.97511516e-03 9.99982136e-01 -1.58927608e-04 -3.34839078e+00] [-2.88907142e-03 1.41666940e-04 9.99995817e-01 -8.03125924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.740371743 meters 0.028459672173120464 Centerline is valid? [True, True] Translation: X:58.50, Y:-3.35, Z:-0.80 [[ 9.99959922e-01 8.48661453e-03 2.85176505e-03 5.84954650e+01] [-8.48620228e-03 9.99963979e-01 -1.56629502e-04 -3.34805727e+00] [-2.85299158e-03 1.32422569e-04 9.99995921e-01 -8.03002888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770371743 meters 0.02798235816463263 Centerline is valid? [True, True] Translation: X:58.52, Y:-3.35, Z:-0.80 [[ 9.99946817e-01 9.77919148e-03 3.27587850e-03 5.85247667e+01] [-9.77865346e-03 9.99952172e-01 -1.80213109e-04 -3.34818218e+00] [-3.27748415e-03 1.48169844e-04 9.99994618e-01 -8.02959538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800371743 meters 0.026698831008110564 Centerline is valid? [True, True] Translation: X:58.55, Y:-3.35, Z:-0.80 [[ 9.99928148e-01 1.14563514e-02 3.52864068e-03 5.85538746e+01] [-1.14557377e-02 9.99934362e-01 -1.94073792e-04 -3.34662596e+00] [-3.53063244e-03 1.53636665e-04 9.99993755e-01 -8.02743125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830371743 meters 0.02718411485703619 Centerline is valid? [True, True] Translation: X:58.58, Y:-3.35, Z:-0.80 [[ 9.99904866e-01 1.32354328e-02 3.88347041e-03 5.85815651e+01] [-1.32347037e-02 9.99912395e-01 -2.13379504e-04 -3.34878216e+00] [-3.88595437e-03 1.61962624e-04 9.99992437e-01 -8.03422519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860371743 meters 0.02582534668413248 Centerline is valid? [True, True] Translation: X:58.61, Y:-3.35, Z:-0.80 [[ 9.99849100e-01 1.69824521e-02 3.65693833e-03 5.86114936e+01] [-1.69818336e-02 9.99855778e-01 -2.00110933e-04 -3.34704309e+00] [-3.65980930e-03 1.37979218e-04 9.99993293e-01 -8.03518584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890371743 meters 0.025662371119806526 Centerline is valid? [True, True] Translation: X:58.64, Y:-3.35, Z:-0.80 [[ 9.99806097e-01 1.92676166e-02 4.06531662e-03 5.86394396e+01] [-1.92668698e-02 9.99814352e-01 -2.22786298e-04 -3.34811733e+00] [-4.06885446e-03 1.44417173e-04 9.99991712e-01 -8.04157063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.920371743 meters 0.025257585526462262 Centerline is valid? [True, True] Translation: X:58.67, Y:-3.35, Z:-0.80 [[ 9.99768150e-01 2.11497255e-02 4.04178913e-03 5.86682572e+01] [-2.11490048e-02 9.99776310e-01 -2.20961468e-04 -3.34825940e+00] [-4.04555830e-03 1.35430420e-04 9.99991808e-01 -8.04363577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950371743 meters 0.024843826943735377 Centerline is valid? [True, True] Translation: X:58.70, Y:-3.35, Z:-0.80 [[ 9.99687956e-01 2.46256280e-02 4.19143992e-03 5.86960095e+01] [-2.46248843e-02 9.99696735e-01 -2.28971486e-04 -3.34820535e+00] [-4.19580737e-03 1.25686314e-04 9.99991190e-01 -8.04453623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980371743 meters 0.02484715148299734 Centerline is valid? [True, True] Translation: X:58.72, Y:-3.35, Z:-0.80 [[ 9.99670999e-01 2.53513088e-02 3.89933630e-03 5.87249509e+01] [-2.53506723e-02 9.99678597e-01 -2.12575517e-04 -3.34931884e+00] [-3.90347211e-03 1.13654783e-04 9.99992375e-01 -8.04920244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010371743 meters 0.024925815817486045 Centerline is valid? [True, True] Translation: X:58.75, Y:-3.35, Z:-0.81 [[ 9.99649257e-01 2.61564266e-02 4.14774458e-03 5.87528723e+01] [-2.61557142e-02 9.99657855e-01 -2.25929074e-04 -3.35173366e+00] [-4.15223495e-03 1.17362610e-04 9.99991373e-01 -8.05672612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040371743 meters 0.024240698142078108 Centerline is valid? [True, True] Translation: X:58.78, Y:-3.35, Z:-0.81 [[ 9.99643763e-01 2.62555055e-02 4.79545334e-03 5.87819018e+01] [-2.62545580e-02 9.99655256e-01 -2.60456749e-04 -3.35223576e+00] [-4.80063855e-03 1.34461457e-04 9.99988468e-01 -8.05555256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.070371743 meters 0.02367474969387157 Centerline is valid? [True, True] Translation: X:58.81, Y:-3.35, Z:-0.81 [[ 9.99649175e-01 2.59865683e-02 5.12101149e-03 5.88102977e+01] [-2.59854846e-02 9.99662282e-01 -2.78043160e-04 -3.35327062e+00] [-5.12650741e-03 1.44873651e-04 9.99986849e-01 -8.05314611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.100371743 meters 0.0241489003501653 Centerline is valid? [True, True] Translation: X:58.84, Y:-3.36, Z:-0.81 [[ 9.99672663e-01 2.49970845e-02 5.45092149e-03 5.88375964e+01] [-2.49958456e-02 9.99687511e-01 -2.95303394e-04 -3.35664773e+00] [-5.45659986e-03 1.58956338e-04 9.99985100e-01 -8.05589066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.130371743 meters 0.024846941931528102 Centerline is valid? [True, True] Translation: X:58.87, Y:-3.36, Z:-0.81 [[ 9.99753595e-01 2.16042557e-02 5.09964496e-03 5.88665277e+01] [-2.16031325e-02 9.99766587e-01 -2.75247196e-04 -3.36135236e+00] [-5.10440115e-03 1.65011068e-04 9.99986959e-01 -8.06301193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160371743 meters 0.025768391571119136 Centerline is valid? [True, True] Translation: X:58.89, Y:-3.37, Z:-0.81 [[ 9.99805736e-01 1.91840175e-02 4.52365146e-03 5.88949637e+01] [-1.91831089e-02 9.99815957e-01 -2.44142874e-04 -3.36568032e+00] [-4.52750256e-03 1.57317747e-04 9.99989738e-01 -8.07485049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.190371743 meters 0.02625787889031241 Centerline is valid? [True, True] Translation: X:58.92, Y:-3.37, Z:-0.81 [[ 9.99859253e-01 1.62784131e-02 4.06054142e-03 5.89244825e+01] [-1.62776592e-02 9.99867486e-01 -2.18632358e-04 -3.37001357e+00] [-4.06356233e-03 1.52505476e-04 9.99991732e-01 -8.09029326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220371743 meters 0.02967526947772962 Centerline is valid? [True, True] Translation: X:58.95, Y:-3.38, Z:-0.81 [[ 9.99941060e-01 1.00351200e-02 4.14398836e-03 5.89528999e+01] [-1.00342833e-02 9.99949631e-01 -2.22627485e-04 -3.38095753e+00] [-4.14601372e-03 1.81032410e-04 9.99991389e-01 -8.11336205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250371743 meters 0.032816635536150045 Centerline is valid? [True, True] Translation: X:58.98, Y:-3.39, Z:-0.81 [[ 9.99968638e-01 6.74383874e-03 4.15265372e-03 5.89817420e+01] [-6.74296896e-03 9.99977241e-01 -2.23415697e-04 -3.38911707e+00] [-4.15406589e-03 1.95407475e-04 9.99991353e-01 -8.12716961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280371743 meters 0.030186679716499253 Centerline is valid? [True, True] Translation: X:59.01, Y:-3.39, Z:-0.81 [[ 9.99983979e-01 3.34890793e-03 4.56369776e-03 5.90124419e+01] [-3.34782457e-03 9.99994366e-01 -2.45005138e-04 -3.38805860e+00] [-4.56449255e-03 2.29722753e-04 9.99989556e-01 -8.11662583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.310371743 meters 0.03156541510786425 Centerline is valid? [True, True] Translation: X:59.04, Y:-3.39, Z:-0.81 [[ 9.99983754e-01 -3.02751571e-03 4.82969802e-03 5.90426578e+01] [ 3.02880307e-03 9.99995380e-01 -2.59259334e-04 -3.39365148e+00] [-4.82889079e-03 2.73883326e-04 9.99988303e-01 -8.11153683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340371743 meters 0.03257921928475856 Centerline is valid? [True, True] Translation: X:59.07, Y:-3.40, Z:-0.81 [[ 9.99969936e-01 -5.59931905e-03 5.36419357e-03 5.90733014e+01] [ 5.60094340e-03 9.99984273e-01 -2.87839391e-04 -3.39758398e+00] [-5.36249750e-03 3.17875282e-04 9.99985571e-01 -8.11394081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.370371743 meters 0.03406803799551412 Centerline is valid? [True, True] Translation: X:59.10, Y:-3.40, Z:-0.81 [[ 9.99953781e-01 -8.12939040e-03 5.13318688e-03 5.91039476e+01] [ 8.13091149e-03 9.99966906e-01 -2.75526148e-04 -3.40185629e+00] [-5.13077715e-03 3.17250902e-04 9.99986787e-01 -8.11910585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400371743 meters 0.035520719650780505 Centerline is valid? [True, True] Translation: X:59.13, Y:-3.41, Z:-0.81 [[ 9.99924217e-01 -1.11780791e-02 5.15858785e-03 5.91344002e+01] [ 1.11796562e-02 9.99937467e-01 -2.76983835e-04 -3.40619964e+00] [-5.15516912e-03 3.34634083e-04 9.99986656e-01 -8.12566539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.430371743 meters 0.036780221163110714 Centerline is valid? [True, True] Translation: X:59.17, Y:-3.41, Z:-0.81 [[ 9.99914896e-01 -1.20194361e-02 5.07295121e-03 5.91655803e+01] [ 1.20209680e-02 9.99927709e-01 -2.71582923e-04 -3.41001349e+00] [-5.06932020e-03 3.32541594e-04 9.99987096e-01 -8.13567435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460371743 meters 0.04198044966914654 Centerline is valid? [True, True] Translation: X:59.20, Y:-3.42, Z:-0.82 [[ 9.99905296e-01 -1.29457746e-02 4.66968038e-03 5.91964181e+01] [ 1.29470874e-02 9.99916151e-01 -2.51013210e-04 -3.41953853e+00] [-4.66603927e-03 3.11448198e-04 9.99989065e-01 -8.15571553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.490371743 meters 0.0383283407633241 Centerline is valid? [True, True] Translation: X:59.23, Y:-3.42, Z:-0.82 [[ 9.99904418e-01 -1.31219112e-02 4.35550907e-03 5.92289985e+01] [ 1.31230550e-02 9.99913862e-01 -2.34140527e-04 -3.41590527e+00] [-4.35206152e-03 2.91275733e-04 9.99990487e-01 -8.15876044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520371743 meters 0.03503160598604146 Centerline is valid? [True, True] Translation: X:59.26, Y:-3.41, Z:-0.82 [[ 9.99911927e-01 -1.26933115e-02 3.87525346e-03 5.92612054e+01] [ 1.26942143e-02 9.99919403e-01 -2.08458966e-04 -3.41273545e+00] [-3.87229509e-03 2.57633904e-04 9.99992469e-01 -8.15742410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.550371743 meters 0.03909354887426722 Centerline is valid? [True, True] Translation: X:59.29, Y:-3.42, Z:-0.82 [[ 9.99942750e-01 -1.05044926e-02 2.03796948e-03 5.92910783e+01] [ 1.05047362e-02 9.99944818e-01 -1.08867385e-04 -3.41879187e+00] [-2.03671343e-03 1.30269484e-04 9.99997917e-01 -8.18103375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580371743 meters 0.03409429505852421 Centerline is valid? [True, True] Translation: X:59.32, Y:-3.41, Z:-0.82 [[ 9.99960751e-01 -8.70730421e-03 1.63698805e-03 5.93226759e+01] [ 8.70746025e-03 9.99962085e-01 -8.82166427e-05 -3.41263982e+00] [-1.63615786e-03 1.02467189e-04 9.99998656e-01 -8.17837772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610371743 meters 0.03403905835027511 Centerline is valid? [True, True] Translation: X:59.35, Y:-3.41, Z:-0.82 [[ 9.99979756e-01 -6.29501268e-03 9.27184054e-04 5.93528423e+01] [ 6.29506175e-03 9.99980185e-01 -5.00162139e-05 -3.41254831e+00] [-9.26850829e-04 5.58518823e-05 9.99999569e-01 -8.18780018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640371743 meters 0.033095397886324616 Centerline is valid? [True, True] Translation: X:59.38, Y:-3.41, Z:-0.82 [[ 9.99994081e-01 -3.37658447e-03 6.60372035e-04 5.93837336e+01] [ 3.37660869e-03 9.99994299e-01 -3.55667005e-05 -3.41171211e+00] [-6.60248176e-04 3.77963080e-05 9.99999781e-01 -8.18782107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.670371743 meters 0.03146097643241165 Centerline is valid? [True, True] Translation: X:59.41, Y:-3.41, Z:-0.82 [[ 9.99999832e-01 9.68110150e-05 5.71719289e-04 5.94146542e+01] [-9.67934403e-05 9.99999995e-01 -3.07676776e-05 -3.40940142e+00] [-5.71722265e-04 3.07123337e-05 9.99999836e-01 -8.18295136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700371743 meters 0.02863464063408725 Centerline is valid? [True, True] Translation: X:59.45, Y:-3.40, Z:-0.82 [[ 9.99964637e-01 8.33510625e-03 1.11830172e-03 5.94461980e+01] [-8.33504382e-03 9.99965261e-01 -6.04789142e-05 -3.40229881e+00] [-1.11876696e-03 5.11556817e-05 9.99999373e-01 -8.16819854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730371743 meters 0.027612204263765018 Centerline is valid? [True, True] Translation: X:59.48, Y:-3.40, Z:-0.82 [[ 9.99917765e-01 1.27088511e-02 1.71715180e-03 5.94759553e+01] [-1.27087090e-02 9.99919237e-01 -9.36239971e-05 -3.39982902e+00] [-1.71820297e-03 7.17935153e-05 9.99998521e-01 -8.16816185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760371743 meters 0.025107293311641864 Centerline is valid? [True, True] Translation: X:59.51, Y:-3.39, Z:-0.82 [[ 9.99766984e-01 2.14137080e-02 2.72612190e-03 5.95070867e+01] [-2.14133843e-02 9.99770696e-01 -1.47876679e-04 -3.39316737e+00] [-2.72866338e-03 8.94667260e-05 9.99996273e-01 -8.16447590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790371743 meters 0.024362723537911826 Centerline is valid? [True, True] Translation: X:59.54, Y:-3.39, Z:-0.82 [[ 9.99656733e-01 2.60165570e-02 3.09115632e-03 5.95370311e+01] [-2.60161617e-02 9.99661508e-01 -1.68019917e-04 -3.39176576e+00] [-3.09448128e-03 8.75422187e-05 9.99995208e-01 -8.17296450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820371743 meters 0.02251750051961502 Centerline is valid? [True, True] Translation: X:59.57, Y:-3.39, Z:-0.82 [[ 9.99427394e-01 3.36782458e-02 3.26487049e-03 5.95669159e+01] [-3.36778462e-02 9.99432725e-01 -1.77330504e-04 -3.38635669e+00] [-3.26899059e-03 6.72751579e-05 9.99994655e-01 -8.17842944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.850371743 meters 0.022227184602077666 Centerline is valid? [True, True] Translation: X:59.60, Y:-3.39, Z:-0.82 [[ 9.99333996e-01 3.63983154e-02 2.59377624e-03 5.95954528e+01] [-3.63980712e-02 9.99337361e-01 -1.41306991e-04 -3.38556841e+00] [-2.59720084e-03 4.68044276e-05 9.99996626e-01 -8.18895783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.880371743 meters 0.02201338910292788 Centerline is valid? [True, True] Translation: X:59.62, Y:-3.39, Z:-0.82 [[ 9.99257127e-01 3.84716171e-02 2.26471988e-03 5.96247161e+01] [-3.84714320e-02 9.99259693e-01 -1.25265582e-04 -3.38548668e+00] [-2.26786246e-03 3.80455093e-05 9.99997428e-01 -8.19742125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910371743 meters 0.021818314908955347 Centerline is valid? [True, True] Translation: X:59.65, Y:-3.39, Z:-0.82 [[ 9.99199369e-01 3.99590856e-02 1.97280029e-03 5.96526295e+01] [-3.99589516e-02 9.99201316e-01 -1.07316029e-04 -3.38684838e+00] [-1.97551290e-03 2.83990775e-05 9.99998048e-01 -8.21344114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940371743 meters 0.021533605715200337 Centerline is valid? [True, True] Translation: X:59.68, Y:-3.39, Z:-0.82 [[ 9.99220520e-01 3.94039987e-02 2.38276029e-03 5.96805176e+01] [-3.94038023e-02 9.99223360e-01 -1.29338041e-04 -3.38944141e+00] [-2.38600618e-03 3.53474089e-05 9.99997153e-01 -8.22077231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.970371743 meters 0.021793446763020686 Centerline is valid? [True, True] Translation: X:59.71, Y:-3.39, Z:-0.82 [[ 9.99264113e-01 3.82740650e-02 2.51560813e-03 5.97092823e+01] [-3.82738444e-02 9.99267279e-01 -1.35778344e-04 -3.39274488e+00] [-2.51896167e-03 3.93964330e-05 9.99996827e-01 -8.22902162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000371743 meters 0.02205078980669813 Centerline is valid? [True, True] Translation: X:59.74, Y:-3.40, Z:-0.82 [[ 9.99324209e-01 3.66670190e-02 2.57988273e-03 5.97382153e+01] [-3.66667822e-02 9.99327538e-01 -1.39041853e-04 -3.39613793e+00] [-2.58324611e-03 4.43518912e-05 9.99996662e-01 -8.23307883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030371743 meters 0.02241064662342264 Centerline is valid? [True, True] Translation: X:59.77, Y:-3.40, Z:-0.82 [[ 9.99436251e-01 3.33986928e-02 3.42161160e-03 5.97664870e+01] [-3.33982591e-02 9.99442106e-01 -1.83848160e-04 -3.40056357e+00] [-3.42584299e-03 6.94686457e-05 9.99994129e-01 -8.22532694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.060371743 meters 0.02278364900124346 Centerline is valid? [True, True] Translation: X:59.79, Y:-3.40, Z:-0.82 [[ 9.99484432e-01 3.18758971e-02 3.84676512e-03 5.97947135e+01] [-3.18753391e-02 9.99491831e-01 -2.06285319e-04 -3.40385263e+00] [-3.85138584e-03 8.35620228e-05 9.99992580e-01 -8.22745673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.090371743 meters 0.02291365676472157 Centerline is valid? [True, True] Translation: X:59.82, Y:-3.41, Z:-0.82 [[ 9.99555652e-01 2.93499235e-02 5.20394836e-03 5.98229574e+01] [-2.93488719e-02 9.99569190e-01 -2.78344840e-04 -3.40845251e+00] [-5.20987585e-03 1.25491144e-04 9.99986421e-01 -8.22232010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120371743 meters 0.022933957315157974 Centerline is valid? [True, True] Translation: X:59.85, Y:-3.41, Z:-0.82 [[ 9.99586419e-01 2.81989554e-02 5.64007022e-03 5.98512862e+01] [-2.81977046e-02 9.99602320e-01 -3.01174237e-04 -3.41214612e+00] [-5.64632008e-03 1.42012642e-04 9.99984049e-01 -8.22707758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.150371743 meters 0.023527125477961378 Centerline is valid? [True, True] Translation: X:59.88, Y:-3.42, Z:-0.82 [[ 9.99619082e-01 2.69094091e-02 6.12975557e-03 5.98788060e+01] [-2.69079088e-02 9.99637863e-01 -3.27109833e-04 -3.41696964e+00] [-6.13633810e-03 1.62046327e-04 9.99981159e-01 -8.23725898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180371743 meters 0.023341944841829658 Centerline is valid? [True, True] Translation: X:59.91, Y:-3.42, Z:-0.82 [[ 9.99703869e-01 2.35721556e-02 6.04390068e-03 5.99082909e+01] [-2.35706437e-02 9.99722122e-01 -3.21264970e-04 -3.42149155e+00] [-6.04979412e-03 1.78711204e-04 9.99981684e-01 -8.23521347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210371743 meters 0.023439964822713908 Centerline is valid? [True, True] Translation: X:59.94, Y:-3.42, Z:-0.82 [[ 9.99753166e-01 2.13605915e-02 6.11000685e-03 5.99373625e+01] [-2.13590048e-02 9.99771818e-01 -3.24844367e-04 -3.42467031e+00] [-6.11555152e-03 1.94260519e-04 9.99981281e-01 -8.24103144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.240371743 meters 0.024028920508843185 Centerline is valid? [True, True] Translation: X:59.97, Y:-3.43, Z:-0.82 [[ 9.99796765e-01 1.92826498e-02 5.88288179e-03 5.99655156e+01] [-1.92811435e-02 9.99814053e-01 -3.12667248e-04 -3.42898694e+00] [-5.88781694e-03 1.99175015e-04 9.99982647e-01 -8.24540533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270371743 meters 0.025623071148406326 Centerline is valid? [True, True] Translation: X:59.99, Y:-3.44, Z:-0.83 [[ 9.99882830e-01 1.42680610e-02 5.54511471e-03 5.99940960e+01] [-1.42666533e-02 9.99898183e-01 -2.93338752e-04 -3.43694891e+00] [-5.54873549e-03 2.14194153e-04 9.99984583e-01 -8.25278201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300371743 meters 0.025623071148406326 Centerline is valid? [True, True] Translation: X:60.02, Y:-3.44, Z:-0.83 [[ 9.99883845e-01 1.41967490e-02 5.54508880e-03 6.00223834e+01] [-1.41953375e-02 9.99899198e-01 -2.93829028e-04 -3.43838482e+00] [-5.54870126e-03 2.15080491e-04 9.99984583e-01 -8.25676061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330371743 meters 0.025603360782322615 Centerline is valid? [True, True] Translation: X:60.05, Y:-3.44, Z:-0.83 [[ 9.99919065e-01 1.15280265e-02 5.38218129e-03 6.00516776e+01] [-1.15266617e-02 9.99933525e-01 -2.84538380e-04 -3.44090666e+00] [-5.38510368e-03 2.22476768e-04 9.99985475e-01 -8.25854993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360371743 meters 0.027341987272401076 Centerline is valid? [True, True] Translation: X:60.08, Y:-3.45, Z:-0.83 [[ 9.99961031e-01 6.85901664e-03 5.55797249e-03 6.00809340e+01] [-6.85749128e-03 9.99976444e-01 -2.93456634e-04 -3.44828420e+00] [-5.55985439e-03 2.55331450e-04 9.99984511e-01 -8.26475695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390371743 meters 0.02767911001584321 Centerline is valid? [True, True] Translation: X:60.11, Y:-3.45, Z:-0.83 [[ 9.99971559e-01 4.77476931e-03 5.83799838e-03 6.01106341e+01] [-4.77305162e-03 9.99988561e-01 -3.08123229e-04 -3.45189885e+00] [-5.83940282e-03 2.80249398e-04 9.99982911e-01 -8.26811983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.420371743 meters 0.02959846475531185 Centerline is valid? [True, True] Translation: X:60.14, Y:-3.46, Z:-0.83 [[ 9.99981851e-01 1.15139246e-03 5.91369111e-03 6.01404903e+01] [-1.14956825e-03 9.99999291e-01 -3.11861360e-04 -3.45862777e+00] [-5.91404599e-03 3.05057509e-04 9.99982465e-01 -8.27677333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450371743 meters 0.03020268851325764 Centerline is valid? [True, True] Translation: X:60.17, Y:-3.46, Z:-0.83 [[ 9.99979569e-01 1.91108609e-04 6.38945858e-03 6.01724294e+01] [-1.88971702e-04 9.99999926e-01 -3.35044666e-04 -3.46223787e+00] [-6.38952213e-03 3.33830394e-04 9.99979531e-01 -8.28108036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480371743 meters 0.031266956216263096 Centerline is valid? [True, True] Translation: X:60.20, Y:-3.47, Z:-0.83 [[ 9.99978708e-01 -3.74588941e-04 6.51481006e-03 6.02048147e+01] [ 3.76833638e-04 9.99999870e-01 -3.43328874e-04 -3.46612224e+00] [-6.51468061e-03 3.45776564e-04 9.99978719e-01 -8.28744031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510371743 meters 0.037598764128676854 Centerline is valid? [True, True] Translation: X:60.24, Y:-3.48, Z:-0.83 [[ 9.99980088e-01 -4.81827159e-04 6.29211497e-03 6.02355022e+01] [ 4.83937636e-04 9.99999827e-01 -3.33897919e-04 -3.47830626e+00] [-6.29195300e-03 3.36936261e-04 9.99980149e-01 -8.30219105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540371743 meters 0.03213729827211601 Centerline is valid? [True, True] Translation: X:60.27, Y:-3.47, Z:-0.83 [[ 9.99983848e-01 -4.86293036e-04 5.66273828e-03 6.02684808e+01] [ 4.88008880e-04 9.99999835e-01 -3.01628294e-04 -3.47273506e+00] [-5.66259067e-03 3.04386889e-04 9.99983921e-01 -8.29215695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570371743 meters 0.031032489516000163 Centerline is valid? [True, True] Translation: X:60.30, Y:-3.47, Z:-0.83 [[ 9.99984738e-01 -3.76175158e-04 5.51196338e-03 6.03018811e+01] [ 3.77799422e-04 9.99999886e-01 -2.93641496e-04 -3.47292001e+00] [-5.51185228e-03 2.95719431e-04 9.99984766e-01 -8.29508666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.600371743 meters 0.03166496989718919 Centerline is valid? [True, True] Translation: X:60.33, Y:-3.48, Z:-0.83 [[ 9.99986526e-01 4.32417984e-04 5.17306895e-03 6.03327215e+01] [-4.30996640e-04 9.99999869e-01 -2.75870149e-04 -3.47573597e+00] [-5.17318757e-03 2.73636856e-04 9.99986582e-01 -8.30257645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.630371743 meters 0.032795726226792325 Centerline is valid? [True, True] Translation: X:60.36, Y:-3.48, Z:-0.83 [[ 9.99984772e-01 1.17931164e-03 5.39115692e-03 6.03636259e+01] [-1.17777118e-03 9.99999265e-01 -2.88904386e-04 -3.48014741e+00] [-5.39149367e-03 2.82550438e-04 9.99985426e-01 -8.31484801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660371743 meters 0.033128003916794775 Centerline is valid? [True, True] Translation: X:60.40, Y:-3.48, Z:-0.83 [[ 9.99984614e-01 1.99995585e-03 5.17423568e-03 6.03951858e+01] [-1.99854729e-03 9.99997964e-01 -2.77381549e-04 -3.48280336e+00] [-5.17477989e-03 2.67036326e-04 9.99986575e-01 -8.32785834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690371743 meters 0.031954193389123337 Centerline is valid? [True, True] Translation: X:60.43, Y:-3.48, Z:-0.83 [[ 9.99981205e-01 3.91475778e-03 4.71851454e-03 6.04263390e+01] [-3.91360509e-03 9.99992310e-01 -2.53500145e-04 -3.48359803e+00] [-4.71947064e-03 2.35028978e-04 9.99988836e-01 -8.33925219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720371743 meters 0.03186765146618281 Centerline is valid? [True, True] Translation: X:60.46, Y:-3.48, Z:-0.83 [[ 9.99974030e-01 5.04508161e-03 5.14646148e-03 6.04574942e+01] [-5.04372414e-03 9.99987242e-01 -2.76713701e-04 -3.48465062e+00] [-5.14779186e-03 2.50749183e-04 9.99986719e-01 -8.34469749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.750371743 meters 0.03235035745908458 Centerline is valid? [True, True] Translation: X:60.49, Y:-3.49, Z:-0.84 [[ 9.99965081e-01 6.56063027e-03 5.17631976e-03 6.04877763e+01] [-6.55927555e-03 9.99978449e-01 -2.78648761e-04 -3.48754598e+00] [-5.17803631e-03 2.44686123e-04 9.99986564e-01 -8.35230509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780371743 meters 0.03154321668019485 Centerline is valid? [True, True] Translation: X:60.52, Y:-3.49, Z:-0.84 [[ 9.99951477e-01 8.47409204e-03 5.02335914e-03 6.05187398e+01] [-8.47283989e-03 9.99964068e-01 -2.70494519e-04 -3.48819416e+00] [-5.02547083e-03 2.27919276e-04 9.99987346e-01 -8.35685942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.810371743 meters 0.03021085011103656 Centerline is valid? [True, True] Translation: X:60.55, Y:-3.49, Z:-0.84 [[ 9.99909824e-01 1.24412633e-02 5.05557513e-03 6.05483848e+01] [-1.24400429e-02 9.99922582e-01 -2.72758022e-04 -3.48765467e+00] [-5.05857720e-03 2.09841854e-04 9.99987183e-01 -8.36728252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840371743 meters 0.026196158378066547 Centerline is valid? [True, True] Translation: X:60.58, Y:-3.48, Z:-0.84 [[ 9.99882392e-01 1.45549995e-02 4.83254135e-03 6.05781650e+01] [-1.45539089e-02 9.99894052e-01 -2.60770089e-04 -3.48223780e+00] [-4.83582486e-03 1.90407054e-04 9.99988289e-01 -8.35703255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.870371743 meters 0.024571961290434565 Centerline is valid? [True, True] Translation: X:60.61, Y:-3.48, Z:-0.84 [[ 9.99823829e-01 1.82050818e-02 4.57001570e-03 6.06081367e+01] [-1.82041462e-02 9.99834260e-01 -2.46241865e-04 -3.47884569e+00] [-4.57374112e-03 1.63005251e-04 9.99989527e-01 -8.35231468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900371743 meters 0.024651366474671123 Centerline is valid? [True, True] Translation: X:60.64, Y:-3.48, Z:-0.84 [[ 9.99785083e-01 2.01703862e-02 4.79001370e-03 6.06359698e+01] [-2.01693794e-02 9.99796544e-01 -2.58390205e-04 -3.47942192e+00] [-4.79425097e-03 1.61723069e-04 9.99988494e-01 -8.35784265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930371743 meters 0.023836470353204228 Centerline is valid? [True, True] Translation: X:60.67, Y:-3.48, Z:-0.84 [[ 9.99753508e-01 2.17944989e-02 4.23356824e-03 6.06652371e+01] [-2.17937287e-02 9.99762462e-01 -2.27973000e-04 -3.47838753e+00] [-4.23753116e-03 1.35651568e-04 9.99991012e-01 -8.35795419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960371743 meters 0.023181508531376842 Centerline is valid? [True, True] Translation: X:60.69, Y:-3.48, Z:-0.84 [[ 9.99678709e-01 2.49930614e-02 4.22204151e-03 6.06942418e+01] [-2.49923252e-02 9.99687617e-01 -2.27049847e-04 -3.47754847e+00] [-4.22639729e-03 1.21458263e-04 9.99991061e-01 -8.36107634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.990371743 meters 0.022586095177989297 Centerline is valid? [True, True] Translation: X:60.72, Y:-3.48, Z:-0.84 [[ 9.99652758e-01 2.60250802e-02 4.13018471e-03 6.07230152e+01] [-2.60243856e-02 9.99661284e-01 -2.21836329e-04 -3.47788425e+00] [-4.13455906e-03 1.14273779e-04 9.99991446e-01 -8.35985029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020371743 meters 0.021859739544962786 Centerline is valid? [True, True] Translation: X:60.75, Y:-3.48, Z:-0.84 [[ 9.99631561e-01 2.68045539e-02 4.27300907e-03 6.07516100e+01] [-2.68038189e-02 9.99640687e-01 -2.29179522e-04 -3.47776841e+00] [-4.27761677e-03 1.14562122e-04 9.99990844e-01 -8.35960358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.050371743 meters 0.022704568217871996 Centerline is valid? [True, True] Translation: X:60.78, Y:-3.48, Z:-0.84 [[ 9.99621083e-01 2.70701692e-02 4.98967317e-03 6.07798083e+01] [-2.70691730e-02 9.99633527e-01 -2.67075938e-04 -3.48008372e+00] [-4.99507438e-03 1.31908412e-04 9.99987516e-01 -8.36151649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080371743 meters 0.02260693795748799 Centerline is valid? [True, True] Translation: X:60.81, Y:-3.48, Z:-0.84 [[ 9.99633843e-01 2.64532997e-02 5.69229465e-03 6.08089099e+01] [-2.64519965e-02 9.99650038e-01 -3.04129561e-04 -3.48047369e+00] [-5.69834780e-03 1.53445644e-04 9.99983753e-01 -8.35535974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110371743 meters 0.02242934406719809 Centerline is valid? [True, True] Translation: X:60.84, Y:-3.48, Z:-0.84 [[ 9.99642397e-01 2.58419253e-02 6.87550744e-03 6.08380406e+01] [-2.58400143e-02 9.99666024e-01 -3.66632731e-04 -3.48271843e+00] [-6.88268568e-03 1.88838411e-04 9.99976296e-01 -8.35248797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140371743 meters 0.022743718747824358 Centerline is valid? [True, True] Translation: X:60.87, Y:-3.49, Z:-0.84 [[ 9.99671782e-01 2.44387707e-02 7.68604514e-03 6.08661901e+01] [-2.44363455e-02 9.99701304e-01 -4.09294932e-04 -3.48630354e+00] [-7.69375201e-03 2.21341740e-04 9.99970378e-01 -8.35142479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.170371743 meters 0.022187569902702625 Centerline is valid? [True, True] Translation: X:60.89, Y:-3.49, Z:-0.84 [[ 9.99695827e-01 2.34282774e-02 7.70509979e-03 6.08949286e+01] [-2.34258163e-02 9.99725494e-01 -4.09523607e-04 -3.48686502e+00] [-7.71257912e-03 2.28900789e-04 9.99970231e-01 -8.35046800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200371743 meters 0.024179050062372167 Centerline is valid? [True, True] Translation: X:60.92, Y:-3.49, Z:-0.84 [[ 9.99754212e-01 2.08868605e-02 7.43340803e-03 6.09224783e+01] [-2.08845026e-02 9.99781817e-01 -3.94685953e-04 -3.49256921e+00] [-7.44002994e-03 2.39345914e-04 9.99972294e-01 -8.36221860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230371743 meters 0.024047167559042022 Centerline is valid? [True, True] Translation: X:60.95, Y:-3.49, Z:-0.84 [[ 9.99780565e-01 1.96913396e-02 7.14660205e-03 6.09511158e+01] [-1.96891350e-02 9.99806078e-01 -3.78711611e-04 -3.49430901e+00] [-7.15267351e-03 2.37918095e-04 9.99974391e-01 -8.36402448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260371743 meters 0.024409516599742616 Centerline is valid? [True, True] Translation: X:60.98, Y:-3.50, Z:-0.84 [[ 9.99821119e-01 1.77130026e-02 6.63164848e-03 6.09796147e+01] [-1.77110634e-02 9.99843085e-01 -3.51026139e-04 -3.49666966e+00] [-6.63682560e-03 2.33509800e-04 9.99977949e-01 -8.36809293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290371743 meters 0.02581358941821531 Centerline is valid? [True, True] Translation: X:61.01, Y:-3.50, Z:-0.84 [[ 9.99886323e-01 1.35227333e-02 6.66905760e-03 6.10088888e+01] [-1.35206841e-02 9.99908529e-01 -3.52256502e-04 -3.50193666e+00] [-6.67321104e-03 2.62046238e-04 9.99977700e-01 -8.37247966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320371743 meters 0.025707611409637364 Centerline is valid? [True, True] Translation: X:61.04, Y:-3.50, Z:-0.84 [[ 9.99913234e-01 1.13226434e-02 6.73218966e-03 6.10385602e+01] [-1.13205071e-02 9.99935858e-01 -3.55353099e-04 -3.50399975e+00] [-6.73578138e-03 2.79110465e-04 9.99977275e-01 -8.37563302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.350371743 meters 0.02673810285008971 Centerline is valid? [True, True] Translation: X:61.07, Y:-3.51, Z:-0.84 [[ 9.99932820e-01 9.51240337e-03 6.62341421e-03 6.10678723e+01] [-9.51029832e-03 9.99954715e-01 -3.49243804e-04 -3.50860579e+00] [-6.62643642e-03 2.86229696e-04 9.99978004e-01 -8.38046859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.380371743 meters 0.02807390324922845 Centerline is valid? [True, True] Translation: X:61.10, Y:-3.51, Z:-0.84 [[ 9.99961880e-01 6.09422161e-03 6.25298001e-03 6.10978500e+01] [-6.09227997e-03 9.99981388e-01 -3.29515101e-04 -3.51285753e+00] [-6.25487176e-03 2.91407635e-04 9.99980396e-01 -8.38975923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.410371743 meters 0.02830631950891782 Centerline is valid? [True, True] Translation: X:61.13, Y:-3.52, Z:-0.84 [[ 9.99970398e-01 5.26760120e-03 5.60850989e-03 6.11289485e+01] [-5.26602827e-03 9.99986091e-01 -2.95183699e-04 -3.51528135e+00] [-5.60998679e-03 2.65640389e-04 9.99984229e-01 -8.39620137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440371743 meters 0.028219996555745957 Centerline is valid? [True, True] Translation: X:61.16, Y:-3.52, Z:-0.84 [[ 9.99976414e-01 4.78539047e-03 4.92652452e-03 6.11606794e+01] [-4.78417042e-03 9.99988522e-01 -2.59403580e-04 -3.51691871e+00] [-4.92770932e-03 2.35828129e-04 9.99987831e-01 -8.40654398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470371743 meters 0.029110609533210888 Centerline is valid? [True, True] Translation: X:61.19, Y:-3.52, Z:-0.84 [[ 9.99972369e-01 5.41330823e-03 5.09478238e-03 6.11905491e+01] [-5.41200971e-03 9.99985319e-01 -2.68624662e-04 -3.51973056e+00] [-5.09616173e-03 2.41044228e-04 9.99986985e-01 -8.41763196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500371743 meters 0.02925068039870515 Centerline is valid? [True, True] Translation: X:61.22, Y:-3.52, Z:-0.84 [[ 9.99970330e-01 5.98296928e-03 4.85210053e-03 6.12214518e+01] [-5.98179706e-03 9.99982076e-01 -2.56066347e-04 -3.52107495e+00] [-4.85354560e-03 2.27034468e-04 9.99988196e-01 -8.42078044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.530371743 meters 0.0282495156417227 Centerline is valid? [True, True] Translation: X:61.25, Y:-3.52, Z:-0.84 [[ 9.99965680e-01 6.52440490e-03 5.10606187e-03 6.12520766e+01] [-6.52311380e-03 9.99978688e-01 -2.69468986e-04 -3.52050276e+00] [-5.10771118e-03 2.36152315e-04 9.99986928e-01 -8.42410915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.560371743 meters 0.02937031518993361 Centerline is valid? [True, True] Translation: X:61.28, Y:-3.52, Z:-0.84 [[ 9.99966361e-01 6.52175808e-03 4.97430354e-03 6.12817536e+01] [-6.52053353e-03 9.99978707e-01 -2.62354074e-04 -3.52390744e+00] [-4.97590863e-03 2.29910136e-04 9.99987594e-01 -8.43453738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590371743 meters 0.029037380138968366 Centerline is valid? [True, True] Translation: X:61.31, Y:-3.53, Z:-0.84 [[ 9.99970975e-01 5.59336728e-03 5.17324592e-03 6.13124654e+01] [-5.59202908e-03 9.99984327e-01 -2.73106874e-04 -3.52501441e+00] [-5.17469243e-03 2.44170005e-04 9.99986581e-01 -8.43426762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620371743 meters 0.028527241475112992 Centerline is valid? [True, True] Translation: X:61.34, Y:-3.52, Z:-0.84 [[ 9.99978841e-01 4.53730591e-03 4.66160594e-03 6.13431703e+01] [-4.53620787e-03 9.99989681e-01 -2.46096289e-04 -3.52484595e+00] [-4.66267445e-03 2.24945068e-04 9.99989104e-01 -8.43378581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650371743 meters 0.029017080550314777 Centerline is valid? [True, True] Translation: X:61.37, Y:-3.53, Z:-0.84 [[ 9.99984707e-01 3.58566089e-03 4.21058241e-03 6.13737044e+01] [-3.58475663e-03 9.99993550e-01 -2.22285778e-04 -3.52697165e+00] [-4.21135229e-03 2.07188466e-04 9.99991111e-01 -8.44161686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680371743 meters 0.030542535634913017 Centerline is valid? [True, True] Translation: X:61.40, Y:-3.53, Z:-0.85 [[ 9.99992688e-01 1.78167590e-03 3.38384754e-03 6.14037884e+01] [-1.78108367e-03 9.99998398e-01 -1.78020526e-04 -3.53098882e+00] [-3.38415929e-03 1.71992309e-04 9.99994259e-01 -8.45864343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710371743 meters 0.02987632174775874 Centerline is valid? [True, True] Translation: X:61.44, Y:-3.53, Z:-0.85 [[ 9.99994490e-01 9.90738361e-04 3.16835159e-03 6.14353661e+01] [-9.90214011e-04 9.99999496e-01 -1.67060396e-04 -3.53113305e+00] [-3.16851551e-03 1.63922130e-04 9.99994967e-01 -8.46059796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.740371743 meters 0.031044253857907284 Centerline is valid? [True, True] Translation: X:61.47, Y:-3.53, Z:-0.85 [[ 9.99995658e-01 4.76101770e-04 2.90809696e-03 6.14653946e+01] [-4.75657089e-04 9.99999875e-01 -1.53600991e-04 -3.53399342e+00] [-2.90816973e-03 1.52217067e-04 9.99995760e-01 -8.46970781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770371743 meters 0.030613999874229244 Centerline is valid? [True, True] Translation: X:61.50, Y:-3.53, Z:-0.85 [[ 9.99995102e-01 -2.89953956e-04 3.11648708e-03 6.14967274e+01] [ 2.90467980e-04 9.99999944e-01 -1.64485368e-04 -3.53398172e+00] [-3.11643921e-03 1.65389802e-04 9.99995130e-01 -8.47186058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800371743 meters 0.031965130199720894 Centerline is valid? [True, True] Translation: X:61.53, Y:-3.54, Z:-0.85 [[ 9.99993851e-01 -6.06255757e-04 3.45399242e-03 6.15282607e+01] [ 6.06882541e-04 9.99999800e-01 -1.80421317e-04 -3.53645060e+00] [-3.45388235e-03 1.82516376e-04 9.99994019e-01 -8.47149635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830371743 meters 0.031965768306566084 Centerline is valid? [True, True] Translation: X:61.56, Y:-3.54, Z:-0.85 [[ 9.99992638e-01 -5.09622140e-04 3.80318894e-03 6.15602561e+01] [ 5.10392149e-04 9.99999849e-01 -2.01496369e-04 -3.53718911e+00] [-3.80308568e-03 2.03436003e-04 9.99992748e-01 -8.46813965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860371743 meters 0.03251951096183792 Centerline is valid? [True, True] Translation: X:61.59, Y:-3.54, Z:-0.85 [[ 9.99992785e-01 7.99792114e-04 3.71363856e-03 6.15914436e+01] [-7.99068641e-04 9.99999661e-01 -1.96294875e-04 -3.53700217e+00] [-3.71379429e-03 1.93326006e-04 9.99993085e-01 -8.46671062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.890371743 meters 0.032249032951159384 Centerline is valid? [True, True] Translation: X:61.62, Y:-3.54, Z:-0.85 [[ 9.99990362e-01 1.96767762e-03 3.92476287e-03 6.16224599e+01] [-1.96687187e-03 9.99998044e-01 -2.09148047e-04 -3.53705011e+00] [-3.92516673e-03 2.01426525e-04 9.99992276e-01 -8.46886810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.920371743 meters 0.0319695545675064 Centerline is valid? [True, True] Translation: X:61.65, Y:-3.54, Z:-0.85 [[ 9.99986193e-01 3.61014739e-03 3.81846640e-03 6.16536154e+01] [-3.60939551e-03 9.99993465e-01 -2.03778086e-04 -3.53693599e+00] [-3.81917711e-03 1.89992917e-04 9.99992689e-01 -8.47242850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.950371743 meters 0.03181520282495564 Centerline is valid? [True, True] Translation: X:61.68, Y:-3.54, Z:-0.85 [[ 9.99978186e-01 5.37708027e-03 3.83596578e-03 6.16847440e+01] [-5.37633420e-03 9.99985526e-01 -2.04779349e-04 -3.53640397e+00] [-3.83701138e-03 1.84151448e-04 9.99992622e-01 -8.47763952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980371743 meters 0.030701133954556353 Centerline is valid? [True, True] Translation: X:61.71, Y:-3.53, Z:-0.85 [[ 9.99951376e-01 9.33188086e-03 3.18763740e-03 6.17149040e+01] [-9.33138509e-03 9.99956447e-01 -1.70366583e-04 -3.53327161e+00] [-3.18908841e-03 1.40613227e-04 9.99994905e-01 -8.49187280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010371743 meters 0.03012076558430218 Centerline is valid? [True, True] Translation: X:61.74, Y:-3.53, Z:-0.85 [[ 9.99932087e-01 1.12220982e-02 3.14404272e-03 6.17435782e+01] [-1.12216229e-02 9.99937021e-01 -1.68763095e-04 -3.53238303e+00] [-3.14573859e-03 1.33470372e-04 9.99995043e-01 -8.50056350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040371743 meters 0.0260513326715167 Centerline is valid? [True, True] Translation: X:61.77, Y:-3.52, Z:-0.85 [[ 9.99889566e-01 1.43231885e-02 3.96263541e-03 6.17743257e+01] [-1.43224619e-02 9.99897406e-01 -2.11702166e-04 -3.52404348e+00] [-3.96526111e-03 1.54924093e-04 9.99992126e-01 -8.48938263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070371743 meters 0.02925628100095045 Centerline is valid? [True, True] Translation: X:61.80, Y:-3.53, Z:-0.85 [[ 9.99873363e-01 1.53960008e-02 4.02747580e-03 6.18014614e+01] [-1.53952563e-02 9.99881463e-01 -2.15797122e-04 -3.52977144e+00] [-4.03032081e-03 1.53765772e-04 9.99991866e-01 -8.50814903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.100371743 meters 0.025440052020573 Centerline is valid? [True, True] Translation: X:61.83, Y:-3.52, Z:-0.85 [[ 9.99836600e-01 1.73975043e-02 4.90910613e-03 6.18311502e+01] [-1.73964273e-02 9.99848636e-01 -2.62008028e-04 -3.52234239e+00] [-4.91292135e-03 1.76564308e-04 9.99987916e-01 -8.49908320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.130371743 meters 0.025758983049071055 Centerline is valid? [True, True] Translation: X:61.86, Y:-3.52, Z:-0.85 [[ 9.99836863e-01 1.75254212e-02 4.37104633e-03 6.18593519e+01] [-1.75245678e-02 9.99846406e-01 -2.33476855e-04 -3.52332702e+00] [-4.37446674e-03 1.56838069e-04 9.99990420e-01 -8.51308791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160371743 meters 0.02883879235244275 Centerline is valid? [True, True] Translation: X:61.89, Y:-3.53, Z:-0.85 [[ 9.99833671e-01 1.78578822e-02 3.70498663e-03 6.18869321e+01] [-1.78572718e-02 9.99840527e-01 -1.97751113e-04 -3.53005041e+00] [-3.70792720e-03 1.31557268e-04 9.99993117e-01 -8.54034866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190371743 meters 0.02547688353331506 Centerline is valid? [True, True] Translation: X:61.92, Y:-3.52, Z:-0.85 [[ 9.99846625e-01 1.72305168e-02 3.13629205e-03 6.19162542e+01] [-1.72300772e-02 9.99851537e-01 -1.67129648e-04 -3.52402558e+00] [-3.13870616e-03 1.13065460e-04 9.99995068e-01 -8.53722989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220371743 meters 0.026065516510868622 Centerline is valid? [True, True] Translation: X:61.94, Y:-3.53, Z:-0.85 [[ 9.99858561e-01 1.65632179e-02 2.91840940e-03 6.19444187e+01] [-1.65628343e-02 9.99862815e-01 -1.55569463e-04 -3.52584109e+00] [-2.92058577e-03 1.07210328e-04 9.99995729e-01 -8.54407878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250371743 meters 0.026065516510868622 Centerline is valid? [True, True] Translation: X:61.97, Y:-3.53, Z:-0.85 [[ 9.99859714e-01 1.64934783e-02 2.91843316e-03 6.19727040e+01] [-1.64930957e-02 9.99863968e-01 -1.55120797e-04 -3.52727564e+00] [-2.92059464e-03 1.06965038e-04 9.99995729e-01 -8.54806115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280371743 meters 0.026120955885766385 Centerline is valid? [True, True] Translation: X:62.00, Y:-3.53, Z:-0.86 [[ 9.99870856e-01 1.58170623e-02 2.84447547e-03 6.20015003e+01] [-1.58166966e-02 9.99874897e-01 -1.51018189e-04 -3.52855585e+00] [-2.84650828e-03 1.06008481e-04 9.99995943e-01 -8.55689074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.310371743 meters 0.02706374275315913 Centerline is valid? [True, True] Translation: X:62.03, Y:-3.53, Z:-0.86 [[ 9.99894577e-01 1.42923188e-02 2.56208881e-03 6.20305580e+01] [-1.42920174e-02 9.99897855e-01 -1.35939017e-04 -3.53041885e+00] [-2.56376999e-03 9.93072679e-05 9.99996709e-01 -8.56451653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340371743 meters 0.02608320538119654 Centerline is valid? [True, True] Translation: X:62.06, Y:-3.53, Z:-0.86 [[ 9.99903002e-01 1.36244324e-02 2.89153392e-03 6.20590440e+01] [-1.36240466e-02 9.99907177e-01 -1.53110560e-04 -3.52982882e+00] [-2.89335156e-03 1.13701316e-04 9.99995808e-01 -8.56267137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370371743 meters 0.028612421915306545 Centerline is valid? [True, True] Translation: X:62.09, Y:-3.53, Z:-0.86 [[ 9.99918566e-01 1.23730268e-02 3.12567439e-03 6.20869858e+01] [-1.23725699e-02 9.99923443e-01 -1.65501854e-04 -3.53442897e+00] [-3.12748286e-03 1.26815752e-04 9.99995101e-01 -8.57506149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400371743 meters 0.026424551028339384 Centerline is valid? [True, True] Translation: X:62.12, Y:-3.53, Z:-0.86 [[ 9.99924594e-01 1.17579862e-02 3.54359302e-03 6.21159499e+01] [-1.17573978e-02 9.99930862e-01 -1.86816661e-04 -3.53096888e+00] [-3.54554461e-03 1.45139141e-04 9.99993704e-01 -8.56348207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430371743 meters 0.02709410664832264 Centerline is valid? [True, True] Translation: X:62.14, Y:-3.53, Z:-0.86 [[ 9.99927527e-01 1.12234896e-02 4.35593837e-03 6.21439509e+01] [-1.12225968e-02 9.99936998e-01 -2.29342059e-04 -3.53293837e+00] [-4.35823796e-03 1.80440498e-04 9.99990487e-01 -8.56406732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460371743 meters 0.02723128147216766 Centerline is valid? [True, True] Translation: X:62.17, Y:-3.53, Z:-0.86 [[ 9.99927955e-01 1.10815559e-02 4.61338040e-03 6.21730050e+01] [-1.10805566e-02 9.99938579e-01 -2.42115692e-04 -3.53354461e+00] [-4.61578006e-03 1.90979426e-04 9.99989329e-01 -8.56514444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.490371743 meters 0.027106034135733707 Centerline is valid? [True, True] Translation: X:62.20, Y:-3.53, Z:-0.86 [[ 9.99933057e-01 1.06583424e-02 4.50341702e-03 6.22016445e+01] [-1.06573872e-02 9.99943181e-01 -2.36047343e-04 -3.53359605e+00] [-4.50567701e-03 1.88036882e-04 9.99989832e-01 -8.57322977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520371743 meters 0.027706652540229297 Centerline is valid? [True, True] Translation: X:62.23, Y:-3.53, Z:-0.86 [[ 9.99933222e-01 1.10138643e-02 3.49949333e-03 6.22292291e+01] [-1.10132892e-02 9.99939335e-01 -1.83578730e-04 -3.53489562e+00] [-3.50130295e-03 1.45025539e-04 9.99993860e-01 -8.58437303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550371743 meters 0.027140613642678904 Centerline is valid? [True, True] Translation: X:62.26, Y:-3.53, Z:-0.86 [[ 9.99929815e-01 1.16454404e-02 2.17899325e-03 6.22580796e+01] [-1.16452187e-02 9.99932186e-01 -1.14372310e-04 -3.53332073e+00] [-2.18017740e-03 8.89894297e-05 9.99997619e-01 -8.59666843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580371743 meters 0.0278201411846257 Centerline is valid? [True, True] Translation: X:62.29, Y:-3.53, Z:-0.86 [[ 9.99924223e-01 1.21760297e-02 1.81462521e-03 6.22857001e+01] [-1.21758764e-02 9.99925867e-01 -9.54886675e-05 -3.53489437e+00] [-1.81565336e-03 7.33867793e-05 9.99998349e-01 -8.60696370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610371743 meters 0.02677539938190673 Centerline is valid? [True, True] Translation: X:62.31, Y:-3.53, Z:-0.86 [[ 9.99917347e-01 1.27012516e-02 1.99425164e-03 6.23145010e+01] [-1.27010685e-02 9.99919333e-01 -1.04439971e-04 -3.53365651e+00] [-1.99541728e-03 7.91022119e-05 9.99998006e-01 -8.60331101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640371743 meters 0.026293111488523885 Centerline is valid? [True, True] Translation: X:62.34, Y:-3.53, Z:-0.86 [[ 9.99898157e-01 1.40345377e-02 2.58967343e-03 6.23437106e+01] [-1.40342347e-02 9.99901506e-01 -1.35150669e-04 -3.53240347e+00] [-2.59131514e-03 9.87928201e-05 9.99996638e-01 -8.59813736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.670371743 meters 0.02501853032323817 Centerline is valid? [True, True] Translation: X:62.37, Y:-3.53, Z:-0.86 [[ 9.99883314e-01 1.49756359e-02 3.01488200e-03 6.23723763e+01] [-1.49752305e-02 9.99887853e-01 -1.56989694e-04 -3.53054284e+00] [-3.01689491e-03 1.11822823e-04 9.99995443e-01 -8.59321807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700371743 meters 0.025110865562584867 Centerline is valid? [True, True] Translation: X:62.40, Y:-3.53, Z:-0.86 [[ 9.99864654e-01 1.61552748e-02 3.11153418e-03 6.24001330e+01] [-1.61548489e-02 9.99869489e-01 -1.61954214e-04 -3.53157034e+00] [-3.11374451e-03 1.11665929e-04 9.99995146e-01 -8.59521008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730371743 meters 0.024669889433242272 Centerline is valid? [True, True] Translation: X:62.43, Y:-3.53, Z:-0.86 [[ 9.99823910e-01 1.84731367e-02 3.30042689e-03 6.24287877e+01] [-1.84726721e-02 9.99829351e-01 -1.71210705e-04 -3.53014454e+00] [-3.30302647e-03 1.10212853e-04 9.99994539e-01 -8.59461801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760371743 meters 0.024140636290146667 Centerline is valid? [True, True] Translation: X:62.46, Y:-3.53, Z:-0.86 [[ 9.99764664e-01 2.14254499e-02 3.40103562e-03 6.24579050e+01] [-2.14249745e-02 9.99770443e-01 -1.76158573e-04 -3.52834429e+00] [-3.40402917e-03 1.03250015e-04 9.99994201e-01 -8.59661072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790371743 meters 0.024186777181535432 Centerline is valid? [True, True] Translation: X:62.49, Y:-3.53, Z:-0.86 [[ 9.99739320e-01 2.26323852e-02 3.01108863e-03 6.24855363e+01] [-2.26320178e-02 9.99743851e-01 -1.56049364e-04 -3.52905624e+00] [-3.01384911e-03 8.78616742e-05 9.99995454e-01 -8.60281767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820371743 meters 0.023736404712177327 Centerline is valid? [True, True] Translation: X:62.51, Y:-3.53, Z:-0.86 [[ 9.99711516e-01 2.38040249e-02 3.20214044e-03 6.25142188e+01] [-2.38036172e-02 9.99716640e-01 -1.65385616e-04 -3.52942793e+00] [-3.20516992e-03 8.91153797e-05 9.99994859e-01 -8.60942411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.850371743 meters 0.02298429503814652 Centerline is valid? [True, True] Translation: X:62.54, Y:-3.53, Z:-0.86 [[ 9.99682030e-01 2.50605378e-02 2.79443180e-03 6.25435303e+01] [-2.50602323e-02 9.99685933e-01 -1.44282328e-04 -3.52842680e+00] [-2.79716995e-03 7.42073404e-05 9.99996085e-01 -8.61104685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.880371743 meters 0.02312993884619964 Centerline is valid? [True, True] Translation: X:62.57, Y:-3.53, Z:-0.86 [[ 9.99644855e-01 2.64823797e-02 2.97450085e-03 6.25709117e+01] [-2.64820401e-02 9.99649277e-01 -1.53487201e-04 -3.53004745e+00] [-2.97752233e-03 7.46618399e-05 9.99995564e-01 -8.62288889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910371743 meters 0.022798300647347957 Centerline is valid? [True, True] Translation: X:62.60, Y:-3.53, Z:-0.86 [[ 9.99633162e-01 2.68832841e-02 3.29100976e-03 6.25993263e+01] [-2.68828727e-02 9.99638576e-01 -1.69201035e-04 -3.53145048e+00] [-3.29436899e-03 8.06671686e-05 9.99994570e-01 -8.62780512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940371743 meters 0.022843682483537485 Centerline is valid? [True, True] Translation: X:62.63, Y:-3.53, Z:-0.86 [[ 9.99637314e-01 2.66556903e-02 3.83590867e-03 6.26275673e+01] [-2.66551299e-02 9.99644669e-01 -1.97137988e-04 -3.53310534e+00] [-3.83980050e-03 9.48198449e-05 9.99992623e-01 -8.63142698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970371743 meters 0.02313976530258776 Centerline is valid? [True, True] Translation: X:62.66, Y:-3.54, Z:-0.86 [[ 9.99657701e-01 2.58955815e-02 3.72835718e-03 6.26553707e+01] [-2.58950480e-02 9.99664649e-01 -1.91296560e-04 -3.53558417e+00] [-3.73206060e-03 9.46850911e-05 9.99993031e-01 -8.63447842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000371743 meters 0.023663320240934232 Centerline is valid? [True, True] Translation: X:62.68, Y:-3.54, Z:-0.86 [[ 9.99702506e-01 2.41269003e-02 3.57669824e-03 6.26841602e+01] [-2.41264008e-02 9.99708899e-01 -1.82755197e-04 -3.53931664e+00] [-3.58006638e-03 9.64079733e-05 9.99993587e-01 -8.63523720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.030371743 meters 0.02434471150406473 Centerline is valid? [True, True] Translation: X:62.71, Y:-3.54, Z:-0.86 [[ 9.99764119e-01 2.13956732e-02 3.73248906e-03 6.27120705e+01] [-2.13951106e-02 9.99771080e-01 -1.90583775e-04 -3.54474123e+00] [-3.73571228e-03 1.10681804e-04 9.99993016e-01 -8.64384542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.060371743 meters 0.02482686132133148 Centerline is valid? [True, True] Translation: X:62.74, Y:-3.55, Z:-0.87 [[ 9.99795512e-01 1.98909237e-02 3.64493258e-03 6.27409589e+01] [-1.98903789e-02 9.99802150e-01 -1.85635823e-04 -3.54847007e+00] [-3.64790390e-03 1.13098772e-04 9.99993340e-01 -8.65053690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090371743 meters 0.025121060181447618 Centerline is valid? [True, True] Translation: X:62.77, Y:-3.55, Z:-0.87 [[ 9.99887108e-01 1.46979999e-02 3.12079401e-03 6.27713627e+01] [-1.46975779e-02 9.99891972e-01 -1.58111032e-04 -3.55320743e+00] [-3.12278080e-03 1.12225069e-04 9.99995118e-01 -8.65394408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120371743 meters 0.025121060181447618 Centerline is valid? [True, True] Translation: X:62.80, Y:-3.55, Z:-0.87 [[ 9.99888156e-01 1.46265626e-02 3.12075456e-03 6.27996491e+01] [-1.46261379e-02 9.99893020e-01 -1.58890255e-04 -3.55458097e+00] [-3.12274472e-03 1.13227897e-04 9.99995118e-01 -8.65792170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150371743 meters 0.025243435856990456 Centerline is valid? [True, True] Translation: X:62.83, Y:-3.56, Z:-0.87 [[ 9.99911140e-01 1.29215067e-02 3.27835588e-03 6.28284144e+01] [-1.29210297e-02 9.99916506e-01 -1.66635450e-04 -3.55719911e+00] [-3.28023534e-03 1.24260909e-04 9.99994612e-01 -8.66040460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180371743 meters 0.026186917700451423 Centerline is valid? [True, True] Translation: X:62.86, Y:-3.56, Z:-0.87 [[ 9.99932738e-01 1.09984050e-02 3.68162769e-03 6.28569406e+01] [-1.09977919e-02 9.99939505e-01 -1.86736572e-04 -3.56119403e+00] [-3.68345877e-03 1.46234237e-04 9.99993205e-01 -8.66502645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.210371743 meters 0.029476963853201508 Centerline is valid? [True, True] Translation: X:62.88, Y:-3.57, Z:-0.87 [[ 9.99952329e-01 8.98927181e-03 3.81220845e-03 6.28848945e+01] [-8.98860173e-03 9.99959583e-01 -1.92870108e-04 -3.56948058e+00] [-3.81378814e-03 1.58594491e-04 9.99992715e-01 -8.67626981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.240371743 meters 0.027523649567333785 Centerline is valid? [True, True] Translation: X:62.91, Y:-3.57, Z:-0.87 [[ 9.99970047e-01 6.63609654e-03 3.98349596e-03 6.29143813e+01] [-6.63534798e-03 9.99977966e-01 -2.01102842e-04 -3.56902189e+00] [-3.98474272e-03 1.74664936e-04 9.99992046e-01 -8.66682310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.270371743 meters 0.028385133333023303 Centerline is valid? [True, True] Translation: X:62.94, Y:-3.57, Z:-0.87 [[ 9.99982253e-01 4.30990305e-03 4.11313408e-03 6.29437372e+01] [-4.30908601e-03 9.99990694e-01 -2.07483482e-04 -3.57323215e+00] [-4.11399003e-03 1.89755952e-04 9.99991520e-01 -8.67187948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300371743 meters 0.03094999023028614 Centerline is valid? [True, True] Translation: X:62.97, Y:-3.58, Z:-0.87 [[ 9.99993492e-01 -8.87207764e-04 3.49699071e-03 6.29726771e+01] [ 8.87829115e-04 9.99999590e-01 -1.76133384e-04 -3.58148198e+00] [-3.49683301e-03 1.79236968e-04 9.99993870e-01 -8.68835165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330371743 meters 0.03212240571556593 Centerline is valid? [True, True] Translation: X:63.00, Y:-3.59, Z:-0.87 [[ 9.99989324e-01 -3.41849501e-03 3.10895805e-03 6.30024731e+01] [ 3.41899488e-03 9.99994143e-01 -1.55484691e-04 -3.58650424e+00] [-3.10840832e-03 1.66112542e-04 9.99995155e-01 -8.69831104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360371743 meters 0.03046200396492849 Centerline is valid? [True, True] Translation: X:63.03, Y:-3.59, Z:-0.87 [[ 9.99972323e-01 -7.10603055e-03 2.20421331e-03 6.30338976e+01] [ 7.10629164e-03 9.99974744e-01 -1.10644102e-04 -3.58789411e+00] [-2.20337140e-03 1.26304822e-04 9.99997565e-01 -8.70157057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390371743 meters 0.031813659396758676 Centerline is valid? [True, True] Translation: X:63.06, Y:-3.59, Z:-0.87 [[ 9.99962861e-01 -8.39295374e-03 1.95806408e-03 6.30644516e+01] [ 8.39316226e-03 9.99964772e-01 -9.83021281e-05 -3.59274802e+00] [-1.95717005e-03 1.14732827e-04 9.99998078e-01 -8.71183534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.420371743 meters 0.031979870513925285 Centerline is valid? [True, True] Translation: X:63.10, Y:-3.60, Z:-0.87 [[ 9.99959450e-01 -8.92063145e-03 1.23286922e-03 6.30967645e+01] [ 8.92071378e-03 9.99960208e-01 -6.12885609e-05 -3.59535834e+00] [-1.23227343e-03 7.22841492e-05 9.99999238e-01 -8.71750159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.450371743 meters 0.031727966687300754 Centerline is valid? [True, True] Translation: X:63.13, Y:-3.60, Z:-0.87 [[ 9.99972869e-01 -7.29295039e-03 1.03662188e-03 6.31279196e+01] [ 7.29300812e-03 9.99973404e-01 -5.19182001e-05 -3.59682051e+00] [-1.03621568e-03 5.94768833e-05 9.99999461e-01 -8.71982832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480371743 meters 0.03122376354989467 Centerline is valid? [True, True] Translation: X:63.16, Y:-3.60, Z:-0.87 [[ 9.99985821e-01 -5.19385860e-03 1.17562593e-03 6.31592955e+01] [ 5.19393154e-03 9.99986510e-01 -5.89929385e-05 -3.59733844e+00] [-1.17530367e-03 6.50982226e-05 9.99999307e-01 -8.71876373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510371743 meters 0.028709310440564947 Centerline is valid? [True, True] Translation: X:63.19, Y:-3.59, Z:-0.87 [[ 9.99997383e-01 9.37883813e-04 2.08671800e-03 6.31900266e+01] [-9.37665461e-04 9.99999555e-01 -1.05615155e-04 -3.59324305e+00] [-2.08681613e-03 1.03658235e-04 9.99997817e-01 -8.71155905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540371743 meters 0.027883453870596233 Centerline is valid? [True, True] Translation: X:63.22, Y:-3.59, Z:-0.87 [[ 9.99981790e-01 5.28993721e-03 2.90453708e-03 6.32197152e+01] [-5.28953251e-03 9.99986000e-01 -1.47000454e-04 -3.59370122e+00] [-2.90527403e-03 1.31634134e-04 9.99995771e-01 -8.71563004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.570371743 meters 0.026024230165341666 Centerline is valid? [True, True] Translation: X:63.25, Y:-3.59, Z:-0.87 [[ 9.99947501e-01 9.80981166e-03 2.96016871e-03 6.32500664e+01] [-9.80940962e-03 9.99951875e-01 -1.50304983e-04 -3.59160580e+00] [-2.96150071e-03 1.21259584e-04 9.99995607e-01 -8.71732661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.600371743 meters 0.02503244493566653 Centerline is valid? [True, True] Translation: X:63.28, Y:-3.59, Z:-0.87 [[ 9.99887807e-01 1.46064718e-02 3.32015750e-03 6.32789826e+01] [-1.46059935e-02 9.99893313e-01 -1.68271636e-04 -3.59089225e+00] [-3.32226113e-03 1.19758559e-04 9.99994474e-01 -8.71915594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.630371743 meters 0.022902493647724356 Centerline is valid? [True, True] Translation: X:63.31, Y:-3.59, Z:-0.87 [[ 9.99696386e-01 2.43385279e-02 3.84336069e-03 6.33101962e+01] [-2.43379616e-02 9.99703769e-01 -1.94054926e-04 -3.58619012e+00] [-3.84694518e-03 1.00456444e-04 9.99992595e-01 -8.71847045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660371743 meters 0.022210726470235885 Centerline is valid? [True, True] Translation: X:63.34, Y:-3.58, Z:-0.87 [[ 9.99562397e-01 2.92754452e-02 4.23816613e-03 6.33390909e+01] [-2.92747983e-02 9.99571378e-01 -2.14611587e-04 -3.58467547e+00] [-4.24263241e-03 9.04462136e-05 9.99990996e-01 -8.72501671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.690371743 meters 0.02130150724751251 Centerline is valid? [True, True] Translation: X:63.37, Y:-3.58, Z:-0.87 [[ 9.99436266e-01 3.33821408e-02 3.57540023e-03 6.33677699e+01] [-3.33817056e-02 9.99442659e-01 -1.81327436e-04 -3.58230525e+00] [-3.57946061e-03 6.18722571e-05 9.99993592e-01 -8.72753120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720371743 meters 0.020772338588165472 Centerline is valid? [True, True] Translation: X:63.40, Y:-3.58, Z:-0.87 [[ 9.99180509e-01 4.03574236e-02 3.09667599e-03 6.33972911e+01] [-4.03571254e-02 9.99185307e-01 -1.58732628e-04 -3.57954546e+00] [-3.10055919e-03 3.36296069e-05 9.99995193e-01 -8.73861341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.750371743 meters 0.020529146944351484 Centerline is valid? [True, True] Translation: X:63.42, Y:-3.58, Z:-0.87 [[ 9.99060738e-01 4.32303312e-02 2.96308473e-03 6.34248080e+01] [-4.32300773e-02 9.99065132e-01 -1.49731978e-04 -3.58021040e+00] [-2.96678760e-03 2.14969593e-05 9.99995599e-01 -8.74665353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780371743 meters 0.020283286878575217 Centerline is valid? [True, True] Translation: X:63.45, Y:-3.58, Z:-0.88 [[ 9.98918975e-01 4.64402214e-02 2.04606903e-03 6.34532933e+01] [-4.64401070e-02 9.98921071e-01 -1.03398751e-04 -3.58097529e+00] [-2.04866332e-03 8.26730937e-06 9.99997901e-01 -8.75973896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.810371743 meters 0.02023564665826428 Centerline is valid? [True, True] Translation: X:63.48, Y:-3.58, Z:-0.88 [[ 9.98893356e-01 4.70055283e-02 1.59465366e-03 6.34822943e+01] [-4.70054594e-02 9.98894629e-01 -8.07028518e-05 -3.58286934e+00] [-1.59668445e-03 5.65611487e-06 9.99998725e-01 -8.76906540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840371743 meters 0.02013979829938393 Centerline is valid? [True, True] Translation: X:63.51, Y:-3.58, Z:-0.88 [[ 9.98903461e-01 4.67917096e-02 1.55315572e-03 6.35095520e+01] [-4.67916430e-02 9.98904668e-01 -7.91891852e-05 -3.58497086e+00] [-1.55515990e-03 6.42764292e-06 9.99998791e-01 -8.78002788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870371743 meters 0.020006620142943316 Centerline is valid? [True, True] Translation: X:63.54, Y:-3.59, Z:-0.88 [[ 9.98948689e-01 4.58065758e-02 1.80928653e-03 6.35368150e+01] [-4.58064849e-02 9.98950328e-01 -9.16587724e-05 -3.58730821e+00] [-1.81158595e-03 8.68535433e-06 9.99998359e-01 -8.78422689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900371743 meters 0.02023144145743779 Centerline is valid? [True, True] Translation: X:63.56, Y:-3.59, Z:-0.88 [[ 9.99074783e-01 4.29006986e-02 3.01790648e-03 6.35646223e+01] [-4.29004375e-02 9.99079341e-01 -1.51234716e-04 -3.59207654e+00] [-3.02161609e-03 2.16252835e-05 9.99995435e-01 -8.76797875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930371743 meters 0.020108206362472947 Centerline is valid? [True, True] Translation: X:63.59, Y:-3.60, Z:-0.88 [[ 9.99163445e-01 4.06923074e-02 4.06767577e-03 6.35936642e+01] [-4.06918202e-02 9.99171724e-01 -2.02510809e-04 -3.59619575e+00] [-4.07254724e-03 3.68202669e-05 9.99991706e-01 -8.77177164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960371743 meters 0.02044859491451561 Centerline is valid? [True, True] Translation: X:63.62, Y:-3.60, Z:-0.88 [[ 9.99259133e-01 3.82287592e-02 4.44378493e-03 6.36210042e+01] [-3.82281545e-02 9.99269013e-01 -2.20987065e-04 -3.60094713e+00] [-4.44898464e-03 5.09456459e-05 9.99990102e-01 -8.77465454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.990371743 meters 0.02070269590668776 Centerline is valid? [True, True] Translation: X:63.65, Y:-3.61, Z:-0.88 [[ 9.99471555e-01 3.20573957e-02 5.37896503e-03 6.36496868e+01] [-3.20564251e-02 9.99486025e-01 -2.66600112e-04 -3.60876221e+00] [-5.38474688e-03 9.40288398e-05 9.99985498e-01 -8.76738741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020371743 meters 0.0212005611610985 Centerline is valid? [True, True] Translation: X:63.68, Y:-3.61, Z:-0.88 [[ 9.99579493e-01 2.83830939e-02 5.93606789e-03 6.36773718e+01] [-2.83818493e-02 9.99597111e-01 -2.93817483e-04 -3.61418763e+00] [-5.94201576e-03 1.25217347e-04 9.99982338e-01 -8.77256323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.050371743 meters 0.02193230874227228 Centerline is valid? [True, True] Translation: X:63.71, Y:-3.62, Z:-0.88 [[ 9.99745776e-01 2.12413809e-02 7.56218218e-03 6.37062657e+01] [-2.12391663e-02 9.99774354e-01 -3.73050689e-04 -3.62196289e+00] [-7.56839991e-03 2.12341405e-04 9.99971337e-01 -8.76689531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080371743 meters 0.023302521508705543 Centerline is valid? [True, True] Translation: X:63.73, Y:-3.63, Z:-0.88 [[ 9.99809484e-01 1.75991022e-02 8.44202003e-03 6.37343064e+01] [-1.75962163e-02 9.99845088e-01 -4.16006657e-04 -3.62810372e+00] [-8.44803360e-03 2.67379790e-04 9.99964279e-01 -8.76994701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.110371743 meters 0.023302521508705543 Centerline is valid? [True, True] Translation: X:63.76, Y:-3.63, Z:-0.88 [[ 9.99810731e-01 1.75280788e-02 8.44205024e-03 6.37625916e+01] [-1.75251956e-02 9.99846336e-01 -4.15392232e-04 -3.62943468e+00] [-8.44803403e-03 2.67365030e-04 9.99964279e-01 -8.77392774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140371743 meters 0.02360310168248427 Centerline is valid? [True, True] Translation: X:63.79, Y:-3.63, Z:-0.88 [[ 9.99863340e-01 1.38415323e-02 9.03951904e-03 6.37921231e+01] [-1.38380840e-02 9.99904151e-01 -4.43902204e-04 -3.63322819e+00] [-9.04479689e-03 3.18751917e-04 9.99959044e-01 -8.77713493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170371743 meters 0.025429092420469562 Centerline is valid? [True, True] Translation: X:63.82, Y:-3.64, Z:-0.88 [[ 9.99904716e-01 1.03247049e-02 9.16293580e-03 6.38209135e+01] [-1.03210175e-02 9.99946636e-01 -4.49622285e-04 -3.63941360e+00] [-9.16708904e-03 3.55008622e-04 9.99957918e-01 -8.78062671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.200371743 meters 0.026399836345209118 Centerline is valid? [True, True] Translation: X:63.85, Y:-3.64, Z:-0.88 [[ 9.99938956e-01 6.44584939e-03 8.97409129e-03 6.38510876e+01] [-6.44216091e-03 9.99979152e-01 -4.39860784e-04 -3.64460559e+00] [-8.97673947e-03 3.82021394e-04 9.99959635e-01 -8.78702458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.230371743 meters 0.030275810459383386 Centerline is valid? [True, True] Translation: X:63.88, Y:-3.66, Z:-0.88 [[ 9.99958436e-01 -7.36286533e-04 9.08756420e-03 6.38799101e+01] [ 7.40365514e-04 9.99999627e-01 -4.45497091e-04 -3.65542552e+00] [-9.08723280e-03 4.52206693e-04 9.99958608e-01 -8.79705061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260371743 meters 0.032480071534724396 Centerline is valid? [True, True] Translation: X:63.91, Y:-3.66, Z:-0.88 [[ 9.99941224e-01 -7.36943418e-03 7.95232084e-03 6.39106847e+01] [ 7.37276405e-03 9.99972745e-01 -3.89494416e-04 -3.66233316e+00] [-7.94923375e-03 4.48102108e-04 9.99968304e-01 -8.80904699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.290371743 meters 0.03397079134531678 Centerline is valid? [True, True] Translation: X:63.94, Y:-3.67, Z:-0.88 [[ 9.99922673e-01 -9.95525240e-03 7.45261915e-03 6.39408823e+01] [ 9.95825031e-03 9.99950349e-01 -3.65261136e-04 -3.66694829e+00] [-7.44861285e-03 4.39447939e-04 9.99972162e-01 -8.81893821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320371743 meters 0.035499879735758605 Centerline is valid? [True, True] Translation: X:63.97, Y:-3.67, Z:-0.88 [[ 9.99901493e-01 -1.21851815e-02 6.96601948e-03 6.39722589e+01] [ 1.21878545e-02 9.99925667e-01 -3.41396656e-04 -3.67107158e+00] [-6.96134169e-03 4.26263858e-04 9.99975679e-01 -8.82798517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.350371743 meters 0.03674760132151974 Centerline is valid? [True, True] Translation: X:64.00, Y:-3.67, Z:-0.88 [[ 9.99884902e-01 -1.37096780e-02 6.49825306e-03 6.40035151e+01] [ 1.37120365e-02 9.99905935e-01 -3.18535553e-04 -3.67466818e+00] [-6.49327479e-03 4.07603174e-04 9.99978835e-01 -8.83534381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380371743 meters 0.038919112073489436 Centerline is valid? [True, True] Translation: X:64.03, Y:-3.68, Z:-0.89 [[ 9.99860373e-01 -1.57600327e-02 5.55485371e-03 6.40334787e+01] [ 1.57617872e-02 9.99875738e-01 -2.72225781e-04 -3.67863519e+00] [-5.54987317e-03 3.59742194e-04 9.99984535e-01 -8.85518242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.410371743 meters 0.039261223363090014 Centerline is valid? [True, True] Translation: X:64.07, Y:-3.68, Z:-0.89 [[ 9.99855356e-01 -1.62685800e-02 4.95983407e-03 6.40655810e+01] [ 1.62699870e-02 9.99867605e-01 -2.43463127e-04 -3.68021503e+00] [-4.95521661e-03 3.24124347e-04 9.99987670e-01 -8.86570128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440371743 meters 0.036148648890262404 Centerline is valid? [True, True] Translation: X:64.10, Y:-3.68, Z:-0.89 [[ 9.99857947e-01 -1.62453844e-02 4.49136338e-03 6.40980182e+01] [ 1.62465388e-02 9.99867992e-01 -2.20661729e-04 -3.67681345e+00] [-4.48718575e-03 2.93599493e-04 9.99989889e-01 -8.87333835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470371743 meters 0.03828792869384793 Centerline is valid? [True, True] Translation: X:64.13, Y:-3.68, Z:-0.89 [[ 9.99869991e-01 -1.54680686e-02 4.55415605e-03 6.41291313e+01] [ 1.54692498e-02 9.99880319e-01 -2.24255130e-04 -3.68077438e+00] [-4.55014221e-03 2.94675352e-04 9.99989605e-01 -8.88359289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500371743 meters 0.03985382887863275 Centerline is valid? [True, True] Translation: X:64.16, Y:-3.68, Z:-0.89 [[ 9.99880718e-01 -1.47997419e-02 4.41775201e-03 6.41601223e+01] [ 1.48008479e-02 9.99890438e-01 -2.17764119e-04 -3.68316876e+00] [-4.41404514e-03 2.83124619e-04 9.99990218e-01 -8.89158879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.530371743 meters 0.037587488232017595 Centerline is valid? [True, True] Translation: X:64.19, Y:-3.68, Z:-0.89 [[ 9.99915730e-01 -1.19870062e-02 4.98441767e-03 6.41908599e+01] [ 1.19883834e-02 9.99928106e-01 -2.46509184e-04 -3.67919432e+00] [-4.98110441e-03 3.06243520e-04 9.99987547e-01 -8.88640223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.560371743 meters 0.0345913532730763 Centerline is valid? [True, True] Translation: X:64.22, Y:-3.68, Z:-0.89 [[ 9.99933248e-01 -1.02313942e-02 5.36820577e-03 6.42224471e+01] [ 1.02329648e-02 9.99947607e-01 -2.65185429e-04 -3.67539674e+00] [-5.36521129e-03 3.20100388e-04 9.99985556e-01 -8.88179180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.590371743 meters 0.033568288672539755 Centerline is valid? [True, True] Translation: X:64.25, Y:-3.67, Z:-0.89 [[ 9.99949430e-01 -8.47510904e-03 5.41384190e-03 6.42545264e+01] [ 8.47668101e-03 9.99964037e-01 -2.67481005e-04 -3.67413151e+00] [-5.41138026e-03 3.13358890e-04 9.99985309e-01 -8.88590791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.620371743 meters 0.03382214582642732 Centerline is valid? [True, True] Translation: X:64.28, Y:-3.67, Z:-0.89 [[ 9.99976022e-01 -4.88994533e-03 4.90355413e-03 6.42844239e+01] [ 4.89119525e-03 9.99988009e-01 -2.42942047e-04 -3.67350160e+00] [-4.90230735e-03 2.66920463e-04 9.99987948e-01 -8.89249079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.650371743 meters 0.028443836187154885 Centerline is valid? [True, True] Translation: X:64.32, Y:-3.66, Z:-0.89 [[ 9.99986651e-01 -3.29799488e-03 3.97768428e-03 6.43168848e+01] [ 3.29880182e-03 9.99994540e-01 -1.96323803e-04 -3.66482172e+00] [-3.97701509e-03 2.09442774e-04 9.99992070e-01 -8.88449427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680371743 meters 0.032958876448745955 Centerline is valid? [True, True] Translation: X:64.35, Y:-3.67, Z:-0.89 [[ 9.99993569e-01 -1.79391323e-03 3.10555801e-03 6.43480043e+01] [ 1.79439853e-03 9.99998378e-01 -1.53488876e-04 -3.67243641e+00] [-3.10527762e-03 1.59060497e-04 9.99995166e-01 -8.90736252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.710371743 meters 0.029326216201788217 Centerline is valid? [True, True] Translation: X:64.38, Y:-3.67, Z:-0.89 [[ 9.99996445e-01 -2.76806548e-04 2.65218403e-03 6.43794765e+01] [ 2.77155842e-04 9.99999953e-01 -1.31333708e-04 -3.66715765e+00] [-2.65214755e-03 1.32068309e-04 9.99996474e-01 -8.90506348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740371743 meters 0.02774951911401903 Centerline is valid? [True, True] Translation: X:64.41, Y:-3.66, Z:-0.89 [[ 9.99993747e-01 2.64341036e-03 2.34922427e-03 6.44107344e+01] [-2.64314430e-03 9.99996500e-01 -1.16352856e-04 -3.66448573e+00] [-2.34952362e-03 1.10142790e-04 9.99997234e-01 -8.90915816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.770371743 meters 0.02675706693971173 Centerline is valid? [True, True] Translation: X:64.44, Y:-3.66, Z:-0.89 [[ 9.99987337e-01 4.51673931e-03 2.21931332e-03 6.44417195e+01] [-4.51650587e-03 9.99989794e-01 -1.10187040e-04 -3.66351917e+00] [-2.21978836e-03 1.00162104e-04 9.99997531e-01 -8.91275147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800371743 meters 0.02716573549001011 Centerline is valid? [True, True] Translation: X:64.47, Y:-3.66, Z:-0.89 [[ 9.99966891e-01 7.77108056e-03 2.41389786e-03 6.44706156e+01] [-7.77081217e-03 9.99969800e-01 -1.20546448e-04 -3.66326381e+00] [-2.41476174e-03 1.01784509e-04 9.99997079e-01 -8.92337585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.830371743 meters 0.030777811961594796 Centerline is valid? [True, True] Translation: X:64.50, Y:-3.67, Z:-0.89 [[ 9.99954569e-01 9.18134879e-03 2.56188926e-03 6.44986662e+01] [-9.18105093e-03 9.99957845e-01 -1.28005146e-04 -3.66968625e+00] [-2.56295653e-03 1.04478495e-04 9.99996710e-01 -8.94462299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860371743 meters 0.025941638441380893 Centerline is valid? [True, True] Translation: X:64.53, Y:-3.66, Z:-0.89 [[ 9.99944327e-01 1.02753108e-02 2.40037742e-03 6.45278218e+01] [-1.02750522e-02 9.99947203e-01 -1.20073831e-04 -3.66102788e+00] [-2.40148449e-03 9.54031433e-05 9.99997112e-01 -8.92111239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890371743 meters 0.025675524826581583 Centerline is valid? [True, True] Translation: X:64.56, Y:-3.66, Z:-0.89 [[ 9.99928324e-01 1.16876532e-02 2.59734132e-03 6.45565287e+01] [-1.16873558e-02 9.99931692e-01 -1.29656545e-04 -3.66056365e+00] [-2.59867929e-03 9.92911999e-05 9.99996618e-01 -8.92000128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920371743 meters 0.025698188288980826 Centerline is valid? [True, True] Translation: X:64.58, Y:-3.66, Z:-0.89 [[ 9.99904084e-01 1.33216647e-02 3.78896518e-03 6.45845736e+01] [-1.33210456e-02 9.99911253e-01 -1.88585500e-04 -3.66009340e+00] [-3.79114120e-03 1.38094434e-04 9.99992804e-01 -8.91601699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.950371743 meters 0.024305667976930505 Centerline is valid? [True, True] Translation: X:64.61, Y:-3.66, Z:-0.89 [[ 9.99892921e-01 1.39176888e-02 4.52146406e-03 6.46136687e+01] [-1.39168168e-02 9.99903131e-01 -2.24249558e-04 -3.65810965e+00] [-4.52414711e-03 1.61301158e-04 9.99989753e-01 -8.90598934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.980371743 meters 0.025967021270363756 Centerline is valid? [True, True] Translation: X:64.64, Y:-3.66, Z:-0.89 [[ 9.99883737e-01 1.43218927e-02 5.23405351e-03 6.46411111e+01] [-1.43207319e-02 9.99897419e-01 -2.59199876e-04 -3.66046792e+00] [-5.23722883e-03 1.84214264e-04 9.99986269e-01 -8.90090447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.010371743 meters 0.024859816885197002 Centerline is valid? [True, True] Translation: X:64.67, Y:-3.66, Z:-0.89 [[ 9.99889602e-01 1.37989647e-02 5.51111689e-03 6.46698054e+01] [-1.37976738e-02 9.99904771e-01 -2.72199648e-04 -3.65855189e+00] [-5.51434814e-03 1.96129005e-04 9.99984777e-01 -8.89542858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040371743 meters 0.025194436700622776 Centerline is valid? [True, True] Translation: X:64.70, Y:-3.66, Z:-0.89 [[ 9.99905902e-01 1.27557398e-02 5.04758004e-03 6.46989432e+01] [-1.27546450e-02 9.99918625e-01 -2.49028217e-04 -3.65922336e+00] [-5.05034584e-03 1.84624692e-04 9.99987230e-01 -8.89488549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.070371743 meters 0.02597263562286426 Centerline is valid? [True, True] Translation: X:64.73, Y:-3.66, Z:-0.89 [[ 9.99929853e-01 1.10504393e-02 4.26345325e-03 6.47269075e+01] [-1.10496458e-02 9.99938929e-01 -2.09630289e-04 -3.66146800e+00] [-4.26550938e-03 1.62505936e-04 9.99990889e-01 -8.90467408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100371743 meters 0.02668748009729901 Centerline is valid? [True, True] Translation: X:64.76, Y:-3.66, Z:-0.89 [[ 9.99978421e-01 5.91094330e-03 2.86675839e-03 6.47569965e+01] [-5.91056315e-03 9.99982523e-01 -1.41059847e-04 -3.66465032e+00] [-2.86754209e-03 1.24112646e-04 9.99995881e-01 -8.92204660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.130371743 meters 0.02865073869462036 Centerline is valid? [True, True] Translation: X:64.79, Y:-3.67, Z:-0.89 [[ 9.99993799e-01 2.79633445e-03 2.14081967e-03 6.47864141e+01] [-2.79611536e-03 9.99996085e-01 -1.05328608e-04 -3.66980296e+00] [-2.14110582e-03 9.93419760e-05 9.99997703e-01 -8.93710794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160371743 meters 0.028937684384503542 Centerline is valid? [True, True] Translation: X:64.82, Y:-3.67, Z:-0.89 [[ 9.99998515e-01 -5.67494244e-04 1.62701050e-03 6.48168522e+01] [ 5.67624922e-04 9.99999836e-01 -7.98572796e-05 -3.67190609e+00] [-1.62696491e-03 8.07806927e-05 9.99998673e-01 -8.94427261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.190371743 meters 0.03252657595184953 Centerline is valid? [True, True] Translation: X:64.85, Y:-3.68, Z:-0.90 [[ 9.99976331e-01 -6.78488041e-03 1.14109555e-03 6.48456777e+01] [ 6.78494793e-03 9.99976980e-01 -5.53115428e-05 -3.67868004e+00] [-1.14069400e-03 6.30525075e-05 9.99999347e-01 -8.95505752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220371743 meters 0.03366400402668947 Centerline is valid? [True, True] Translation: X:64.88, Y:-3.68, Z:-0.90 [[ 9.99953079e-01 -9.59532766e-03 1.33025714e-03 6.48769995e+01] [ 9.59542247e-03 9.99953961e-01 -6.49145721e-05 -3.68131694e+00] [-1.32957302e-03 7.76759054e-05 9.99999113e-01 -8.95867292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250371743 meters 0.03435202478181827 Centerline is valid? [True, True] Translation: X:64.91, Y:-3.68, Z:-0.90 [[ 9.99899224e-01 -1.41554083e-02 1.08020936e-03 6.49077028e+01] [ 1.41554738e-02 9.99899805e-01 -5.30571688e-05 -3.68263461e+00] [-1.07935008e-03 6.83426972e-05 9.99999415e-01 -8.95852364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280371743 meters 0.0344478553451983 Centerline is valid? [True, True] Translation: X:64.94, Y:-3.68, Z:-0.90 [[ 9.99878098e-01 -1.55681759e-02 1.19202731e-03 6.49400805e+01] [ 1.55682557e-02 9.99878806e-01 -5.76912850e-05 -3.68416129e+00] [-1.19098469e-03 7.62420382e-05 9.99999288e-01 -8.96183448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.310371743 meters 0.0370790679799246 Centerline is valid? [True, True] Translation: X:64.97, Y:-3.69, Z:-0.90 [[ 9.99859006e-01 -1.67711028e-02 8.35897737e-04 6.49712645e+01] [ 1.67711424e-02 9.99859354e-01 -4.04558867e-05 -3.68922807e+00] [-8.35101682e-04 5.44691427e-05 9.99999650e-01 -8.97381448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.340371743 meters 0.0372679367779275 Centerline is valid? [True, True] Translation: X:65.00, Y:-3.69, Z:-0.90 [[ 9.99830570e-01 -1.84039310e-02 3.56738056e-04 6.50024748e+01] [ 1.84039383e-02 9.99830633e-01 -1.71036706e-05 -3.68963184e+00] [-3.56362862e-04 2.36661579e-05 9.99999936e-01 -8.97802423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.370371743 meters 0.03800244484256936 Centerline is valid? [True, True] Translation: X:65.03, Y:-3.69, Z:-0.90 [[ 9.99815090e-01 -1.92271232e-02 3.20603677e-04 6.50349102e+01] [ 1.92271290e-02 9.99815142e-01 -1.48487315e-05 -3.69145892e+00] [-3.20258912e-04 2.10102741e-05 9.99999948e-01 -8.98286307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400371743 meters 0.03800674472245754 Centerline is valid? [True, True] Translation: X:65.07, Y:-3.69, Z:-0.90 [[ 9.99817732e-01 -1.90900684e-02 2.67697197e-04 6.50668486e+01] [ 1.90900724e-02 9.99817768e-01 -1.22527211e-05 -3.69164348e+00] [-2.67414508e-04 1.73608467e-05 9.99999964e-01 -8.98304869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.430371743 meters 0.03715054346878485 Centerline is valid? [True, True] Translation: X:65.10, Y:-3.69, Z:-0.90 [[ 9.99821807e-01 -1.88758883e-02 2.35289651e-04 6.50987470e+01] [ 1.88758914e-02 9.99821834e-01 -1.06561577e-05 -3.69053612e+00] [-2.35046586e-04 1.50955608e-05 9.99999972e-01 -8.98278404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460371743 meters 0.03772729426457609 Centerline is valid? [True, True] Translation: X:65.13, Y:-3.69, Z:-0.90 [[ 9.99857174e-01 -1.68988960e-02 2.42261071e-04 6.51297950e+01] [ 1.68988993e-02 9.99857203e-01 -1.15135097e-05 -3.69014505e+00] [-2.42031911e-04 1.56058107e-05 9.99999971e-01 -8.98597208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.490371743 meters 0.038957875974315645 Centerline is valid? [True, True] Translation: X:65.16, Y:-3.69, Z:-0.90 [[ 9.99881020e-01 -1.54233540e-02 -2.56164208e-04 6.51602633e+01] [ 1.54233578e-02 9.99881053e-01 1.29507505e-05 -3.69265969e+00] [ 2.55933994e-04 -1.69001219e-05 9.99999967e-01 -8.99785363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520371743 meters 0.03855152749129252 Centerline is valid? [True, True] Translation: X:65.19, Y:-3.69, Z:-0.90 [[ 9.99912708e-01 -1.32120282e-02 -1.33731089e-04 6.51921104e+01] [ 1.32120293e-02 9.99912717e-01 7.35702432e-06 -3.69246816e+00] [ 1.33622215e-04 -9.12324118e-06 9.99999991e-01 -9.00718675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.550371743 meters 0.030746756361116987 Centerline is valid? [True, True] Translation: X:65.22, Y:-3.68, Z:-0.90 [[ 9.99972668e-01 -7.36050109e-03 -6.97607110e-04 6.52234015e+01] [ 7.36052703e-03 9.99972910e-01 3.46366347e-05 -3.67894167e+00] [ 6.97333269e-04 -3.97704440e-05 9.99999756e-01 -8.98715736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580371743 meters 0.029879762956919523 Centerline is valid? [True, True] Translation: X:65.25, Y:-3.68, Z:-0.90 [[ 9.99992465e-01 -3.79882898e-03 -7.99845729e-04 6.52542859e+01] [ 3.79886217e-03 9.99992783e-01 3.99865859e-05 -3.67704700e+00] [ 7.99688055e-04 -4.30247883e-05 9.99999679e-01 -8.98596061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.610371743 meters 0.02804229737175887 Centerline is valid? [True, True] Translation: X:65.28, Y:-3.67, Z:-0.90 [[ 9.99988136e-01 4.73398689e-03 -1.14736858e-03 6.52846835e+01] [-4.73392463e-03 9.99988793e-01 5.69722627e-05 -3.67164706e+00] [ 1.14762542e-03 -5.15400305e-05 9.99999340e-01 -8.99250597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640371743 meters 0.02698295658051369 Centerline is valid? [True, True] Translation: X:65.31, Y:-3.67, Z:-0.90 [[ 9.99957471e-01 9.13063665e-03 -1.29874801e-03 6.53140766e+01] [-9.13056127e-03 9.99958314e-01 6.39646321e-05 -3.66935171e+00] [ 1.29927791e-03 -5.21036135e-05 9.99999155e-01 -8.99475754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670371743 meters 0.026205073517434813 Centerline is valid? [True, True] Translation: X:65.34, Y:-3.67, Z:-0.90 [[ 9.99904193e-01 1.38013442e-02 -1.06173699e-03 6.53435765e+01] [-1.38012966e-02 9.99904756e-01 5.21688143e-05 -3.66753426e+00] [ 1.06235587e-03 -3.75104691e-05 9.99999435e-01 -9.00243187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.700371743 meters 0.024292567333856048 Centerline is valid? [True, True] Translation: X:65.37, Y:-3.66, Z:-0.90 [[ 9.99754257e-01 2.21371832e-02 -1.17112571e-03 6.53743185e+01] [-2.21371304e-02 9.99754942e-01 5.80389325e-05 -3.66160584e+00] [ 1.17212354e-03 -3.20993072e-05 9.99999313e-01 -8.99893313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.730371743 meters 0.023657960378588853 Centerline is valid? [True, True] Translation: X:65.40, Y:-3.66, Z:-0.90 [[ 9.99670719e-01 2.56420805e-02 -9.67821981e-04 6.54031580e+01] [-2.56420470e-02 9.99671188e-01 4.69564794e-05 -3.66002482e+00] [ 9.68707811e-04 -2.21240808e-05 9.99999531e-01 -8.99703231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760371743 meters 0.023068172545497635 Centerline is valid? [True, True] Translation: X:65.43, Y:-3.66, Z:-0.90 [[ 9.99600853e-01 2.82462761e-02 -5.31162044e-04 6.54317968e+01] [-2.82462667e-02 9.99600994e-01 2.53015380e-05 -3.65906794e+00] [ 5.31664781e-04 -1.02880943e-05 9.99999859e-01 -8.99765501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.790371743 meters 0.022229540453899417 Centerline is valid? [True, True] Translation: X:65.46, Y:-3.66, Z:-0.90 [[ 9.99483912e-01 3.21174590e-02 -6.14749802e-04 6.54610021e+01] [-3.21174470e-02 9.99484101e-01 2.93596669e-05 -3.65614039e+00] [ 6.15375611e-04 -9.60032058e-06 9.99999811e-01 -8.99439044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820371743 meters 0.022536583634134588 Centerline is valid? [True, True] Translation: X:65.49, Y:-3.66, Z:-0.90 [[ 9.99468371e-01 3.25897649e-02 -9.39271891e-04 6.54882901e+01] [-3.25897369e-02 9.99468812e-01 4.50624394e-05 -3.65749734e+00] [ 9.40241536e-04 -1.44278591e-05 9.99999558e-01 -9.00429583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.850371743 meters 0.02290837593560258 Centerline is valid? [True, True] Translation: X:65.52, Y:-3.66, Z:-0.90 [[ 9.99489456e-01 3.19322981e-02 -1.07523100e-03 6.55159885e+01] [-3.19322610e-02 9.99490034e-01 5.16917964e-05 -3.66153792e+00] [ 1.07633331e-03 -1.73308484e-05 9.99999421e-01 -9.02343466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880371743 meters 0.022680188209762205 Centerline is valid? [True, True] Translation: X:65.55, Y:-3.66, Z:-0.90 [[ 9.99530730e-01 3.06132343e-02 -1.07206870e-03 6.55450432e+01] [-3.06131964e-02 9.99531305e-01 5.16983502e-05 -3.66295074e+00] [ 1.07314888e-03 -1.88546400e-05 9.99999424e-01 -9.01660843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.910371743 meters 0.02277990971218257 Centerline is valid? [True, True] Translation: X:65.57, Y:-3.67, Z:-0.90 [[ 9.99588903e-01 2.86150171e-02 -1.79064572e-03 6.55738215e+01] [-2.86149074e-02 9.99590506e-01 8.68643745e-05 -3.66537912e+00] [ 1.79239808e-03 -3.55895034e-05 9.99998393e-01 -9.01349860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940371743 meters 0.023606589091401477 Centerline is valid? [True, True] Translation: X:65.60, Y:-3.67, Z:-0.90 [[ 9.99724097e-01 2.34293792e-02 -1.67133791e-03 6.56026284e+01] [-2.34292762e-02 9.99725494e-01 8.11761824e-05 -3.67191832e+00] [ 1.67278103e-03 -4.19955480e-05 9.99998600e-01 -9.01943096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.970371743 meters 0.02466807159049056 Centerline is valid? [True, True] Translation: X:65.63, Y:-3.68, Z:-0.90 [[ 9.99798736e-01 1.99585884e-02 -2.03515503e-03 6.56318315e+01] [-1.99584278e-02 9.99800806e-01 9.91884290e-05 -3.67637074e+00] [ 2.03672930e-03 -5.85499714e-05 9.99997924e-01 -9.02956471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000371743 meters 0.025188965078277874 Centerline is valid? [True, True] Translation: X:65.66, Y:-3.68, Z:-0.90 [[ 9.99860207e-01 1.66179614e-02 -1.84648662e-03 6.56611376e+01] [-1.66178237e-02 9.99861910e-01 8.98814023e-05 -3.68117563e+00] [ 1.84772528e-03 -5.91842484e-05 9.99998291e-01 -9.03382429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030371743 meters 0.027268148514289856 Centerline is valid? [True, True] Translation: X:65.69, Y:-3.69, Z:-0.90 [[ 9.99952414e-01 9.64227387e-03 -1.48177053e-03 6.56914163e+01] [-9.64217687e-03 9.99953510e-01 7.25928056e-05 -3.68974095e+00] [ 1.48240161e-03 -5.83018577e-05 9.99998900e-01 -9.03628708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.060371743 meters 0.027268148514289856 Centerline is valid? [True, True] Translation: X:65.72, Y:-3.69, Z:-0.90 [[ 9.99953098e-01 9.57105746e-03 -1.48182750e-03 6.57197098e+01] [-9.57096211e-03 9.99954195e-01 7.14283053e-05 -3.69106493e+00] [ 1.48244327e-03 -5.72424404e-05 9.99998900e-01 -9.04026514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.090371743 meters 0.029891545096215832 Centerline is valid? [True, True] Translation: X:65.75, Y:-3.70, Z:-0.91 [[ 9.99979065e-01 6.42580213e-03 -7.61290747e-04 6.57479092e+01] [-6.42577626e-03 9.99979354e-01 3.64250542e-05 -3.69853175e+00] [ 7.61509090e-04 -3.15324076e-05 9.99999710e-01 -9.05014033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.120371743 meters 0.028313100174201956 Centerline is valid? [True, True] Translation: X:65.78, Y:-3.70, Z:-0.90 [[ 9.99992336e-01 3.89279552e-03 -4.16532227e-04 6.57774016e+01] [-3.89278760e-03 9.99992423e-01 1.98204596e-05 -3.69849531e+00] [ 4.16606228e-04 -1.81988363e-05 9.99999913e-01 -9.03466436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.150371743 meters 0.030356600784629248 Centerline is valid? [True, True] Translation: X:65.81, Y:-3.71, Z:-0.90 [[ 9.99999814e-01 6.04167870e-04 -8.93094353e-05 6.58064506e+01] [-6.04167498e-04 9.99999817e-01 4.19486601e-06 -3.70505773e+00] [ 8.93119533e-05 -4.14090737e-06 9.99999996e-01 -9.03695311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180371743 meters 0.031069610446425536 Centerline is valid? [True, True] Translation: X:65.84, Y:-3.71, Z:-0.90 [[ 9.99999862e-01 -4.16315152e-04 -3.20718195e-04 6.58369442e+01] [ 4.16320191e-04 9.99999913e-01 1.56440717e-05 -3.70839143e+00] [ 3.20711654e-04 -1.57775910e-05 9.99999948e-01 -9.04313686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.210371743 meters 0.030399203406574787 Centerline is valid? [True, True] Translation: X:65.87, Y:-3.71, Z:-0.90 [[ 9.99999634e-01 -7.46335067e-04 -4.19199555e-04 6.58672356e+01] [ 7.46343704e-04 9.99999721e-01 2.04478199e-05 -3.70991813e+00] [ 4.19184178e-04 -2.07606794e-05 9.99999912e-01 -9.04633756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240371743 meters 0.03055684355458765 Centerline is valid? [True, True] Translation: X:65.90, Y:-3.71, Z:-0.91 [[ 9.99999221e-01 -1.16374705e-03 -4.51026377e-04 6.58980276e+01] [ 1.16375709e-03 9.99999323e-01 2.20002765e-05 -3.71299009e+00] [ 4.51000469e-04 -2.25251445e-05 9.99999898e-01 -9.05066351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.270371743 meters 0.029646412086199087 Centerline is valid? [True, True] Translation: X:65.93, Y:-3.71, Z:-0.90 [[ 9.99999608e-01 -7.84295856e-04 -4.11904145e-04 6.59281083e+01] [ 7.84304198e-04 9.99999692e-01 2.00919626e-05 -3.71329347e+00] [ 4.11888260e-04 -2.04150128e-05 9.99999915e-01 -9.04885815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300371743 meters 0.028619951382026092 Centerline is valid? [True, True] Translation: X:65.96, Y:-3.71, Z:-0.90 [[ 9.99999778e-01 -6.93176472e-05 -6.63455587e-04 6.59584216e+01] [ 6.93391333e-05 9.99999997e-01 3.23622012e-05 -3.71345654e+00] [ 6.63453342e-04 -3.24081974e-05 9.99999779e-01 -9.04895534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.330371743 meters 0.029558927924105916 Centerline is valid? [True, True] Translation: X:65.99, Y:-3.72, Z:-0.91 [[ 9.99997131e-01 2.13482323e-03 -1.08641390e-03 6.59877070e+01] [-2.13476721e-03 9.99997720e-01 5.27205018e-05 -3.71730379e+00] [ 1.08652397e-03 -5.04011097e-05 9.99999408e-01 -9.06469198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360371743 meters 0.028086166290559503 Centerline is valid? [True, True] Translation: X:66.02, Y:-3.72, Z:-0.91 [[ 9.99993034e-01 3.29407883e-03 -1.75550562e-03 6.60176200e+01] [-3.29393462e-03 9.99994571e-01 8.50300388e-05 -3.71618945e+00] [ 1.75577618e-03 -7.92469257e-05 9.99998455e-01 -9.06378568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.390371743 meters 0.02749213418476353 Centerline is valid? [True, True] Translation: X:66.05, Y:-3.72, Z:-0.91 [[ 9.99973288e-01 6.86325131e-03 -2.51378760e-03 6.60467854e+01] [-6.86296654e-03 9.99976442e-01 1.21890968e-04 -3.71626983e+00] [ 2.51456495e-03 -1.04635672e-04 9.99996833e-01 -9.08117484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420371743 meters 0.02699805415462603 Centerline is valid? [True, True] Translation: X:66.08, Y:-3.72, Z:-0.91 [[ 9.99956050e-01 8.92528006e-03 -2.87025793e-03 6.60761299e+01] [-8.92492686e-03 9.99960163e-01 1.35838397e-04 -3.71616267e+00] [ 2.87135598e-03 -1.10215584e-04 9.99995872e-01 -9.08814763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.450371743 meters 0.026280232013562266 Centerline is valid? [True, True] Translation: X:66.11, Y:-3.72, Z:-0.91 [[ 9.99930840e-01 1.12566717e-02 -3.40636949e-03 6.61055478e+01] [-1.12561778e-02 9.99936634e-01 1.64133325e-04 -3.71568159e+00] [ 3.40800124e-03 -1.25779273e-04 9.99994185e-01 -9.09254895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.480371743 meters 0.024571552183433026 Centerline is valid? [True, True] Translation: X:66.14, Y:-3.71, Z:-0.91 [[ 9.99852272e-01 1.67839671e-02 -3.70587478e-03 6.61361558e+01] [-1.67834201e-02 9.99859133e-01 1.78648631e-04 -3.71166866e+00] [ 3.70835117e-03 -1.16424986e-04 9.99993117e-01 -9.08824184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.510371743 meters 0.024070861947337593 Centerline is valid? [True, True] Translation: X:66.17, Y:-3.71, Z:-0.91 [[ 9.99745112e-01 2.23754449e-02 -3.00851236e-03 6.61652303e+01] [-2.23751101e-02 9.99749635e-01 1.44889018e-04 -3.71071199e+00] [ 3.01100109e-03 -7.75362919e-05 9.99995464e-01 -9.09588669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540371743 meters 0.023357841063128937 Centerline is valid? [True, True] Translation: X:66.19, Y:-3.71, Z:-0.91 [[ 9.99697960e-01 2.44401798e-02 -2.58182804e-03 6.61939352e+01] [-2.44399421e-02 9.99701292e-01 1.23576377e-04 -3.70922518e+00] [ 2.58407705e-03 -6.04393237e-05 9.99996659e-01 -9.08901154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.570371743 meters 0.022856415917495144 Centerline is valid? [True, True] Translation: X:66.22, Y:-3.71, Z:-0.91 [[ 9.99646013e-01 2.65315989e-02 -1.98061068e-03 6.62224136e+01] [-2.65314639e-02 9.99647974e-01 9.44227425e-05 -3.70970201e+00] [ 1.98241864e-03 -4.18408173e-05 9.99998034e-01 -9.08542247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600371743 meters 0.022906843251779472 Centerline is valid? [True, True] Translation: X:66.25, Y:-3.71, Z:-0.91 [[ 9.99578045e-01 2.90335503e-02 -8.85899255e-04 6.62505541e+01] [-2.90335248e-02 9.99578437e-01 4.16234318e-05 -3.71086227e+00] [ 8.86734269e-04 -1.58850906e-05 9.99999607e-01 -9.09210183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.630371743 meters 0.022738486657832024 Centerline is valid? [True, True] Translation: X:66.28, Y:-3.71, Z:-0.91 [[ 9.99557822e-01 2.97309039e-02 -4.82848844e-04 6.62792999e+01] [-2.97308966e-02 9.99557939e-01 2.22050137e-05 -3.71247976e+00] [ 4.83295570e-04 -7.83966604e-06 9.99999883e-01 -9.09263763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660371743 meters 0.02254735522402761 Centerline is valid? [True, True] Translation: X:66.31, Y:-3.71, Z:-0.91 [[ 9.99553743e-01 2.98716275e-02 -6.26906639e-06 6.63082896e+01] [-2.98716275e-02 9.99553743e-01 -6.82429755e-07 -3.71479857e+00] [ 6.24588343e-06 8.69392434e-07 1.00000000e+00 -9.09810072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.690371743 meters 0.02277161933306388 Centerline is valid? [True, True] Translation: X:66.34, Y:-3.72, Z:-0.91 [[ 9.99572016e-01 2.92496024e-02 4.94977613e-04 6.63370555e+01] [-2.92495938e-02 9.99572139e-01 -2.46859187e-05 -3.71770329e+00] [-4.95487884e-04 1.01974594e-05 9.99999877e-01 -9.10001227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720371743 meters 0.022886531191632593 Centerline is valid? [True, True] Translation: X:66.37, Y:-3.72, Z:-0.91 [[ 9.99594428e-01 2.84620847e-02 9.42759724e-04 6.63658271e+01] [-2.84620539e-02 9.99594873e-01 -4.60680159e-05 -3.72048247e+00] [-9.43688978e-04 1.92164540e-05 9.99999555e-01 -9.10187771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.750371743 meters 0.02340900299570458 Centerline is valid? [True, True] Translation: X:66.39, Y:-3.73, Z:-0.91 [[ 9.99654984e-01 2.62140721e-02 1.65400294e-03 6.63933785e+01] [-2.62139753e-02 9.99656351e-01 -8.01792405e-05 -3.72649804e+00] [-1.65553637e-03 3.67935851e-05 9.99998629e-01 -9.10580780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780371743 meters 0.023828007268756612 Centerline is valid? [True, True] Translation: X:66.42, Y:-3.73, Z:-0.91 [[ 9.99691549e-01 2.47803459e-02 1.65579890e-03 6.64216973e+01] [-2.47802476e-02 9.99692919e-01 -7.98975793e-05 -3.73056654e+00] [-1.65727033e-03 3.88418281e-05 9.99998626e-01 -9.11206339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.810371743 meters 0.024591940461589867 Centerline is valid? [True, True] Translation: X:66.45, Y:-3.74, Z:-0.91 [[ 9.99769460e-01 2.14192193e-02 1.49776859e-03 6.64510486e+01] [-2.14191357e-02 9.99770581e-01 -7.18372826e-05 -3.73730639e+00] [-1.49896368e-03 3.97398125e-05 9.99998876e-01 -9.12217483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.840371743 meters 0.025136017718386777 Centerline is valid? [True, True] Translation: X:66.48, Y:-3.74, Z:-0.91 [[ 9.99808728e-01 1.95014766e-02 1.48342942e-03 6.64798969e+01] [-1.95013919e-02 9.99809827e-01 -7.15254592e-05 -3.74164234e+00] [-1.48454216e-03 4.25828399e-05 9.99998897e-01 -9.12749698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.870371743 meters 0.025625786926578836 Centerline is valid? [True, True] Translation: X:66.51, Y:-3.75, Z:-0.91 [[ 9.99833190e-01 1.81749432e-02 1.80643999e-03 6.65080283e+01] [-1.81748157e-02 9.99834821e-01 -8.69750929e-05 -3.74546967e+00] [-1.80772237e-03 5.41288707e-05 9.99998365e-01 -9.12722088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900371743 meters 0.026560445910463852 Centerline is valid? [True, True] Translation: X:66.54, Y:-3.75, Z:-0.91 [[ 9.99870759e-01 1.57606992e-02 3.17261446e-03 6.65354425e+01] [-1.57602975e-02 9.99875787e-01 -1.51581317e-04 -3.75256361e+00] [-3.17460941e-03 1.01560379e-04 9.99994956e-01 -9.12748761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.930371743 meters 0.02672381837892168 Centerline is valid? [True, True] Translation: X:66.56, Y:-3.76, Z:-0.91 [[ 9.99880713e-01 1.49287366e-02 3.96139192e-03 6.65644242e+01] [-1.49281069e-02 9.99888552e-01 -1.88470895e-04 -3.75684860e+00] [-3.96376407e-03 1.29312330e-04 9.99992136e-01 -9.12904084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960371743 meters 0.027554098329883984 Centerline is valid? [True, True] Translation: X:66.59, Y:-3.76, Z:-0.91 [[ 9.99899058e-01 1.36543462e-02 3.92841514e-03 6.65922879e+01] [-1.36537175e-02 9.99906766e-01 -1.86809780e-04 -3.76126397e+00] [-3.93059964e-03 1.33153452e-04 9.99992266e-01 -9.13149874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.990371743 meters 0.02891449673597277 Centerline is valid? [True, True] Translation: X:66.62, Y:-3.77, Z:-0.91 [[ 9.99929868e-01 1.10688078e-02 4.21197731e-03 6.66203247e+01] [-1.10680654e-02 9.99938727e-01 -1.99518689e-04 -3.76875189e+00] [-4.21392767e-03 1.52886256e-04 9.99991110e-01 -9.13774406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020371743 meters 0.029292601302633177 Centerline is valid? [True, True] Translation: X:66.65, Y:-3.77, Z:-0.91 [[ 9.99943031e-01 9.82143110e-03 4.18027745e-03 6.66499109e+01] [-9.82069041e-03 9.99951756e-01 -1.97678275e-04 -3.77298575e+00] [-4.18201727e-03 1.56613803e-04 9.99991243e-01 -9.14455426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.050371743 meters 0.029955595368069243 Centerline is valid? [True, True] Translation: X:66.68, Y:-3.78, Z:-0.92 [[ 9.99970669e-01 6.44944551e-03 4.13100785e-03 6.66798900e+01] [-6.44869463e-03 9.99979188e-01 -1.95060511e-04 -3.77926894e+00] [-4.13217990e-03 1.68415181e-04 9.99991448e-01 -9.15085284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080371743 meters 0.030730987293654935 Centerline is valid? [True, True] Translation: X:66.71, Y:-3.78, Z:-0.92 [[ 9.99979692e-01 4.98463431e-03 3.97099108e-03 6.67099667e+01] [-4.98392983e-03 9.99987563e-01 -1.87281939e-04 -3.78401067e+00] [-3.97187522e-03 1.67486995e-04 9.99992098e-01 -9.15869549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.110371743 meters 0.027794967322018388 Centerline is valid? [True, True] Translation: X:66.74, Y:-3.78, Z:-0.92 [[ 9.99985234e-01 3.51405695e-03 4.14529060e-03 6.67405757e+01] [-3.51327666e-03 9.99993809e-01 -1.95502343e-04 -3.78228718e+00] [-4.14595194e-03 1.80935903e-04 9.99991389e-01 -9.15611430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140371743 meters 0.035071126782607126 Centerline is valid? [True, True] Translation: X:66.77, Y:-3.80, Z:-0.92 [[ 9.99990251e-01 1.49111596e-03 4.15620043e-03 6.67695189e+01] [-1.49031412e-03 9.99998870e-01 -1.96016878e-04 -3.79864927e+00] [-4.15648802e-03 1.89820923e-04 9.99991344e-01 -9.18567339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.170371743 meters 0.035254771869251085 Centerline is valid? [True, True] Translation: X:66.80, Y:-3.80, Z:-0.92 [[ 9.99989406e-01 1.53700270e-03 4.33872362e-03 6.68005731e+01] [-1.53613447e-03 9.99998799e-01 -2.03438263e-04 -3.80360583e+00] [-4.33903110e-03 1.96771245e-04 9.99990567e-01 -9.18691152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.200371743 meters 0.035118365773161284 Centerline is valid? [True, True] Translation: X:66.83, Y:-3.81, Z:-0.92 [[ 9.99987252e-01 2.32608042e-03 4.48154981e-03 6.68323057e+01] [-2.32515603e-03 9.99997274e-01 -2.11464198e-04 -3.80576593e+00] [-4.48202948e-03 2.01041200e-04 9.99989935e-01 -9.19013094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.230371743 meters 0.034751811384067625 Centerline is valid? [True, True] Translation: X:66.86, Y:-3.81, Z:-0.92 [[ 9.99983518e-01 3.47537316e-03 4.57003031e-03 6.68632484e+01] [-3.47442217e-03 9.99993941e-01 -2.16014585e-04 -3.80761707e+00] [-4.57075335e-03 2.00132810e-04 9.99989534e-01 -9.19346906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260371743 meters 0.034253050882279666 Centerline is valid? [True, True] Translation: X:66.89, Y:-3.81, Z:-0.92 [[ 9.99977878e-01 4.94868907e-03 4.44450039e-03 6.68941521e+01] [-4.94780291e-03 9.99987737e-01 -2.10356057e-04 -3.80910131e+00] [-4.44548688e-03 1.88360892e-04 9.99990101e-01 -9.20249861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.290371743 meters 0.02744588401864061 Centerline is valid? [True, True] Translation: X:66.93, Y:-3.80, Z:-0.92 [[ 9.99961291e-01 7.61154276e-03 4.41364395e-03 6.69250465e+01] [-7.61069382e-03 9.99971016e-01 -2.09109964e-04 -3.80197518e+00] [-4.41510767e-03 1.75510977e-04 9.99990238e-01 -9.19445078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320371743 meters 0.02481656530848923 Centerline is valid? [True, True] Translation: X:66.95, Y:-3.80, Z:-0.92 [[ 9.99952640e-01 8.50839563e-03 4.72487139e-03 6.69545691e+01] [-8.50743114e-03 9.99963786e-01 -2.24191939e-04 -3.79934121e+00] [-4.72660780e-03 1.83984803e-04 9.99988813e-01 -9.19067402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.350371743 meters 0.024958106766762807 Centerline is valid? [True, True] Translation: X:66.98, Y:-3.80, Z:-0.92 [[ 9.99943188e-01 9.28366264e-03 5.23774397e-03 6.69835692e+01] [-9.28249013e-03 9.99956886e-01 -2.48122388e-04 -3.80148733e+00] [-5.23982164e-03 1.99488985e-04 9.99986252e-01 -9.19262515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380371743 meters 0.025349491080031827 Centerline is valid? [True, True] Translation: X:67.01, Y:-3.80, Z:-0.92 [[ 9.99939159e-01 9.50295372e-03 5.60105100e-03 6.70135106e+01] [-9.50161618e-03 9.99954823e-01 -2.65364656e-04 -3.80367429e+00] [-5.60331971e-03 2.12129474e-04 9.99984279e-01 -9.19453763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.410371743 meters 0.02783908423506513 Centerline is valid? [True, True] Translation: X:67.04, Y:-3.81, Z:-0.92 [[ 9.99940394e-01 9.31682846e-03 5.69249199e-03 6.70429487e+01] [-9.31544593e-03 9.99956574e-01 -2.69335438e-04 -3.81058213e+00] [-5.69475414e-03 2.16291283e-04 9.99983761e-01 -9.20882833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440371743 meters 0.028668796872799728 Centerline is valid? [True, True] Translation: X:67.07, Y:-3.81, Z:-0.92 [[ 9.99947700e-01 8.89685624e-03 5.04415814e-03 6.70720931e+01] [-8.89576573e-03 9.99960403e-01 -2.38589280e-04 -3.81355280e+00] [-5.04608111e-03 1.93705152e-04 9.99987250e-01 -9.22191340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.470371743 meters 0.029208585990490928 Centerline is valid? [True, True] Translation: X:67.10, Y:-3.82, Z:-0.92 [[ 9.99959337e-01 7.88068814e-03 4.38391129e-03 6.71019479e+01] [-7.87985486e-03 9.99968932e-01 -2.07316667e-04 -3.81762142e+00] [-4.38540889e-03 1.72763652e-04 9.99990369e-01 -9.23997225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500371743 meters 0.030275454371493822 Centerline is valid? [True, True] Translation: X:67.13, Y:-3.82, Z:-0.92 [[ 9.99967269e-01 7.04588620e-03 3.97690544e-03 6.71316867e+01] [-7.04519406e-03 9.99975165e-01 -1.88023392e-04 -3.82112092e+00] [-3.97813146e-03 1.59999167e-04 9.99992074e-01 -9.24862522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.530371743 meters 0.02612762732340072 Centerline is valid? [True, True] Translation: X:67.16, Y:-3.82, Z:-0.92 [[ 9.99975440e-01 5.53786178e-03 4.29554697e-03 6.71619527e+01] [-5.53703994e-03 9.99984650e-01 -2.03190751e-04 -3.81565126e+00] [-4.29660627e-03 1.79401145e-04 9.99990753e-01 -9.22367819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.560371743 meters 0.025831337358498914 Centerline is valid? [True, True] Translation: X:67.19, Y:-3.82, Z:-0.92 [[ 9.99978950e-01 4.69930887e-03 4.47399259e-03 6.71919969e+01] [-4.69841170e-03 9.99988940e-01 -2.11019129e-04 -3.81684274e+00] [-4.47493475e-03 1.89994028e-04 9.99989969e-01 -9.22360838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.590371743 meters 0.026747330774713182 Centerline is valid? [True, True] Translation: X:67.22, Y:-3.82, Z:-0.92 [[ 9.99982746e-01 3.79993129e-03 4.47985073e-03 6.72222010e+01] [-3.79902296e-03 9.99992761e-01 -2.11251121e-04 -3.82026416e+00] [-4.48062105e-03 1.94228421e-04 9.99989943e-01 -9.22787266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.620371743 meters 0.02764558781372739 Centerline is valid? [True, True] Translation: X:67.25, Y:-3.82, Z:-0.92 [[ 9.99991415e-01 1.40450896e-03 3.89825636e-03 6.72536093e+01] [-1.40380355e-03 9.99998998e-01 -1.83684753e-04 -3.82410323e+00] [-3.89851044e-03 1.78210790e-04 9.99992385e-01 -9.23085846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.650371743 meters 0.027531417056311486 Centerline is valid? [True, True] Translation: X:67.29, Y:-3.83, Z:-0.92 [[ 9.99993262e-01 4.10013934e-04 3.64809407e-03 6.72853123e+01] [-4.09396689e-04 9.99999902e-01 -1.69941796e-04 -3.82588571e+00] [-3.64816339e-03 1.68447133e-04 9.99993331e-01 -9.23400736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680371743 meters 0.028889994151938558 Centerline is valid? [True, True] Translation: X:67.32, Y:-3.83, Z:-0.92 [[ 9.99991748e-01 -1.55578009e-03 3.75281725e-03 6.73169007e+01] [ 1.55645835e-03 9.99998773e-01 -1.77821288e-04 -3.82870565e+00] [-3.75253599e-03 1.83660925e-04 9.99992942e-01 -9.23440184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.710371743 meters 0.029092759627848592 Centerline is valid? [True, True] Translation: X:67.35, Y:-3.83, Z:-0.92 [[ 9.99989958e-01 -2.25061351e-03 3.87536347e-03 6.73487026e+01] [ 2.25133483e-03 9.99997449e-01 -1.81775337e-04 -3.83029813e+00] [-3.87494448e-03 1.90498252e-04 9.99992474e-01 -9.23359092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740371743 meters 0.030252808189712363 Centerline is valid? [True, True] Translation: X:67.38, Y:-3.83, Z:-0.92 [[ 9.99987864e-01 -3.02810044e-03 3.88630839e-03 6.73793837e+01] [ 3.02884233e-03 9.99995396e-01 -1.85028331e-04 -3.83326081e+00] [-3.88573022e-03 1.96797101e-04 9.99992431e-01 -9.23687326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.770371743 meters 0.0313464000337912 Centerline is valid? [True, True] Translation: X:67.41, Y:-3.84, Z:-0.92 [[ 9.99982251e-01 -4.21946324e-03 4.20633966e-03 6.74111992e+01] [ 4.22033681e-03 9.99991075e-01 -1.98824569e-04 -3.83562961e+00] [-4.20546318e-03 2.16573210e-04 9.99991134e-01 -9.23691781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800371743 meters 0.0320003235691113 Centerline is valid? [True, True] Translation: X:67.44, Y:-3.84, Z:-0.92 [[ 9.99978852e-01 -4.95049098e-03 4.21764265e-03 6.74432072e+01] [ 4.95138644e-03 9.99987721e-01 -2.01897532e-04 -3.83792657e+00] [-4.21659137e-03 2.22776441e-04 9.99991085e-01 -9.24413154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.830371743 meters 0.03338460978035375 Centerline is valid? [True, True] Translation: X:67.47, Y:-3.84, Z:-0.93 [[ 9.99975963e-01 -5.49781374e-03 4.22471585e-03 6.74745848e+01] [ 5.49871909e-03 9.99984861e-01 -2.02712219e-04 -3.84192318e+00] [-4.22353742e-03 2.25937872e-04 9.99991055e-01 -9.25533116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860371743 meters 0.033070017954159904 Centerline is valid? [True, True] Translation: X:67.51, Y:-3.84, Z:-0.93 [[ 9.99973543e-01 -6.10175666e-03 3.96000509e-03 6.75064548e+01] [ 6.10255679e-03 9.99981361e-01 -1.90000111e-04 -3.84355461e+00] [-3.95877195e-03 2.14161240e-04 9.99992141e-01 -9.26393497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.890371743 meters 0.03188368805863575 Centerline is valid? [True, True] Translation: X:67.54, Y:-3.84, Z:-0.93 [[ 9.99966233e-01 -7.48942308e-03 3.38240532e-03 6.75390367e+01] [ 7.49001499e-03 9.99971936e-01 -1.62363976e-04 -3.84286794e+00] [-3.38109438e-03 1.87692760e-04 9.99994266e-01 -9.26677945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920371743 meters 0.0342358176808014 Centerline is valid? [True, True] Translation: X:67.57, Y:-3.85, Z:-0.93 [[ 9.99965800e-01 -7.60876462e-03 3.24115716e-03 6.75701994e+01] [ 7.60931000e-03 9.99971037e-01 -1.55968787e-04 -3.84701678e+00] [-3.23987656e-03 1.80626422e-04 9.99994735e-01 -9.27785026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.950371743 meters 0.0342358176808014 Centerline is valid? [True, True] Translation: X:67.60, Y:-3.85, Z:-0.93 [[ 9.99966321e-01 -7.54007173e-03 3.24115711e-03 6.76019005e+01] [ 7.54061676e-03 9.99971557e-01 -1.55970297e-04 -3.84861365e+00] [-3.23988890e-03 1.80405367e-04 9.99994735e-01 -9.28230610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.980371743 meters 0.03367138113874744 Centerline is valid? [True, True] Translation: X:67.63, Y:-3.85, Z:-0.93 [[ 9.99960534e-01 -8.27199630e-03 3.24109614e-03 6.76337659e+01] [ 8.27254644e-03 9.99965770e-01 -1.56366781e-04 -3.84744331e+00] [-3.23969173e-03 1.83172728e-04 9.99994735e-01 -9.28965577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.010371743 meters 0.03492289673900636 Centerline is valid? [True, True] Translation: X:67.66, Y:-3.85, Z:-0.93 [[ 9.99961179e-01 -8.19526486e-03 3.23712907e-03 6.76647278e+01] [ 8.19581380e-03 9.99966402e-01 -1.56348536e-04 -3.85056214e+00] [-3.23573899e-03 1.82873373e-04 9.99994748e-01 -9.29742416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040371743 meters 0.03482732481672874 Centerline is valid? [True, True] Translation: X:67.70, Y:-3.85, Z:-0.93 [[ 9.99962173e-01 -7.96381628e-03 3.49717364e-03 6.76966398e+01] [ 7.96445578e-03 9.99968269e-01 -1.68973166e-04 -3.85086378e+00] [-3.49571700e-03 1.96819859e-04 9.99993871e-01 -9.30283735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.070371743 meters 0.036201106343697255 Centerline is valid? [True, True] Translation: X:67.73, Y:-3.85, Z:-0.93 [[ 9.99972068e-01 -6.91440166e-03 2.83807223e-03 6.77278505e+01] [ 6.91481921e-03 9.99976083e-01 -1.37337809e-04 -3.85269198e+00] [-2.83705474e-03 1.56958729e-04 9.99995963e-01 -9.31371655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100371743 meters 0.035686119863631904 Centerline is valid? [True, True] Translation: X:67.76, Y:-3.85, Z:-0.93 [[ 9.99975749e-01 -6.29800866e-03 2.97272181e-03 6.77600922e+01] [ 6.29846408e-03 9.99980154e-01 -1.43862962e-04 -3.85202037e+00] [-2.97175676e-03 1.62583055e-04 9.99995571e-01 -9.31908091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.130371743 meters 0.035652901285995076 Centerline is valid? [True, True] Translation: X:67.79, Y:-3.85, Z:-0.93 [[ 9.99983097e-01 -5.33329807e-03 2.31543554e-03 6.77922303e+01] [ 5.33357167e-03 9.99985770e-01 -1.12004842e-04 -3.85215220e+00] [-2.31480524e-03 1.24352491e-04 9.99997313e-01 -9.32787344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160371743 meters 0.035437312389378604 Centerline is valid? [True, True] Translation: X:67.82, Y:-3.85, Z:-0.93 [[ 9.99994983e-01 -2.46789560e-03 1.98604921e-03 6.78230721e+01] [ 2.46809206e-03 9.99996950e-01 -9.64753554e-05 -3.85009299e+00] [-1.98580506e-03 1.01376624e-04 9.99998023e-01 -9.33845546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.190371743 meters 0.02925174967199765 Centerline is valid? [True, True] Translation: X:67.86, Y:-3.84, Z:-0.93 [[ 9.99996613e-01 -9.03051712e-04 2.44105772e-03 6.78555245e+01] [ 9.03343693e-04 9.99999585e-01 -1.18512491e-04 -3.84068884e+00] [-2.44094969e-03 1.20717203e-04 9.99997014e-01 -9.31998108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220371743 meters 0.029822389729400888 Centerline is valid? [True, True] Translation: X:67.89, Y:-3.84, Z:-0.93 [[ 9.99994621e-01 6.71489774e-04 3.21060084e-03 6.78857055e+01] [-6.70990123e-04 9.99999763e-01 -1.56699895e-04 -3.84243209e+00] [-3.21070530e-03 1.54544771e-04 9.99994834e-01 -9.32589217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.250371743 meters 0.02838458660187098 Centerline is valid? [True, True] Translation: X:67.92, Y:-3.84, Z:-0.93 [[ 9.99986727e-01 3.27938136e-03 3.97388342e-03 6.79174846e+01] [-3.27863665e-03 9.99994606e-01 -1.93900786e-04 -3.83788234e+00] [-3.97449786e-03 1.80869292e-04 9.99992085e-01 -9.31718606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280371743 meters 0.028727923406067658 Centerline is valid? [True, True] Translation: X:67.95, Y:-3.84, Z:-0.93 [[ 9.99981482e-01 4.27576525e-03 4.33044301e-03 6.79478233e+01] [-4.27488858e-03 9.99990840e-01 -2.11680045e-04 -3.83812641e+00] [-4.33130843e-03 1.93163964e-04 9.99990601e-01 -9.32173084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.310371743 meters 0.02818777957621469 Centerline is valid? [True, True] Translation: X:67.98, Y:-3.84, Z:-0.93 [[ 9.99979843e-01 4.89777823e-03 4.04053608e-03 6.79781230e+01] [-4.89701913e-03 9.99987990e-01 -1.97742778e-04 -3.83805178e+00] [-4.04145605e-03 1.77952209e-04 9.99991817e-01 -9.32478279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.340371743 meters 0.02868635885056362 Centerline is valid? [True, True] Translation: X:68.01, Y:-3.84, Z:-0.93 [[ 9.99978485e-01 4.95014131e-03 4.30425151e-03 6.80075527e+01] [-4.94927963e-03 9.99987730e-01 -2.10821406e-04 -3.83905980e+00] [-4.30524229e-03 1.89513926e-04 9.99990714e-01 -9.33959780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.370371743 meters 0.02944651272132964 Centerline is valid? [True, True] Translation: X:68.04, Y:-3.84, Z:-0.94 [[ 9.99980917e-01 5.04226311e-03 3.56949150e-03 6.80376028e+01] [-5.04167249e-03 9.99987275e-01 -1.74443275e-04 -3.84120183e+00] [-3.57032567e-03 1.56443739e-04 9.99993614e-01 -9.35126171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400371743 meters 0.02814755408382361 Centerline is valid? [True, True] Translation: X:68.07, Y:-3.84, Z:-0.93 [[ 9.99981588e-01 4.94953002e-03 3.51085403e-03 6.80680437e+01] [-4.94895723e-03 9.99987739e-01 -1.71819568e-04 -3.83876968e+00] [-3.51166141e-03 1.54441338e-04 9.99993822e-01 -9.34970069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.430371743 meters 0.027718318490512543 Centerline is valid? [True, True] Translation: X:68.10, Y:-3.84, Z:-0.93 [[ 9.99982906e-01 4.70465182e-03 3.47183765e-03 6.80986859e+01] [-4.70409020e-03 9.99988921e-01 -1.69910125e-04 -3.83856032e+00] [-3.47259855e-03 1.53575383e-04 9.99993959e-01 -9.34908356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460371743 meters 0.027825490455976796 Centerline is valid? [True, True] Translation: X:68.13, Y:-3.84, Z:-0.94 [[ 9.99984123e-01 4.51400063e-03 3.37316360e-03 6.81295476e+01] [-4.51346941e-03 9.99989801e-01 -1.65081062e-04 -3.83933578e+00] [-3.37387437e-03 1.49853771e-04 9.99994297e-01 -9.35083226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.490371743 meters 0.028124739115709476 Centerline is valid? [True, True] Translation: X:68.16, Y:-3.84, Z:-0.94 [[ 9.99986935e-01 3.99434461e-03 3.18985230e-03 6.81596330e+01] [-3.99386692e-03 9.99992012e-01 -1.56109892e-04 -3.83959446e+00] [-3.19045038e-03 1.43368007e-04 9.99994900e-01 -9.35594861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520371743 meters 0.029157327891510095 Centerline is valid? [True, True] Translation: X:68.19, Y:-3.84, Z:-0.94 [[ 9.99991203e-01 3.03192574e-03 2.89833730e-03 6.81893528e+01] [-3.03152766e-03 9.99995395e-01 -1.41731668e-04 -3.84189087e+00] [-2.89875367e-03 1.32944032e-04 9.99995790e-01 -9.37058496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.550371743 meters 0.029074662008569483 Centerline is valid? [True, True] Translation: X:68.22, Y:-3.84, Z:-0.94 [[ 9.99991039e-01 2.82128864e-03 3.15626747e-03 6.82202011e+01] [-2.82081563e-03 9.99996010e-01 -1.54304872e-04 -3.84271148e+00] [-3.15669021e-03 1.45400240e-04 9.99995007e-01 -9.37741946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580371743 meters 0.02968042280231923 Centerline is valid? [True, True] Translation: X:68.25, Y:-3.84, Z:-0.94 [[ 9.99992064e-01 2.06635888e-03 3.40613034e-03 6.82508333e+01] [-2.06580273e-03 9.99997852e-01 -1.66789096e-04 -3.84437791e+00] [-3.40646767e-03 1.59751379e-04 9.99994185e-01 -9.38342565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.610371743 meters 0.030489428028502543 Centerline is valid? [True, True] Translation: X:68.28, Y:-3.85, Z:-0.94 [[ 9.99985850e-01 1.65588688e-03 5.05556976e-03 6.82807655e+01] [-1.65466008e-03 9.99998601e-01 -2.46835273e-04 -3.84527355e+00] [-5.05597141e-03 2.38466531e-04 9.99987190e-01 -9.37962035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640371743 meters 0.02927790044089226 Centerline is valid? [True, True] Translation: X:68.31, Y:-3.84, Z:-0.94 [[ 9.99984861e-01 1.26607430e-03 5.35483790e-03 6.83124791e+01] [-1.26468765e-03 9.99999166e-01 -2.62331031e-04 -3.84372951e+00] [-5.35516557e-03 2.55554862e-04 9.99985628e-01 -9.37640418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.670371743 meters 0.0301004477112124 Centerline is valid? [True, True] Translation: X:68.34, Y:-3.85, Z:-0.94 [[ 9.99979176e-01 1.17840151e-04 6.45234531e-03 6.83439771e+01] [-1.15805535e-04 9.99999943e-01 -3.15702318e-04 -3.84538743e+00] [-6.45238215e-03 3.14948526e-04 9.99979134e-01 -9.37062973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.700371743 meters 0.03294994531369965 Centerline is valid? [True, True] Translation: X:68.38, Y:-3.85, Z:-0.94 [[ 9.99978049e-01 -6.74968882e-04 6.59140637e-03 6.83752964e+01] [ 6.77110583e-04 9.99999719e-01 -3.22697099e-04 -3.85086158e+00] [-6.59118671e-03 3.27153127e-04 9.99978224e-01 -9.37980169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.730371743 meters 0.03392617193478209 Centerline is valid? [True, True] Translation: X:68.41, Y:-3.85, Z:-0.94 [[ 9.99976443e-01 -1.15362887e-03 6.76633789e-03 6.84064035e+01] [ 1.15590824e-03 9.99999277e-01 -3.32969505e-04 -3.85387793e+00] [-6.76594887e-03 3.40782927e-04 9.99977053e-01 -9.38552510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760371743 meters 0.030801761015902537 Centerline is valid? [True, True] Translation: X:68.44, Y:-3.85, Z:-0.94 [[ 9.99974324e-01 -3.20206798e-03 6.41085503e-03 6.84391770e+01] [ 3.20417137e-03 9.99994816e-01 -3.17854371e-04 -3.84953154e+00] [-6.40980400e-03 3.38387688e-04 9.99979400e-01 -9.38716832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.790371743 meters 0.036120256420365086 Centerline is valid? [True, True] Translation: X:68.47, Y:-3.86, Z:-0.94 [[ 9.99973286e-01 -3.96601554e-03 6.13984201e-03 6.84693779e+01] [ 3.96795910e-03 9.99992081e-01 -3.04399446e-04 -3.85922240e+00] [-6.13858614e-03 3.28753956e-04 9.99981105e-01 -9.40647970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820371743 meters 0.03686947858107206 Centerline is valid? [True, True] Translation: X:68.50, Y:-3.86, Z:-0.94 [[ 9.99974461e-01 -4.06068563e-03 5.88121632e-03 6.85011341e+01] [ 4.06247726e-03 9.99991705e-01 -2.92722264e-04 -3.86163998e+00] [-5.87997889e-03 3.16607095e-04 9.99982663e-01 -9.41957380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.850371743 meters 0.037573425792652854 Centerline is valid? [True, True] Translation: X:68.53, Y:-3.86, Z:-0.94 [[ 9.99981751e-01 -4.00603944e-03 4.52219758e-03 6.85326389e+01] [ 4.00709927e-03 9.99991946e-01 -2.25324466e-04 -3.86236440e+00] [-4.52125850e-03 2.43441248e-04 9.99989749e-01 -9.43647766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880371743 meters 0.03720663061372852 Centerline is valid? [True, True] Translation: X:68.57, Y:-3.86, Z:-0.94 [[ 9.99986572e-01 -3.06054720e-03 4.18203976e-03 6.85653243e+01] [ 3.06144435e-03 9.99995292e-01 -2.08139837e-04 -3.86222407e+00] [-4.18138305e-03 2.20940124e-04 9.99991234e-01 -9.44703057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.910371743 meters 0.03153713814111262 Centerline is valid? [True, True] Translation: X:68.60, Y:-3.85, Z:-0.94 [[ 9.99992044e-01 -1.45589679e-03 3.71390174e-03 6.85968120e+01] [ 1.45659606e-03 9.99998922e-01 -1.85585452e-04 -3.85430485e+00] [-3.71362755e-03 1.90993630e-04 9.99993086e-01 -9.43950117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940371743 meters 0.029411817702523938 Centerline is valid? [True, True] Translation: X:68.63, Y:-3.85, Z:-0.94 [[ 9.99991282e-01 2.40035058e-03 3.41677252e-03 6.86274165e+01] [-2.39977963e-03 9.99997106e-01 -1.71193841e-04 -3.84907808e+00] [-3.41717356e-03 1.62992847e-04 9.99994148e-01 -9.44832154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.970371743 meters 0.028911836887127416 Centerline is valid? [True, True] Translation: X:68.66, Y:-3.85, Z:-0.95 [[ 9.99984129e-01 4.37198238e-03 3.55364612e-03 6.86578389e+01] [-4.37137718e-03 9.99990430e-01 -1.78051750e-04 -3.84786929e+00] [-3.55439055e-03 1.62514596e-04 9.99993670e-01 -9.45572366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000371743 meters 0.030148747175327027 Centerline is valid? [True, True] Translation: X:68.69, Y:-3.85, Z:-0.95 [[ 9.99971292e-01 6.63690047e-03 3.65604502e-03 6.86873905e+01] [-6.63627433e-03 9.99977963e-01 -1.83364415e-04 -3.84980381e+00] [-3.65718143e-03 1.59096633e-04 9.99993300e-01 -9.46589055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.030371743 meters 0.029335865172304392 Centerline is valid? [True, True] Translation: X:68.72, Y:-3.85, Z:-0.95 [[ 9.99934977e-01 1.04101722e-02 4.65501929e-03 6.87171311e+01] [-1.04092015e-02 9.99945796e-01 -2.32698142e-04 -3.84605072e+00] [-4.65718939e-03 1.84227978e-04 9.99989138e-01 -9.45778699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.060371743 meters 0.026393100996520404 Centerline is valid? [True, True] Translation: X:68.75, Y:-3.84, Z:-0.94 [[ 9.99914888e-01 1.17781152e-02 5.61176523e-03 6.87461982e+01] [-1.17767181e-02 9.99930612e-01 -2.81944891e-04 -3.84057020e+00] [-5.61469662e-03 2.15832717e-04 9.99984214e-01 -9.44234975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.090371743 meters 0.025701764204718185 Centerline is valid? [True, True] Translation: X:68.78, Y:-3.84, Z:-0.94 [[ 9.99884307e-01 1.35759344e-02 6.86045862e-03 6.87750729e+01] [-1.35738934e-02 9.99907811e-01 -3.43971954e-04 -3.83942367e+00] [-6.86449591e-03 2.50809025e-04 9.99976408e-01 -9.43478723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.120371743 meters 0.026701546773248312 Centerline is valid? [True, True] Translation: X:68.80, Y:-3.84, Z:-0.94 [[ 9.99840329e-01 1.60551527e-02 7.84534687e-03 6.88032774e+01] [-1.60525654e-02 9.99871072e-01 -3.92645761e-04 -3.83984552e+00] [-7.85063937e-03 2.66645123e-04 9.99969148e-01 -9.43821791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.150371743 meters 0.02474951961047636 Centerline is valid? [True, True] Translation: X:68.83, Y:-3.84, Z:-0.94 [[ 9.99825353e-01 1.69040882e-02 7.96969054e-03 6.88327826e+01] [-1.69014506e-02 9.99857081e-01 -3.98182215e-04 -3.83632233e+00] [-7.97528243e-03 2.63413342e-04 9.99968162e-01 -9.43887261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180371743 meters 0.025245176900389514 Centerline is valid? [True, True] Translation: X:68.86, Y:-3.84, Z:-0.94 [[ 9.99822026e-01 1.73708059e-02 7.36017244e-03 6.88602235e+01] [-1.73685698e-02 9.99849087e-01 -3.67626814e-04 -3.83708813e+00] [-7.36544767e-03 2.39725717e-04 9.99972846e-01 -9.44722504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.210371743 meters 0.023932363544352454 Centerline is valid? [True, True] Translation: X:68.89, Y:-3.83, Z:-0.95 [[ 9.99805603e-01 1.83878167e-02 7.11650872e-03 6.88888869e+01] [-1.83857570e-02 9.99830905e-01 -3.54751466e-04 -3.83437011e+00] [-7.12182846e-03 2.23840103e-04 9.99974614e-01 -9.45251695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240371743 meters 0.025585138602840143 Centerline is valid? [True, True] Translation: X:68.92, Y:-3.84, Z:-0.95 [[ 9.99800546e-01 1.85971656e-02 7.28100606e-03 6.89169054e+01] [-1.85950183e-02 9.99827032e-01 -3.62520264e-04 -3.83808395e+00] [-7.28648853e-03 2.27057517e-04 9.99973427e-01 -9.46712250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.270371743 meters 0.023737300185157403 Centerline is valid? [True, True] Translation: X:68.95, Y:-3.83, Z:-0.95 [[ 9.99782466e-01 1.93243879e-02 7.84779296e-03 6.89459154e+01] [-1.93219227e-02 9.99813238e-01 -3.89835373e-04 -3.83488409e+00] [-7.85386063e-03 2.38116121e-04 9.99969130e-01 -9.46461231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300371743 meters 0.024062339919544314 Centerline is valid? [True, True] Translation: X:68.97, Y:-3.84, Z:-0.95 [[ 9.99784138e-01 1.91418069e-02 8.07891039e-03 6.89731709e+01] [-1.91391940e-02 9.99816749e-01 -4.00622736e-04 -3.83651649e+00] [-8.08509857e-03 2.45912423e-04 9.99967285e-01 -9.46857530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.330371743 meters 0.023863857863526943 Centerline is valid? [True, True] Translation: X:69.00, Y:-3.84, Z:-0.95 [[ 9.99780817e-01 1.92134344e-02 8.31635848e-03 6.90024538e+01] [-1.92106717e-02 9.99815373e-01 -4.11965817e-04 -3.83662508e+00] [-8.32273833e-03 2.52112689e-04 9.99965334e-01 -9.47288776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360371743 meters 0.023620487854586127 Centerline is valid? [True, True] Translation: X:69.03, Y:-3.84, Z:-0.95 [[ 9.99784233e-01 1.89029062e-02 8.61210854e-03 6.90309500e+01] [-1.88999377e-02 9.99821289e-01 -4.25962428e-04 -3.83772975e+00] [-8.61862140e-03 2.63102205e-04 9.99962824e-01 -9.47641995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.390371743 meters 0.024287439213494195 Centerline is valid? [True, True] Translation: X:69.06, Y:-3.84, Z:-0.95 [[ 9.99790650e-01 1.83929250e-02 8.96419764e-03 6.90591576e+01] [-1.83896936e-02 9.99830797e-01 -4.42777177e-04 -3.83952401e+00] [-8.97082484e-03 2.77835634e-04 9.99959723e-01 -9.48690955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420371743 meters 0.025181650853855538 Centerline is valid? [True, True] Translation: X:69.09, Y:-3.84, Z:-0.95 [[ 9.99796957e-01 1.82671978e-02 8.50608489e-03 6.90865254e+01] [-1.82642896e-02 9.99833106e-01 -4.19452181e-04 -3.84223805e+00] [-8.51232749e-03 2.64009416e-04 9.99963735e-01 -9.50100810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.450371743 meters 0.024351162388661335 Centerline is valid? [True, True] Translation: X:69.12, Y:-3.84, Z:-0.95 [[ 9.99794773e-01 1.84808663e-02 8.29872535e-03 6.91152967e+01] [-1.84781122e-02 9.99829182e-01 -4.08421018e-04 -3.84195455e+00] [-8.30485575e-03 2.54992420e-04 9.99965482e-01 -9.50566631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.480371743 meters 0.02503053186121832 Centerline is valid? [True, True] Translation: X:69.14, Y:-3.84, Z:-0.95 [[ 9.99793608e-01 1.84975833e-02 8.40120620e-03 6.91426401e+01] [-1.84947656e-02 9.99828872e-01 -4.12959528e-04 -3.84435812e+00] [-8.40740727e-03 2.57495957e-04 9.99964624e-01 -9.51358676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.510371743 meters 0.024645214643727993 Centerline is valid? [True, True] Translation: X:69.17, Y:-3.84, Z:-0.95 [[ 9.99794798e-01 1.85033032e-02 8.24561950e-03 6.91718510e+01] [-1.85005957e-02 9.99828768e-01 -4.04518359e-04 -3.84341975e+00] [-8.25169251e-03 2.51886478e-04 9.99965922e-01 -9.51376813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540371743 meters 0.02437758464347595 Centerline is valid? [True, True] Translation: X:69.20, Y:-3.84, Z:-0.95 [[ 9.99798357e-01 1.81138828e-02 8.66790442e-03 6.92009754e+01] [-1.81108818e-02 9.99835894e-01 -4.24587906e-04 -3.84390594e+00] [-8.67417290e-03 2.67518899e-04 9.99962343e-01 -9.51253239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.570371743 meters 0.02611969350389212 Centerline is valid? [True, True] Translation: X:69.23, Y:-3.85, Z:-0.95 [[ 9.99824534e-01 1.68893947e-02 8.10242697e-03 6.92282087e+01] [-1.68867350e-02 9.99857330e-01 -3.96564599e-04 -3.84775932e+00] [-8.10796874e-03 2.59671478e-04 9.99967096e-01 -9.52265614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600371743 meters 0.026696928843403626 Centerline is valid? [True, True] Translation: X:69.26, Y:-3.85, Z:-0.95 [[ 9.99834776e-01 1.63294225e-02 7.98568520e-03 6.92561572e+01] [-1.63268282e-02 9.99866632e-01 -3.89951705e-04 -3.85034091e+00] [-7.99098785e-03 2.59506365e-04 9.99968038e-01 -9.53022225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.630371743 meters 0.027052955132287494 Centerline is valid? [True, True] Translation: X:69.28, Y:-3.85, Z:-0.95 [[ 9.99842635e-01 1.58576763e-02 7.95225881e-03 6.92849928e+01] [-1.58550950e-02 9.99874225e-01 -3.87547766e-04 -3.85256622e+00] [-7.95740422e-03 2.61402961e-04 9.99968305e-01 -9.53775924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660371743 meters 0.026011286018142156 Centerline is valid? [True, True] Translation: X:69.31, Y:-3.85, Z:-0.95 [[ 9.99873654e-01 1.42178901e-02 7.10834151e-03 6.93146413e+01] [-1.42157905e-02 9.99898891e-01 -3.45823645e-04 -3.85173609e+00] [-7.11253967e-03 2.44729259e-04 9.99974676e-01 -9.53626689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.690371743 meters 0.025537207307748295 Centerline is valid? [True, True] Translation: X:69.34, Y:-3.85, Z:-0.95 [[ 9.99887833e-01 1.33978369e-02 6.69479040e-03 6.93435297e+01] [-1.33959556e-02 9.99910217e-01 -3.25768553e-04 -3.85185237e+00] [-6.69855392e-03 2.36048897e-04 9.99977537e-01 -9.54251405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720371743 meters 0.026031102532942624 Centerline is valid? [True, True] Translation: X:69.37, Y:-3.86, Z:-0.96 [[ 9.99905151e-01 1.23004782e-02 6.19578913e-03 6.93720068e+01] [-1.22988491e-02 9.99924321e-01 -3.00970610e-04 -3.85513894e+00] [-6.19902232e-03 2.24740987e-04 9.99980761e-01 -9.55208612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.750371743 meters 0.026578924514809664 Centerline is valid? [True, True] Translation: X:69.40, Y:-3.86, Z:-0.96 [[ 9.99914023e-01 1.15353667e-02 6.23557817e-03 6.94009592e+01] [-1.15337030e-02 9.99933439e-01 -3.02696986e-04 -3.85732561e+00] [-6.23865484e-03 2.30751654e-04 9.99980513e-01 -9.55978307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780371743 meters 0.02681651295097703 Centerline is valid? [True, True] Translation: X:69.43, Y:-3.86, Z:-0.96 [[ 9.99928840e-01 1.03695501e-02 5.89804894e-03 6.94302174e+01] [-1.03680453e-02 9.99946210e-01 -2.85655925e-04 -3.85946701e+00] [-5.90069381e-03 2.24484359e-04 9.99982566e-01 -9.56232899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.810371743 meters 0.02692813315849831 Centerline is valid? [True, True] Translation: X:69.46, Y:-3.86, Z:-0.96 [[ 9.99931485e-01 9.84270829e-03 6.33606971e-03 6.94593260e+01] [-9.84096190e-03 9.99951530e-01 -3.06745508e-04 -3.86126330e+00] [-6.33878181e-03 2.44371471e-04 9.99979880e-01 -9.56142767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.840371743 meters 0.028172073954326544 Centerline is valid? [True, True] Translation: X:69.49, Y:-3.87, Z:-0.96 [[ 9.99937328e-01 8.41789929e-03 7.38094151e-03 6.94882246e+01] [-8.41549534e-03 9.99964525e-01 -3.56693776e-04 -3.86515016e+00] [-7.38368229e-03 2.94557142e-04 9.99972697e-01 -9.56335256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87037174299999 meters 0.028172073954326544 Centerline is valid? [True, True] Translation: X:69.52, Y:-3.87, Z:-0.96 [[ 9.99937328e-01 8.41789236e-03 7.38096533e-03 6.95182112e+01] [-8.41549205e-03 9.99964526e-01 -3.56200229e-04 -3.86659750e+00] [-7.38370195e-03 2.94063450e-04 9.99972697e-01 -9.56757116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900371743 meters 0.028629670100008088 Centerline is valid? [True, True] Translation: X:69.55, Y:-3.87, Z:-0.96 [[ 9.99938245e-01 8.10143125e-03 7.60742576e-03 6.95486438e+01] [-8.09887224e-03 9.99967136e-01 -3.67129051e-04 -3.86882198e+00] [-7.61015002e-03 3.05494810e-04 9.99970996e-01 -9.56594810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.930371743 meters 0.027598278428591434 Centerline is valid? [True, True] Translation: X:69.58, Y:-3.87, Z:-0.96 [[ 9.99940439e-01 8.01826969e-03 7.40444699e-03 6.95791993e+01] [-8.01584315e-03 9.99967809e-01 -3.57333438e-04 -3.86838788e+00] [-7.40707383e-03 2.97959269e-04 9.99972523e-01 -9.56431589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960371743 meters 0.0282217032569791 Centerline is valid? [True, True] Translation: X:69.61, Y:-3.87, Z:-0.96 [[ 9.99945823e-01 8.17936970e-03 6.43815981e-03 6.96088012e+01] [-8.17753765e-03 9.99966515e-01 -3.10834804e-04 -3.87082726e+00] [-6.44048666e-03 2.58169670e-04 9.99979227e-01 -9.57683492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.990371743 meters 0.026729195419722705 Centerline is valid? [True, True] Translation: X:69.64, Y:-3.87, Z:-0.96 [[ 9.99948595e-01 8.48765831e-03 5.54679352e-03 6.96385592e+01] [-8.48630264e-03 9.99963955e-01 -2.67897291e-04 -3.86869369e+00] [-5.54886740e-03 2.20811752e-04 9.99984581e-01 -9.58153454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020371743 meters 0.02682176186713464 Centerline is valid? [True, True] Translation: X:69.67, Y:-3.87, Z:-0.96 [[ 9.99942083e-01 9.91317867e-03 4.19043554e-03 6.96673449e+01] [-9.91241683e-03 9.99950850e-01 -2.02533925e-04 -3.86933669e+00] [-4.19223733e-03 1.60984851e-04 9.99991200e-01 -9.59083572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.050371743 meters 0.026556677226985518 Centerline is valid? [True, True] Translation: X:69.70, Y:-3.87, Z:-0.96 [[ 9.99931257e-01 1.10289931e-02 3.98031555e-03 6.96958451e+01] [-1.10283145e-02 9.99939168e-01 -1.92377514e-04 -3.86988530e+00] [-3.98219514e-03 1.48468118e-04 9.99992060e-01 -9.59267286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080371743 meters 0.025945649869980266 Centerline is valid? [True, True] Translation: X:69.72, Y:-3.87, Z:-0.96 [[ 9.99924132e-01 1.16388710e-02 4.03316237e-03 6.97247980e+01] [-1.16381805e-02 9.99932255e-01 -1.94637388e-04 -3.86961874e+00] [-4.03515450e-03 1.47683950e-04 9.99991848e-01 -9.59810452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.110371743 meters 0.02865422435569795 Centerline is valid? [True, True] Translation: X:69.75, Y:-3.88, Z:-0.96 [[ 9.99916063e-01 1.23424222e-02 3.94106279e-03 6.97519446e+01] [-1.23417686e-02 9.99923819e-01 -1.90108220e-04 -3.87599481e+00] [-3.94310895e-03 1.41452578e-04 9.99992216e-01 -9.61689485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140371743 meters 0.02573971431350094 Centerline is valid? [True, True] Translation: X:69.78, Y:-3.87, Z:-0.96 [[ 9.99896224e-01 1.39243328e-02 3.69512678e-03 6.97807364e+01] [-1.39237708e-02 9.99903044e-01 -1.77793944e-04 -3.87083448e+00] [-3.69724418e-03 1.26325395e-04 9.99993157e-01 -9.61406547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.170371743 meters 0.02584969258180223 Centerline is valid? [True, True] Translation: X:69.81, Y:-3.87, Z:-0.96 [[ 9.99889918e-01 1.44059365e-02 3.55252628e-03 6.98098649e+01] [-1.44054208e-02 9.99896222e-01 -1.70711871e-04 -3.87201248e+00] [-3.55461687e-03 1.19517442e-04 9.99993675e-01 -9.61921903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.200371743 meters 0.025456514426624183 Centerline is valid? [True, True] Translation: X:69.84, Y:-3.87, Z:-0.96 [[ 9.99888365e-01 1.46298957e-02 3.03712285e-03 6.98389914e+01] [-1.46295200e-02 9.99892972e-01 -1.45881161e-04 -3.87193224e+00] [-3.03893202e-03 1.01433226e-04 9.99995377e-01 -9.62280084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.230371743 meters 0.025232329229360095 Centerline is valid? [True, True] Translation: X:69.87, Y:-3.87, Z:-0.96 [[ 9.99880822e-01 1.50396781e-02 3.48569869e-03 6.98676258e+01] [-1.50391871e-02 9.99886891e-01 -1.67028111e-04 -3.87231622e+00] [-3.48781648e-03 1.14586130e-04 9.99993911e-01 -9.62461694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260371743 meters 0.025453326315038934 Centerline is valid? [True, True] Translation: X:69.90, Y:-3.87, Z:-0.96 [[ 9.99885092e-01 1.47120613e-02 3.65479489e-03 6.98954867e+01] [-1.47115198e-02 9.99891764e-01 -1.74998864e-04 -3.87402167e+00] [-3.65697390e-03 1.21211168e-04 9.99993306e-01 -9.62623378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.290371743 meters 0.025298557437365702 Centerline is valid? [True, True] Translation: X:69.92, Y:-3.87, Z:-0.96 [[ 9.99888464e-01 1.44281232e-02 3.85871881e-03 6.99241180e+01] [-1.44275198e-02 9.99895901e-01 -1.84172820e-04 -3.87490199e+00] [-3.86097439e-03 1.28480536e-04 9.99992538e-01 -9.62595029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320371743 meters 0.026342408314434605 Centerline is valid? [True, True] Translation: X:69.95, Y:-3.88, Z:-0.96 [[ 9.99914881e-01 1.26872503e-02 3.04377955e-03 6.99518043e+01] [-1.26868663e-02 9.99919508e-01 -1.45459503e-04 -3.87870726e+00] [-3.04538003e-03 1.06831097e-04 9.99995357e-01 -9.63371284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.350371743 meters 0.02564781197028916 Centerline is valid? [True, True] Translation: X:69.98, Y:-3.88, Z:-0.96 [[ 9.99930547e-01 1.13868615e-02 3.03973263e-03 6.99802715e+01] [-1.13864738e-02 9.99935162e-01 -1.44814253e-04 -3.87910000e+00] [-3.04118451e-03 1.10192359e-04 9.99995370e-01 -9.63097355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380371743 meters 0.025982473567500334 Centerline is valid? [True, True] Translation: X:70.01, Y:-3.88, Z:-0.96 [[ 9.99945941e-01 1.01551698e-02 2.23343421e-03 7.00091534e+01] [-1.01549572e-02 9.99948431e-01 -1.06504613e-04 -3.88163447e+00] [-2.23440061e-03 8.38184263e-05 9.99997500e-01 -9.63790596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.410371743 meters 0.02641345674173909 Centerline is valid? [True, True] Translation: X:70.04, Y:-3.88, Z:-0.96 [[ 9.99961729e-01 8.55334240e-03 1.83897951e-03 7.00374662e+01] [-8.55319507e-03 9.99963417e-01 -8.79627383e-05 -3.88358219e+00] [-1.83966461e-03 7.22302214e-05 9.99998305e-01 -9.64560730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440371743 meters 0.026693666485415865 Centerline is valid? [True, True] Translation: X:70.07, Y:-3.89, Z:-0.96 [[ 9.99970984e-01 7.25158498e-03 2.33363100e-03 7.00665563e+01] [-7.25134597e-03 9.99973703e-01 -1.10863833e-04 -3.88572847e+00] [-2.33437357e-03 9.39386503e-05 9.99997271e-01 -9.64630882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.470371743 meters 0.02700959441968785 Centerline is valid? [True, True] Translation: X:70.09, Y:-3.89, Z:-0.96 [[ 9.99968364e-01 7.54357617e-03 2.52289123e-03 7.00949336e+01] [-7.54329895e-03 9.99971542e-01 -1.19377842e-04 -3.88729381e+00] [-2.52371997e-03 1.00343143e-04 9.99996810e-01 -9.64559405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500371743 meters 0.026731090317612605 Centerline is valid? [True, True] Translation: X:70.12, Y:-3.89, Z:-0.96 [[ 9.99961181e-01 8.27241281e-03 3.03371929e-03 7.01234441e+01] [-8.27201568e-03 9.99965776e-01 -1.43428773e-04 -3.88784843e+00] [-3.03480197e-03 1.18328231e-04 9.99995388e-01 -9.64272993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.530371743 meters 0.02583022595507859 Centerline is valid? [True, True] Translation: X:70.15, Y:-3.89, Z:-0.96 [[ 9.99936606e-01 1.05788069e-02 3.85652923e-03 7.01527984e+01] [-1.05781828e-02 9.99944033e-01 -1.82180117e-04 -3.88604985e+00] [-3.85824064e-03 1.41373497e-04 9.99992547e-01 -9.63102624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.560371743 meters 0.025869338252470137 Centerline is valid? [True, True] Translation: X:70.18, Y:-3.89, Z:-0.96 [[ 9.99921374e-01 1.18040862e-02 4.23190879e-03 7.01804260e+01] [-1.18033491e-02 9.99930318e-01 -1.99094873e-04 -3.88715069e+00] [-4.23396404e-03 1.49128522e-04 9.99991026e-01 -9.63466276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.590371743 meters 0.025041021800537112 Centerline is valid? [True, True] Translation: X:70.21, Y:-3.89, Z:-0.96 [[ 9.99909519e-01 1.28182685e-02 4.07981194e-03 7.02088717e+01] [-1.28175939e-02 9.99917833e-01 -1.91450564e-04 -3.88599858e+00] [-4.08193078e-03 1.39139869e-04 9.99991659e-01 -9.63834012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62037174299999 meters 0.025187026223724613 Centerline is valid? [True, True] Translation: X:70.24, Y:-3.89, Z:-0.97 [[ 9.99901632e-01 1.35061101e-02 3.78308177e-03 7.02367305e+01] [-1.35055350e-02 9.99908780e-01 -1.77543752e-04 -3.88780214e+00] [-3.78513461e-03 1.26433744e-04 9.99992828e-01 -9.65106749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.650371743 meters 0.024707103191046517 Centerline is valid? [True, True] Translation: X:70.27, Y:-3.89, Z:-0.97 [[ 9.99886708e-01 1.48023557e-02 2.73162415e-03 7.02660224e+01] [-1.48020615e-02 9.99890435e-01 -1.27857458e-04 -3.88871544e+00] [-2.73321745e-03 8.74093037e-05 9.99996261e-01 -9.67240757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680371743 meters 0.02451524654498375 Centerline is valid? [True, True] Translation: X:70.29, Y:-3.89, Z:-0.97 [[ 9.99880236e-01 1.52915319e-02 2.38390606e-03 7.02947192e+01] [-1.52913088e-02 9.99883075e-01 -1.11754168e-04 -3.88996672e+00] [-2.38533622e-03 7.52877396e-05 9.99997152e-01 -9.68773157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.710371743 meters 0.024266458741369634 Centerline is valid? [True, True] Translation: X:70.32, Y:-3.89, Z:-0.97 [[ 9.99867615e-01 1.62002049e-02 1.51860494e-03 7.03239895e+01] [-1.62001150e-02 9.99868767e-01 -7.14507673e-05 -3.88976156e+00] [-1.51956317e-03 4.68397336e-05 9.99998844e-01 -9.69941197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740371743 meters 0.024120374002198842 Centerline is valid? [True, True] Translation: X:70.35, Y:-3.89, Z:-0.97 [[ 9.99853255e-01 1.70753518e-02 1.37848150e-03 7.03532885e+01] [-1.70752789e-02 9.99854205e-01 -6.46221964e-05 -3.89095968e+00] [-1.37938397e-03 4.10747574e-05 9.99999048e-01 -9.71016119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.770371743 meters 0.02391497677945652 Centerline is valid? [True, True] Translation: X:70.38, Y:-3.89, Z:-0.97 [[ 9.99838826e-01 1.79282743e-02 9.48295853e-04 7.03822844e+01] [-1.79282398e-02 9.99839275e-01 -4.48655701e-05 -3.89179086e+00] [-9.48947800e-04 2.78570635e-05 9.99999549e-01 -9.71653904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800371743 meters 0.023369531710871125 Centerline is valid? [True, True] Translation: X:70.41, Y:-3.89, Z:-0.97 [[ 9.99795838e-01 2.01587569e-02 1.38067980e-03 7.04115928e+01] [-2.01586870e-02 9.99796791e-01 -6.45587888e-05 -3.89049303e+00] [-1.38170066e-03 3.67129163e-05 9.99999045e-01 -9.71123490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.830371743 meters 0.022926115786071937 Centerline is valid? [True, True] Translation: X:70.44, Y:-3.89, Z:-0.97 [[ 9.99772115e-01 2.12561797e-02 1.97294394e-03 7.04404989e+01] [-2.12560395e-02 9.99774061e-01 -9.20463974e-05 -3.89035222e+00] [-1.97445473e-03 5.00884471e-05 9.99998050e-01 -9.70541275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860371743 meters 0.023051071021983473 Centerline is valid? [True, True] Translation: X:70.47, Y:-3.89, Z:-0.97 [[ 9.99746919e-01 2.22776347e-02 3.13121800e-03 7.04685904e+01] [-2.22772884e-02 9.99751820e-01 -1.45457508e-04 -3.89187100e+00] [-3.13368134e-03 7.56656491e-05 9.99995087e-01 -9.70715125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.890371743 meters 0.02305160458912482 Centerline is valid? [True, True] Translation: X:70.50, Y:-3.89, Z:-0.97 [[ 9.99725462e-01 2.31306395e-02 3.73821832e-03 7.04959900e+01] [-2.31301540e-02 9.99732447e-01 -1.73061344e-04 -3.89343786e+00] [-3.74122117e-03 8.65482664e-05 9.99992998e-01 -9.70607417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920371743 meters 0.022613610542704908 Centerline is valid? [True, True] Translation: X:70.52, Y:-3.89, Z:-0.97 [[ 9.99698893e-01 2.41752030e-02 4.20501753e-03 7.05249915e+01] [-2.41746008e-02 9.99707733e-01 -1.93975286e-04 -3.89341364e+00] [-4.20847794e-03 9.22622579e-05 9.99991140e-01 -9.69894232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.950371743 meters 0.022631943752077666 Centerline is valid? [True, True] Translation: X:70.55, Y:-3.90, Z:-0.97 [[ 9.99698391e-01 2.41142731e-02 4.65057871e-03 7.05537738e+01] [-2.41135380e-02 9.99709203e-01 -2.14094901e-04 -3.89539368e+00] [-4.65438908e-03 1.01888422e-04 9.99989163e-01 -9.70534167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.980371743 meters 0.02234117688809561 Centerline is valid? [True, True] Translation: X:70.58, Y:-3.90, Z:-0.97 [[ 9.99710365e-01 2.36319309e-02 4.55164232e-03 7.05829690e+01] [-2.36312230e-02 9.99720722e-01 -2.09252087e-04 -3.89702091e+00] [-4.55531618e-03 1.01630606e-04 9.99989619e-01 -9.70757448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.010371743 meters 0.023250959922475712 Centerline is valid? [True, True] Translation: X:70.61, Y:-3.90, Z:-0.97 [[ 9.99734596e-01 2.25574226e-02 4.67978968e-03 7.06104165e+01] [-2.25566635e-02 9.99745543e-01 -2.14941702e-04 -3.90133102e+00] [-4.68344741e-03 1.09324215e-04 9.99989027e-01 -9.71990421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040371743 meters 0.02328896700779357 Centerline is valid? [True, True] Translation: X:70.64, Y:-3.90, Z:-0.97 [[ 9.99796686e-01 1.94815910e-02 5.20128281e-03 7.06384847e+01] [-1.94806147e-02 9.99810206e-01 -2.38298074e-04 -3.90464553e+00] [-5.20493807e-03 1.36925438e-04 9.99986445e-01 -9.72268177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.070371743 meters 0.023642641633754707 Centerline is valid? [True, True] Translation: X:70.67, Y:-3.91, Z:-0.97 [[ 9.99835294e-01 1.74956607e-02 4.82558965e-03 7.06666404e+01] [-1.74947990e-02 9.99846930e-01 -2.20739855e-04 -3.90814756e+00] [-4.82871299e-03 1.36280777e-04 9.99988332e-01 -9.72800103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100371743 meters 0.02420902199268907 Centerline is valid? [True, True] Translation: X:70.70, Y:-3.91, Z:-0.97 [[ 9.99896024e-01 1.36469322e-02 4.65868271e-03 7.06957655e+01] [-1.36460905e-02 9.99906865e-01 -2.12423643e-04 -3.91148535e+00] [-4.66114776e-03 1.48828750e-04 9.99989126e-01 -9.73077855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.130371743 meters 0.02473424387061373 Centerline is valid? [True, True] Translation: X:70.72, Y:-3.91, Z:-0.97 [[ 9.99922958e-01 1.15801763e-02 4.46965277e-03 7.07242903e+01] [-1.15793810e-02 9.99932936e-01 -2.03763786e-04 -3.91453130e+00] [-4.47171264e-03 1.51992275e-04 9.99989990e-01 -9.74030554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160371743 meters 0.026887813996489845 Centerline is valid? [True, True] Translation: X:70.75, Y:-3.92, Z:-0.98 [[ 9.99943552e-01 9.75924594e-03 4.20128265e-03 7.07529017e+01] [-9.75852907e-03 9.99952366e-01 -1.91097465e-04 -3.92030630e+00] [-4.20294749e-03 1.50088339e-04 9.99991156e-01 -9.75678686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.190371743 meters 0.02576658594645423 Centerline is valid? [True, True] Translation: X:70.78, Y:-3.92, Z:-0.98 [[ 9.99961351e-01 7.86327010e-03 3.93256259e-03 7.07819928e+01] [-7.86262788e-03 9.99969073e-01 -1.78742769e-04 -3.91990676e+00] [-3.93384647e-03 1.47815584e-04 9.99992251e-01 -9.75568583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220371743 meters 0.029470096646034297 Centerline is valid? [True, True] Translation: X:70.81, Y:-3.93, Z:-0.98 [[ 9.99978975e-01 4.49462816e-03 4.67425884e-03 7.08110901e+01] [-4.49368749e-03 9.99989881e-01 -2.11727874e-04 -3.92857165e+00] [-4.67516317e-03 1.90718764e-04 9.99989053e-01 -9.77311270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.250371743 meters 0.030588265868490696 Centerline is valid? [True, True] Translation: X:70.84, Y:-3.93, Z:-0.98 [[ 9.99986122e-01 3.09413051e-03 4.26406576e-03 7.08415807e+01] [-3.09333664e-03 9.99995197e-01 -1.92759281e-04 -3.93207079e+00] [-4.26464170e-03 1.79566415e-04 9.99990890e-01 -9.77670213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280371743 meters 0.03126973104772124 Centerline is valid? [True, True] Translation: X:70.87, Y:-3.93, Z:-0.98 [[ 9.99986748e-01 2.14256476e-03 4.68107831e-03 7.08723572e+01] [-2.14159944e-03 9.99997684e-01 -2.11220825e-04 -3.93476983e+00] [-4.68152002e-03 2.01193032e-04 9.99989021e-01 -9.77962636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.310371743 meters 0.03241747076163412 Centerline is valid? [True, True] Translation: X:70.90, Y:-3.94, Z:-0.98 [[ 9.99982960e-01 1.10232249e-03 5.73280621e-03 7.09037025e+01] [-1.10085662e-03 9.99999361e-01 -2.58848204e-04 -3.93745602e+00] [-5.73308788e-03 2.52532796e-04 9.99983534e-01 -9.77900294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.340371743 meters 0.032724987713589136 Centerline is valid? [True, True] Translation: X:70.94, Y:-3.94, Z:-0.98 [[ 9.99980266e-01 1.43426132e-03 6.11637652e-03 7.09357339e+01] [-1.43259874e-03 9.99998936e-01 -2.76196272e-04 -3.93920796e+00] [-6.11676615e-03 2.67428508e-04 9.99981257e-01 -9.78144406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37037174299999 meters 0.032335200832697614 Centerline is valid? [True, True] Translation: X:70.97, Y:-3.94, Z:-0.98 [[ 9.99974242e-01 1.82147589e-03 6.94245452e-03 7.09677811e+01] [-1.81932923e-03 9.99998295e-01 -3.15510577e-04 -3.94000729e+00] [-6.94301738e-03 3.02871839e-04 9.99975851e-01 -9.78215712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400371743 meters 0.03200895008912873 Centerline is valid? [True, True] Translation: X:71.00, Y:-3.94, Z:-0.98 [[ 9.99966156e-01 2.38352638e-03 7.87442807e-03 7.10000083e+01] [-2.38075661e-03 9.99997101e-01 -3.61097781e-04 -3.94035053e+00] [-7.87526593e-03 3.42338463e-04 9.99968931e-01 -9.77731074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.430371743 meters 0.03338932060312985 Centerline is valid? [True, True] Translation: X:71.03, Y:-3.94, Z:-0.98 [[ 9.99962403e-01 3.11040097e-03 8.09431910e-03 7.10308184e+01] [-3.10750059e-03 9.99995103e-01 -3.70874993e-04 -3.94330165e+00] [-8.09543303e-03 3.45707948e-04 9.99967172e-01 -9.78689427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460371743 meters 0.03307040590857682 Centerline is valid? [True, True] Translation: X:71.06, Y:-3.94, Z:-0.98 [[ 9.99961032e-01 3.90856454e-03 7.91559944e-03 7.10626450e+01] [-3.90580371e-03 9.99992306e-01 -3.64212697e-04 -3.94393710e+00] [-7.91696209e-03 3.33281727e-04 9.99968605e-01 -9.79101997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.490371743 meters 0.028265099410160012 Centerline is valid? [True, True] Translation: X:71.09, Y:-3.94, Z:-0.98 [[ 9.99964360e-01 4.74834538e-03 6.98075601e-03 7.10948867e+01] [-4.74621131e-03 9.99988685e-01 -3.22242392e-04 -3.93565537e+00] [-6.98220714e-03 2.89098764e-04 9.99975582e-01 -9.79337029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520371743 meters 0.02847846031066353 Centerline is valid? [True, True] Translation: X:71.13, Y:-3.94, Z:-0.98 [[ 9.99967315e-01 4.95674747e-03 6.38744585e-03 7.11262769e+01] [-4.95494655e-03 9.99987680e-01 -2.97741953e-04 -3.93690481e+00] [-6.38884299e-03 2.66082768e-04 9.99979556e-01 -9.80666936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.550371743 meters 0.028035983743604706 Centerline is valid? [True, True] Translation: X:71.16, Y:-3.94, Z:-0.98 [[ 9.99970279e-01 5.29439641e-03 5.60446850e-03 7.11578606e+01] [-5.29301449e-03 9.99985958e-01 -2.61377323e-04 -3.93713626e+00] [-5.60577364e-03 2.31705022e-04 9.99984261e-01 -9.81809759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580371743 meters 0.02844893340837518 Centerline is valid? [True, True] Translation: X:71.19, Y:-3.94, Z:-0.98 [[ 9.99970901e-01 5.54918689e-03 5.23485350e-03 7.11881512e+01] [-5.54798312e-03 9.99984580e-01 -2.44445994e-04 -3.93900050e+00] [-5.23612925e-03 2.15396002e-04 9.99986268e-01 -9.83393859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.610371743 meters 0.028749911735603383 Centerline is valid? [True, True] Translation: X:71.22, Y:-3.94, Z:-0.99 [[ 9.99963153e-01 6.74329970e-03 5.31233972e-03 7.12178443e+01] [-6.74207474e-03 9.99977241e-01 -2.48461441e-04 -3.93919978e+00] [-5.31389427e-03 2.12636094e-04 9.99985859e-01 -9.85268449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640371743 meters 0.028722749465545094 Centerline is valid? [True, True] Translation: X:71.25, Y:-3.94, Z:-0.99 [[ 9.99958366e-01 7.48357845e-03 5.22128643e-03 7.12479577e+01] [-7.48240566e-03 9.99971977e-01 -2.44115895e-04 -3.93983168e+00] [-5.22296697e-03 2.05037948e-04 9.99986339e-01 -9.85667710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.670371743 meters 0.027588876989781224 Centerline is valid? [True, True] Translation: X:71.28, Y:-3.94, Z:-0.99 [[ 9.99950529e-01 8.40541623e-03 5.31864277e-03 7.12774210e+01] [-8.40421199e-03 9.99964653e-01 -2.48727244e-04 -3.93826356e+00] [-5.32054543e-03 2.04015938e-04 9.99985825e-01 -9.85704084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.700371743 meters 0.02841558848001167 Centerline is valid? [True, True] Translation: X:71.31, Y:-3.94, Z:-0.99 [[ 9.99928603e-01 1.03162849e-02 6.03024543e-03 7.13065720e+01] [-1.03147732e-02 9.99946762e-01 -2.81728324e-04 -3.93878355e+00] [-6.03283078e-03 2.19507595e-04 9.99981778e-01 -9.85832042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.730371743 meters 0.028066396612617454 Centerline is valid? [True, True] Translation: X:71.34, Y:-3.94, Z:-0.99 [[ 9.99912761e-01 1.12468926e-02 6.92656918e-03 7.13357380e+01] [-1.12449210e-02 9.99936722e-01 -3.23526578e-04 -3.93804403e+00] [-6.92976955e-03 2.45609631e-04 9.99975959e-01 -9.85960548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760371743 meters 0.028066396612617454 Centerline is valid? [True, True] Translation: X:71.36, Y:-3.94, Z:-0.99 [[ 9.99913512e-01 1.11799496e-02 6.92659091e-03 7.13640284e+01] [-1.11779796e-02 9.99937472e-01 -3.23060454e-04 -3.93929656e+00] [-6.92976960e-03 2.45607221e-04 9.99975959e-01 -9.86358670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.790371743 meters 0.028232366332636632 Centerline is valid? [True, True] Translation: X:71.39, Y:-3.94, Z:-0.99 [[ 9.99898074e-01 1.21997998e-02 7.41665019e-03 7.13927565e+01] [-1.21975753e-02 9.99925547e-01 -3.45096486e-04 -3.94001822e+00] [-7.42030810e-03 2.54596163e-04 9.99972437e-01 -9.86190247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820371743 meters 0.028054187079662143 Centerline is valid? [True, True] Translation: X:71.42, Y:-3.94, Z:-0.99 [[ 9.99882373e-01 1.28970474e-02 8.30095174e-03 7.14214784e+01] [-1.28942853e-02 9.99916791e-01 -3.86176928e-04 -3.94049007e+00] [-8.30524156e-03 2.79096663e-04 9.99965472e-01 -9.86157573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.850371743 meters 0.025355774033492495 Centerline is valid? [True, True] Translation: X:71.45, Y:-3.94, Z:-0.98 [[ 9.99869783e-01 1.29395452e-02 9.64288699e-03 7.14505666e+01] [-1.29358272e-02 9.99916228e-01 -4.47843322e-04 -3.93573752e+00] [-9.64787408e-03 3.23046286e-04 9.99953406e-01 -9.84916201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880371743 meters 0.025460411345401154 Centerline is valid? [True, True] Translation: X:71.48, Y:-3.94, Z:-0.99 [[ 9.99868218e-01 1.25762101e-02 1.02657414e-02 7.14804749e+01] [-1.25719867e-02 9.99920856e-01 -4.75837914e-04 -3.93715244e+00] [-1.02709132e-02 3.46714443e-04 9.99947193e-01 -9.85617064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.910371743 meters 0.025739320272261657 Centerline is valid? [True, True] Translation: X:71.51, Y:-3.94, Z:-0.99 [[ 9.99883828e-01 1.14683274e-02 1.00403546e-02 7.15100753e+01] [-1.14642351e-02 9.99934175e-01 -4.65042074e-04 -3.93931093e+00] [-1.00450270e-02 3.49883063e-04 9.99949486e-01 -9.86350740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940371743 meters 0.026777541836162398 Centerline is valid? [True, True] Translation: X:71.54, Y:-3.94, Z:-0.99 [[ 9.99922611e-01 8.75863736e-03 8.83509586e-03 7.15407361e+01] [-8.75536690e-03 9.99961587e-01 -4.08777777e-04 -3.94280604e+00] [-8.83833682e-03 3.31391636e-04 9.99960886e-01 -9.88157274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.970371743 meters 0.026652414318547743 Centerline is valid? [True, True] Translation: X:71.57, Y:-3.94, Z:-0.99 [[ 9.99941431e-01 7.05049244e-03 8.21126514e-03 7.15709483e+01] [-7.04761002e-03 9.99975093e-01 -3.79914690e-04 -3.94437782e+00] [-8.21373921e-03 3.22022644e-04 9.99966215e-01 -9.89092634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000371743 meters 0.02766405623773271 Centerline is valid? [True, True] Translation: X:71.60, Y:-3.95, Z:-0.99 [[ 9.99950561e-01 5.73481137e-03 8.12322912e-03 7.16014176e+01] [-5.73194883e-03 9.99983502e-01 -3.75628157e-04 -3.94781368e+00] [-8.12524925e-03 3.29047653e-04 9.99966935e-01 -9.90209448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.030371743 meters 0.028680399888083477 Centerline is valid? [True, True] Translation: X:71.63, Y:-3.95, Z:-0.99 [[ 9.99968126e-01 3.02150119e-03 7.39038260e-03 7.16326245e+01] [-3.01905620e-03 9.99995384e-01 -3.41967287e-04 -3.95196479e+00] [-7.39138174e-03 3.19644407e-04 9.99972632e-01 -9.91549428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.060371743 meters 0.02863128144631963 Centerline is valid? [True, True] Translation: X:71.66, Y:-3.95, Z:-0.99 [[ 9.99970151e-01 2.66473640e-03 7.25236839e-03 7.16646539e+01] [-2.66238120e-03 9.99996400e-01 -3.34384809e-04 -3.95382781e+00] [-7.25323333e-03 3.15066258e-04 9.99973645e-01 -9.92154835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.090371743 meters 0.028026337931302485 Centerline is valid? [True, True] Translation: X:71.70, Y:-3.95, Z:-0.99 [[ 9.99971353e-01 2.43795769e-03 7.16581824e-03 7.16964407e+01] [-2.43563936e-03 9.99996979e-01 -3.32235190e-04 -3.95432344e+00] [-7.16660656e-03 3.14772324e-04 9.99974270e-01 -9.92480041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12037174299999 meters 0.02793234512691957 Centerline is valid? [True, True] Translation: X:71.73, Y:-3.95, Z:-0.99 [[ 9.99970617e-01 2.95238628e-03 7.07456966e-03 7.17283980e+01] [-2.95012017e-03 9.99995594e-01 -3.30731408e-04 -3.95469175e+00] [-7.07551493e-03 3.09850859e-04 9.99974920e-01 -9.93036843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.150371743 meters 0.027906772490488924 Centerline is valid? [True, True] Translation: X:71.76, Y:-3.96, Z:-0.99 [[ 9.99964816e-01 3.91472246e-03 7.41894395e-03 7.17603903e+01] [-3.91225246e-03 9.99992287e-01 -3.47416006e-04 -3.95568298e+00] [-7.42024677e-03 3.18379001e-04 9.99972419e-01 -9.93391184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180371743 meters 0.02753457179253496 Centerline is valid? [True, True] Translation: X:71.79, Y:-3.96, Z:-0.99 [[ 9.99953027e-01 5.13862529e-03 8.21811307e-03 7.17922207e+01] [-5.13562911e-03 9.99986738e-01 -3.85643710e-04 -3.95600477e+00] [-8.21998576e-03 3.43420414e-04 9.99966156e-01 -9.93598988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.210371743 meters 0.02830089105891799 Centerline is valid? [True, True] Translation: X:71.82, Y:-3.96, Z:-0.99 [[ 9.99937485e-01 6.85320479e-03 8.83519111e-03 7.18229421e+01] [-6.84980300e-03 9.99976454e-01 -4.15229383e-04 -3.95828372e+00] [-8.83782872e-03 3.54684106e-04 9.99960883e-01 -9.93898584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240371743 meters 0.027116511809605524 Centerline is valid? [True, True] Translation: X:71.85, Y:-3.96, Z:-0.99 [[ 9.99912503e-01 8.78598012e-03 9.88903382e-03 7.18540396e+01] [-8.78180871e-03 9.99961331e-01 -4.65166204e-04 -3.95672166e+00] [-9.89273836e-03 3.78281900e-04 9.99950994e-01 -9.93839687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.270371743 meters 0.026265741665356047 Centerline is valid? [True, True] Translation: X:71.89, Y:-3.96, Z:-0.99 [[ 9.99851764e-01 1.29787388e-02 1.13138347e-02 7.18853613e+01] [-1.29735406e-02 9.99915698e-01 -5.32731447e-04 -3.95528131e+00] [-1.13197951e-02 3.85871983e-04 9.99935855e-01 -9.93578802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300371743 meters 0.026129276479664676 Centerline is valid? [True, True] Translation: X:71.91, Y:-3.96, Z:-0.99 [[ 9.99817347e-01 1.48965941e-02 1.19734612e-02 7.19145855e+01] [-1.48909072e-02 9.99888965e-01 -5.63972731e-04 -3.95569984e+00] [-1.19805330e-02 3.85574020e-04 9.99928157e-01 -9.93888652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.330371743 meters 0.024826850533253366 Centerline is valid? [True, True] Translation: X:71.94, Y:-3.95, Z:-0.99 [[ 9.99776894e-01 1.67929295e-02 1.28124954e-02 7.19441934e+01] [-1.67865760e-02 9.99858914e-01 -6.03273478e-04 -3.95439325e+00] [-1.28208185e-02 3.88060957e-04 9.99917735e-01 -9.93886380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360371743 meters 0.023812211538381 Centerline is valid? [True, True] Translation: X:71.97, Y:-3.95, Z:-0.99 [[ 9.99748246e-01 1.87952119e-02 1.22550179e-02 7.19729180e+01] [-1.87895539e-02 9.99823294e-01 -5.76674254e-04 -3.95318599e+00] [-1.22636910e-02 3.46262755e-04 9.99924738e-01 -9.94898124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.390371743 meters 0.024391222251878977 Centerline is valid? [True, True] Translation: X:72.00, Y:-3.96, Z:-1.00 [[ 9.99746885e-01 1.91418059e-02 1.18219093e-02 7.20003504e+01] [-1.91365748e-02 9.99816725e-01 -5.55469702e-04 -3.95581197e+00] [-1.18303753e-02 3.29098253e-04 9.99929965e-01 -9.96077104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420371743 meters 0.023670233793612914 Centerline is valid? [True, True] Translation: X:72.03, Y:-3.96, Z:-1.00 [[ 9.99752860e-01 1.91383848e-02 1.13111218e-02 7.20287009e+01] [-1.91336044e-02 9.99816795e-01 -5.30701897e-04 -3.95576357e+00] [-1.13192063e-02 3.14148209e-04 9.99935886e-01 -9.97306086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.450371743 meters 0.02404556556160767 Centerline is valid? [True, True] Translation: X:72.06, Y:-3.96, Z:-1.00 [[ 9.99768812e-01 1.88830361e-02 1.02836626e-02 7.20562533e+01] [-1.88790774e-02 9.99821658e-01 -4.81897247e-04 -3.95846121e+00] [-1.02909283e-02 2.87639776e-04 9.99947006e-01 -9.98687220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.480371743 meters 0.023953788887709142 Centerline is valid? [True, True] Translation: X:72.09, Y:-3.96, Z:-1.00 [[ 9.99804614e-01 1.74684243e-02 9.25136078e-03 7.20852614e+01] [-1.74651674e-02 9.99847379e-01 -4.32727604e-04 -3.96178621e+00] [-9.25750789e-03 2.71066491e-04 9.99957112e-01 -1.00086502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.510371743 meters 0.024052358956954054 Centerline is valid? [True, True] Translation: X:72.11, Y:-3.96, Z:-1.00 [[ 9.99824128e-01 1.64357306e-02 9.03218326e-03 7.21141583e+01] [-1.64325897e-02 9.99864887e-01 -4.21850834e-04 -3.96422252e+00] [-9.03789632e-03 2.73354481e-04 9.99959120e-01 -1.00184055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540371743 meters 0.02470188759542024 Centerline is valid? [True, True] Translation: X:72.14, Y:-3.97, Z:-1.00 [[ 9.99845231e-01 1.52637132e-02 8.74828125e-03 7.21414659e+01] [-1.52607263e-02 9.99883465e-01 -4.08085140e-04 -3.96783028e+00] [-8.75349067e-03 2.74516856e-04 9.99961650e-01 -1.00271290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.570371743 meters 0.02450561798330245 Centerline is valid? [True, True] Translation: X:72.17, Y:-3.97, Z:-1.00 [[ 9.99874151e-01 1.24359447e-02 9.85037175e-03 7.21712004e+01] [-1.24320330e-02 9.99922614e-01 -4.58239972e-04 -3.97017203e+00] [-9.85530812e-03 3.35722156e-04 9.99951379e-01 -1.00274301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600371743 meters 0.025462734125716507 Centerline is valid? [True, True] Translation: X:72.20, Y:-3.97, Z:-1.00 [[ 9.99883716e-01 1.11706801e-02 1.03812669e-02 7.22001435e+01] [-1.11662723e-02 9.99937539e-01 -4.82462257e-04 -3.97381797e+00] [-1.03860079e-02 3.66486102e-04 9.99945997e-01 -1.00277630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.630371743 meters 0.026020669692233944 Centerline is valid? [True, True] Translation: X:72.23, Y:-3.98, Z:-1.00 [[ 9.99885221e-01 1.01680743e-02 1.12318565e-02 7.22295064e+01] [-1.01628539e-02 9.99948221e-01 -5.21768646e-04 -3.97741845e+00] [-1.12365804e-02 4.07561041e-04 9.99936785e-01 -1.00257725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660371743 meters 0.026398771005397472 Centerline is valid? [True, True] Translation: X:72.26, Y:-3.98, Z:-1.00 [[ 9.99877914e-01 8.20050315e-03 1.33007225e-02 7.22605538e+01] [-8.19301270e-03 9.99966246e-01 -6.17553232e-04 -3.98201845e+00] [-1.33053378e-02 5.08504849e-04 9.99911351e-01 -1.00208529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.690371743 meters 0.026272167215006092 Centerline is valid? [True, True] Translation: X:72.29, Y:-3.98, Z:-1.00 [[ 9.99881730e-01 7.13595273e-03 1.36236727e-02 7.22931467e+01] [-7.12798989e-03 9.99974395e-01 -6.32954305e-04 -3.98369052e+00] [-1.36278406e-02 5.35770044e-04 9.99906993e-01 -1.00233607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720371743 meters 0.0273747342177745 Centerline is valid? [True, True] Translation: X:72.32, Y:-3.99, Z:-1.00 [[ 9.99884465e-01 6.07798064e-03 1.39325259e-02 7.23243728e+01] [-6.06949958e-03 9.99981369e-01 -6.50927105e-04 -3.98821955e+00] [-1.39362227e-02 5.66288440e-04 9.99902726e-01 -1.00259283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.750371743 meters 0.02863723239068392 Centerline is valid? [True, True] Translation: X:72.36, Y:-3.99, Z:-1.00 [[ 9.99901047e-01 2.44672314e-03 1.38531800e-02 7.23550432e+01] [-2.43796461e-03 9.99996818e-01 -6.49091756e-04 -3.99253290e+00] [-1.38547240e-02 6.15253963e-04 9.99903829e-01 -1.00267380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780371743 meters 0.029014206734285668 Centerline is valid? [True, True] Translation: X:72.39, Y:-4.00, Z:-1.00 [[ 9.99909685e-01 6.21943014e-04 1.34251595e-02 7.23874975e+01] [-6.13550613e-04 9.99999614e-01 -6.29234531e-04 -3.99515637e+00] [-1.34255456e-02 6.20940687e-04 9.99909680e-01 -1.00345941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.810371743 meters 0.029376148448408405 Centerline is valid? [True, True] Translation: X:72.42, Y:-4.00, Z:-1.00 [[ 9.99912810e-01 -8.71862691e-04 1.31762209e-02 7.24192505e+01] [ 8.80086543e-04 9.99999422e-01 -6.18357994e-04 -3.99891596e+00] [-1.31756741e-02 6.29900294e-04 9.99912999e-01 -1.00467061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.840371743 meters 0.029281036185805253 Centerline is valid? [True, True] Translation: X:72.45, Y:-4.00, Z:-1.01 [[ 9.99915392e-01 -3.82019315e-03 1.24344091e-02 7.24500924e+01] [ 3.82778233e-03 9.99992502e-01 -5.86594586e-04 -4.00352912e+00] [-1.24320749e-02 6.34141167e-04 9.99922518e-01 -1.00702420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87037174299999 meters 0.030421478947505243 Centerline is valid? [True, True] Translation: X:72.48, Y:-4.01, Z:-1.01 [[ 9.99918396e-01 -4.70320637e-03 1.18777295e-02 7.24812821e+01] [ 4.71019282e-03 9.99988750e-01 -5.60291816e-04 -4.00743412e+00] [-1.18749607e-02 6.16192490e-04 9.99929300e-01 -1.00859816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900371743 meters 0.03004222559724819 Centerline is valid? [True, True] Translation: X:72.51, Y:-4.01, Z:-1.01 [[ 9.99921538e-01 -4.88892898e-03 1.15332908e-02 7.25137036e+01] [ 4.89554714e-03 9.99987868e-01 -5.45668260e-04 -4.00881332e+00] [-1.15304831e-02 6.02087215e-04 9.99933341e-01 -1.01003608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.930371743 meters 0.030197737278577264 Centerline is valid? [True, True] Translation: X:72.55, Y:-4.01, Z:-1.01 [[ 9.99935689e-01 -4.27011686e-03 1.05063318e-02 7.25463328e+01] [ 4.27558183e-03 9.99990736e-01 -4.97752976e-04 -4.00957292e+00] [-1.05041090e-02 5.42641646e-04 9.99944683e-01 -1.01121411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960371743 meters 0.03010170849701399 Centerline is valid? [True, True] Translation: X:72.58, Y:-4.01, Z:-1.01 [[ 9.99940982e-01 -3.48334641e-03 1.02907198e-02 7.25782104e+01] [ 3.48855525e-03 9.99993796e-01 -4.88261531e-04 -4.01031660e+00] [-1.02889552e-02 5.24132460e-04 9.99946930e-01 -1.01212052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.990371743 meters 0.03324789081225625 Centerline is valid? [True, True] Translation: X:72.61, Y:-4.02, Z:-1.01 [[ 9.99941282e-01 -2.10684400e-03 1.06298133e-02 7.26091325e+01] [ 2.11233333e-03 9.99997641e-01 -5.05208449e-04 -4.01602257e+00] [-1.06287238e-02 5.27632493e-04 9.99943374e-01 -1.01300634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020371743 meters 0.028888155113472452 Centerline is valid? [True, True] Translation: X:72.64, Y:-4.01, Z:-1.01 [[ 9.99941582e-01 -3.50003986e-04 1.08032898e-02 7.26419571e+01] [ 3.55577409e-04 9.99999805e-01 -5.13984105e-04 -4.00995445e+00] [-1.08031078e-02 5.17795485e-04 9.99941511e-01 -1.01297991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.050371743 meters 0.027931438522221626 Centerline is valid? [True, True] Translation: X:72.67, Y:-4.01, Z:-1.01 [[ 9.99922253e-01 3.81492468e-03 1.18715537e-02 7.26718343e+01] [-3.80847427e-03 9.99992588e-01 -5.65909976e-04 -4.00829437e+00] [-1.18736246e-02 5.20653471e-04 9.99929370e-01 -1.01302682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080371743 meters 0.0275835310642617 Centerline is valid? [True, True] Translation: X:72.70, Y:-4.01, Z:-1.01 [[ 9.99910506e-01 5.66298892e-03 1.21207072e-02 7.27044964e+01] [-5.65640290e-03 9.99983836e-01 -5.77582285e-04 -4.00766940e+00] [-1.21237821e-02 5.08970991e-04 9.99926375e-01 -1.01353809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.110371743 meters 0.027377526142258517 Centerline is valid? [True, True] Translation: X:72.74, Y:-4.01, Z:-1.01 [[ 9.99898102e-01 7.47494922e-03 1.21618604e-02 7.27360005e+01] [-7.46843502e-03 9.99971942e-01 -5.80954818e-04 -4.00788795e+00] [-1.21658618e-02 4.90065556e-04 9.99925873e-01 -1.01366352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140371743 meters 0.02532533418350583 Centerline is valid? [True, True] Translation: X:72.77, Y:-4.00, Z:-1.01 [[ 9.99871282e-01 1.06072556e-02 1.20376532e-02 7.27679520e+01] [-1.06010928e-02 9.99943641e-01 -5.75649893e-04 -4.00338991e+00] [-1.20430808e-02 4.47963517e-04 9.99927379e-01 -1.01419223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.170371743 meters 0.025054587946024387 Centerline is valid? [True, True] Translation: X:72.80, Y:-4.00, Z:-1.02 [[ 9.99863105e-01 1.17241733e-02 1.16754394e-02 7.27989405e+01] [-1.17184442e-02 9.99931180e-01 -5.58986833e-04 -4.00348275e+00] [-1.16811896e-02 4.22092325e-04 9.99931683e-01 -1.01562848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.200371743 meters 0.024620457936673158 Centerline is valid? [True, True] Translation: X:72.83, Y:-4.00, Z:-1.02 [[ 9.99853874e-01 1.31002733e-02 1.09824103e-02 7.28297701e+01] [-1.30952818e-02 9.99914115e-01 -5.26283479e-04 -4.00323315e+00] [-1.09883616e-02 3.82388817e-04 9.99939553e-01 -1.01665051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.230371743 meters 0.023951457696113263 Centerline is valid? [True, True] Translation: X:72.86, Y:-4.00, Z:-1.02 [[ 9.99844179e-01 1.44929944e-02 1.00782769e-02 7.28592754e+01] [-1.44888602e-02 9.99894914e-01 -4.83100995e-04 -4.00282950e+00] [-1.00842194e-02 3.37002972e-04 9.99949096e-01 -1.01777499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260371743 meters 0.024145185535557574 Centerline is valid? [True, True] Translation: X:72.89, Y:-4.00, Z:-1.02 [[ 9.99801487e-01 1.74612328e-02 9.59649164e-03 7.28876541e+01] [-1.74576226e-02 9.99847498e-01 -4.59840013e-04 -4.00206650e+00] [-9.60305754e-03 2.92216799e-04 9.99953847e-01 -1.01933497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.290371743 meters 0.02329859634316651 Centerline is valid? [True, True] Translation: X:72.92, Y:-4.00, Z:-1.02 [[ 9.99770590e-01 1.92458816e-02 9.40014832e-03 7.29167084e+01] [-1.92425028e-02 9.99814745e-01 -4.49770820e-04 -4.00051903e+00] [-9.40706313e-03 2.68785259e-04 9.99955716e-01 -1.01962331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320371743 meters 0.023337383415399447 Centerline is valid? [True, True] Translation: X:72.94, Y:-4.00, Z:-1.02 [[ 9.99738179e-01 2.09337657e-02 9.23855253e-03 7.29446523e+01] [-2.09305792e-02 9.99780834e-01 -4.41471956e-04 -4.00048917e+00] [-9.24576943e-03 2.47988114e-04 9.99957226e-01 -1.02045105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.350371743 meters 0.02291556469870171 Centerline is valid? [True, True] Translation: X:72.97, Y:-4.00, Z:-1.02 [[ 9.99699157e-01 2.26755023e-02 9.34974707e-03 7.29733848e+01] [-2.26723236e-02 9.99742850e-01 -4.45850950e-04 -4.00031578e+00] [-9.35745268e-03 2.33736328e-04 9.99956191e-01 -1.02089562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380371743 meters 0.022107327078710996 Centerline is valid? [True, True] Translation: X:73.00, Y:-4.00, Z:-1.02 [[ 9.99628535e-01 2.57725562e-02 8.86377208e-03 7.30027063e+01] [-2.57698269e-02 9.99667814e-01 -4.22013533e-04 -3.99871558e+00] [-8.87170402e-03 1.93438898e-04 9.99960627e-01 -1.02205108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.410371743 meters 0.022264401790474835 Centerline is valid? [True, True] Translation: X:73.03, Y:-4.00, Z:-1.02 [[ 9.99603907e-01 2.67833223e-02 8.64187169e-03 7.30311234e+01] [-2.67807687e-02 9.99641246e-01 -4.11098713e-04 -3.99924995e+00] [-8.64978197e-03 1.79499913e-04 9.99962574e-01 -1.02254477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440371743 meters 0.022036320465949437 Centerline is valid? [True, True] Translation: X:73.06, Y:-4.00, Z:-1.02 [[ 9.99550109e-01 2.86496169e-02 8.87574259e-03 7.30586528e+01] [-2.86470018e-02 9.99589501e-01 -4.21652342e-04 -3.99944229e+00] [-8.88417929e-03 1.67199230e-04 9.99960521e-01 -1.02342561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.470371743 meters 0.02181179516226971 Centerline is valid? [True, True] Translation: X:73.09, Y:-4.00, Z:-1.02 [[ 9.99541665e-01 2.89088634e-02 8.98538367e-03 7.30874756e+01] [-2.89062018e-02 9.99582038e-01 -4.25969552e-04 -3.99945178e+00] [-8.99394242e-03 1.66041002e-04 9.99959540e-01 -1.02391848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500371743 meters 0.02198662652461869 Centerline is valid? [True, True] Translation: X:73.11, Y:-4.00, Z:-1.02 [[ 9.99539309e-01 2.89660237e-02 9.06304334e-03 7.31146774e+01] [-2.89633218e-02 9.99580383e-01 -4.29257958e-04 -4.00099013e+00] [-9.07167423e-03 1.66564362e-04 9.99958838e-01 -1.02462339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.530371743 meters 0.021998513546962667 Centerline is valid? [True, True] Translation: X:73.14, Y:-4.00, Z:-1.03 [[ 9.99544852e-01 2.87040702e-02 9.28249448e-03 7.31428539e+01] [-2.87012364e-02 9.99587939e-01 -4.38378408e-04 -4.00191326e+00] [-9.29125276e-03 1.71759813e-04 9.99956821e-01 -1.02518567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.560371743 meters 0.022267947738718135 Centerline is valid? [True, True] Translation: X:73.17, Y:-4.00, Z:-1.03 [[ 9.99603393e-01 2.66614898e-02 9.06764505e-03 7.31712690e+01] [-2.66587117e-02 9.99644502e-01 -4.27127114e-04 -4.00401480e+00] [-9.07580936e-03 1.85225978e-04 9.99958797e-01 -1.02574212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.590371743 meters 0.023503226023407993 Centerline is valid? [True, True] Translation: X:73.20, Y:-4.01, Z:-1.03 [[ 9.99652934e-01 2.47940225e-02 8.90330278e-03 7.31988997e+01] [-2.47912748e-02 9.99692561e-01 -4.18862706e-04 -4.00831367e+00] [-8.91095085e-03 1.97993106e-04 9.99960277e-01 -1.02673045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62037174299999 meters 0.022786326490597603 Centerline is valid? [True, True] Translation: X:73.23, Y:-4.01, Z:-1.03 [[ 9.99687845e-01 2.32485572e-02 9.14970980e-03 7.32273837e+01] [-2.32455990e-02 9.99729692e-01 -4.29537820e-04 -4.00862342e+00] [-9.15722269e-03 2.16713252e-04 9.99958048e-01 -1.02676916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.650371743 meters 0.022786326490597603 Centerline is valid? [True, True] Translation: X:73.26, Y:-4.01, Z:-1.03 [[ 9.99689489e-01 2.31777272e-02 9.14974032e-03 7.32556603e+01] [-2.31747720e-02 9.99731337e-01 -4.28886454e-04 -4.00988872e+00] [-9.15722273e-03 2.16710135e-04 9.99958048e-01 -1.02716713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680371743 meters 0.02347205417037422 Centerline is valid? [True, True] Translation: X:73.28, Y:-4.01, Z:-1.03 [[ 9.99736616e-01 2.08496016e-02 9.59129199e-03 7.32841137e+01] [-2.08462542e-02 9.99782592e-01 -4.48852746e-04 -4.01307895e+00] [-9.59856517e-03 2.48792014e-04 9.99953902e-01 -1.02789919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.710371743 meters 0.024289368929156525 Centerline is valid? [True, True] Translation: X:73.31, Y:-4.02, Z:-1.03 [[ 9.99828798e-01 1.55742483e-02 9.99089850e-03 7.33133855e+01] [-1.55703612e-02 9.99878666e-01 -4.66739740e-04 -4.01745969e+00] [-9.99695538e-03 3.11097935e-04 9.99949981e-01 -1.02839978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740371743 meters 0.02539811964536958 Centerline is valid? [True, True] Translation: X:73.34, Y:-4.02, Z:-1.03 [[ 9.99875051e-01 1.25387326e-02 9.62615478e-03 7.33421611e+01] [-1.25349883e-02 9.99921333e-01 -4.49207747e-04 -4.02143431e+00] [-9.63103002e-03 3.28487881e-04 9.99953567e-01 -1.02921587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.770371743 meters 0.025596066339608963 Centerline is valid? [True, True] Translation: X:73.37, Y:-4.02, Z:-1.03 [[ 9.99916521e-01 9.18676648e-03 9.08592319e-03 7.33720317e+01] [-9.18329808e-03 9.99957743e-01 -4.23380510e-04 -4.02393777e+00] [-9.08942874e-03 3.39906426e-04 9.99958633e-01 -1.02994188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800371743 meters 0.02787408486880151 Centerline is valid? [True, True] Translation: X:73.40, Y:-4.03, Z:-1.03 [[ 9.99963646e-01 2.48331800e-03 8.15724692e-03 7.34023168e+01] [-2.48030253e-03 9.99996852e-01 -3.79762822e-04 -4.03045469e+00] [-8.15816432e-03 3.59516575e-04 9.99966657e-01 -1.03171773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.830371743 meters 0.028740999123986963 Centerline is valid? [True, True] Translation: X:73.43, Y:-4.03, Z:-1.03 [[ 9.99968945e-01 -1.93154433e-04 7.87852614e-03 7.34338537e+01] [ 1.96050607e-04 9.99999914e-01 -3.66832886e-04 -4.03384280e+00] [-7.87845460e-03 3.68366084e-04 9.99968897e-01 -1.03205996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860371743 meters 0.03355068787271443 Centerline is valid? [True, True] Translation: X:73.46, Y:-4.04, Z:-1.03 [[ 9.99960988e-01 -2.72496239e-03 8.40220041e-03 7.34631853e+01] [ 2.72834589e-03 9.99996202e-01 -3.91255725e-04 -4.04288501e+00] [-8.40110234e-03 4.14164570e-04 9.99964624e-01 -1.03298689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.890371743 meters 0.03057640725300835 Centerline is valid? [True, True] Translation: X:73.50, Y:-4.04, Z:-1.03 [[ 9.99951955e-01 -4.71812388e-03 8.59230901e-03 7.34953026e+01] [ 4.72174096e-03 9.99988772e-01 -4.00729978e-04 -4.03928457e+00] [-8.59032184e-03 4.41281382e-04 9.99963005e-01 -1.03188972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920371743 meters 0.032133794828120364 Centerline is valid? [True, True] Translation: X:73.53, Y:-4.04, Z:-1.03 [[ 9.99926855e-01 -7.45914631e-03 9.52078110e-03 7.35254143e+01] [ 7.46372836e-03 9.99972047e-01 -4.45827617e-04 -4.04243557e+00] [-9.51718947e-03 5.16855531e-04 9.99954577e-01 -1.03133446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.950371743 meters 0.03214294075889069 Centerline is valid? [True, True] Translation: X:73.56, Y:-4.04, Z:-1.03 [[ 9.99914921e-01 -8.61510857e-03 9.79447086e-03 7.35575415e+01] [ 8.62001270e-03 9.99962742e-01 -4.58597857e-04 -4.04331518e+00] [-9.79015507e-03 5.42987303e-04 9.99951928e-01 -1.03153542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.980371743 meters 0.03255736172695647 Centerline is valid? [True, True] Translation: X:73.59, Y:-4.05, Z:-1.03 [[ 9.99915370e-01 -9.30663196e-03 9.09060300e-03 7.35891586e+01] [ 9.31089110e-03 9.99956562e-01 -4.26311706e-04 -4.04531796e+00] [-9.08624059e-03 5.10917241e-04 9.99958589e-01 -1.03261676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.010371743 meters 0.0348260568187443 Centerline is valid? [True, True] Translation: X:73.62, Y:-4.05, Z:-1.04 [[ 9.99915055e-01 -1.06733461e-02 7.48077579e-03 7.36196405e+01] [ 1.06762713e-02 9.99942945e-01 -3.51204073e-04 -4.04860847e+00] [-7.47660045e-03 4.31041032e-04 9.99971957e-01 -1.03602701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040371743 meters 0.03385239285383004 Centerline is valid? [True, True] Translation: X:73.65, Y:-4.05, Z:-1.04 [[ 9.99910517e-01 -1.12385199e-02 7.25632165e-03 7.36519369e+01] [ 1.12412871e-02 9.99936757e-01 -3.40665652e-04 -4.04834932e+00] [-7.25203416e-03 4.22205563e-04 9.99973615e-01 -1.03736990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.070371743 meters 0.03713041277476094 Centerline is valid? [True, True] Translation: X:73.68, Y:-4.05, Z:-1.04 [[ 9.99908007e-01 -1.19806425e-02 6.35936297e-03 7.36828637e+01] [ 1.19827857e-02 9.99928159e-01 -2.99026425e-04 -4.05207553e+00] [-6.35532358e-03 3.75201800e-04 9.99979734e-01 -1.03882849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100371743 meters 0.03617086567706359 Centerline is valid? [True, True] Translation: X:73.72, Y:-4.05, Z:-1.04 [[ 9.99912429e-01 -1.17399578e-02 6.10802114e-03 7.37154818e+01] [ 1.17419315e-02 9.99931020e-01 -2.87366548e-04 -4.05051561e+00] [-6.10422614e-03 3.59061349e-04 9.99981305e-01 -1.03875399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.130371743 meters 0.035768740256876354 Centerline is valid? [True, True] Translation: X:73.75, Y:-4.05, Z:-1.04 [[ 9.99917361e-01 -1.15554533e-02 5.63409543e-03 7.37484813e+01] [ 1.15571297e-02 9.99933179e-01 -2.65090871e-04 -4.05066981e+00] [-5.63065571e-03 3.30182936e-04 9.99984093e-01 -1.03972918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160371743 meters 0.03568707689291578 Centerline is valid? [True, True] Translation: X:73.78, Y:-4.05, Z:-1.04 [[ 9.99945907e-01 -9.33639400e-03 4.58421847e-03 7.37785009e+01] [ 9.33748542e-03 9.99956381e-01 -2.16738488e-04 -4.05178804e+00] [-4.58199495e-03 2.59531837e-04 9.99989469e-01 -1.04219523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.190371743 meters 0.03641558114506781 Centerline is valid? [True, True] Translation: X:73.81, Y:-4.05, Z:-1.04 [[ 9.99955401e-01 -8.07339926e-03 4.90064674e-03 7.38097332e+01] [ 8.07463044e-03 9.99967373e-01 -2.31492641e-04 -4.05287632e+00] [-4.89861791e-03 2.71053228e-04 9.99987965e-01 -1.04179798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220371743 meters 0.03615425191685529 Centerline is valid? [True, True] Translation: X:73.84, Y:-4.05, Z:-1.04 [[ 9.99963196e-01 -6.77785808e-03 5.25995118e-03 7.38422499e+01] [ 6.77925950e-03 9.99976990e-01 -2.48648813e-04 -4.05212068e+00] [-5.25814484e-03 2.84298235e-04 9.99986135e-01 -1.04113424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.250371743 meters 0.03171376703299128 Centerline is valid? [True, True] Translation: X:73.87, Y:-4.05, Z:-1.04 [[ 9.99969032e-01 -5.67162279e-03 5.45599869e-03 7.38745801e+01] [ 5.67311621e-03 9.99983874e-01 -2.58282484e-04 -4.04502979e+00] [-5.45444583e-03 2.89227000e-04 9.99985083e-01 -1.03959505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280371743 meters 0.035326989959495646 Centerline is valid? [True, True] Translation: X:73.91, Y:-4.05, Z:-1.04 [[ 9.99974572e-01 -3.21180220e-03 6.36708920e-03 7.39051433e+01] [ 3.21379203e-03 9.99994790e-01 -3.02312544e-04 -4.04941760e+00] [-6.36608506e-03 3.22767358e-04 9.99979684e-01 -1.03945380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.310371743 meters 0.03011601041865354 Centerline is valid? [True, True] Translation: X:73.94, Y:-4.04, Z:-1.04 [[ 9.99981411e-01 -1.48479378e-03 5.91387729e-03 7.39374054e+01] [ 1.48647957e-03 9.99998856e-01 -2.80672465e-04 -4.04155006e+00] [-5.91345379e-03 2.89458106e-04 9.99982473e-01 -1.03881154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.340371743 meters 0.029138879526740623 Centerline is valid? [True, True] Translation: X:73.97, Y:-4.04, Z:-1.04 [[ 9.99983543e-01 4.81553604e-04 5.71681155e-03 7.39688873e+01] [-4.80006488e-04 9.99999848e-01 -2.71994541e-04 -4.04069502e+00] [-5.71694166e-03 2.69245958e-04 9.99983622e-01 -1.03992096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37037174299999 meters 0.027918842689234873 Centerline is valid? [True, True] Translation: X:74.00, Y:-4.04, Z:-1.04 [[ 9.99971900e-01 5.17973664e-03 5.41929478e-03 7.40000329e+01] [-5.17841344e-03 9.99986559e-01 -2.58168640e-04 -4.03888067e+00] [-5.42055919e-03 2.30098037e-04 9.99985282e-01 -1.04022817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400371743 meters 0.032088374529843304 Centerline is valid? [True, True] Translation: X:74.03, Y:-4.05, Z:-1.04 [[ 9.99955626e-01 7.70128289e-03 5.42554013e-03 7.40302333e+01] [-7.69999616e-03 9.99970321e-01 -2.58010022e-04 -4.04604409e+00] [-5.42736611e-03 2.16221935e-04 9.99985248e-01 -1.04208215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.430371743 meters 0.026860698627388168 Centerline is valid? [True, True] Translation: X:74.06, Y:-4.04, Z:-1.04 [[ 9.99930546e-01 1.03726909e-02 5.59562375e-03 7.40602370e+01] [-1.03713556e-02 9.99946180e-01 -2.67591498e-04 -4.03681542e+00] [-5.59809824e-03 2.09538709e-04 9.99984309e-01 -1.04018501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460371743 meters 0.026322581131394057 Centerline is valid? [True, True] Translation: X:74.09, Y:-4.04, Z:-1.04 [[ 9.99904272e-01 1.24863546e-02 5.96135492e-03 7.40893454e+01] [-1.24848763e-02 9.99922020e-01 -2.85122871e-04 -4.03566036e+00] [-5.96445020e-03 2.10668798e-04 9.99982190e-01 -1.03996223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.490371743 meters 0.02484807484395885 Centerline is valid? [True, True] Translation: X:74.12, Y:-4.03, Z:-1.04 [[ 9.99807021e-01 1.83259843e-02 7.07666185e-03 7.41191304e+01] [-1.83240540e-02 9.99832043e-01 -3.37522114e-04 -4.03212356e+00] [-7.08165871e-03 2.07783846e-04 9.99974903e-01 -1.03828325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520371743 meters 0.024079200302119567 Centerline is valid? [True, True] Translation: X:74.15, Y:-4.03, Z:-1.04 [[ 9.99736542e-01 2.14532422e-02 8.16116632e-03 7.41482190e+01] [-2.14507803e-02 9.99769830e-01 -3.89087403e-04 -4.03127538e+00] [-8.16763505e-03 2.13921510e-04 9.99966621e-01 -1.03818118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.550371743 meters 0.023637958886614827 Centerline is valid? [True, True] Translation: X:74.18, Y:-4.03, Z:-1.04 [[ 9.99676687e-01 2.41546738e-02 7.94185682e-03 7.41767870e+01] [-2.41524319e-02 9.99708216e-01 -3.78093653e-04 -4.03060434e+00] [-7.94867224e-03 1.86156255e-04 9.99968391e-01 -1.03821573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580371743 meters 0.022294756135020233 Centerline is valid? [True, True] Translation: X:74.21, Y:-4.03, Z:-1.04 [[ 9.99497152e-01 3.08398758e-02 7.37197690e-03 7.42071691e+01] [-3.08381318e-02 9.99524330e-01 -3.50159753e-04 -4.02735225e+00] [-7.37926916e-03 1.22645681e-04 9.99972765e-01 -1.03866170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.610371743 meters 0.02208389264172107 Centerline is valid? [True, True] Translation: X:74.24, Y:-4.03, Z:-1.04 [[ 9.99414540e-01 3.36205298e-02 6.34324960e-03 7.42350500e+01] [-3.36192916e-02 9.99434666e-01 -3.01758619e-04 -4.02696036e+00] [-6.34980883e-03 8.83263937e-05 9.99979836e-01 -1.03957185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640371743 meters 0.02157956767396403 Centerline is valid? [True, True] Translation: X:74.26, Y:-4.03, Z:-1.04 [[ 9.99305480e-01 3.69940695e-02 4.47175542e-03 7.42643274e+01] [-3.69934820e-02 9.99315484e-01 -2.14055068e-04 -4.02600098e+00] [-4.47661320e-03 4.84805987e-05 9.99989979e-01 -1.04069277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.670371743 meters 0.021575408999950425 Centerline is valid? [True, True] Translation: X:74.29, Y:-4.03, Z:-1.04 [[ 9.99270368e-01 3.79741007e-02 4.08643672e-03 7.42929122e+01] [-3.79736274e-02 9.99278723e-01 -1.93363731e-04 -4.02761199e+00] [-4.09083208e-03 3.80458212e-05 9.99991632e-01 -1.04163175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.700371743 meters 0.02155419172733141 Centerline is valid? [True, True] Translation: X:74.32, Y:-4.03, Z:-1.04 [[ 9.99262211e-01 3.81948524e-02 4.02340868e-03 7.43195613e+01] [-3.81943945e-02 9.99270310e-01 -1.90631665e-04 -4.02978552e+00] [-4.02775399e-03 3.68193609e-05 9.99991888e-01 -1.04258970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.730371743 meters 0.021384398180349252 Centerline is valid? [True, True] Translation: X:74.35, Y:-4.03, Z:-1.04 [[ 9.99277495e-01 3.77647204e-02 4.27941840e-03 7.43475438e+01] [-3.77642018e-02 9.99286658e-01 -2.01952736e-04 -4.03244625e+00] [-4.28399240e-03 4.01980038e-05 9.99990823e-01 -1.04307919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760371743 meters 0.02168127233528867 Centerline is valid? [True, True] Translation: X:74.38, Y:-4.04, Z:-1.04 [[ 9.99374042e-01 3.51634178e-02 3.88038997e-03 7.43757626e+01] [-3.51629742e-02 9.99381575e-01 -1.82506458e-04 -4.03786214e+00] [-3.88440779e-03 4.59461644e-05 9.99992455e-01 -1.04356885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.790371743 meters 0.021615956522245412 Centerline is valid? [True, True] Translation: X:74.40, Y:-4.04, Z:-1.04 [[ 9.99434010e-01 3.33433921e-02 4.45838291e-03 7.44042557e+01] [-3.33427904e-02 9.99443953e-01 -2.09239139e-04 -4.04168473e+00] [-4.46288058e-03 6.04657849e-05 9.99990039e-01 -1.04354935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820371743 meters 0.02201377519711495 Centerline is valid? [True, True] Translation: X:74.43, Y:-4.05, Z:-1.04 [[ 9.99516821e-01 3.07271557e-02 4.68674065e-03 7.44331580e+01] [-3.07264639e-02 9.99527807e-01 -2.19568346e-04 -4.04609742e+00] [-4.69127432e-03 7.54552880e-05 9.99988993e-01 -1.04438188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.850371743 meters 0.022653402812416186 Centerline is valid? [True, True] Translation: X:74.46, Y:-4.05, Z:-1.04 [[ 9.99692772e-01 2.42373161e-02 5.18790578e-03 7.44625650e+01] [-2.42363850e-02 9.99706226e-01 -2.42276101e-04 -4.05349321e+00] [-5.19225383e-03 1.16465585e-04 9.99986513e-01 -1.04362737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880371743 meters 0.023409027839825722 Centerline is valid? [True, True] Translation: X:74.49, Y:-4.06, Z:-1.04 [[ 9.99765137e-01 2.07971422e-02 6.09503812e-03 7.44897986e+01] [-2.07957924e-02 9.99783704e-01 -2.84755777e-04 -4.05987270e+00] [-6.09964190e-03 1.57937750e-04 9.99981385e-01 -1.04409888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.910371743 meters 0.023998478428262974 Centerline is valid? [True, True] Translation: X:74.52, Y:-4.07, Z:-1.04 [[ 9.99834114e-01 1.70277996e-02 6.46511270e-03 7.45187403e+01] [-1.70262082e-02 9.99854998e-01 -3.01108821e-04 -4.06584980e+00] [-6.46930247e-03 1.90982517e-04 9.99979056e-01 -1.04386350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940371743 meters 0.024845446043456086 Centerline is valid? [True, True] Translation: X:74.55, Y:-4.07, Z:-1.04 [[ 9.99885611e-01 1.36019029e-02 6.61459899e-03 7.45467100e+01] [-1.36001638e-02 9.99907466e-01 -3.07826901e-04 -4.07216483e+00] [-6.61817395e-03 2.17832059e-04 9.99978076e-01 -1.04412137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.970371743 meters 0.026112630482905894 Centerline is valid? [True, True] Translation: X:74.58, Y:-4.08, Z:-1.05 [[ 9.99960439e-01 7.32617382e-03 5.04456786e-03 7.45765066e+01] [-7.32508564e-03 9.99973144e-01 -2.34156340e-04 -4.08145992e+00] [-5.04614785e-03 1.97195185e-04 9.99987249e-01 -1.04589487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000371743 meters 0.02658597368588338 Centerline is valid? [True, True] Translation: X:74.61, Y:-4.09, Z:-1.05 [[ 9.99980514e-01 4.60331646e-03 4.21679561e-03 7.46062039e+01] [-4.60253206e-03 9.99989389e-01 -1.95703535e-04 -4.08596192e+00] [-4.21765176e-03 1.76291785e-04 9.99991090e-01 -1.04688766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.030371743 meters 0.03138483386260547 Centerline is valid? [True, True] Translation: X:74.64, Y:-4.10, Z:-1.05 [[ 9.99989855e-01 2.77779218e-03 3.54590404e-03 7.46358320e+01] [-2.77722749e-03 9.99996130e-01 -1.64165002e-04 -4.09816532e+00] [-3.54634634e-03 1.54315554e-04 9.99993700e-01 -1.04946561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.060371743 meters 0.028501063683637327 Centerline is valid? [True, True] Translation: X:74.67, Y:-4.10, Z:-1.05 [[ 9.99995489e-01 2.60822187e-04 2.99233368e-03 7.46664608e+01] [-2.60408167e-04 9.99999956e-01 -1.38749095e-04 -4.09891622e+00] [-2.99236974e-03 1.37969241e-04 9.99995513e-01 -1.04934217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.090371743 meters 0.02833585734234747 Centerline is valid? [True, True] Translation: X:74.70, Y:-4.10, Z:-1.05 [[ 9.99996332e-01 -2.24539869e-04 2.69900143e-03 7.46980575e+01] [ 2.24874283e-04 9.99999967e-01 -1.23599992e-04 -4.10167741e+00] [-2.69897359e-03 1.24206475e-04 9.99996350e-01 -1.04966302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12037174299999 meters 0.0293730928754783 Centerline is valid? [True, True] Translation: X:74.73, Y:-4.11, Z:-1.05 [[ 9.99996285e-01 -3.03881127e-04 2.70891087e-03 7.47291900e+01] [ 3.04221855e-04 9.99999946e-01 -1.25369517e-04 -4.10657973e+00] [-2.70887263e-03 1.26193161e-04 9.99996323e-01 -1.05050805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.150371743 meters 0.029107381686817507 Centerline is valid? [True, True] Translation: X:74.76, Y:-4.11, Z:-1.05 [[ 9.99997573e-01 3.71364718e-04 2.17160042e-03 7.47604399e+01] [-3.71146942e-04 9.99999926e-01 -1.00685923e-04 -4.11005630e+00] [-2.17163765e-03 9.98796957e-05 9.99997637e-01 -1.05074736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180371743 meters 0.028997749425456874 Centerline is valid? [True, True] Translation: X:74.79, Y:-4.11, Z:-1.05 [[ 9.99997856e-01 6.79350241e-04 1.95626394e-03 7.47920853e+01] [-6.79174061e-04 9.99999765e-01 -9.07225095e-05 -4.11176655e+00] [-1.95632511e-03 8.93936713e-05 9.99998082e-01 -1.05092284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.210371743 meters 0.029036882750043416 Centerline is valid? [True, True] Translation: X:74.82, Y:-4.11, Z:-1.05 [[ 9.99997122e-01 8.22409379e-04 2.25374384e-03 7.48230981e+01] [-8.22175548e-04 9.99999657e-01 -1.04676668e-04 -4.11450587e+00] [-2.25382916e-03 1.02823394e-04 9.99997455e-01 -1.05129933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240371743 meters 0.02836163548863705 Centerline is valid? [True, True] Translation: X:74.85, Y:-4.12, Z:-1.05 [[ 9.99997377e-01 8.63629880e-04 2.12112328e-03 7.48544703e+01] [-8.63422768e-04 9.99999622e-01 -9.85567161e-05 -4.11556204e+00] [-2.12120759e-03 9.67250315e-05 9.99997746e-01 -1.05116347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.270371743 meters 0.031083845849583725 Centerline is valid? [True, True] Translation: X:74.88, Y:-4.12, Z:-1.05 [[ 9.99997100e-01 5.39768074e-04 2.34690906e-03 7.48841723e+01] [-5.39514475e-04 9.99999849e-01 -1.08688041e-04 -4.12351254e+00] [-2.34696737e-03 1.07421535e-04 9.99997240e-01 -1.05292994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300371743 meters 0.03119167301752252 Centerline is valid? [True, True] Translation: X:74.92, Y:-4.13, Z:-1.05 [[ 9.99997973e-01 5.66338822e-05 2.01284453e-03 7.49157290e+01] [-5.64452945e-05 9.99999994e-01 -9.37488346e-05 -4.12618258e+00] [-2.01284982e-03 9.36350289e-05 9.99997970e-01 -1.05318422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.330371743 meters 0.02803943882083043 Centerline is valid? [True, True] Translation: X:74.95, Y:-4.12, Z:-1.05 [[ 9.99998015e-01 -3.82339088e-04 1.95530229e-03 7.49471967e+01] [ 3.82517935e-04 9.99999923e-01 -9.10946378e-05 -4.12326917e+00] [-1.95526731e-03 9.18423952e-05 9.99998084e-01 -1.05204506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360371743 meters 0.02913019407622845 Centerline is valid? [True, True] Translation: X:74.98, Y:-4.13, Z:-1.05 [[ 9.99997756e-01 -1.10113312e-03 1.80994850e-03 7.49773605e+01] [ 1.10128800e-03 9.99999390e-01 -8.45736486e-05 -4.12808348e+00] [-1.80985427e-03 8.65667334e-05 9.99998358e-01 -1.05220952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.390371743 meters 0.028068486668840903 Centerline is valid? [True, True] Translation: X:75.01, Y:-4.13, Z:-1.05 [[ 9.99996736e-01 -1.36361417e-03 2.16052448e-03 7.50088734e+01] [ 1.36383518e-03 9.99999065e-01 -1.00824113e-04 -4.12811881e+00] [-2.16038497e-03 1.03770383e-04 9.99997661e-01 -1.05195671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420371743 meters 0.03364521574648496 Centerline is valid? [True, True] Translation: X:75.04, Y:-4.14, Z:-1.05 [[ 9.99996282e-01 -1.08581821e-03 2.50156610e-03 7.50399368e+01] [ 1.08611354e-03 9.99999403e-01 -1.16702117e-04 -4.13939124e+00] [-2.50143789e-03 1.19418668e-04 9.99996864e-01 -1.05416452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.450371743 meters 0.033982460403426076 Centerline is valid? [True, True] Translation: X:75.07, Y:-4.14, Z:-1.05 [[ 9.99997028e-01 -7.52890566e-04 2.31904209e-03 7.50711158e+01] [ 7.53144235e-04 9.99999711e-01 -1.08513876e-04 -4.14200266e+00] [-2.31895972e-03 1.10260127e-04 9.99997305e-01 -1.05462503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.480371743 meters 0.029764823289578014 Centerline is valid? [True, True] Translation: X:75.10, Y:-4.14, Z:-1.05 [[ 9.99998969e-01 -2.85732280e-05 1.43596805e-03 7.51022632e+01] [ 2.86695177e-05 9.99999997e-01 -6.70350453e-05 -4.13778620e+00] [-1.43596613e-03 6.70761446e-05 9.99998967e-01 -1.05417753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.510371743 meters 0.02886021019599494 Centerline is valid? [True, True] Translation: X:75.13, Y:-4.14, Z:-1.05 [[ 9.99999229e-01 6.43176761e-04 1.06253413e-03 7.51334331e+01] [-6.43124521e-04 9.99999792e-01 -4.95060217e-05 -4.13850342e+00] [-1.06256575e-03 4.88226418e-05 9.99999434e-01 -1.05437250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540371743 meters 0.02886021019599494 Centerline is valid? [True, True] Translation: X:75.16, Y:-4.14, Z:-1.05 [[ 9.99999229e-01 6.43183747e-04 1.06251074e-03 7.51634317e+01] [-6.43130980e-04 9.99999792e-01 -5.00029446e-05 -4.13991497e+00] [-1.06254268e-03 4.93195725e-05 9.99999434e-01 -1.05479412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.570371743 meters 0.02897045486103051 Centerline is valid? [True, True] Translation: X:75.19, Y:-4.14, Z:-1.06 [[ 9.99998503e-01 1.62645783e-03 5.91157063e-04 7.51934217e+01] [-1.62644167e-03 9.99998677e-01 -2.78205130e-05 -4.14219212e+00] [-5.91201530e-04 2.68589889e-05 9.99999825e-01 -1.05534067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600371743 meters 0.029319585335192716 Centerline is valid? [True, True] Translation: X:75.22, Y:-4.15, Z:-1.06 [[ 9.99997954e-01 1.90338085e-03 6.84380219e-04 7.52229095e+01] [-1.90335909e-03 9.99998188e-01 -3.24424407e-05 -4.14500434e+00] [-6.84440729e-04 3.11397530e-05 9.99999765e-01 -1.05545662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.630371743 meters 0.02744328558465404 Centerline is valid? [True, True] Translation: X:75.25, Y:-4.14, Z:-1.05 [[ 9.99996978e-01 2.30828769e-03 8.46191036e-04 7.52538241e+01] [-2.30825482e-03 9.99997335e-01 -3.98078102e-05 -4.14360693e+00] [-8.46280669e-04 3.78544653e-05 9.99999641e-01 -1.05498954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660371743 meters 0.028095351734484138 Centerline is valid? [True, True] Translation: X:75.28, Y:-4.15, Z:-1.06 [[ 9.99991745e-01 3.96322731e-03 8.95867449e-04 7.52831947e+01] [-3.96319135e-03 9.99992146e-01 -4.19086808e-05 -4.14745719e+00] [-8.96026506e-04 3.83578407e-05 9.99999598e-01 -1.05572029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.690371743 meters 0.027473182723657532 Centerline is valid? [True, True] Translation: X:75.31, Y:-4.15, Z:-1.06 [[ 9.99986719e-01 5.12353095e-03 5.58547613e-04 7.53130308e+01] [-5.12351679e-03 9.99986874e-01 -2.67675061e-05 -4.14808510e+00] [-5.58677426e-04 2.39054225e-05 9.99999844e-01 -1.05538035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720371743 meters 0.027301623493617644 Centerline is valid? [True, True] Translation: X:75.34, Y:-4.15, Z:-1.06 [[ 9.99979758e-01 6.23853121e-03 1.25063568e-03 7.53414138e+01] [-6.23846139e-03 9.99980539e-01 -5.97241608e-05 -4.14920439e+00] [-1.25098393e-03 5.19209095e-05 9.99999216e-01 -1.05537307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.750371743 meters 0.0262672501462704 Centerline is valid? [True, True] Translation: X:75.37, Y:-4.15, Z:-1.05 [[ 9.99969412e-01 7.59153684e-03 1.88259504e-03 7.53702551e+01] [-7.59138220e-03 9.99971181e-01 -8.92750811e-05 -4.14948331e+00] [-1.88321852e-03 7.49808519e-05 9.99998224e-01 -1.05482109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780371743 meters 0.026915817918808104 Centerline is valid? [True, True] Translation: X:75.40, Y:-4.15, Z:-1.06 [[ 9.99948175e-01 9.83923396e-03 2.61481160e-03 7.53982124e+01] [-9.83894486e-03 9.99951589e-01 -1.23405290e-04 -4.15374496e+00] [-2.61589923e-03 9.76719069e-05 9.99996574e-01 -1.05564187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.810371743 meters 0.025633590304180935 Centerline is valid? [True, True] Translation: X:75.43, Y:-4.15, Z:-1.06 [[ 9.99938169e-01 1.07942914e-02 2.67236727e-03 7.54271942e+01] [-1.07939934e-02 9.99941735e-01 -1.25914828e-04 -4.15357998e+00] [-2.67357073e-03 9.70615281e-05 9.99996421e-01 -1.05571133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.840371743 meters 0.025577241101001954 Centerline is valid? [True, True] Translation: X:75.46, Y:-4.16, Z:-1.06 [[ 9.99926996e-01 1.18161016e-02 2.52620153e-03 7.54561997e+01] [-1.18158389e-02 9.99930183e-01 -1.18891674e-04 -4.15571785e+00] [-2.52742999e-03 8.90338047e-05 9.99996802e-01 -1.05645503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87037174299999 meters 0.02527747722798201 Centerline is valid? [True, True] Translation: X:75.48, Y:-4.16, Z:-1.06 [[ 9.99907875e-01 1.33539105e-02 2.43205358e-03 7.54836111e+01] [-1.33536714e-02 9.99910829e-01 -1.14522716e-04 -4.15876774e+00] [-2.43336604e-03 8.20353215e-05 9.99997036e-01 -1.05761786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900371743 meters 0.025533950871156345 Centerline is valid? [True, True] Translation: X:75.51, Y:-4.16, Z:-1.06 [[ 9.99903527e-01 1.37536545e-02 1.94269409e-03 7.55126774e+01] [-1.37535030e-02 9.99905412e-01 -9.13355384e-05 -4.16099572e+00] [-1.94376653e-03 6.46078779e-05 9.99998109e-01 -1.05837381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.930371743 meters 0.025175156971566855 Centerline is valid? [True, True] Translation: X:75.54, Y:-4.16, Z:-1.06 [[ 9.99893555e-01 1.44661486e-02 1.89989713e-03 7.55411068e+01] [-1.44660052e-02 9.99895358e-01 -8.92135884e-05 -4.16244998e+00] [-1.90098890e-03 6.17201703e-05 9.99998191e-01 -1.05856094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960371743 meters 0.024049549002558204 Centerline is valid? [True, True] Translation: X:75.57, Y:-4.16, Z:-1.06 [[ 9.99878295e-01 1.53219279e-02 2.93818574e-03 7.55698140e+01] [-1.53215907e-02 9.99882608e-01 -1.37248699e-04 -4.16349204e+00] [-2.93994374e-03 9.22143155e-05 9.99995674e-01 -1.05820495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.990371743 meters 0.02470260488605258 Centerline is valid? [True, True] Translation: X:75.60, Y:-4.17, Z:-1.06 [[ 9.99874374e-01 1.54434484e-02 3.56890694e-03 7.55972672e+01] [-1.54429527e-02 9.99880737e-01 -1.66414391e-04 -4.16769992e+00] [-3.57105131e-03 1.11279024e-04 9.99993618e-01 -1.05886720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020371743 meters 0.02425068204284629 Centerline is valid? [True, True] Translation: X:75.63, Y:-4.17, Z:-1.06 [[ 9.99876143e-01 1.51984108e-02 4.08736056e-03 7.56256920e+01] [-1.51977616e-02 9.99884489e-01 -1.89856984e-04 -4.16949797e+00] [-4.08977395e-03 1.27714737e-04 9.99991629e-01 -1.05880313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.050371743 meters 0.024404588857646157 Centerline is valid? [True, True] Translation: X:75.65, Y:-4.17, Z:-1.06 [[ 9.99878876e-01 1.49152370e-02 4.44617401e-03 7.56532495e+01] [-1.49144670e-02 9.99888752e-01 -2.06280484e-04 -4.17459153e+00] [-4.44875610e-03 1.39943183e-04 9.99990094e-01 -1.05978484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080371743 meters 0.024780636138466677 Centerline is valid? [True, True] Translation: X:75.68, Y:-4.18, Z:-1.06 [[ 9.99890433e-01 1.42000474e-02 4.18099664e-03 7.56812602e+01] [-1.41993613e-02 9.99899165e-01 -1.93748216e-04 -4.17794363e+00] [-4.18332629e-03 1.34359506e-04 9.99991241e-01 -1.06066765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.110371743 meters 0.025139382608969172 Centerline is valid? [True, True] Translation: X:75.71, Y:-4.18, Z:-1.06 [[ 9.99905640e-01 1.32112491e-02 3.76483745e-03 7.57094614e+01] [-1.32106870e-02 9.99912720e-01 -1.74148328e-04 -4.18123179e+00] [-3.76680957e-03 1.24395806e-04 9.99992898e-01 -1.06151065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140371743 meters 0.026152337336089276 Centerline is valid? [True, True] Translation: X:75.74, Y:-4.19, Z:-1.06 [[ 9.99940556e-01 1.03403465e-02 3.45853664e-03 7.57381386e+01] [-1.03398569e-02 9.99946530e-01 -1.59400518e-04 -4.18783757e+00] [-3.45999997e-03 1.23630268e-04 9.99994007e-01 -1.06296876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.170371743 meters 0.0250410543481918 Centerline is valid? [True, True] Translation: X:75.77, Y:-4.19, Z:-1.06 [[ 9.99956363e-01 8.53185982e-03 3.80507753e-03 7.57677453e+01] [-8.53125584e-03 9.99963593e-01 -1.74933003e-04 -4.18930244e+00] [-3.80643150e-03 1.42463280e-04 9.99992745e-01 -1.06275099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.200371743 meters 0.026213205901882152 Centerline is valid? [True, True] Translation: X:75.80, Y:-4.19, Z:-1.06 [[ 9.99971592e-01 6.52527539e-03 3.77317983e-03 7.57959494e+01] [-6.52466704e-03 9.99978699e-01 -1.73515776e-04 -4.19433659e+00] [-3.77423169e-03 1.48892105e-04 9.99992866e-01 -1.06353781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.230371743 meters 0.026833247201170102 Centerline is valid? [True, True] Translation: X:75.83, Y:-4.20, Z:-1.06 [[ 9.99986220e-01 2.58617488e-03 4.56863980e-03 7.58258041e+01] [-2.58524533e-03 9.99996636e-01 -2.09356288e-04 -4.19942852e+00] [-4.56916586e-03 1.97542348e-04 9.99989542e-01 -1.06350300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260371743 meters 0.02819719211448098 Centerline is valid? [True, True] Translation: X:75.86, Y:-4.20, Z:-1.06 [[ 9.99987957e-01 6.56271940e-04 4.86371697e-03 7.58559889e+01] [-6.55197761e-04 9.99999761e-01 -2.22445714e-04 -4.20442963e+00] [-4.86386179e-03 2.19256338e-04 9.99988147e-01 -1.06349444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.290371743 meters 0.028000153094613872 Centerline is valid? [True, True] Translation: X:75.89, Y:-4.21, Z:-1.06 [[ 9.99982728e-01 -1.30052336e-03 5.73174845e-03 7.58879387e+01] [ 1.30204554e-03 9.99999118e-01 -2.61846745e-04 -4.20642468e+00] [-5.73140286e-03 2.69305220e-04 9.99983539e-01 -1.06304780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320371743 meters 0.029247133745430004 Centerline is valid? [True, True] Translation: X:75.92, Y:-4.21, Z:-1.06 [[ 9.99977131e-01 -3.05762658e-03 6.03231736e-03 7.59196228e+01] [ 3.05933974e-03 9.99995282e-01 -2.74789271e-04 -4.21029085e+00] [-6.03144870e-03 2.93237895e-04 9.99981768e-01 -1.06324819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.350371743 meters 0.03026156856242587 Centerline is valid? [True, True] Translation: X:75.95, Y:-4.22, Z:-1.06 [[ 9.99958537e-01 -6.33310764e-03 6.54340000e-03 7.59502642e+01] [ 6.33521546e-03 9.99979887e-01 -3.01451031e-04 -4.21583947e+00] [-6.54135927e-03 3.42892381e-04 9.99978546e-01 -1.06387081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380371743 meters 0.030277874062383265 Centerline is valid? [True, True] Translation: X:75.98, Y:-4.22, Z:-1.06 [[ 9.99952926e-01 -7.28976143e-03 6.40357284e-03 7.59821963e+01] [ 7.29179774e-03 9.99973371e-01 -2.94706485e-04 -4.21785311e+00] [-6.40125398e-03 3.41386170e-04 9.99979453e-01 -1.06429890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.410371743 meters 0.0308886124908234 Centerline is valid? [True, True] Translation: X:76.01, Y:-4.22, Z:-1.07 [[ 9.99948495e-01 -7.86133810e-03 6.41927215e-03 7.60144557e+01] [ 7.86339914e-03 9.99969039e-01 -2.95893973e-04 -4.22087071e+00] [-6.41674729e-03 3.46356032e-04 9.99979352e-01 -1.06517978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440371743 meters 0.031734739299398566 Centerline is valid? [True, True] Translation: X:76.05, Y:-4.22, Z:-1.07 [[ 9.99944486e-01 -8.38398903e-03 6.38227351e-03 7.60454929e+01] [ 8.38604074e-03 9.99964793e-01 -2.94775656e-04 -4.22322612e+00] [-6.37957741e-03 3.48281297e-04 9.99979590e-01 -1.06570931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.470371743 meters 0.030279133424509486 Centerline is valid? [True, True] Translation: X:76.08, Y:-4.22, Z:-1.07 [[ 9.99949326e-01 -7.82588652e-03 6.33258573e-03 7.60774999e+01] [ 7.82789642e-03 9.99969319e-01 -2.92665220e-04 -4.22166003e+00] [-6.33010107e-03 3.42221215e-04 9.99979906e-01 -1.06568330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500371743 meters 0.02894288910829545 Centerline is valid? [True, True] Translation: X:76.11, Y:-4.22, Z:-1.07 [[ 9.99956846e-01 -6.96082130e-03 6.15250938e-03 7.61097978e+01] [ 6.96270466e-03 9.99975720e-01 -2.84746335e-04 -4.22000441e+00] [-6.15037792e-03 3.27572152e-04 9.99981033e-01 -1.06592376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.530371743 meters 0.029086830136264608 Centerline is valid? [True, True] Translation: X:76.14, Y:-4.22, Z:-1.07 [[ 9.99971426e-01 -5.14521064e-03 5.53844215e-03 7.61400802e+01] [ 5.14671332e-03 9.99986723e-01 -2.57100608e-04 -4.21927899e+00] [-5.53704578e-03 2.85598035e-04 9.99984630e-01 -1.06710324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.560371743 meters 0.027350074581524254 Centerline is valid? [True, True] Translation: X:76.17, Y:-4.22, Z:-1.07 [[ 9.99977416e-01 -3.84933645e-03 5.50913487e-03 7.61728741e+01] [ 3.85080072e-03 9.99992553e-01 -2.55205294e-04 -4.21704210e+00] [-5.50811147e-03 2.76414111e-04 9.99984792e-01 -1.06773593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.590371743 meters 0.028567216031364924 Centerline is valid? [True, True] Translation: X:76.20, Y:-4.22, Z:-1.07 [[ 9.99980100e-01 -2.19840794e-03 5.91321119e-03 7.62041018e+01] [ 2.20007168e-03 9.99997542e-01 -2.74870483e-04 -4.21981109e+00] [-5.91259237e-03 2.87874502e-04 9.99982479e-01 -1.06858606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62037174299999 meters 0.027832490136796107 Centerline is valid? [True, True] Translation: X:76.24, Y:-4.22, Z:-1.07 [[ 9.99980851e-01 -9.93988511e-04 6.10814293e-03 7.62362566e+01] [ 9.95742721e-04 9.99999464e-01 -2.84157633e-04 -4.21882746e+00] [-6.10785720e-03 2.90234330e-04 9.99981305e-01 -1.06894320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.650371743 meters 0.027240668797659986 Centerline is valid? [True, True] Translation: X:76.27, Y:-4.22, Z:-1.07 [[ 9.99981156e-01 9.26741380e-05 6.13837166e-03 7.62688228e+01] [-9.09202319e-05 9.99999955e-01 -2.86006672e-04 -4.21757776e+00] [-6.13839789e-03 2.85443180e-04 9.99981119e-01 -1.06892465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680371743 meters 0.028621881443348728 Centerline is valid? [True, True] Translation: X:76.30, Y:-4.22, Z:-1.07 [[ 9.99984196e-01 1.14263010e-03 5.50467951e-03 7.63002125e+01] [-1.14123303e-03 9.99999316e-01 -2.56931134e-04 -4.21829957e+00] [-5.50496932e-03 2.50644951e-04 9.99984816e-01 -1.06974093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.710371743 meters 0.027247366313577402 Centerline is valid? [True, True] Translation: X:76.33, Y:-4.22, Z:-1.07 [[ 9.99984541e-01 1.35460578e-03 5.39281626e-03 7.63328741e+01] [-1.35326734e-03 9.99999053e-01 -2.51830607e-04 -4.21673921e+00] [-5.39315228e-03 2.44528792e-04 9.99985427e-01 -1.06998483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740371743 meters 0.027352410142864204 Centerline is valid? [True, True] Translation: X:76.37, Y:-4.22, Z:-1.07 [[ 9.99984896e-01 1.49996360e-03 5.28746283e-03 7.63654941e+01] [-1.49868535e-03 9.99998847e-01 -2.45705843e-04 -4.21616507e+00] [-5.28782528e-03 2.37777889e-04 9.99985991e-01 -1.07054810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.770371743 meters 0.02790698754187446 Centerline is valid? [True, True] Translation: X:76.40, Y:-4.22, Z:-1.07 [[ 9.99985127e-01 1.54688529e-03 5.22995490e-03 7.63966300e+01] [-1.54562778e-03 9.99998776e-01 -2.44477224e-04 -4.21742414e+00] [-5.23032667e-03 2.36390024e-04 9.99986294e-01 -1.07122501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800371743 meters 0.02764022255276049 Centerline is valid? [True, True] Translation: X:76.43, Y:-4.22, Z:-1.07 [[ 9.99985764e-01 1.50810176e-03 5.11826457e-03 7.64284843e+01] [-1.50689126e-03 9.99998836e-01 -2.40353014e-04 -4.21683427e+00] [-5.11862109e-03 2.32636924e-04 9.99986873e-01 -1.07142696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.830371743 meters 0.028669397405094055 Centerline is valid? [True, True] Translation: X:76.46, Y:-4.22, Z:-1.07 [[ 9.99985775e-01 1.25875720e-03 5.18319155e-03 7.64592615e+01] [-1.25750588e-03 9.99999179e-01 -2.44670378e-04 -4.21859998e+00] [-5.18349528e-03 2.38149004e-04 9.99986537e-01 -1.07188250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860371743 meters 0.02746470040611232 Centerline is valid? [True, True] Translation: X:76.49, Y:-4.21, Z:-1.07 [[ 9.99991903e-01 7.59300364e-04 3.95179972e-03 7.64915495e+01] [-7.58569465e-04 9.99999695e-01 -1.86449034e-04 -4.21427835e+00] [-3.95194009e-03 1.83449810e-04 9.99992174e-01 -1.07219771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.890371743 meters 0.028609399507077134 Centerline is valid? [True, True] Translation: X:76.52, Y:-4.22, Z:-1.07 [[ 9.99993095e-01 1.00847911e-03 3.57669877e-03 7.65230622e+01] [-1.00787246e-03 9.99999477e-01 -1.71411586e-04 -4.21639515e+00] [-3.57686977e-03 1.67805546e-04 9.99993589e-01 -1.07338658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920371743 meters 0.028335799215569158 Centerline is valid? [True, True] Translation: X:76.55, Y:-4.22, Z:-1.07 [[ 9.99994244e-01 1.22708885e-03 3.16313983e-03 7.65545103e+01] [-1.22661457e-03 9.99999236e-01 -1.51876658e-04 -4.21586010e+00] [-3.16332378e-03 1.47995831e-04 9.99994986e-01 -1.07377732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.950371743 meters 0.026792549908993865 Centerline is valid? [True, True] Translation: X:76.59, Y:-4.21, Z:-1.07 [[ 9.99992990e-01 1.58313633e-03 3.39327551e-03 7.65857341e+01] [-1.58259206e-03 9.99998734e-01 -1.63073412e-04 -4.21380628e+00] [-3.39352938e-03 1.57702098e-04 9.99994230e-01 -1.07355652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.980371743 meters 0.028189980713581628 Centerline is valid? [True, True] Translation: X:76.62, Y:-4.21, Z:-1.07 [[ 9.99991304e-01 2.00471360e-03 3.65699762e-03 7.66164075e+01] [-2.00408293e-03 9.99997976e-01 -1.76113197e-04 -4.21405125e+00] [-3.65734327e-03 1.68782739e-04 9.99993298e-01 -1.07371899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.010371743 meters 0.027798843325803953 Centerline is valid? [True, True] Translation: X:76.65, Y:-4.21, Z:-1.07 [[ 9.99988008e-01 2.57333783e-03 4.16673223e-03 7.66482633e+01] [-2.57252429e-03 9.99996671e-01 -2.00596152e-04 -4.21293809e+00] [-4.16723456e-03 1.89874727e-04 9.99991299e-01 -1.07337266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040371743 meters 0.027497057016163798 Centerline is valid? [True, True] Translation: X:76.68, Y:-4.21, Z:-1.07 [[ 9.99979972e-01 4.11516897e-03 4.80837504e-03 7.66794702e+01] [-4.11410214e-03 9.99991510e-01 -2.31738824e-04 -4.21065392e+00] [-4.80928786e-03 2.11952037e-04 9.99988413e-01 -1.07282092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.070371743 meters 0.02769233505996044 Centerline is valid? [True, True] Translation: X:76.71, Y:-4.21, Z:-1.07 [[ 9.99973345e-01 4.91136206e-03 5.40252508e-03 7.67102148e+01] [-4.91002383e-03 9.99987912e-01 -2.60940006e-04 -4.21102876e+00] [-5.40374135e-03 2.34406524e-04 9.99985372e-01 -1.07333337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100371743 meters 0.027647066734408806 Centerline is valid? [True, True] Translation: X:76.74, Y:-4.21, Z:-1.07 [[ 9.99970319e-01 5.40910012e-03 5.48665365e-03 7.67408920e+01] [-5.40772737e-03 9.99985343e-01 -2.65003385e-04 -4.21139667e+00] [-5.48800666e-03 2.35325193e-04 9.99984913e-01 -1.07389218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.130371743 meters 0.027011392912336618 Centerline is valid? [True, True] Translation: X:76.77, Y:-4.21, Z:-1.07 [[ 9.99966955e-01 6.34386498e-03 5.08366587e-03 7.67717039e+01] [-6.34269853e-03 9.99979855e-01 -2.45539221e-04 -4.20945165e+00] [-5.08512112e-03 2.13286948e-04 9.99987048e-01 -1.07426113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160371743 meters 0.02766087868052572 Centerline is valid? [True, True] Translation: X:76.80, Y:-4.21, Z:-1.08 [[ 9.99965120e-01 6.74952737e-03 4.91962343e-03 7.68013945e+01] [-6.74843909e-03 9.99977201e-01 -2.37777948e-04 -4.21083042e+00] [-4.92111616e-03 2.04569875e-04 9.99987870e-01 -1.07534516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.190371743 meters 0.02659403530880081 Centerline is valid? [True, True] Translation: X:76.83, Y:-4.21, Z:-1.08 [[ 9.99963802e-01 7.07991313e-03 4.71895689e-03 7.68310817e+01] [-7.07891505e-03 9.99974918e-01 -2.28174862e-04 -4.20916804e+00] [-4.72045398e-03 1.94761508e-04 9.99988840e-01 -1.07534708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220371743 meters 0.027936965477471685 Centerline is valid? [True, True] Translation: X:76.86, Y:-4.21, Z:-1.08 [[ 9.99962204e-01 7.81980908e-03 3.80010283e-03 7.68608354e+01] [-7.81916803e-03 9.99969413e-01 -1.83521639e-04 -4.21120317e+00] [-3.80142170e-03 1.53801060e-04 9.99992763e-01 -1.07704815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.250371743 meters 0.026456129149011725 Centerline is valid? [True, True] Translation: X:76.89, Y:-4.21, Z:-1.08 [[ 9.99962889e-01 7.96588552e-03 3.28108359e-03 7.68909327e+01] [-7.96540785e-03 9.99968263e-01 -1.58626369e-04 -4.20884499e+00] [-3.28224306e-03 1.32485314e-04 9.99994605e-01 -1.07717728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280371743 meters 0.026739090607292522 Centerline is valid? [True, True] Translation: X:76.92, Y:-4.21, Z:-1.08 [[ 9.99962697e-01 8.04764514e-03 3.13687695e-03 7.69195523e+01] [-8.04720800e-03 9.99967609e-01 -1.51951393e-04 -4.21023573e+00] [-3.13799819e-03 1.26702624e-04 9.99995068e-01 -1.07822577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.310371743 meters 0.027009780934516395 Centerline is valid? [True, True] Translation: X:76.95, Y:-4.21, Z:-1.08 [[ 9.99961066e-01 8.18405770e-03 3.29951316e-03 7.69483387e+01] [-8.18357575e-03 9.99966501e-01 -1.59540281e-04 -4.21154645e+00] [-3.30070832e-03 1.32532253e-04 9.99994544e-01 -1.07924538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.340371743 meters 0.026518533896805124 Centerline is valid? [True, True] Translation: X:76.98, Y:-4.21, Z:-1.08 [[ 9.99953044e-01 8.92149336e-03 3.78379966e-03 7.69775417e+01] [-8.92086641e-03 9.99960192e-01 -1.82539087e-04 -4.21064326e+00] [-3.78527755e-03 1.48775745e-04 9.99992825e-01 -1.07935070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37037174299999 meters 0.026466310681090007 Centerline is valid? [True, True] Translation: X:77.01, Y:-4.21, Z:-1.08 [[ 9.99951438e-01 8.99842727e-03 4.01865428e-03 7.70062905e+01] [-8.99772212e-03 9.99959501e-01 -1.93515980e-04 -4.21103603e+00] [-4.02023287e-03 1.57347848e-04 9.99991906e-01 -1.07941109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400371743 meters 0.026607093424366096 Centerline is valid? [True, True] Translation: X:77.04, Y:-4.21, Z:-1.08 [[ 9.99949159e-01 8.90315697e-03 4.73424927e-03 7.70350389e+01] [-8.90217968e-03 9.99960349e-01 -2.27462661e-04 -4.21178068e+00] [-4.73608668e-03 1.85305959e-04 9.99988768e-01 -1.07945071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.430371743 meters 0.028132184931239333 Centerline is valid? [True, True] Translation: X:77.06, Y:-4.21, Z:-1.08 [[ 9.99943693e-01 8.83257202e-03 5.88192950e-03 7.70638278e+01] [-8.83106697e-03 9.99960966e-01 -2.81799701e-04 -4.21436106e+00] [-5.88418892e-03 2.29840120e-04 9.99982662e-01 -1.07980728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460371743 meters 0.028132184931239333 Centerline is valid? [True, True] Translation: X:77.09, Y:-4.22, Z:-1.08 [[ 9.99943993e-01 8.79845340e-03 5.88195154e-03 7.70929672e+01] [-8.79695047e-03 9.99961267e-01 -2.81338570e-04 -4.21572189e+00] [-5.88419905e-03 2.29579577e-04 9.99982662e-01 -1.08021729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.490371743 meters 0.027173260324684066 Centerline is valid? [True, True] Translation: X:77.12, Y:-4.22, Z:-1.08 [[ 9.99943272e-01 8.69005787e-03 6.15915503e-03 7.71223204e+01] [-8.68840929e-03 9.99962212e-01 -2.94369958e-04 -4.21528053e+00] [-6.16148038e-03 2.40839999e-04 9.99980989e-01 -1.07994426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520371743 meters 0.026816678263972958 Centerline is valid? [True, True] Translation: X:77.15, Y:-4.22, Z:-1.08 [[ 9.99951247e-01 7.76743478e-03 6.09674811e-03 7.71522381e+01] [-7.76580356e-03 9.99969803e-01 -2.91183953e-04 -4.21557847e+00] [-6.09882576e-03 2.43823609e-04 9.99981372e-01 -1.08037055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.550371743 meters 0.028618356440509314 Centerline is valid? [True, True] Translation: X:77.18, Y:-4.22, Z:-1.08 [[ 9.99962281e-01 6.45567453e-03 5.81040406e-03 7.71817302e+01] [-6.45417388e-03 9.99979133e-01 -2.76984168e-04 -4.21985113e+00] [-5.81207094e-03 2.39472363e-04 9.99983081e-01 -1.08161789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580371743 meters 0.02903837436118782 Centerline is valid? [True, True] Translation: X:77.21, Y:-4.22, Z:-1.08 [[ 9.99971953e-01 5.79352684e-03 4.74630305e-03 7.72121419e+01] [-5.79251774e-03 9.99983198e-01 -2.26326674e-04 -4.22168749e+00] [-4.74753453e-03 1.98827282e-04 9.99988711e-01 -1.08221675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.610371743 meters 0.030559492645182783 Centerline is valid? [True, True] Translation: X:77.24, Y:-4.22, Z:-1.08 [[ 9.99976473e-01 5.38373867e-03 4.25072535e-03 7.72419291e+01] [-5.38292603e-03 9.99985491e-01 -2.02595939e-04 -4.22471097e+00] [-4.25175441e-03 1.79709832e-04 9.99990945e-01 -1.08379005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640371743 meters 0.030307611653344068 Centerline is valid? [True, True] Translation: X:77.27, Y:-4.23, Z:-1.08 [[ 9.99981371e-01 4.95596702e-03 3.56307677e-03 7.72725100e+01] [-4.95539290e-03 9.99987708e-01 -1.69940876e-04 -4.22548603e+00] [-3.56387519e-03 1.52281265e-04 9.99993638e-01 -1.08479597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.670371743 meters 0.031928009253576785 Centerline is valid? [True, True] Translation: X:77.30, Y:-4.23, Z:-1.09 [[ 9.99978173e-01 5.80670965e-03 3.15218739e-03 7.73021232e+01] [-5.80626396e-03 9.99983132e-01 -1.50525183e-04 -4.22918138e+00] [-3.15300828e-03 1.32219466e-04 9.99995021e-01 -1.08687052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.700371743 meters 0.027806637800280563 Centerline is valid? [True, True] Translation: X:77.33, Y:-4.22, Z:-1.09 [[ 9.99973913e-01 6.57388220e-03 2.99298630e-03 7.73322299e+01] [-6.57348331e-03 9.99978384e-01 -1.43090759e-04 -4.22294179e+00] [-2.99386227e-03 1.23412681e-04 9.99995511e-01 -1.08551485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.730371743 meters 0.027110526216998432 Centerline is valid? [True, True] Translation: X:77.36, Y:-4.22, Z:-1.09 [[ 9.99963844e-01 7.90746933e-03 3.12787716e-03 7.73620330e+01] [-7.90704062e-03 9.99968728e-01 -1.49406345e-04 -4.22247595e+00] [-3.12896077e-03 1.24668691e-04 9.99995097e-01 -1.08575248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760371743 meters 0.025518937851972196 Centerline is valid? [True, True] Translation: X:77.39, Y:-4.22, Z:-1.08 [[ 9.99924601e-01 1.17151995e-02 3.68060132e-03 7.73922511e+01] [-1.17146331e-02 9.99931366e-01 -1.75409397e-04 -4.21926058e+00] [-3.68240366e-03 1.32279278e-04 9.99993211e-01 -1.08496493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.790371743 meters 0.024489282483568027 Centerline is valid? [True, True] Translation: X:77.42, Y:-4.22, Z:-1.08 [[ 9.99886670e-01 1.44235425e-02 4.31367035e-03 7.74214719e+01] [-1.44227887e-02 9.99895965e-01 -2.05812231e-04 -4.21768732e+00] [-4.31619012e-03 1.43573750e-04 9.99990675e-01 -1.08460266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820371743 meters 0.02453711950786132 Centerline is valid? [True, True] Translation: X:77.45, Y:-4.22, Z:-1.08 [[ 9.99840998e-01 1.71954520e-02 4.72184703e-03 7.74498933e+01] [-1.71945805e-02 9.99852137e-01 -2.25121430e-04 -4.21827152e+00] [-4.72501991e-03 1.43895457e-04 9.99988827e-01 -1.08492314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.850371743 meters 0.022437970399867967 Centerline is valid? [True, True] Translation: X:77.48, Y:-4.21, Z:-1.08 [[ 9.99706219e-01 2.37133960e-02 5.01503392e-03 7.74800011e+01] [-2.37124981e-02 9.99718791e-01 -2.38428843e-04 -4.21262288e+00] [-5.01927760e-03 1.19439814e-04 9.99987396e-01 -1.08433403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880371743 meters 0.02216997615670739 Centerline is valid? [True, True] Translation: X:77.51, Y:-4.21, Z:-1.09 [[ 9.99610305e-01 2.74050551e-02 5.31039463e-03 7.75083608e+01] [-2.74041005e-02 9.99624405e-01 -2.52443184e-04 -4.21178703e+00] [-5.31531829e-03 1.06818220e-04 9.99985868e-01 -1.08522124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.910371743 meters 0.021335385376990215 Centerline is valid? [True, True] Translation: X:77.54, Y:-4.21, Z:-1.09 [[ 9.99494573e-01 3.12986660e-02 5.56707854e-03 7.75370074e+01] [-3.12976798e-02 9.99510073e-01 -2.64201841e-04 -4.20972019e+00] [-5.57262024e-03 8.98316648e-05 9.99984469e-01 -1.08522849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940371743 meters 0.020622281962143215 Centerline is valid? [True, True] Translation: X:77.56, Y:-4.21, Z:-1.09 [[ 9.99265213e-01 3.79473437e-02 5.38826127e-03 7.75648086e+01] [-3.79465176e-02 9.99279739e-01 -2.55509646e-04 -4.20612598e+00] [-5.39407623e-03 5.08561500e-05 9.99985451e-01 -1.08618088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.970371743 meters 0.020529519431083745 Centerline is valid? [True, True] Translation: X:77.59, Y:-4.21, Z:-1.09 [[ 9.99156228e-01 4.07323638e-02 5.26377003e-03 7.75922465e+01] [-4.07316164e-02 9.99170092e-01 -2.49154358e-04 -4.20533894e+00] [-5.26955024e-03 3.45422669e-05 9.99986115e-01 -1.08727743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000371743 meters 0.02053334619911325 Centerline is valid? [True, True] Translation: X:77.62, Y:-4.20, Z:-1.09 [[ 9.99039397e-01 4.34815246e-02 5.44421384e-03 7.76210071e+01] [-4.34807696e-02 9.99054231e-01 -2.57023420e-04 -4.20488014e+00] [-5.45024065e-03 2.00579147e-05 9.99985147e-01 -1.08795066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.030371743 meters 0.020389059087570802 Centerline is valid? [True, True] Translation: X:77.65, Y:-4.20, Z:-1.09 [[ 9.98877169e-01 4.70506859e-02 5.53483172e-03 7.76492800e+01] [-4.70499526e-02 9.98892503e-01 -2.62685754e-04 -4.20384407e+00] [-5.54106146e-03 1.97723237e-06 9.99984648e-01 -1.08857065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.060371743 meters 0.02049520385420174 Centerline is valid? [True, True] Translation: X:77.68, Y:-4.20, Z:-1.09 [[ 9.98824895e-01 4.80961474e-02 5.96573097e-03 7.76762691e+01] [-4.80953337e-02 9.98842711e-01 -2.79866298e-04 -4.20465652e+00] [-5.97228738e-03 -7.38639595e-06 9.99982166e-01 -1.08951948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.090371743 meters 0.02035255799697615 Centerline is valid? [True, True] Translation: X:77.70, Y:-4.21, Z:-1.09 [[ 9.98809582e-01 4.84040402e-02 6.03880621e-03 7.77045386e+01] [-4.84032174e-02 9.98827837e-01 -2.82398601e-04 -4.20619183e+00] [-6.04539698e-03 -1.02352210e-05 9.99981726e-01 -1.09017244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12037174299999 meters 0.02039137665022001 Centerline is valid? [True, True] Translation: X:77.73, Y:-4.21, Z:-1.09 [[ 9.98865481e-01 4.71822395e-02 6.44879272e-03 7.77332941e+01] [-4.71812825e-02 9.98886298e-01 -3.00545807e-04 -4.21047343e+00] [-6.45579111e-03 -4.05747890e-06 9.99979161e-01 -1.09046281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.150371743 meters 0.020498885644433675 Centerline is valid? [True, True] Translation: X:77.76, Y:-4.21, Z:-1.09 [[ 9.98938273e-01 4.55553171e-02 6.85856190e-03 7.77613037e+01] [-4.55541983e-02 9.98961818e-01 -3.19346426e-04 -4.21394703e+00] [-6.86598939e-03 6.57107878e-06 9.99976429e-01 -1.09095980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180371743 meters 0.020486610703665774 Centerline is valid? [True, True] Translation: X:77.79, Y:-4.22, Z:-1.09 [[ 9.99045914e-01 4.31159988e-02 6.94778521e-03 7.77897975e+01] [-4.31147987e-02 9.99070073e-01 -3.22493898e-04 -4.21803260e+00] [-6.95522893e-03 2.26338509e-05 9.99975812e-01 -1.09143279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.210371743 meters 0.020620650398363076 Centerline is valid? [True, True] Translation: X:77.82, Y:-4.22, Z:-1.09 [[ 9.99145219e-01 4.07330428e-02 7.04636921e-03 7.78188613e+01] [-4.07317526e-02 9.99170064e-01 -3.26565823e-04 -4.22243270e+00] [-7.05382320e-03 3.92757130e-05 9.99975121e-01 -1.09193019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240371743 meters 0.02092978631683787 Centerline is valid? [True, True] Translation: X:77.85, Y:-4.23, Z:-1.09 [[ 9.99380836e-01 3.45013536e-02 6.89942675e-03 7.78460149e+01] [-3.44999706e-02 9.99404648e-01 -3.19408539e-04 -4.23061018e+00] [-6.90633918e-03 8.11807533e-05 9.99976148e-01 -1.09226184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.270371743 meters 0.021408986474092128 Centerline is valid? [True, True] Translation: X:77.87, Y:-4.24, Z:-1.09 [[ 9.99493509e-01 3.10907779e-02 6.78895850e-03 7.78744377e+01] [-3.10893649e-02 9.99516560e-01 -3.13588266e-04 -4.23553865e+00] [-6.79542615e-03 1.02365027e-04 9.99976906e-01 -1.09276809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300371743 meters 0.02208180783314077 Centerline is valid? [True, True] Translation: X:77.90, Y:-4.24, Z:-1.09 [[ 9.99588470e-01 2.79385533e-02 6.50592447e-03 7.79020975e+01] [-2.79371908e-02 9.99609635e-01 -3.00227788e-04 -4.24091196e+00] [-6.51177272e-03 1.18346982e-04 9.99978791e-01 -1.09325714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.330371743 meters 0.022331167925152468 Centerline is valid? [True, True] Translation: X:77.93, Y:-4.24, Z:-1.09 [[ 9.99675551e-01 2.44740587e-02 7.05780532e-03 7.79305706e+01] [-2.44723748e-02 9.99700454e-01 -3.24869235e-04 -4.24462784e+00] [-7.06364205e-03 1.52042574e-04 9.99975041e-01 -1.09299448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360371743 meters 0.023208614897088472 Centerline is valid? [True, True] Translation: X:77.96, Y:-4.25, Z:-1.09 [[ 9.99790946e-01 1.90333112e-02 7.46974822e-03 7.79598793e+01] [-1.90312793e-02 9.99818830e-01 -3.43009438e-04 -4.25258092e+00] [-7.47492353e-03 2.00778866e-04 9.99972042e-01 -1.09359065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.390371743 meters 0.023556810826889294 Centerline is valid? [True, True] Translation: X:77.99, Y:-4.26, Z:-1.09 [[ 9.99832481e-01 1.65793311e-02 7.75474839e-03 7.79883328e+01] [-1.65770680e-02 9.99862528e-01 -3.56024616e-04 -4.25679260e+00] [-7.75958497e-03 2.27413984e-04 9.99969868e-01 -1.09405783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420371743 meters 0.023907104104251252 Centerline is valid? [True, True] Translation: X:78.02, Y:-4.26, Z:-1.09 [[ 9.99863617e-01 1.45225486e-02 7.86402170e-03 7.80167093e+01] [-1.45201622e-02 9.99894512e-01 -3.60467367e-04 -4.26039143e+00] [-7.86842704e-03 2.46231335e-04 9.99969013e-01 -1.09453393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.450371743 meters 0.02530157885647877 Centerline is valid? [True, True] Translation: X:78.04, Y:-4.27, Z:-1.09 [[ 9.99902464e-01 1.12500283e-02 8.27638793e-03 7.80449615e+01] [-1.12472794e-02 9.99936676e-01 -3.78610519e-04 -4.26795339e+00] [-8.28012322e-03 2.85486743e-04 9.99965678e-01 -1.09488309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.480371743 meters 0.026174876236251764 Centerline is valid? [True, True] Translation: X:78.07, Y:-4.27, Z:-1.10 [[ 9.99923291e-01 9.46029391e-03 7.99466973e-03 7.80744439e+01] [-9.45767779e-03 9.99955209e-01 -3.64976834e-04 -4.27228903e+00] [-7.99776443e-03 2.89337826e-04 9.99967976e-01 -1.09542872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.510371743 meters 0.02596856313670043 Centerline is valid? [True, True] Translation: X:78.10, Y:-4.27, Z:-1.10 [[ 9.99936949e-01 7.76857481e-03 8.10850243e-03 7.81046221e+01] [-7.76582780e-03 9.99969777e-01 -3.70213011e-04 -4.27482678e+00] [-8.11113339e-03 3.07220435e-04 9.99967057e-01 -1.09571885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540371743 meters 0.026870437351303907 Centerline is valid? [True, True] Translation: X:78.14, Y:-4.28, Z:-1.10 [[ 9.99958724e-01 4.43697735e-03 7.92864739e-03 7.81359500e+01] [-4.43424801e-03 9.99990103e-01 -3.61784331e-04 -4.28083905e+00] [-7.93017415e-03 3.26611809e-04 9.99968502e-01 -1.09632141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.570371743 meters 0.02957441737561718 Centerline is valid? [True, True] Translation: X:78.17, Y:-4.29, Z:-1.10 [[ 9.99967639e-01 3.32284801e-03 7.32664470e-03 7.81670054e+01] [-3.32049545e-03 9.99994432e-01 -3.33237069e-04 -4.28815185e+00] [-7.32771119e-03 3.08898194e-04 9.99973104e-01 -1.09785888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600371743 meters 0.02767584561905224 Centerline is valid? [True, True] Translation: X:78.20, Y:-4.29, Z:-1.10 [[ 9.99980054e-01 9.33979283e-04 6.24656674e-03 7.81989097e+01] [-9.32216915e-04 9.99999525e-01 -2.85039628e-04 -4.28862059e+00] [-6.24682999e-03 2.79210787e-04 9.99980449e-01 -1.09879834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.630371743 meters 0.02940471977932464 Centerline is valid? [True, True] Translation: X:78.23, Y:-4.29, Z:-1.10 [[ 9.99983751e-01 4.80190267e-04 5.68040286e-03 7.82298701e+01] [-4.78719689e-04 9.99999852e-01 -2.60243064e-04 -4.29422675e+00] [-5.68052699e-03 2.57519514e-04 9.99983833e-01 -1.10005731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660371743 meters 0.02891246593517389 Centerline is valid? [True, True] Translation: X:78.26, Y:-4.30, Z:-1.10 [[ 9.99986046e-01 -3.90137162e-04 5.26827968e-03 7.82617833e+01] [ 3.91418626e-04 9.99999894e-01 -2.42212477e-04 -4.29569601e+00] [-5.26818463e-03 2.44271201e-04 9.99986093e-01 -1.10065404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.690371743 meters 0.030811632336946813 Centerline is valid? [True, True] Translation: X:78.29, Y:-4.30, Z:-1.10 [[ 9.99986519e-01 -1.40817068e-03 4.99783875e-03 7.82923013e+01] [ 1.40935157e-03 9.99998980e-01 -2.32766483e-04 -4.30081093e+00] [-4.99750588e-03 2.39807057e-04 9.99987484e-01 -1.10184442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720371743 meters 0.03156806044585222 Centerline is valid? [True, True] Translation: X:78.32, Y:-4.31, Z:-1.10 [[ 9.99984356e-01 -2.97897618e-03 4.73419765e-03 7.83240612e+01] [ 2.98005252e-03 9.99995535e-01 -2.20317183e-04 -4.30517567e+00] [-4.73352020e-03 2.34421894e-04 9.99988769e-01 -1.10310284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.750371743 meters 0.029818222212527844 Centerline is valid? [True, True] Translation: X:78.36, Y:-4.30, Z:-1.10 [[ 9.99982144e-01 -3.91561144e-03 4.51433984e-03 7.83566120e+01] [ 3.91660075e-03 9.99992308e-01 -2.10328416e-04 -4.30430377e+00] [-4.51348155e-03 2.28005527e-04 9.99989788e-01 -1.10298679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780371743 meters 0.0330275445349897 Centerline is valid? [True, True] Translation: X:78.39, Y:-4.31, Z:-1.10 [[ 9.99980115e-01 -4.47281252e-03 4.44559873e-03 7.83875588e+01] [ 4.47377676e-03 9.99989971e-01 -2.06975888e-04 -4.31136865e+00] [-4.44462838e-03 2.26860388e-04 9.99990097e-01 -1.10407081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.810371743 meters 0.031189519551474573 Centerline is valid? [True, True] Translation: X:78.42, Y:-4.31, Z:-1.10 [[ 9.99976192e-01 -5.31633750e-03 4.39906309e-03 7.84196229e+01] [ 5.31729405e-03 9.99985842e-01 -2.05778275e-04 -4.31033562e+00] [-4.39790682e-03 2.29164488e-04 9.99990303e-01 -1.10385278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.840371743 meters 0.03206131767383626 Centerline is valid? [True, True] Translation: X:78.45, Y:-4.31, Z:-1.10 [[ 9.99968403e-01 -6.88929835e-03 3.96618120e-03 7.84517378e+01] [ 6.89008899e-03 9.99976246e-01 -1.85715514e-04 -4.31411641e+00] [-3.96480754e-03 2.13036987e-04 9.99992117e-01 -1.10402769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87037174299999 meters 0.0317596797028026 Centerline is valid? [True, True] Translation: X:78.48, Y:-4.32, Z:-1.10 [[ 9.99961727e-01 -7.82026764e-03 3.92284292e-03 7.84842764e+01] [ 7.82104924e-03 9.99969398e-01 -1.83943407e-04 -4.31545045e+00] [-3.92128439e-03 2.14617114e-04 9.99992289e-01 -1.10422665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900371743 meters 0.03715555082213036 Centerline is valid? [True, True] Translation: X:78.51, Y:-4.33, Z:-1.11 [[ 9.99946964e-01 -9.46709310e-03 4.05501836e-03 7.85144482e+01] [ 9.46794452e-03 9.99955160e-01 -1.90822387e-04 -4.32586363e+00] [-4.05303000e-03 2.29204955e-04 9.99991760e-01 -1.10620209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.930371743 meters 0.033113018806251934 Centerline is valid? [True, True] Translation: X:78.55, Y:-4.32, Z:-1.11 [[ 9.99935491e-01 -1.04655762e-02 4.41432390e-03 7.85471706e+01] [ 1.04665943e-02 9.99945202e-01 -2.07587028e-04 -4.32205331e+00] [-4.41190949e-03 2.53776574e-04 9.99990235e-01 -1.10565603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960371743 meters 0.034187514944160946 Centerline is valid? [True, True] Translation: X:78.58, Y:-4.33, Z:-1.11 [[ 9.99928994e-01 -1.12048042e-02 4.05690766e-03 7.85779632e+01] [ 1.12056718e-02 9.99937196e-01 -1.91170829e-04 -4.32554162e+00] [-4.05451084e-03 2.36617630e-04 9.99991752e-01 -1.10619823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.990371743 meters 0.034712375318776426 Centerline is valid? [True, True] Translation: X:78.61, Y:-4.33, Z:-1.11 [[ 9.99924907e-01 -1.14841692e-02 4.27726220e-03 7.86097175e+01] [ 1.14851366e-02 9.99934023e-01 -2.01658760e-04 -4.32892092e+00] [-4.27466411e-03 2.50768558e-04 9.99990832e-01 -1.10677819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020371743 meters 0.03230945591289567 Centerline is valid? [True, True] Translation: X:78.64, Y:-4.33, Z:-1.11 [[ 9.99924214e-01 -1.18849557e-02 3.21144117e-03 7.86418116e+01] [ 1.18855029e-02 9.99929353e-01 -1.51361306e-04 -4.32750828e+00] [-3.20941537e-03 1.89519429e-04 9.99994832e-01 -1.10742681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.050371743 meters 0.035930182715238394 Centerline is valid? [True, True] Translation: X:78.67, Y:-4.33, Z:-1.11 [[ 9.99930352e-01 -1.15032034e-02 2.63944699e-03 7.86727142e+01] [ 1.15035723e-02 9.99933824e-01 -1.24623205e-04 -4.33454157e+00] [-2.63783875e-03 1.54977595e-04 9.99996509e-01 -1.10922408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080371743 meters 0.0326327934616452 Centerline is valid? [True, True] Translation: X:78.70, Y:-4.33, Z:-1.11 [[ 9.99938838e-01 -1.08660627e-02 2.06117986e-03 7.87049883e+01] [ 1.08662857e-02 9.99940955e-01 -9.70516132e-05 -4.33164920e+00] [-2.06000359e-03 1.19443047e-04 9.99997871e-01 -1.10910849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.110371743 meters 0.03269590712551079 Centerline is valid? [True, True] Translation: X:78.74, Y:-4.33, Z:-1.11 [[ 9.99962887e-01 -8.31251569e-03 2.26406282e-03 7.87358061e+01] [ 8.31277986e-03 9.99965442e-01 -1.07293325e-04 -4.33357297e+00] [-2.26309270e-03 1.26109999e-04 9.99997431e-01 -1.10982056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140371743 meters 0.03249390603925042 Centerline is valid? [True, True] Translation: X:78.77, Y:-4.33, Z:-1.11 [[ 9.99973501e-01 -6.90826748e-03 2.29628411e-03 7.87677178e+01] [ 6.90853479e-03 9.99976130e-01 -1.08500414e-04 -4.33412078e+00] [-2.29547974e-03 1.24361498e-04 9.99997358e-01 -1.11037349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.170371743 meters 0.030530282559728776 Centerline is valid? [True, True] Translation: X:78.80, Y:-4.33, Z:-1.11 [[ 9.99983037e-01 -5.02558289e-03 2.94450003e-03 7.87990044e+01] [ 5.02601686e-03 9.99987360e-01 -1.39999739e-04 -4.33271541e+00] [-2.94375923e-03 1.54796471e-04 9.99995655e-01 -1.11028995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.200371743 meters 0.029348602575308823 Centerline is valid? [True, True] Translation: X:78.83, Y:-4.33, Z:-1.11 [[ 9.99995710e-01 -3.40179656e-04 2.90942630e-03 7.88299619e+01] [ 3.40584233e-04 9.99999932e-01 -1.38562873e-04 -4.33112804e+00] [-2.90937897e-03 1.39553183e-04 9.99995758e-01 -1.11042136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.230371743 meters 0.028758025132110336 Centerline is valid? [True, True] Translation: X:78.86, Y:-4.33, Z:-1.11 [[ 9.99994560e-01 2.08448230e-03 2.55617271e-03 7.88610800e+01] [-2.08417819e-03 9.99997821e-01 -1.21627172e-04 -4.33032082e+00] [-2.55642067e-03 1.16298990e-04 9.99996726e-01 -1.11088907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260371743 meters 0.027827158232616823 Centerline is valid? [True, True] Translation: X:78.89, Y:-4.33, Z:-1.11 [[ 9.99987560e-01 4.26218037e-03 2.59114842e-03 7.88915814e+01] [-4.26187387e-03 9.99990911e-01 -1.23798827e-04 -4.32932154e+00] [-2.59165252e-03 1.12754140e-04 9.99996635e-01 -1.11132640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.290371743 meters 0.027016064502143975 Centerline is valid? [True, True] Translation: X:78.92, Y:-4.33, Z:-1.11 [[ 9.99966705e-01 7.69155580e-03 2.72570117e-03 7.89217643e+01] [-7.69122881e-03 9.99970414e-01 -1.30427545e-04 -4.32849199e+00] [-2.72662372e-03 1.09459211e-04 9.99996277e-01 -1.11169049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320371743 meters 0.026482933538128816 Centerline is valid? [True, True] Translation: X:78.95, Y:-4.33, Z:-1.11 [[ 9.99957709e-01 8.74639644e-03 2.84257252e-03 7.89506408e+01] [-8.74604353e-03 9.99961743e-01 -1.36559143e-04 -4.32851878e+00] [-2.84365817e-03 1.11692104e-04 9.99995951e-01 -1.11172521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.350371743 meters 0.026482933538128816 Centerline is valid? [True, True] Translation: X:78.98, Y:-4.33, Z:-1.11 [[ 9.99958330e-01 8.67510470e-03 2.84258215e-03 7.89789349e+01] [-8.67475207e-03 9.99962364e-01 -1.36357740e-04 -4.32980816e+00] [-2.84365809e-03 1.11693363e-04 9.99995951e-01 -1.11212340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380371743 meters 0.02659665731222652 Centerline is valid? [True, True] Translation: X:79.01, Y:-4.33, Z:-1.11 [[ 9.99952384e-01 9.23823321e-03 3.14411062e-03 7.90072165e+01] [-9.23780625e-03 9.99957319e-01 -1.50292097e-04 -4.33160073e+00] [-3.14536486e-03 1.21240256e-04 9.99995046e-01 -1.11266527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.410371743 meters 0.026531707986130228 Centerline is valid? [True, True] Translation: X:79.04, Y:-4.33, Z:-1.11 [[ 9.99954641e-01 9.18540429e-03 2.51880065e-03 7.90363291e+01] [-9.18512955e-03 9.99957809e-01 -1.20624381e-04 -4.33205175e+00] [-2.51980236e-03 9.74833989e-05 9.99996821e-01 -1.11281214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440371743 meters 0.02601543831614913 Centerline is valid? [True, True] Translation: X:79.07, Y:-4.33, Z:-1.11 [[ 9.99958943e-01 8.78153509e-03 2.23529030e-03 7.90654405e+01] [-8.78131780e-03 9.99961438e-01 -1.07006213e-04 -4.33315849e+00] [-2.23614378e-03 8.73730252e-05 9.99997496e-01 -1.11339509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.470371743 meters 0.0279181128256069 Centerline is valid? [True, True] Translation: X:79.09, Y:-4.34, Z:-1.12 [[ 9.99967677e-01 7.86608629e-03 1.66416916e-03 7.90931247e+01] [-7.86596400e-03 9.99969060e-01 -8.00126373e-05 -4.33769311e+00] [-1.66474705e-03 6.69197563e-05 9.99998612e-01 -1.11509221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500371743 meters 0.02605932918904274 Centerline is valid? [True, True] Translation: X:79.12, Y:-4.34, Z:-1.11 [[ 9.99975084e-01 6.86733675e-03 1.63436499e-03 7.91222307e+01] [-6.86721800e-03 9.99976417e-01 -7.82560833e-05 -4.33562812e+00] [-1.63486386e-03 6.70305927e-05 9.99998661e-01 -1.11433814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.530371743 meters 0.02720411919426477 Centerline is valid? [True, True] Translation: X:79.15, Y:-4.34, Z:-1.12 [[ 9.99982099e-01 5.84706810e-03 1.26992573e-03 7.91507807e+01] [-5.84699571e-03 9.99982904e-01 -6.07030308e-05 -4.33925020e+00] [-1.27025895e-03 5.32766939e-05 9.99999192e-01 -1.11537409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.560371743 meters 0.030137117783423213 Centerline is valid? [True, True] Translation: X:79.18, Y:-4.35, Z:-1.12 [[ 9.99986481e-01 5.14177933e-03 7.74770451e-04 7.91792227e+01] [-5.14175200e-03 9.99986780e-01 -3.72724755e-05 -4.34550263e+00] [-7.74951856e-04 3.32882941e-05 9.99999699e-01 -1.11712596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.590371743 meters 0.028163989022056683 Centerline is valid? [True, True] Translation: X:79.21, Y:-4.34, Z:-1.12 [[ 9.99988687e-01 4.74571919e-03 3.21562145e-04 7.92084345e+01] [-4.74571425e-03 9.99988739e-01 -1.61186137e-05 -4.34297364e+00] [-3.21635018e-04 1.45923893e-05 9.99999948e-01 -1.11666283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62037174299999 meters 0.027186907213975937 Centerline is valid? [True, True] Translation: X:79.24, Y:-4.34, Z:-1.12 [[ 9.99990064e-01 4.44160355e-03 -3.80074470e-04 7.92372113e+01] [-4.44159746e-03 9.99990136e-01 1.68681155e-05 -4.34207425e+00] [ 3.80145642e-04 -1.51798101e-05 9.99999928e-01 -1.11651534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.650371743 meters 0.02773713141014619 Centerline is valid? [True, True] Translation: X:79.27, Y:-4.34, Z:-1.12 [[ 9.99985651e-01 5.07435289e-03 -1.71732742e-03 7.92660702e+01] [-5.07422314e-03 9.99987123e-01 7.98992879e-05 -4.34145473e+00] [ 1.71771074e-03 -7.11840389e-05 9.99998522e-01 -1.11781024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680371743 meters 0.027104610234877643 Centerline is valid? [True, True] Translation: X:79.29, Y:-4.34, Z:-1.12 [[ 9.99982790e-01 5.55776510e-03 -1.87893513e-03 7.92947438e+01] [-5.55761123e-03 9.99984553e-01 8.71040303e-05 -4.34049005e+00] [ 1.87939021e-03 -7.66601403e-05 9.99998231e-01 -1.11799952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.710371743 meters 0.027860871990275073 Centerline is valid? [True, True] Translation: X:79.32, Y:-4.34, Z:-1.12 [[ 9.99978715e-01 6.33643912e-03 -1.55557857e-03 7.93220586e+01] [-6.33633544e-03 9.99979923e-01 7.15672210e-05 -4.34204612e+00] [ 1.55600082e-03 -6.17090300e-05 9.99998788e-01 -1.11890829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740371743 meters 0.025816157803520763 Centerline is valid? [True, True] Translation: X:79.35, Y:-4.34, Z:-1.12 [[ 9.99969219e-01 7.82222831e-03 -6.11792126e-04 7.93514173e+01] [-7.82221290e-03 9.99969406e-01 2.75783095e-05 -4.33752461e+00] [ 6.11989132e-04 -2.27918924e-05 9.99999812e-01 -1.11772694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.770371743 meters 0.0256715735729904 Centerline is valid? [True, True] Translation: X:79.38, Y:-4.34, Z:-1.12 [[ 9.99966420e-01 8.19362245e-03 1.51625447e-04 7.93806125e+01] [-8.19362132e-03 9.99966432e-01 -8.08201274e-06 -4.33760162e+00] [-1.51686578e-04 6.83937985e-06 9.99999988e-01 -1.11794414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800371743 meters 0.02593332967652141 Centerline is valid? [True, True] Translation: X:79.41, Y:-4.34, Z:-1.12 [[ 9.99964118e-01 8.44724652e-03 6.38509899e-04 7.94086299e+01] [-8.44722846e-03 9.99964321e-01 -3.09847139e-05 -4.33815130e+00] [-6.38748853e-04 2.55899631e-05 9.99999796e-01 -1.11806781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.830371743 meters 0.026349134412280924 Centerline is valid? [True, True] Translation: X:79.44, Y:-4.34, Z:-1.12 [[ 9.99968495e-01 7.83606283e-03 1.26659066e-03 7.94365756e+01] [-7.83599297e-03 9.99969296e-01 -6.01083881e-05 -4.33762166e+00] [-1.26702278e-03 5.01814989e-05 9.99999196e-01 -1.11801363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860371743 meters 0.026450719945288515 Centerline is valid? [True, True] Translation: X:79.47, Y:-4.34, Z:-1.12 [[ 9.99974214e-01 7.05325695e-03 1.35050260e-03 7.94651365e+01] [-7.05317738e-03 9.99975124e-01 -6.36708376e-05 -4.33774714e+00] [-1.35091809e-03 5.41438614e-05 9.99999086e-01 -1.11834511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.890371743 meters 0.027239329709926468 Centerline is valid? [True, True] Translation: X:79.49, Y:-4.34, Z:-1.12 [[ 9.99988479e-01 4.74959285e-03 6.95044862e-04 7.94944624e+01] [-4.74957125e-03 9.99988720e-01 -3.27267530e-05 -4.33916065e+00] [-6.95192461e-04 2.94252108e-05 9.99999758e-01 -1.11915993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920371743 meters 0.027765503368374262 Centerline is valid? [True, True] Translation: X:79.52, Y:-4.34, Z:-1.12 [[ 9.99995840e-01 2.88235810e-03 1.07326798e-04 7.95235827e+01] [-2.88235750e-03 9.99995846e-01 -5.71921457e-06 -4.34027993e+00] [-1.07342837e-04 5.40983658e-06 9.99999994e-01 -1.12008017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.950371743 meters 0.030492199029838348 Centerline is valid? [True, True] Translation: X:79.55, Y:-4.35, Z:-1.12 [[ 9.99999240e-01 1.05993560e-03 -6.29426804e-04 7.95530902e+01] [-1.05991747e-03 9.99999438e-01 2.91369736e-05 -4.34590523e+00] [ 6.29457333e-04 -2.84698110e-05 9.99999801e-01 -1.12245905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.980371743 meters 0.030541650904900363 Centerline is valid? [True, True] Translation: X:79.58, Y:-4.35, Z:-1.12 [[ 9.99994257e-01 -2.89428891e-03 -1.76327698e-03 7.95837303e+01] [ 2.89443741e-03 9.99995808e-01 8.16710071e-05 -4.34568126e+00] [ 1.76303321e-03 -8.67742329e-05 9.99998442e-01 -1.12258056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.010371743 meters 0.029911254411359434 Centerline is valid? [True, True] Translation: X:79.61, Y:-4.35, Z:-1.12 [[ 9.99987296e-01 -4.69129701e-03 -1.84392282e-03 7.96144116e+01] [ 4.69146245e-03 9.99988991e-01 8.54063401e-05 -4.34510232e+00] [ 1.84350185e-03 -9.40559498e-05 9.99998296e-01 -1.12218469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040371743 meters 0.030131985027594718 Centerline is valid? [True, True] Translation: X:79.65, Y:-4.35, Z:-1.12 [[ 9.99979124e-01 -6.12973824e-03 -2.04408517e-03 7.96458444e+01] [ 6.12994574e-03 9.99981207e-01 9.52630156e-05 -4.34608497e+00] [ 2.04346281e-03 -1.07791158e-04 9.99997906e-01 -1.12255588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.070371743 meters 0.03050700665041411 Centerline is valid? [True, True] Translation: X:79.68, Y:-4.35, Z:-1.12 [[ 9.99974448e-01 -6.92114462e-03 -1.78915356e-03 7.96769961e+01] [ 6.92130508e-03 9.99976044e-01 8.35073360e-05 -4.34719939e+00] [ 1.78853273e-03 -9.58884798e-05 9.99998396e-01 -1.12262734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100371743 meters 0.03166516993193314 Centerline is valid? [True, True] Translation: X:79.71, Y:-4.35, Z:-1.12 [[ 9.99968586e-01 -7.76927343e-03 -1.57014275e-03 7.97081473e+01] [ 7.76939867e-03 9.99969815e-01 7.36794248e-05 -4.34833475e+00] [ 1.56952292e-03 -8.58761752e-05 9.99998765e-01 -1.12246230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.130371743 meters 0.03282130247359936 Centerline is valid? [True, True] Translation: X:79.74, Y:-4.35, Z:-1.12 [[ 9.99970461e-01 -7.59068101e-03 -1.20806412e-03 7.97395370e+01] [ 7.59075531e-03 9.99971188e-01 5.69325537e-05 -4.35071532e+00] [ 1.20759716e-03 -6.61009911e-05 9.99999269e-01 -1.12274677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160371743 meters 0.03179557942618871 Centerline is valid? [True, True] Translation: X:79.77, Y:-4.35, Z:-1.12 [[ 9.99974959e-01 -7.07281627e-03 2.37495481e-04 7.97717240e+01] [ 7.07281886e-03 9.99974987e-01 -1.00625854e-05 -4.34950183e+00] [-2.37418370e-04 1.17420959e-05 9.99999972e-01 -1.12103444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.190371743 meters 0.03167295396965427 Centerline is valid? [True, True] Translation: X:79.80, Y:-4.35, Z:-1.12 [[ 9.99976185e-01 -6.80407450e-03 1.15469958e-03 7.98043627e+01] [ 6.80414006e-03 9.99976850e-01 -5.28575394e-05 -4.34956795e+00] [-1.15431321e-03 6.07130183e-05 9.99999332e-01 -1.12082084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220371743 meters 0.031967334845201964 Centerline is valid? [True, True] Translation: X:79.84, Y:-4.35, Z:-1.12 [[ 9.99975645e-01 -6.83488842e-03 1.41171491e-03 7.98367057e+01] [ 6.83498691e-03 9.99976639e-01 -6.49505905e-05 -4.35072690e+00] [-1.41123800e-03 7.45980616e-05 9.99999001e-01 -1.12065802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.250371743 meters 0.031485404891674916 Centerline is valid? [True, True] Translation: X:79.87, Y:-4.35, Z:-1.12 [[ 9.99979690e-01 -6.16336648e-03 1.62231981e-03 7.98690298e+01] [ 6.16349609e-03 9.99981003e-01 -7.49006630e-05 -4.34911080e+00] [-1.62182735e-03 8.48983036e-05 9.99998681e-01 -1.12080145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280371743 meters 0.03130888490887173 Centerline is valid? [True, True] Translation: X:79.90, Y:-4.35, Z:-1.12 [[ 9.99983236e-01 -5.65257673e-03 1.25503582e-03 7.99011224e+01] [ 5.65265372e-03 9.99984022e-01 -5.78064472e-05 -4.34906734e+00] [-1.25468902e-03 6.48997611e-05 9.99999211e-01 -1.12139059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.310371743 meters 0.031179907194606546 Centerline is valid? [True, True] Translation: X:79.93, Y:-4.35, Z:-1.12 [[ 9.99988182e-01 -4.74814711e-03 1.04451612e-03 7.99332200e+01] [ 4.74819985e-03 9.99988726e-01 -4.80228858e-05 -4.34945669e+00] [-1.04427633e-03 5.29818895e-05 9.99999453e-01 -1.12249284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.340371743 meters 0.030927520915716277 Centerline is valid? [True, True] Translation: X:79.97, Y:-4.35, Z:-1.12 [[ 9.99991839e-01 -3.95865988e-03 8.06575946e-04 7.99650848e+01] [ 3.95869094e-03 9.99992164e-01 -3.69155801e-05 -4.34943224e+00] [-8.06423490e-04 4.01082637e-05 9.99999674e-01 -1.12314499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37037174299999 meters 0.02990148695253721 Centerline is valid? [True, True] Translation: X:80.00, Y:-4.35, Z:-1.12 [[ 9.99996732e-01 -2.41959661e-03 8.25865370e-04 7.99966560e+01] [ 2.41962909e-03 9.99997072e-01 -3.83373756e-05 -4.34680496e+00] [-8.25770190e-04 4.03355382e-05 9.99999658e-01 -1.12400289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400371743 meters 0.030066282036333675 Centerline is valid? [True, True] Translation: X:80.03, Y:-4.35, Z:-1.12 [[ 9.99997558e-01 -1.96451649e-03 1.01261053e-03 8.00279970e+01] [ 1.96456525e-03 9.99998069e-01 -4.71603509e-05 -4.34763542e+00] [-1.01251592e-03 4.91495752e-05 9.99999486e-01 -1.12465646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.430371743 meters 0.030319921126087487 Centerline is valid? [True, True] Translation: X:80.06, Y:-4.35, Z:-1.13 [[ 9.99998458e-01 -1.73242251e-03 2.87691257e-04 8.00595526e+01] [ 1.73242601e-03 9.99998499e-01 -1.19153057e-05 -4.34666641e+00] [-2.87670183e-04 1.24136912e-05 9.99999959e-01 -1.12599552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460371743 meters 0.029865897035042676 Centerline is valid? [True, True] Translation: X:80.09, Y:-4.35, Z:-1.13 [[ 9.99998306e-01 -1.84018667e-03 -4.24973861e-05 8.00906510e+01] [ 1.84018678e-03 9.99998307e-01 2.50338622e-06 -4.34663555e+00] [ 4.24927074e-05 -2.58158510e-06 9.99999999e-01 -1.12637595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.490371743 meters 0.030655681024986014 Centerline is valid? [True, True] Translation: X:80.12, Y:-4.35, Z:-1.13 [[ 9.99997614e-01 -2.17464785e-03 2.06646314e-04 8.01213734e+01] [ 2.17464986e-03 9.99997635e-01 -9.51478333e-06 -4.34848736e+00] [-2.06625134e-04 9.96414401e-06 9.99999979e-01 -1.12715385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520371743 meters 0.030710761832962768 Centerline is valid? [True, True] Translation: X:80.15, Y:-4.35, Z:-1.13 [[ 9.99995953e-01 -2.84477108e-03 4.00812871e-05 8.01527347e+01] [ 2.84477114e-03 9.99995954e-01 -1.40179647e-06 -4.34916305e+00] [-4.00771371e-05 1.51581288e-06 9.99999999e-01 -1.12762698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.550371743 meters 0.030892903375352294 Centerline is valid? [True, True] Translation: X:80.18, Y:-4.35, Z:-1.13 [[ 9.99993301e-01 -3.65499482e-03 1.99151953e-04 8.01845417e+01] [ 3.65499662e-03 9.99993320e-01 -8.67744478e-06 -4.34887701e+00] [-1.99118906e-04 9.40528636e-06 9.99999980e-01 -1.12797425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580371743 meters 0.03164893990123553 Centerline is valid? [True, True] Translation: X:80.22, Y:-4.35, Z:-1.13 [[ 9.99991527e-01 -4.11551694e-03 8.67461426e-05 8.02162858e+01] [ 4.11551723e-03 9.99991531e-01 -3.12371195e-06 -4.35102262e+00] [-8.67325523e-05 3.48069073e-06 9.99999996e-01 -1.12844695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.610371743 meters 0.03196986026082489 Centerline is valid? [True, True] Translation: X:80.25, Y:-4.35, Z:-1.13 [[ 9.99987960e-01 -4.89800533e-03 2.98818536e-04 8.02488675e+01] [ 4.89800949e-03 9.99988005e-01 -1.31995226e-05 -4.35163605e+00] [-2.98750300e-04 1.46629797e-05 9.99999955e-01 -1.12902982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640371743 meters 0.03287279420566708 Centerline is valid? [True, True] Translation: X:80.28, Y:-4.35, Z:-1.13 [[ 9.99986501e-01 -5.18029612e-03 4.03525858e-04 8.02799234e+01] [ 5.18030399e-03 9.99986582e-01 -1.84441352e-05 -4.35374447e+00] [-4.03424898e-04 2.05342728e-05 9.99999918e-01 -1.12939533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.670371743 meters 0.034911213154687835 Centerline is valid? [True, True] Translation: X:80.31, Y:-4.36, Z:-1.13 [[ 9.99989351e-01 -4.61497426e-03 9.70594458e-06 8.03114935e+01] [ 4.61497426e-03 9.99989351e-01 4.98393820e-07 -4.35755999e+00] [-9.70814136e-06 -4.53595826e-07 1.00000000e+00 -1.13080221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.700371743 meters 0.030414810906863324 Centerline is valid? [True, True] Translation: X:80.34, Y:-4.35, Z:-1.13 [[ 9.99994926e-01 -3.17913391e-03 -2.00655058e-04 8.03432414e+01] [ 3.17913599e-03 9.99994946e-01 1.00554772e-05 -4.35031328e+00] [ 2.00622076e-04 -1.06933359e-05 9.99999980e-01 -1.12992878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.730371743 meters 0.03225861050136096 Centerline is valid? [True, True] Translation: X:80.37, Y:-4.35, Z:-1.13 [[ 9.99997595e-01 -2.14845818e-03 -4.40912095e-04 8.03740058e+01] [ 2.14846787e-03 9.99997692e-01 2.15052718e-05 -4.35398872e+00] [ 4.40864874e-04 -2.24525056e-05 9.99999903e-01 -1.13131075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760371743 meters 0.03233869943159568 Centerline is valid? [True, True] Translation: X:80.40, Y:-4.35, Z:-1.13 [[ 9.99999396e-01 -1.06394982e-03 -2.75169463e-04 8.04040116e+01] [ 1.06395353e-03 9.99999434e-01 1.33586891e-05 -4.35493153e+00] [ 2.75155094e-04 -1.36514486e-05 9.99999962e-01 -1.13160242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.790371743 meters 0.02952319097306483 Centerline is valid? [True, True] Translation: X:80.43, Y:-4.35, Z:-1.13 [[ 9.99999918e-01 -3.99373527e-04 -6.03632292e-05 8.04347457e+01] [ 3.99373702e-04 9.99999920e-01 2.87779564e-06 -4.35107071e+00] [ 6.03620750e-05 -2.90190289e-06 9.99999998e-01 -1.13043408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820371743 meters 0.03276432079869067 Centerline is valid? [True, True] Translation: X:80.46, Y:-4.36, Z:-1.13 [[ 9.99999944e-01 -6.97074371e-05 3.27987951e-04 8.04647109e+01] [ 6.97124905e-05 9.99999997e-01 -1.53958582e-05 -4.35662147e+00] [-3.27986877e-04 1.54187221e-05 9.99999946e-01 -1.13207054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.850371743 meters 0.03312555254100515 Centerline is valid? [True, True] Translation: X:80.49, Y:-4.36, Z:-1.13 [[ 9.99999928e-01 -2.00814500e-04 3.22360336e-04 8.04949994e+01] [ 2.00819466e-04 9.99999980e-01 -1.53740829e-05 -4.35872209e+00] [-3.22357242e-04 1.54388181e-05 9.99999948e-01 -1.13294452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880371743 meters 0.03479500397495996 Centerline is valid? [True, True] Translation: X:80.52, Y:-4.36, Z:-1.13 [[ 9.99999919e-01 -4.75132950e-05 -3.98684246e-04 8.05246855e+01] [ 4.75213543e-05 9.99999999e-01 2.02054094e-05 -4.36277482e+00] [ 3.98683285e-04 -2.02243538e-05 9.99999920e-01 -1.13484881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.910371743 meters 0.029144858850912014 Centerline is valid? [True, True] Translation: X:80.56, Y:-4.36, Z:-1.13 [[ 9.99999633e-01 -3.67430306e-04 -7.73893162e-04 8.05551405e+01] [ 3.67458822e-04 9.99999932e-01 3.67051356e-05 -4.35515310e+00] [ 7.73879623e-04 -3.69894960e-05 9.99999700e-01 -1.13261890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940371743 meters 0.029545001646044698 Centerline is valid? [True, True] Translation: X:80.58, Y:-4.36, Z:-1.13 [[ 9.99999655e-01 -4.57209403e-04 -6.93031075e-04 8.05846122e+01] [ 4.57232267e-04 9.99999895e-01 3.28335796e-05 -4.35740974e+00] [ 6.93015990e-04 -3.31504444e-05 9.99999759e-01 -1.13326352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.970371743 meters 0.029087523702290168 Centerline is valid? [True, True] Translation: X:80.62, Y:-4.36, Z:-1.13 [[ 9.99999648e-01 -4.79141586e-04 -6.88479303e-04 8.06150895e+01] [ 4.79164328e-04 9.99999885e-01 3.28672101e-05 -4.35774201e+00] [ 6.88463476e-04 -3.31970933e-05 9.99999762e-01 -1.13239928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000371743 meters 0.030101908644649757 Centerline is valid? [True, True] Translation: X:80.64, Y:-4.36, Z:-1.13 [[ 9.99999786e-01 -6.42785110e-04 -1.23953589e-04 8.06443246e+01] [ 6.42785818e-04 9.99999793e-01 5.66573410e-06 -4.36039281e+00] [ 1.23949921e-04 -5.74540849e-06 9.99999992e-01 -1.13264497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.030371743 meters 0.03036291112974551 Centerline is valid? [True, True] Translation: X:80.67, Y:-4.36, Z:-1.13 [[ 9.99999842e-01 -5.49196106e-04 -1.23483353e-04 8.06743042e+01] [ 5.49196838e-04 9.99999849e-01 5.89275709e-06 -4.36188078e+00] [ 1.23480098e-04 -5.96057282e-06 9.99999992e-01 -1.13260324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.060371743 meters 0.030536797591405155 Centerline is valid? [True, True] Translation: X:80.70, Y:-4.36, Z:-1.13 [[ 9.99999501e-01 -8.47352653e-04 5.28600868e-04 8.07043803e+01] [ 8.47366105e-04 9.99999641e-01 -2.52253964e-05 -4.36391826e+00] [-5.28579303e-04 2.56733022e-05 9.99999860e-01 -1.13306334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.090371743 meters 0.02935602681398115 Centerline is valid? [True, True] Translation: X:80.74, Y:-4.36, Z:-1.13 [[ 9.99999379e-01 -8.93882446e-04 6.65016533e-04 8.07361627e+01] [ 8.93903429e-04 9.99999600e-01 -3.12558830e-05 -4.36379482e+00] [-6.64988328e-04 3.18503242e-05 9.99999778e-01 -1.13265113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12037174299999 meters 0.0303040436273457 Centerline is valid? [True, True] Translation: X:80.77, Y:-4.37, Z:-1.13 [[ 9.99998841e-01 -1.40954907e-03 5.75179575e-04 8.07662381e+01] [ 1.40956496e-03 9.99999006e-01 -2.72287733e-05 -4.36680275e+00] [-5.75140623e-04 2.80394947e-05 9.99999834e-01 -1.13353600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.150371743 meters 0.03157300184513968 Centerline is valid? [True, True] Translation: X:80.80, Y:-4.37, Z:-1.13 [[ 9.99997801e-01 -1.95757033e-03 7.52025425e-04 8.07964792e+01] [ 1.95759714e-03 9.99998083e-01 -3.49071958e-05 -4.37079793e+00] [-7.51955650e-04 3.63792818e-05 9.99999717e-01 -1.13451453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180371743 meters 0.0310269932129825 Centerline is valid? [True, True] Translation: X:80.83, Y:-4.37, Z:-1.14 [[ 9.99992483e-01 -3.87678377e-03 -7.20917898e-05 8.08272386e+01] [ 3.87678404e-03 9.99992485e-01 3.69860013e-06 -4.37315395e+00] [ 7.20769093e-05 -3.97805663e-06 9.99999997e-01 -1.13538494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.210371743 meters 0.031004072653258625 Centerline is valid? [True, True] Translation: X:80.86, Y:-4.38, Z:-1.14 [[ 9.99987523e-01 -4.96359379e-03 -5.63142280e-04 8.08588848e+01] [ 4.96361005e-03 9.99987681e-01 2.74761896e-05 -4.37525552e+00] [ 5.62998962e-04 -3.02710655e-05 9.99999841e-01 -1.13606520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240371743 meters 0.03218903796151519 Centerline is valid? [True, True] Translation: X:80.89, Y:-4.38, Z:-1.14 [[ 9.99982789e-01 -5.79489011e-03 -9.17368093e-04 8.08908840e+01] [ 5.79493383e-03 9.99983208e-01 4.50059739e-05 -4.37985718e+00] [ 9.17091884e-04 -5.03212866e-05 9.99999578e-01 -1.13732276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.270371743 meters 0.03218903796151519 Centerline is valid? [True, True] Translation: X:80.92, Y:-4.38, Z:-1.14 [[ 9.99983199e-01 -5.72361101e-03 -9.17364554e-04 8.09225911e+01] [ 5.72365476e-03 9.99983619e-01 4.50789487e-05 -4.38144097e+00] [ 9.17091512e-04 -5.03288693e-05 9.99999578e-01 -1.13776825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300371743 meters 0.03699645833898799 Centerline is valid? [True, True] Translation: X:80.95, Y:-4.39, Z:-1.14 [[ 9.99974678e-01 -6.92497139e-03 -1.63938958e-03 8.09528906e+01] [ 6.92511072e-03 9.99976018e-01 7.93259208e-05 -4.39188669e+00] [ 1.63880094e-03 -9.06768665e-05 9.99998653e-01 -1.14114150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.330371743 meters 0.03703561685217421 Centerline is valid? [True, True] Translation: X:80.99, Y:-4.39, Z:-1.14 [[ 9.99968424e-01 -7.71258774e-03 -1.91472389e-03 8.09852936e+01] [ 7.71278017e-03 9.99970252e-01 9.31375865e-05 -4.39402572e+00] [ 1.91394860e-03 -1.07902490e-04 9.99998163e-01 -1.14147159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360371743 meters 0.033220523581989875 Centerline is valid? [True, True] Translation: X:81.02, Y:-4.39, Z:-1.14 [[ 9.99964546e-01 -8.26922616e-03 -1.58955271e-03 8.10173014e+01] [ 8.26935955e-03 9.99965805e-01 7.73660570e-05 -4.38981551e+00] [ 1.58885859e-03 -9.05078969e-05 9.99998734e-01 -1.13932189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.390371743 meters 0.03224806736168674 Centerline is valid? [True, True] Translation: X:81.05, Y:-4.39, Z:-1.14 [[ 9.99966150e-01 -8.10808670e-03 -1.39885303e-03 8.10499074e+01] [ 8.10819049e-03 9.99967126e-01 6.85407834e-05 -4.38967203e+00] [ 1.39825131e-03 -7.98806302e-05 9.99999019e-01 -1.13840262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420371743 meters 0.03514453009478404 Centerline is valid? [True, True] Translation: X:81.08, Y:-4.40, Z:-1.14 [[ 9.99972457e-01 -7.36955800e-03 -8.80117995e-04 8.10812579e+01] [ 7.36959918e-03 9.99972843e-01 4.35553898e-05 -4.39564260e+00] [ 8.79773109e-04 -5.00403070e-05 9.99999612e-01 -1.13932777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.450371743 meters 0.03166797167848791 Centerline is valid? [True, True] Translation: X:81.11, Y:-4.39, Z:-1.14 [[ 9.99978252e-01 -6.57351516e-03 5.33476311e-04 8.11134067e+01] [ 6.57352947e-03 9.99978394e-01 -2.50677231e-05 -4.39160042e+00] [-5.33300002e-04 2.85740002e-05 9.99999857e-01 -1.13689711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.480371743 meters 0.031223214717590788 Centerline is valid? [True, True] Translation: X:81.15, Y:-4.39, Z:-1.14 [[ 9.99980694e-01 -6.09759881e-03 1.19583488e-03 8.11461418e+01] [ 6.09767100e-03 9.99981407e-01 -5.67269142e-05 -4.39225922e+00] [-1.19546675e-03 6.40176268e-05 9.99999283e-01 -1.13661526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.510371743 meters 0.03515402512435296 Centerline is valid? [True, True] Translation: X:81.18, Y:-4.40, Z:-1.14 [[ 9.99982998e-01 -5.58423237e-03 1.67927012e-03 8.11766579e+01] [ 5.58437586e-03 9.99984404e-01 -8.07696564e-05 -4.39936308e+00] [-1.67879289e-03 9.01459587e-05 9.99998587e-01 -1.13834550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540371743 meters 0.036881434349130784 Centerline is valid? [True, True] Translation: X:81.21, Y:-4.40, Z:-1.14 [[ 9.99985444e-01 -5.06892237e-03 1.84894278e-03 8.12078872e+01] [ 5.06909584e-03 9.99987148e-01 -8.91434979e-05 -4.40311774e+00] [-1.84846716e-03 9.85146685e-05 9.99998287e-01 -1.13934617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.570371743 meters 0.03331876158124349 Centerline is valid? [True, True] Translation: X:81.24, Y:-4.40, Z:-1.14 [[ 9.99987643e-01 -4.48116870e-03 2.15237866e-03 8.12399548e+01] [ 4.48140243e-03 9.99989953e-01 -1.03776637e-04 -4.39874503e+00] [-2.15189200e-03 1.13421030e-04 9.99997678e-01 -1.13851938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600371743 meters 0.034662111960402295 Centerline is valid? [True, True] Translation: X:81.27, Y:-4.40, Z:-1.14 [[ 9.99993250e-01 -3.19973272e-03 1.80604132e-03 8.12711939e+01] [ 3.19989552e-03 9.99994877e-01 -8.72601770e-05 -4.40209210e+00] [-1.80575286e-03 9.30387316e-05 9.99998365e-01 -1.14002572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.630371743 meters 0.03019228707836016 Centerline is valid? [True, True] Translation: X:81.30, Y:-4.40, Z:-1.14 [[ 9.99999545e-01 3.79092025e-04 8.75094259e-04 8.13026637e+01] [-3.79055067e-04 9.99999927e-01 -4.23987385e-05 -4.39674714e+00] [-8.75110268e-04 4.20670103e-05 9.99999616e-01 -1.14042504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660371743 meters 0.029350694226836064 Centerline is valid? [True, True] Translation: X:81.33, Y:-4.40, Z:-1.14 [[ 9.99997437e-01 1.87471440e-03 1.26940890e-03 8.13335846e+01] [-1.87463767e-03 9.99998241e-01 -6.16355668e-05 -4.39689308e+00] [-1.26952221e-03 5.92557271e-05 9.99999192e-01 -1.14009769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.690371743 meters 0.02860615481206638 Centerline is valid? [True, True] Translation: X:81.36, Y:-4.40, Z:-1.14 [[ 9.99993664e-01 2.81789360e-03 2.17514180e-03 8.13643884e+01] [-2.81766961e-03 9.99996025e-01 -1.06035865e-04 -4.39634356e+00] [-2.17543195e-03 9.99063622e-05 9.99997629e-01 -1.13914252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720371743 meters 0.029466265800651 Centerline is valid? [True, True] Translation: X:81.39, Y:-4.40, Z:-1.14 [[ 9.99991065e-01 2.87379168e-03 3.10022669e-03 8.13935012e+01] [-2.87333632e-03 9.99995861e-01 -1.51325212e-04 -4.39776570e+00] [-3.10064873e-03 1.42415866e-04 9.99995183e-01 -1.13850470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.750371743 meters 0.030840027379695586 Centerline is valid? [True, True] Translation: X:81.42, Y:-4.40, Z:-1.14 [[ 9.99993526e-01 2.70358275e-03 2.37454519e-03 8.14237279e+01] [-2.70331607e-03 9.99996339e-01 -1.15510769e-04 -4.40168406e+00] [-2.37484879e-03 1.09090875e-04 9.99997174e-01 -1.14001894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780371743 meters 0.030342701962275 Centerline is valid? [True, True] Translation: X:81.45, Y:-4.40, Z:-1.14 [[ 9.99996380e-01 2.49531479e-03 1.00669508e-03 8.14537263e+01] [-2.49526642e-03 9.99996886e-01 -4.93038801e-05 -4.40275738e+00] [-1.00681498e-03 4.67917292e-05 9.99999492e-01 -1.14172237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.810371743 meters 0.030324288338052504 Centerline is valid? [True, True] Translation: X:81.48, Y:-4.41, Z:-1.15 [[ 9.99994888e-01 2.34112174e-03 -2.17788122e-03 8.14829623e+01] [-2.34089675e-03 9.99997254e-01 1.05847830e-04 -4.40539311e+00] [ 2.17812304e-03 -1.00749094e-04 9.99997623e-01 -1.14522178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.840371743 meters 0.030958769289490616 Centerline is valid? [True, True] Translation: X:81.51, Y:-4.41, Z:-1.15 [[ 9.99995544e-01 1.72454655e-03 -2.43660079e-03 8.15109834e+01] [-1.72426518e-03 9.99998507e-01 1.17571163e-04 -4.40807115e+00] [ 2.43679991e-03 -1.13369293e-04 9.99997025e-01 -1.14700541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87037174299999 meters 0.02883079457313421 Centerline is valid? [True, True] Translation: X:81.54, Y:-4.40, Z:-1.14 [[ 9.99996352e-01 2.94539376e-04 -2.68506873e-03 8.15398071e+01] [-2.94192908e-04 9.99999948e-01 1.29429257e-04 -4.40489448e+00] [ 2.68510672e-03 -1.28638856e-04 9.99996387e-01 -1.14476638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900371743 meters 0.0294756587877069 Centerline is valid? [True, True] Translation: X:81.57, Y:-4.41, Z:-1.14 [[ 9.99997602e-01 -6.08795870e-04 -2.10385640e-03 8.15688051e+01] [ 6.09010987e-04 9.99999809e-01 1.01609556e-04 -4.40671268e+00] [ 2.10379414e-03 -1.02890584e-04 9.99997782e-01 -1.14444815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.930371743 meters 0.029747317420825505 Centerline is valid? [True, True] Translation: X:81.60, Y:-4.41, Z:-1.14 [[ 9.99997698e-01 -1.57652981e-03 -1.45558550e-03 8.15980250e+01] [ 1.57663350e-03 9.99998755e-01 7.00966316e-05 -4.40798915e+00] [ 1.45547318e-03 -7.23913951e-05 9.99998938e-01 -1.14386454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960371743 meters 0.030800841370016034 Centerline is valid? [True, True] Translation: X:81.63, Y:-4.41, Z:-1.14 [[ 9.99994985e-01 -3.05394475e-03 8.38345352e-04 8.16285359e+01] [ 3.05397991e-03 9.99995336e-01 -4.06617386e-05 -4.41161402e+00] [-8.38217263e-04 4.32218245e-05 9.99999648e-01 -1.14270220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.990371743 meters 0.031196945709739972 Centerline is valid? [True, True] Translation: X:81.66, Y:-4.41, Z:-1.14 [[ 9.99991692e-01 -3.72283330e-03 1.66009999e-03 8.16610910e+01] [ 3.72297062e-03 9.99993067e-01 -7.96376300e-05 -4.41443574e+00] [-1.65979200e-03 8.58174719e-05 9.99998619e-01 -1.14249162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020371743 meters 0.03162137298353479 Centerline is valid? [True, True] Translation: X:81.69, Y:-4.42, Z:-1.14 [[ 9.99990512e-01 -3.72182860e-03 2.26379757e-03 8.16934045e+01] [ 3.72208516e-03 9.99993067e-01 -1.09129479e-04 -4.41759081e+00] [-2.26337572e-03 1.17554491e-04 9.99997432e-01 -1.14259132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.050371743 meters 0.03258570853198883 Centerline is valid? [True, True] Translation: X:81.72, Y:-4.42, Z:-1.14 [[ 9.99984222e-01 -4.01977604e-03 3.92395080e-03 8.17248813e+01] [ 4.02055382e-03 9.99991899e-01 -1.90345426e-04 -4.42258033e+00] [-3.92315387e-03 2.06118878e-04 9.99992283e-01 -1.14299044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080371743 meters 0.03327859754241011 Centerline is valid? [True, True] Translation: X:81.76, Y:-4.43, Z:-1.14 [[ 9.99982193e-01 -4.51991837e-03 3.89678369e-03 8.17573358e+01] [ 4.52068931e-03 9.99989764e-01 -1.89055526e-04 -4.42581861e+00] [-3.89588929e-03 2.06668308e-04 9.99992390e-01 -1.14344114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.110371743 meters 0.03330989597988826 Centerline is valid? [True, True] Translation: X:81.79, Y:-4.43, Z:-1.14 [[ 9.99979305e-01 -4.97601095e-03 4.07780444e-03 8.17896226e+01] [ 4.97686030e-03 9.99987596e-01 -1.98165811e-04 -4.42799791e+00] [-4.07676779e-03 2.18456373e-04 9.99991666e-01 -1.14384065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140371743 meters 0.03480116088933 Centerline is valid? [True, True] Translation: X:81.82, Y:-4.43, Z:-1.14 [[ 9.99975833e-01 -5.88376334e-03 3.70337232e-03 8.18205242e+01] [ 5.88447140e-03 9.99982670e-01 -1.80326531e-04 -4.43247837e+00] [-3.70224714e-03 2.02114561e-04 9.99993126e-01 -1.14456537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.170371743 meters 0.03537445340690515 Centerline is valid? [True, True] Translation: X:81.85, Y:-4.44, Z:-1.15 [[ 9.99969563e-01 -7.45160536e-03 2.31234253e-03 8.18520826e+01] [ 7.45188523e-03 9.99972228e-01 -1.12438097e-04 -4.43725909e+00] [-2.31144047e-03 1.29665986e-04 9.99997320e-01 -1.14664609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.200371743 meters 0.035861550731267816 Centerline is valid? [True, True] Translation: X:81.88, Y:-4.44, Z:-1.15 [[ 9.99962199e-01 -8.51871733e-03 1.74147423e-03 8.18840362e+01] [ 8.51887716e-03 9.99963710e-01 -8.43851883e-05 -4.44153959e+00] [-1.74069218e-03 9.92174035e-05 9.99998480e-01 -1.14774052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.230371743 meters 0.034382997569759835 Centerline is valid? [True, True] Translation: X:81.92, Y:-4.44, Z:-1.15 [[ 9.99945219e-01 -1.04153873e-02 1.03888729e-03 8.19153582e+01] [ 1.04154453e-02 9.99945757e-01 -5.04568395e-05 -4.44393771e+00] [-1.03830541e-03 6.12745491e-05 9.99999459e-01 -1.14876550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260371743 meters 0.03892824362588832 Centerline is valid? [True, True] Translation: X:81.95, Y:-4.45, Z:-1.15 [[ 9.99940973e-01 -1.08180128e-02 1.01099911e-03 8.19455932e+01] [ 1.08180680e-02 9.99941482e-01 -4.91229992e-05 -4.45290678e+00] [-1.01040854e-03 6.00571567e-05 9.99999488e-01 -1.15066291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.290371743 meters 0.04007333223631956 Centerline is valid? [True, True] Translation: X:81.98, Y:-4.46, Z:-1.15 [[ 9.99936781e-01 -1.12057071e-02 9.30949119e-04 8.19767738e+01] [ 1.12057538e-02 9.99937213e-01 -4.50379254e-05 -4.45702650e+00] [-9.30385986e-04 5.54670648e-05 9.99999566e-01 -1.15116422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320371743 meters 0.035433548058501574 Centerline is valid? [True, True] Translation: X:82.01, Y:-4.45, Z:-1.15 [[ 9.99931785e-01 -1.16217630e-02 1.16625524e-03 8.20090928e+01] [ 1.16218366e-02 9.99932463e-01 -5.63888581e-05 -4.45270446e+00] [-1.16552114e-03 6.99390394e-05 9.99999318e-01 -1.14962471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.350371743 meters 0.03410957479377903 Centerline is valid? [True, True] Translation: X:82.04, Y:-4.45, Z:-1.15 [[ 9.99933761e-01 -1.14254439e-02 1.39010867e-03 8.20409558e+01] [ 1.14255487e-02 9.99934724e-01 -6.74817660e-05 -4.45306375e+00] [-1.38924692e-03 8.33600503e-05 9.99999032e-01 -1.14919128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380371743 meters 0.035114114817147955 Centerline is valid? [True, True] Translation: X:82.07, Y:-4.46, Z:-1.15 [[ 9.99934143e-01 -1.13649914e-02 1.59564663e-03 8.20731145e+01] [ 1.13651295e-02 9.99935412e-01 -7.75072321e-05 -4.45709984e+00] [-1.59466270e-03 9.56368584e-05 9.99998724e-01 -1.14983945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.410371743 meters 0.03459066058388304 Centerline is valid? [True, True] Translation: X:82.11, Y:-4.46, Z:-1.15 [[ 9.99932002e-01 -1.15116993e-02 1.86351625e-03 8.21054331e+01] [ 1.15118891e-02 9.99933732e-01 -9.11228229e-05 -4.45989907e+00] [-1.86234378e-03 1.12569219e-04 9.99998260e-01 -1.15014119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440371743 meters 0.03492681252648047 Centerline is valid? [True, True] Translation: X:82.14, Y:-4.46, Z:-1.15 [[ 9.99928649e-01 -1.17716042e-02 2.03122516e-03 8.21378972e+01] [ 1.17718306e-02 9.99930705e-01 -9.95599931e-05 -4.46261886e+00] [-2.02991242e-03 1.23464128e-04 9.99997932e-01 -1.15003855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.470371743 meters 0.03272791049875674 Centerline is valid? [True, True] Translation: X:82.17, Y:-4.46, Z:-1.15 [[ 9.99926197e-01 -1.19620010e-02 2.12404521e-03 8.21706142e+01] [ 1.19622494e-02 9.99928444e-01 -1.04278655e-04 -4.46146387e+00] [-2.12264584e-03 1.29679318e-04 9.99997739e-01 -1.14957686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500371743 meters 0.033534111882866584 Centerline is valid? [True, True] Translation: X:82.20, Y:-4.47, Z:-1.15 [[ 9.99923564e-01 -1.20450168e-02 2.78978292e-03 8.22025268e+01] [ 1.20454466e-02 9.99927442e-01 -1.37285527e-04 -4.46509183e+00] [-2.78792689e-03 1.70879215e-04 9.99996099e-01 -1.14982640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.530371743 meters 0.03378554735539711 Centerline is valid? [True, True] Translation: X:82.23, Y:-4.47, Z:-1.15 [[ 9.99923224e-01 -1.19648082e-02 3.22337386e-03 8.22348301e+01] [ 1.19653837e-02 9.99928400e-01 -1.59319348e-04 -4.46847042e+00] [-3.22123684e-03 1.97876021e-04 9.99994792e-01 -1.14989793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.560371743 meters 0.03683772267469478 Centerline is valid? [True, True] Translation: X:82.27, Y:-4.48, Z:-1.15 [[ 9.99925619e-01 -1.17417421e-02 3.29977587e-03 8.22662183e+01] [ 1.17423449e-02 9.99931043e-01 -1.63364704e-04 -4.47533836e+00] [-3.29763014e-03 2.02099659e-04 9.99994542e-01 -1.15126224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.590371743 meters 0.03500074072985411 Centerline is valid? [True, True] Translation: X:82.30, Y:-4.47, Z:-1.15 [[ 9.99925911e-01 -1.18138744e-02 2.93344088e-03 8.22980034e+01] [ 1.18143519e-02 9.99930198e-01 -1.45526323e-04 -4.47493025e+00] [-2.93151688e-03 1.80172244e-04 9.99995687e-01 -1.15070533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62037174299999 meters 0.03896733020756712 Centerline is valid? [True, True] Translation: X:82.33, Y:-4.48, Z:-1.15 [[ 9.99925276e-01 -1.17736711e-02 3.28993453e-03 8.23299700e+01] [ 1.17742712e-02 9.99930668e-01 -1.63100985e-04 -4.48301586e+00] [-3.28778613e-03 2.01825379e-04 9.99994575e-01 -1.15194996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.650371743 meters 0.03364436559285555 Centerline is valid? [True, True] Translation: X:82.36, Y:-4.48, Z:-1.15 [[ 9.99919804e-01 -1.23183320e-02 2.94000449e-03 8.23624544e+01] [ 1.23188145e-02 9.99924110e-01 -1.46060475e-04 -4.47747539e+00] [-2.93798215e-03 1.82266131e-04 9.99995668e-01 -1.15065904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680371743 meters 0.037094958400773106 Centerline is valid? [True, True] Translation: X:82.39, Y:-4.49, Z:-1.15 [[ 9.99907609e-01 -1.33429135e-02 2.59616677e-03 8.23928991e+01] [ 1.33432939e-02 9.99910966e-01 -1.29256890e-04 -4.48630586e+00] [-2.59421095e-03 1.63886364e-04 9.99996622e-01 -1.15236998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.710371743 meters 0.038084445204816825 Centerline is valid? [True, True] Translation: X:82.42, Y:-4.49, Z:-1.15 [[ 9.99900211e-01 -1.39275124e-02 2.36463502e-03 8.24249941e+01] [ 1.39278293e-02 9.99902996e-01 -1.17610448e-04 -4.49060282e+00] [-2.36276762e-03 1.50532945e-04 9.99997197e-01 -1.15383802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740371743 meters 0.03852971286291595 Centerline is valid? [True, True] Translation: X:82.46, Y:-4.49, Z:-1.16 [[ 9.99890504e-01 -1.46627424e-02 1.99600965e-03 8.24564583e+01] [ 1.46629701e-02 9.99892488e-01 -9.94713137e-05 -4.49432879e+00] [-1.99433654e-03 1.28727852e-04 9.99998003e-01 -1.15518259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.770371743 meters 0.04053203534077862 Centerline is valid? [True, True] Translation: X:82.49, Y:-4.50, Z:-1.16 [[ 9.99874560e-01 -1.57799734e-02 1.36292798e-03 8.24876924e+01] [ 1.57800804e-02 9.99875484e-01 -6.77685466e-05 -4.50054161e+00] [-1.36168889e-03 8.92671588e-05 9.99999069e-01 -1.15697457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800371743 meters 0.040601603188558925 Centerline is valid? [True, True] Translation: X:82.52, Y:-4.50, Z:-1.16 [[ 9.99874113e-01 -1.57635473e-02 1.80800777e-03 8.25210352e+01] [ 1.57637350e-02 9.99875741e-01 -8.96098316e-05 -4.50302456e+00] [-1.80637054e-03 1.18099506e-04 9.99998362e-01 -1.15703951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.830371743 meters 0.04183015241741502 Centerline is valid? [True, True] Translation: X:82.55, Y:-4.51, Z:-1.16 [[ 9.99874051e-01 -1.56039092e-02 2.89824484e-03 8.25526162e+01] [ 1.56043953e-02 9.99878233e-01 -1.45184973e-04 -4.50671968e+00] [-2.89562648e-03 1.90392046e-04 9.99995790e-01 -1.15645169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860371743 meters 0.03456634042625234 Centerline is valid? [True, True] Translation: X:82.59, Y:-4.50, Z:-1.15 [[ 9.99877448e-01 -1.52285058e-02 3.63075460e-03 8.25857113e+01] [ 1.52292678e-02 9.99884011e-01 -1.82303473e-04 -4.49836210e+00] [-3.62755727e-03 2.37574866e-04 9.99993392e-01 -1.15436538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.890371743 meters 0.033850814497770984 Centerline is valid? [True, True] Translation: X:82.62, Y:-4.50, Z:-1.15 [[ 9.99890276e-01 -1.41898721e-02 4.25242788e-03 8.26181374e+01] [ 1.41909100e-02 9.99899281e-01 -2.13996187e-04 -4.49951611e+00] [-4.24896300e-03 2.74318528e-04 9.99990935e-01 -1.15404988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920371743 meters 0.04344325411145309 Centerline is valid? [True, True] Translation: X:82.65, Y:-4.52, Z:-1.16 [[ 9.99892807e-01 -1.39263189e-02 4.52029860e-03 8.26483455e+01] [ 1.39274916e-02 9.99902982e-01 -2.28052882e-04 -4.51515718e+00] [-4.51668411e-03 2.90984857e-04 9.99989757e-01 -1.15664201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.950371743 meters 0.03587814663577536 Centerline is valid? [True, True] Translation: X:82.68, Y:-4.51, Z:-1.16 [[ 9.99896167e-01 -1.36798022e-02 4.52979060e-03 8.26808493e+01] [ 1.36809777e-02 9.99906385e-01 -2.28622045e-04 -4.50669359e+00] [-4.52623904e-03 2.90570271e-04 9.99989714e-01 -1.15593925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.980371743 meters 0.03433340131896422 Centerline is valid? [True, True] Translation: X:82.71, Y:-4.51, Z:-1.16 [[ 9.99896470e-01 -1.38219916e-02 4.00027717e-03 8.27132268e+01] [ 1.38229101e-02 9.99904439e-01 -2.02047653e-04 -4.50687887e+00] [-3.99710220e-03 2.57322207e-04 9.99991978e-01 -1.15657804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.010371743 meters 0.03488550044253429 Centerline is valid? [True, True] Translation: X:82.74, Y:-4.51, Z:-1.16 [[ 9.99894456e-01 -1.40679518e-02 3.62895996e-03 8.27439492e+01] [ 1.40687106e-02 9.99901014e-01 -1.83655470e-04 -4.51042621e+00] [-3.62601709e-03 2.34690874e-04 9.99993398e-01 -1.15780577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040371743 meters 0.035391073616428584 Centerline is valid? [True, True] Translation: X:82.78, Y:-4.51, Z:-1.16 [[ 9.99874290e-01 -1.55328209e-02 3.18355155e-03 8.27760593e+01] [ 1.55334119e-02 9.99879336e-01 -1.61005392e-04 -4.51455745e+00] [-3.18066654e-03 2.10436569e-04 9.99994920e-01 -1.15940864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.070371743 meters 0.035172681052643595 Centerline is valid? [True, True] Translation: X:82.81, Y:-4.52, Z:-1.16 [[ 9.99868555e-01 -1.59363283e-02 2.98435384e-03 8.28080466e+01] [ 1.59368499e-02 9.99872989e-01 -1.51078385e-04 -4.51682957e+00] [-2.98156716e-03 1.98619725e-04 9.99995535e-01 -1.16009142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100371743 meters 0.03784390985945567 Centerline is valid? [True, True] Translation: X:82.84, Y:-4.52, Z:-1.16 [[ 9.99853764e-01 -1.69261887e-02 2.44039472e-03 8.28386762e+01] [ 1.69265409e-02 9.99856728e-01 -1.23748930e-04 -4.52350037e+00] [-2.43795048e-03 1.65038274e-04 9.99997015e-01 -1.16141706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.130371743 meters 0.03634926529658604 Centerline is valid? [True, True] Translation: X:82.87, Y:-4.52, Z:-1.16 [[ 9.99853928e-01 -1.68582616e-02 2.81464197e-03 8.28713469e+01] [ 1.68587289e-02 9.99857871e-01 -1.42391542e-04 -4.52452189e+00] [-2.81184146e-03 1.89822029e-04 9.99996029e-01 -1.16160026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160371743 meters 0.03634926529658604 Centerline is valid? [True, True] Translation: X:82.90, Y:-4.53, Z:-1.16 [[ 9.99855728e-01 -1.67511466e-02 2.81462658e-03 8.29039200e+01] [ 1.67516143e-02 9.99859672e-01 -1.42693869e-04 -4.52627917e+00] [-2.81184132e-03 1.89822821e-04 9.99996029e-01 -1.16205787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.190371743 meters 0.03824652347009014 Centerline is valid? [True, True] Translation: X:82.94, Y:-4.53, Z:-1.16 [[ 9.99852432e-01 -1.69455067e-02 2.82223595e-03 8.29352604e+01] [ 1.69459803e-02 9.99856396e-01 -1.43994245e-04 -4.53118423e+00] [-2.81939061e-03 1.91798551e-04 9.99996007e-01 -1.16294393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220371743 meters 0.03560629521207134 Centerline is valid? [True, True] Translation: X:82.97, Y:-4.53, Z:-1.16 [[ 9.99863492e-01 -1.62637095e-02 2.91376403e-03 8.29672889e+01] [ 1.62642114e-02 9.99867718e-01 -1.48630063e-04 -4.53040273e+00] [-2.91096132e-03 1.95999848e-04 9.99995744e-01 -1.16282768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.250371743 meters 0.036179922481657925 Centerline is valid? [True, True] Translation: X:83.00, Y:-4.53, Z:-1.16 [[ 9.99872492e-01 -1.56984940e-02 2.92540853e-03 8.29998898e+01] [ 1.56989976e-02 9.99876752e-01 -1.49251330e-04 -4.53370629e+00] [-2.92270495e-03 1.95158281e-04 9.99995710e-01 -1.16382605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280371743 meters 0.035587493059075784 Centerline is valid? [True, True] Translation: X:83.03, Y:-4.54, Z:-1.16 [[ 9.99886126e-01 -1.48418304e-02 2.73057725e-03 8.30317091e+01] [ 1.48422669e-02 9.99889838e-01 -1.39669911e-04 -4.53520685e+00] [-2.72820349e-03 1.80181963e-04 9.99996262e-01 -1.16417166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.310371743 meters 0.033328658770838286 Centerline is valid? [True, True] Translation: X:83.06, Y:-4.53, Z:-1.16 [[ 9.99914583e-01 -1.28560886e-02 2.35528294e-03 8.30629088e+01] [ 1.28564090e-02 9.99917346e-01 -1.20914764e-04 -4.53358345e+00] [-2.35353378e-03 1.51184917e-04 9.99997219e-01 -1.16462739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.340371743 meters 0.03380730578030181 Centerline is valid? [True, True] Translation: X:83.09, Y:-4.54, Z:-1.17 [[ 9.99929196e-01 -1.17241726e-02 2.03621183e-03 8.30942506e+01] [ 1.17244093e-02 9.99931261e-01 -1.04328745e-04 -4.53560887e+00] [-2.03484869e-03 1.28194739e-04 9.99997921e-01 -1.16545576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37037174299999 meters 0.034233304273086934 Centerline is valid? [True, True] Translation: X:83.13, Y:-4.54, Z:-1.17 [[ 9.99951118e-01 -9.56469473e-03 2.50581206e-03 8.31250088e+01] [ 9.56504769e-03 9.99954246e-01 -1.28911168e-04 -4.53846630e+00] [-2.50446441e-03 1.52873079e-04 9.99996852e-01 -1.16594205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400371743 meters 0.03196220649330872 Centerline is valid? [True, True] Translation: X:83.16, Y:-4.54, Z:-1.17 [[ 9.99954948e-01 -8.87302521e-03 3.37221381e-03 8.31573423e+01] [ 8.87366020e-03 9.99960613e-01 -1.73384729e-04 -4.53726584e+00] [-3.37054254e-03 2.03300797e-04 9.99994299e-01 -1.16556010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.430371743 meters 0.03237405027458889 Centerline is valid? [True, True] Translation: X:83.19, Y:-4.54, Z:-1.17 [[ 9.99957811e-01 -8.21525148e-03 4.10932652e-03 8.31884864e+01] [ 8.21619178e-03 9.99966224e-01 -2.11990943e-04 -4.54002506e+00] [-4.10744617e-03 2.45745014e-04 9.99991534e-01 -1.16554316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460371743 meters 0.03217142079464908 Centerline is valid? [True, True] Translation: X:83.22, Y:-4.54, Z:-1.17 [[ 9.99961768e-01 -7.17657009e-03 4.99599971e-03 8.32204971e+01] [ 7.17794841e-03 9.99974205e-01 -2.58008709e-04 -4.54235812e+00] [-4.99401922e-03 2.93859873e-04 9.99987487e-01 -1.16543851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.490371743 meters 0.037359122279902 Centerline is valid? [True, True] Translation: X:83.25, Y:-4.55, Z:-1.17 [[ 9.99966607e-01 -6.57320973e-03 4.85569889e-03 8.32516143e+01] [ 6.57450702e-03 9.99978356e-01 -2.51253607e-04 -4.55202986e+00] [-4.85394226e-03 2.83169044e-04 9.99988179e-01 -1.16685525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520371743 meters 0.030415796068177126 Centerline is valid? [True, True] Translation: X:83.28, Y:-4.54, Z:-1.17 [[ 9.99967255e-01 -6.23468120e-03 5.15926697e-03 8.32839222e+01] [ 6.23614203e-03 9.99980519e-01 -2.67108500e-04 -4.54365353e+00] [-5.15750113e-03 2.99273675e-04 9.99986655e-01 -1.16552787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.550371743 meters 0.030593866480677998 Centerline is valid? [True, True] Translation: X:83.31, Y:-4.55, Z:-1.17 [[ 9.99976900e-01 -5.07519696e-03 4.52120900e-03 8.33147496e+01] [ 5.07630872e-03 9.99987088e-01 -2.34458365e-04 -4.54592666e+00] [-4.51996070e-03 2.57404002e-04 9.99989752e-01 -1.16627630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580371743 meters 0.0320312635612673 Centerline is valid? [True, True] Translation: X:83.35, Y:-4.55, Z:-1.17 [[ 9.99982621e-01 -4.28409424e-03 4.05026024e-03 8.33456558e+01] [ 4.28498058e-03 9.99990797e-01 -2.10184001e-04 -4.55018368e+00] [-4.04932252e-03 2.27535635e-04 9.99991776e-01 -1.16781623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.610371743 meters 0.030966957354587453 Centerline is valid? [True, True] Translation: X:83.38, Y:-4.55, Z:-1.17 [[ 9.99985903e-01 -3.42612943e-03 4.05646628e-03 8.33774899e+01] [ 3.42701165e-03 9.99994106e-01 -2.10552840e-04 -4.55179729e+00] [-4.05572099e-03 2.24451429e-04 9.99991750e-01 -1.16838164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640371743 meters 0.035037587585111496 Centerline is valid? [True, True] Translation: X:83.41, Y:-4.56, Z:-1.17 [[ 9.99989017e-01 -2.88268711e-03 3.69551733e-03 8.34087148e+01] [ 2.88341629e-03 9.99995825e-01 -1.92000202e-04 -4.56083799e+00] [-3.69494842e-03 2.02653808e-04 9.99993153e-01 -1.17019845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.670371743 meters 0.029409813109353415 Centerline is valid? [True, True] Translation: X:83.44, Y:-4.56, Z:-1.17 [[ 9.99990916e-01 -1.72112221e-03 3.89950217e-03 8.34409440e+01] [ 1.72192652e-03 9.99998497e-01 -2.02912800e-04 -4.55509216e+00] [-3.89914708e-03 2.09625613e-04 9.99992376e-01 -1.16929742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.700371743 meters 0.029809775936688192 Centerline is valid? [True, True] Translation: X:83.47, Y:-4.56, Z:-1.17 [[ 9.99990616e-01 -6.27142381e-04 4.28663766e-03 8.34724384e+01] [ 6.28106114e-04 9.99999778e-01 -2.23480116e-04 -4.55782666e+00] [-4.28649656e-03 2.26170482e-04 9.99990787e-01 -1.16952969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.730371743 meters 0.02940895750314491 Centerline is valid? [True, True] Translation: X:83.50, Y:-4.56, Z:-1.17 [[ 9.99987583e-01 1.64708745e-03 4.70339813e-03 8.35039186e+01] [-1.64594864e-03 9.99998615e-01 -2.45986541e-04 -4.56009638e+00] [-4.70379678e-03 2.38241935e-04 9.99988909e-01 -1.16995976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760371743 meters 0.02940081801442718 Centerline is valid? [True, True] Translation: X:83.54, Y:-4.56, Z:-1.17 [[ 9.99984683e-01 2.94699385e-03 4.68487766e-03 8.35352982e+01] [-2.94587742e-03 9.99995631e-01 -2.45187367e-04 -4.56217652e+00] [-4.68557975e-03 2.31382536e-04 9.99988996e-01 -1.17086809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.790371743 meters 0.028784987432233886 Centerline is valid? [True, True] Translation: X:83.57, Y:-4.56, Z:-1.17 [[ 9.99978813e-01 4.59795843e-03 4.60789270e-03 8.35668534e+01] [-4.59689516e-03 9.99989405e-01 -2.41313412e-04 -4.56349761e+00] [-4.60895343e-03 2.20126299e-04 9.99989354e-01 -1.17157080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820371743 meters 0.028471141278155913 Centerline is valid? [True, True] Translation: X:83.60, Y:-4.57, Z:-1.17 [[ 9.99964161e-01 7.27319272e-03 4.33338375e-03 8.35970399e+01] [-7.27227613e-03 9.99973531e-01 -2.27239596e-04 -4.56545322e+00] [-4.33492181e-03 1.95717889e-04 9.99990585e-01 -1.17238714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.850371743 meters 0.02772169067970313 Centerline is valid? [True, True] Translation: X:83.63, Y:-4.57, Z:-1.17 [[ 9.99957895e-01 8.25160991e-03 4.01494840e-03 8.36268199e+01] [-8.25082858e-03 9.99965939e-01 -2.11130716e-04 -4.56564628e+00] [-4.01655381e-03 1.77995175e-04 9.99991918e-01 -1.17191743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880371743 meters 0.027058519170144776 Centerline is valid? [True, True] Translation: X:83.66, Y:-4.57, Z:-1.17 [[ 9.99951134e-01 9.14039175e-03 3.76604475e-03 8.36560841e+01] [-9.13971028e-03 9.99958212e-01 -1.98123099e-04 -4.56607462e+00] [-3.76769829e-03 1.63692859e-04 9.99992889e-01 -1.17189606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.910371743 meters 0.026777275660423316 Centerline is valid? [True, True] Translation: X:83.69, Y:-4.57, Z:-1.17 [[ 9.99942350e-01 9.67344150e-03 4.66062815e-03 8.36853393e+01] [-9.67240558e-03 9.99953191e-01 -2.44757991e-04 -4.56851337e+00] [-4.66277765e-03 1.99664395e-04 9.99989109e-01 -1.17169358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940371743 meters 0.027996208340422053 Centerline is valid? [True, True] Translation: X:83.71, Y:-4.57, Z:-1.17 [[ 9.99943151e-01 9.42158479e-03 4.99283086e-03 8.37139875e+01] [-9.42039443e-03 9.99955593e-01 -2.61878105e-04 -4.57270334e+00] [-4.99507645e-03 2.14828782e-04 9.99987501e-01 -1.17258034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.970371743 meters 0.02744111008849846 Centerline is valid? [True, True] Translation: X:83.74, Y:-4.57, Z:-1.17 [[ 9.99944446e-01 9.06473255e-03 5.37913213e-03 8.37437581e+01] [-9.06334839e-03 9.99958887e-01 -2.81641284e-04 -4.57452302e+00] [-5.38146398e-03 2.32872689e-04 9.99985493e-01 -1.17222907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000371743 meters 0.027157449837692183 Centerline is valid? [True, True] Translation: X:83.77, Y:-4.58, Z:-1.17 [[ 9.99963609e-01 7.02768258e-03 4.83664565e-03 8.37736209e+01] [-7.02654194e-03 9.99975282e-01 -2.52783866e-04 -4.57763174e+00] [-4.83830258e-03 2.18789773e-04 9.99988271e-01 -1.17200589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.030371743 meters 0.02890367981810096 Centerline is valid? [True, True] Translation: X:83.80, Y:-4.58, Z:-1.17 [[ 9.99971474e-01 5.93846623e-03 4.66749879e-03 8.38032203e+01] [-5.93739599e-03 9.99982344e-01 -2.43117458e-04 -4.58233528e+00] [-4.66886013e-03 2.15397734e-04 9.99989078e-01 -1.17259026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.060371743 meters 0.031399340482027964 Centerline is valid? [True, True] Translation: X:83.83, Y:-4.59, Z:-1.17 [[ 9.99988361e-01 2.92651900e-03 3.83590773e-03 8.38326117e+01] [-2.92576942e-03 9.99995700e-01 -2.01006682e-04 -4.58878166e+00] [-3.83647949e-03 1.89781361e-04 9.99992623e-01 -1.17350608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.090371743 meters 0.03221534623773633 Centerline is valid? [True, True] Translation: X:83.86, Y:-4.59, Z:-1.17 [[ 9.99992668e-01 1.30386131e-03 3.60050548e-03 8.38636956e+01] [-1.30319253e-03 9.99999133e-01 -1.88085963e-04 -4.59239277e+00] [-3.60074760e-03 1.83392432e-04 9.99993500e-01 -1.17419441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12037174299999 meters 0.032611837687469454 Centerline is valid? [True, True] Translation: X:83.89, Y:-4.60, Z:-1.17 [[ 9.99993811e-01 -4.49566681e-04 3.48943509e-03 8.38947247e+01] [ 4.50205842e-04 9.99999882e-01 -1.82387002e-04 -4.59541627e+00] [-3.48935268e-03 1.83956837e-04 9.99993895e-01 -1.17475111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.150371743 meters 0.034487207626546196 Centerline is valid? [True, True] Translation: X:83.93, Y:-4.60, Z:-1.18 [[ 9.99993927e-01 -1.95945933e-03 2.88216825e-03 8.39255753e+01] [ 1.95989566e-03 9.99998068e-01 -1.48571875e-04 -4.60052678e+00] [-2.88187156e-03 1.54219722e-04 9.99995836e-01 -1.17554090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180371743 meters 0.03592554770859599 Centerline is valid? [True, True] Translation: X:83.96, Y:-4.60, Z:-1.18 [[ 9.99981609e-01 -5.55985914e-03 2.42290722e-03 8.39561693e+01] [ 5.56018389e-03 9.99984534e-01 -1.27317775e-04 -4.60456444e+00] [-2.42216188e-03 1.40787243e-04 9.99997057e-01 -1.17583038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.210371743 meters 0.03861243856760893 Centerline is valid? [True, True] Translation: X:83.99, Y:-4.61, Z:-1.18 [[ 9.99968533e-01 -7.50320846e-03 2.57564890e-03 8.39858510e+01] [ 7.50358251e-03 9.99971839e-01 -1.35594660e-04 -4.60980760e+00] [-2.57455897e-03 1.54916988e-04 9.99996674e-01 -1.17647041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240371743 meters 0.031930355770516214 Centerline is valid? [True, True] Translation: X:84.02, Y:-4.60, Z:-1.17 [[ 9.99953306e-01 -9.26920986e-03 2.73269648e-03 8.40182474e+01] [ 9.26963579e-03 9.99957026e-01 -1.43238716e-04 -4.60153291e+00] [-2.73125133e-03 1.68563129e-04 9.99996256e-01 -1.17429662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.270371743 meters 0.03358085417000596 Centerline is valid? [True, True] Translation: X:84.05, Y:-4.61, Z:-1.17 [[ 9.99914742e-01 -1.26123439e-02 3.38193157e-03 8.40494177e+01] [ 1.26130172e-02 9.99920437e-01 -1.77842030e-04 -4.60566165e+00] [-3.37941949e-03 2.20483228e-04 9.99994265e-01 -1.17390327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300371743 meters 0.03472737044526476 Centerline is valid? [True, True] Translation: X:84.08, Y:-4.61, Z:-1.17 [[ 9.99894646e-01 -1.40164757e-02 3.77293895e-03 8.40810240e+01] [ 1.40173237e-02 9.99901733e-01 -1.98413408e-04 -4.60889093e+00] [-3.76978714e-03 2.51279011e-04 9.99992863e-01 -1.17400242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.330371743 meters 0.033948986529971276 Centerline is valid? [True, True] Translation: X:84.11, Y:-4.61, Z:-1.17 [[ 9.99855501e-01 -1.64982647e-02 4.09682158e-03 8.41119266e+01] [ 1.64992868e-02 9.99863854e-01 -2.15808338e-04 -4.60940228e+00] [-4.09270335e-03 2.83371788e-04 9.99991585e-01 -1.17362711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360371743 meters 0.034871536987600184 Centerline is valid? [True, True] Translation: X:84.14, Y:-4.61, Z:-1.17 [[ 9.99840231e-01 -1.74124761e-02 4.03962931e-03 8.41437152e+01] [ 1.74134770e-02 9.99848351e-01 -2.12710548e-04 -4.61235851e+00] [-4.03531288e-03 2.83020555e-04 9.99991818e-01 -1.17423755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.390371743 meters 0.03656300538238986 Centerline is valid? [True, True] Translation: X:84.17, Y:-4.62, Z:-1.18 [[ 9.99806207e-01 -1.94855963e-02 2.80373480e-03 8.41749424e+01] [ 1.94860874e-02 9.99810117e-01 -1.47941372e-04 -4.61601439e+00] [-2.80031969e-03 2.02546523e-04 9.99996059e-01 -1.17579023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420371743 meters 0.038959524707931605 Centerline is valid? [True, True] Translation: X:84.21, Y:-4.62, Z:-1.18 [[ 9.99781728e-01 -2.07785620e-02 2.17885371e-03 8.42061462e+01] [ 2.07788611e-02 9.99784090e-01 -1.14719792e-04 -4.62099658e+00] [-2.17599956e-03 1.59968850e-04 9.99997620e-01 -1.17763254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.450371743 meters 0.0403134500955489 Centerline is valid? [True, True] Translation: X:84.24, Y:-4.62, Z:-1.18 [[ 9.99760551e-01 -2.18458364e-02 1.26462627e-03 8.42381576e+01] [ 2.18459374e-02 9.99761347e-01 -6.61200294e-05 -4.62438566e+00] [-1.26288002e-03 9.37311434e-05 9.99999198e-01 -1.17935511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48037174299999 meters 0.040897067562506745 Centerline is valid? [True, True] Translation: X:84.27, Y:-4.63, Z:-1.18 [[ 9.99700736e-01 -2.44629100e-02 6.67344798e-05 8.42694483e+01] [ 2.44629103e-02 9.99700738e-01 -3.04353060e-06 -4.62623906e+00] [-6.66400551e-05 4.67513938e-06 9.99999998e-01 -1.18102622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.510371743 meters 0.04189823159193449 Centerline is valid? [True, True] Translation: X:84.30, Y:-4.63, Z:-1.18 [[ 9.99675711e-01 -2.54502843e-02 -8.69954390e-04 8.43013378e+01] [ 2.54503350e-02 9.99676087e-01 4.72615930e-05 -4.62860839e+00] [ 8.68469779e-04 -6.93868973e-05 9.99999620e-01 -1.18215429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540371743 meters 0.043579074481020816 Centerline is valid? [True, True] Translation: X:84.33, Y:-4.63, Z:-1.18 [[ 9.99641474e-01 -2.66744078e-02 -2.32366147e-03 8.43309946e+01] [ 2.66747667e-02 9.99644157e-01 1.23572490e-04 -4.63057492e+00] [ 2.31953839e-03 -1.85511314e-04 9.99997293e-01 -1.18318278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.570371743 meters 0.0447383521584632 Centerline is valid? [True, True] Translation: X:84.36, Y:-4.63, Z:-1.18 [[ 9.99628082e-01 -2.71346633e-02 -2.72183382e-03 8.43635165e+01] [ 2.71351605e-02 9.99631763e-01 1.45918237e-04 -4.63241197e+00] [ 2.71687209e-03 -2.19721365e-04 9.99996285e-01 -1.18390010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600371743 meters 0.04567002611142362 Centerline is valid? [True, True] Translation: X:84.40, Y:-4.63, Z:-1.18 [[ 9.99620950e-01 -2.73549523e-02 -3.10839955e-03 8.43957859e+01] [ 2.73556021e-02 9.99625752e-01 1.66713760e-04 -4.63441224e+00] [ 3.10267579e-03 -2.51682709e-04 9.99995155e-01 -1.18444439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.630371743 meters 0.04697712671089434 Centerline is valid? [True, True] Translation: X:84.43, Y:-4.64, Z:-1.18 [[ 9.99606764e-01 -2.78434844e-02 -3.32534115e-03 8.44275321e+01] [ 2.78442313e-02 9.99612258e-01 1.78509216e-04 -4.63661135e+00] [ 3.31908145e-03 -2.71030587e-04 9.99994455e-01 -1.18485011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660371743 meters 0.048155788300625224 Centerline is valid? [True, True] Translation: X:84.46, Y:-4.64, Z:-1.19 [[ 9.99596029e-01 -2.81968973e-02 -3.56563458e-03 8.44587206e+01] [ 2.81977578e-02 9.99602346e-01 1.91278110e-04 -4.63823875e+00] [ 3.55882324e-03 -2.91743740e-04 9.99993625e-01 -1.18543294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.690371743 meters 0.04828184291008885 Centerline is valid? [True, True] Translation: X:84.49, Y:-4.64, Z:-1.19 [[ 9.99608555e-01 -2.76888606e-02 -4.00800710e-03 8.44913053e+01] [ 2.76899455e-02 9.99616537e-01 2.15419231e-04 -4.63918140e+00] [ 4.00050547e-03 -3.26316404e-04 9.99991945e-01 -1.18582967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720371743 meters 0.04975856741880054 Centerline is valid? [True, True] Translation: X:84.52, Y:-4.64, Z:-1.19 [[ 9.99664614e-01 -2.56648646e-02 -3.46040027e-03 8.45212120e+01] [ 2.56656583e-02 9.99670566e-01 1.85162342e-04 -4.63992364e+00] [ 3.45450813e-03 -2.73913693e-04 9.99993996e-01 -1.18621498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.750371743 meters 0.048409877423250154 Centerline is valid? [True, True] Translation: X:84.55, Y:-4.64, Z:-1.19 [[ 9.99704834e-01 -2.41628598e-02 -2.53007011e-03 8.45525280e+01] [ 2.41632808e-02 9.99708016e-01 1.35939547e-04 -4.63805735e+00] [ 2.52604668e-03 -1.97034217e-04 9.99996790e-01 -1.18560620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780371743 meters 0.04862324020654139 Centerline is valid? [True, True] Translation: X:84.58, Y:-4.64, Z:-1.19 [[ 9.99737147e-01 -2.28325978e-02 -2.07607542e-03 8.45830678e+01] [ 2.28328781e-02 9.99739290e-01 1.11429096e-04 -4.63864775e+00] [ 2.07298995e-03 -1.58802584e-04 9.99997839e-01 -1.18552659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.810371743 meters 0.04799994031168735 Centerline is valid? [True, True] Translation: X:84.61, Y:-4.64, Z:-1.18 [[ 9.99797368e-01 -2.01086399e-02 -9.29925581e-04 8.46131501e+01] [ 2.01086948e-02 9.99797799e-01 4.97749489e-05 -4.63628528e+00] [ 9.28736642e-04 -6.84644526e-05 9.99999566e-01 -1.18468028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.840371743 meters 0.048131686118273176 Centerline is valid? [True, True] Translation: X:84.64, Y:-4.64, Z:-1.18 [[ 9.99819253e-01 -1.90025841e-02 -6.03381748e-04 8.46449258e+01] [ 1.90026074e-02 9.99819434e-01 3.30324431e-05 -4.63690739e+00] [ 6.02645096e-04 -4.44922991e-05 9.99999817e-01 -1.18482463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87037174299999 meters 0.04856446432864595 Centerline is valid? [True, True] Translation: X:84.68, Y:-4.64, Z:-1.19 [[ 9.99825690e-01 -1.86644046e-02 -4.80086629e-04 8.46772958e+01] [ 1.86644195e-02 9.99825804e-01 2.66768339e-05 -4.63803601e+00] [ 4.79505092e-04 -3.56327220e-05 9.99999884e-01 -1.18530290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900371743 meters 0.03937684615702898 Centerline is valid? [True, True] Translation: X:84.71, Y:-4.63, Z:-1.18 [[ 9.99833004e-01 -1.82708953e-02 -3.72699498e-04 8.47105090e+01] [ 1.82709044e-02 9.99833073e-01 2.10275840e-05 -4.62613474e+00] [ 3.72253092e-04 -2.78336294e-05 9.99999930e-01 -1.18309802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.930371743 meters 0.03991789450796139 Centerline is valid? [True, True] Translation: X:84.74, Y:-4.63, Z:-1.18 [[ 9.99823485e-01 -1.87821525e-02 -4.79279563e-04 8.47426383e+01] [ 1.87821675e-02 9.99823599e-01 2.67817727e-05 -4.62867161e+00] [ 4.78691998e-04 -3.57789544e-05 9.99999885e-01 -1.18373947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960371743 meters 0.037007358867335895 Centerline is valid? [True, True] Translation: X:84.77, Y:-4.63, Z:-1.18 [[ 9.99817608e-01 -1.90663691e-02 -1.10670962e-03 8.47747562e+01] [ 1.90664479e-02 9.99818217e-01 6.06630387e-05 -4.62610038e+00] [ 1.10535181e-03 -8.17529955e-05 9.99999386e-01 -1.18364514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.990371743 meters 0.038048726777365253 Centerline is valid? [True, True] Translation: X:84.81, Y:-4.63, Z:-1.18 [[ 9.99807753e-01 -1.95305523e-02 -1.73617943e-03 8.48052604e+01] [ 1.95307450e-02 9.99809252e-01 9.41322343e-05 -4.62894562e+00] [ 1.73400980e-03 -1.28023015e-04 9.99998488e-01 -1.18451801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020371743 meters 0.03784316976688455 Centerline is valid? [True, True] Translation: X:84.84, Y:-4.63, Z:-1.19 [[ 9.99803338e-01 -1.96707870e-02 -2.51891545e-03 8.48375210e+01] [ 1.96711943e-02 9.99806494e-01 1.37030273e-04 -4.62881637e+00] [ 2.51573253e-03 -1.86553400e-04 9.99996818e-01 -1.18515703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.050371743 meters 0.038955735783759785 Centerline is valid? [True, True] Translation: X:84.87, Y:-4.63, Z:-1.19 [[ 9.99826080e-01 -1.85454870e-02 -1.96837934e-03 8.48685241e+01] [ 1.85457343e-02 9.99828007e-01 1.07464530e-04 -4.63081972e+00] [ 1.96604781e-03 -1.43950880e-04 9.99998057e-01 -1.18614272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080371743 meters 0.038955735783759785 Centerline is valid? [True, True] Translation: X:84.90, Y:-4.63, Z:-1.19 [[ 9.99828107e-01 -1.84358995e-02 -1.96834029e-03 8.49011054e+01] [ 1.84361480e-02 9.99830034e-01 1.08184859e-04 -4.63267549e+00] [ 1.96601126e-03 -1.44454876e-04 9.99998057e-01 -1.18660069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.110371743 meters 0.03736093435992283 Centerline is valid? [True, True] Translation: X:84.93, Y:-4.63, Z:-1.19 [[ 9.99838466e-01 -1.78990451e-02 -1.63305248e-03 8.49332140e+01] [ 1.78992153e-02 9.99839792e-01 8.96254750e-05 -4.63150039e+00] [ 1.63118664e-03 -1.18841355e-04 9.99998663e-01 -1.18620939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140371743 meters 0.04072663407791383 Centerline is valid? [True, True] Translation: X:84.96, Y:-4.64, Z:-1.19 [[ 9.99857733e-01 -1.68512822e-02 -7.40652148e-04 8.49641768e+01] [ 1.68513181e-02 9.99858006e-01 4.23068821e-05 -4.63763773e+00] [ 7.39834054e-04 -5.47818282e-05 9.99999725e-01 -1.18688612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.170371743 meters 0.03860898969069264 Centerline is valid? [True, True] Translation: X:85.00, Y:-4.64, Z:-1.19 [[ 9.99873171e-01 -1.59234234e-02 2.92818812e-04 8.49968053e+01] [ 1.59234285e-02 9.99873214e-01 -1.49459995e-05 -4.63526701e+00] [-2.92543695e-04 1.96067833e-05 9.99999957e-01 -1.18631837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.200371743 meters 0.039215841500743295 Centerline is valid? [True, True] Translation: X:85.03, Y:-4.64, Z:-1.19 [[ 9.99899151e-01 -1.41635371e-02 1.03974998e-03 8.50269654e+01] [ 1.41636034e-02 9.99899690e-01 -5.64018357e-05 -4.63566124e+00] [-1.03884683e-03 7.11227540e-05 9.99999458e-01 -1.18604210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23037174299999 meters 0.03786618292793792 Centerline is valid? [True, True] Translation: X:85.06, Y:-4.63, Z:-1.19 [[ 9.99908798e-01 -1.34725252e-02 9.41727657e-04 8.50588876e+01] [ 1.34725786e-02 9.99909239e-01 -5.03762756e-05 -4.63475633e+00] [-9.40963490e-04 6.30591810e-05 9.99999555e-01 -1.18654151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260371743 meters 0.03607108473035911 Centerline is valid? [True, True] Translation: X:85.09, Y:-4.63, Z:-1.19 [[ 9.99911002e-01 -1.33058691e-02 9.70741012e-04 8.50912748e+01] [ 1.33059259e-02 9.99911471e-01 -5.20159625e-05 -4.63360860e+00] [-9.69962956e-04 6.49279411e-05 9.99999527e-01 -1.18692512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.290371743 meters 0.03878016849349033 Centerline is valid? [True, True] Translation: X:85.12, Y:-4.64, Z:-1.19 [[ 9.99909976e-01 -1.33913841e-02 8.42907144e-04 8.51226715e+01] [ 1.33914270e-02 9.99910330e-01 -4.53386359e-05 -4.63889471e+00] [-8.42224414e-04 5.66222839e-05 9.99999644e-01 -1.18810692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320371743 meters 0.03698706768719139 Centerline is valid? [True, True] Translation: X:85.16, Y:-4.64, Z:-1.19 [[ 9.99902624e-01 -1.39433300e-02 5.71723047e-04 8.51552856e+01] [ 1.39433496e-02 9.99902786e-01 -3.02975432e-05 -4.63671707e+00] [-5.71245019e-04 3.82663272e-05 9.99999836e-01 -1.18810044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.350371743 meters 0.043156598973187923 Centerline is valid? [True, True] Translation: X:85.19, Y:-4.65, Z:-1.19 [[ 9.99895789e-01 -1.44259824e-02 5.49507402e-04 8.51857922e+01] [ 1.44260007e-02 9.99895939e-01 -2.93694164e-05 -4.64660803e+00] [-5.49026538e-04 3.72935500e-05 9.99999849e-01 -1.19013834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380371743 meters 0.03859185933937169 Centerline is valid? [True, True] Translation: X:85.22, Y:-4.64, Z:-1.19 [[ 9.99881479e-01 -1.53586218e-02 1.06817524e-03 8.52185403e+01] [ 1.53586921e-02 9.99882047e-01 -5.76273348e-05 -4.64167265e+00] [-1.06716417e-03 7.40262795e-05 9.99999428e-01 -1.18859499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.410371743 meters 0.03723484417329594 Centerline is valid? [True, True] Translation: X:85.25, Y:-4.64, Z:-1.19 [[ 9.99873016e-01 -1.58396488e-02 1.74845455e-03 8.52510242e+01] [ 1.58398391e-02 9.99874537e-01 -9.50659812e-05 -4.64161355e+00] [-1.74672937e-03 1.22749148e-04 9.99998467e-01 -1.18861993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440371743 meters 0.037825351147331175 Centerline is valid? [True, True] Translation: X:85.28, Y:-4.64, Z:-1.19 [[ 9.99864274e-01 -1.63176260e-02 2.27334884e-03 8.52834583e+01] [ 1.63179501e-02 9.99866846e-01 -1.24073396e-04 -4.64425905e+00] [-2.27102155e-03 1.61152949e-04 9.99997408e-01 -1.18948392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.470371743 meters 0.04185066667359649 Centerline is valid? [True, True] Translation: X:85.31, Y:-4.65, Z:-1.19 [[ 9.99858672e-01 -1.65203509e-02 3.11685383e-03 8.53139519e+01] [ 1.65209636e-02 9.99863505e-01 -1.70914503e-04 -4.65179721e+00] [-3.11360483e-03 2.22383776e-04 9.99995128e-01 -1.19030397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500371743 meters 0.0381191494444678 Centerline is valid? [True, True] Translation: X:85.35, Y:-4.65, Z:-1.19 [[ 9.99861664e-01 -1.62573690e-02 3.51441800e-03 8.53464188e+01] [ 1.62581466e-02 9.99867809e-01 -1.92801989e-04 -4.64803541e+00] [-3.51081898e-03 2.49913240e-04 9.99993806e-01 -1.18964628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.530371743 meters 0.03897632063200036 Centerline is valid? [True, True] Translation: X:85.38, Y:-4.65, Z:-1.19 [[ 9.99866848e-01 -1.58704202e-02 3.79675089e-03 8.53771848e+01] [ 1.58713271e-02 9.99874021e-01 -2.08843474e-04 -4.65104882e+00] [-3.79295814e-03 2.69075141e-04 9.99992771e-01 -1.19036525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.560371743 meters 0.0381313065161424 Centerline is valid? [True, True] Translation: X:85.41, Y:-4.65, Z:-1.19 [[ 9.99872545e-01 -1.55390352e-02 3.66488805e-03 8.54089928e+01] [ 1.55398779e-02 9.99879228e-01 -2.01584189e-04 -4.65182519e+00] [-3.66131301e-03 2.58510409e-04 9.99993264e-01 -1.19142700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.590371743 meters 0.03802172067831957 Centerline is valid? [True, True] Translation: X:85.44, Y:-4.65, Z:-1.19 [[ 9.99872793e-01 -1.56758366e-02 2.94378652e-03 8.54406522e+01] [ 1.56763815e-02 9.99877105e-01 -1.62129625e-04 -4.65335704e+00] [-2.94088322e-03 2.08256922e-04 9.99995654e-01 -1.19228700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62037174299999 meters 0.03829767909273848 Centerline is valid? [True, True] Translation: X:85.47, Y:-4.66, Z:-1.19 [[ 9.99870190e-01 -1.58288427e-02 3.00839663e-03 8.54730392e+01] [ 1.58294125e-02 9.99874693e-01 -1.65670097e-04 -4.65566585e+00] [-3.00539729e-03 2.13269743e-04 9.99995461e-01 -1.19286717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.650371743 meters 0.03775704563429515 Centerline is valid? [True, True] Translation: X:85.51, Y:-4.66, Z:-1.19 [[ 9.99867961e-01 -1.59614706e-02 3.04817538e-03 8.55052220e+01] [ 1.59620568e-02 9.99872584e-01 -1.68087343e-04 -4.65713344e+00] [-3.04510408e-03 2.16720297e-04 9.99995340e-01 -1.19353653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680371743 meters 0.03866903311798235 Centerline is valid? [True, True] Translation: X:85.54, Y:-4.66, Z:-1.19 [[ 9.99870315e-01 -1.58380383e-02 2.91715283e-03 8.55362283e+01] [ 1.58385757e-02 9.99874549e-01 -1.61232845e-04 -4.66063172e+00] [-2.91423326e-03 2.07415482e-04 9.99995732e-01 -1.19466350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.710371743 meters 0.03927529800158307 Centerline is valid? [True, True] Translation: X:85.57, Y:-4.66, Z:-1.20 [[ 9.99877928e-01 -1.53584973e-02 2.87151491e-03 8.55674900e+01] [ 1.53590138e-02 9.99882031e-01 -1.57876467e-04 -4.66322093e+00] [-2.86875141e-03 2.01960832e-04 9.99995865e-01 -1.19539340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740371743 meters 0.04002557601692978 Centerline is valid? [True, True] Translation: X:85.60, Y:-4.67, Z:-1.20 [[ 9.99897024e-01 -1.41746603e-02 2.24077158e-03 8.55989605e+01] [ 1.41749734e-02 9.99899522e-01 -1.23917057e-04 -4.66534380e+00] [-2.23878995e-03 1.55667174e-04 9.99997482e-01 -1.19615925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.770371743 meters 0.03534123680596999 Centerline is valid? [True, True] Translation: X:85.63, Y:-4.66, Z:-1.20 [[ 9.99912114e-01 -1.31119910e-02 1.95976965e-03 8.56316003e+01] [ 1.31122284e-02 9.99914025e-01 -1.08352102e-04 -4.65992793e+00] [-1.95818045e-03 1.34039527e-04 9.99998074e-01 -1.19550579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800371743 meters 0.040107485725216066 Centerline is valid? [True, True] Translation: X:85.66, Y:-4.67, Z:-1.20 [[ 9.99925538e-01 -1.20563808e-02 1.88710905e-03 8.56629268e+01] [ 1.20565993e-02 9.99927311e-01 -1.04445237e-04 -4.66824645e+00] [-1.88571264e-03 1.27189578e-04 9.99998214e-01 -1.19755383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.830371743 meters 0.04005115284388353 Centerline is valid? [True, True] Translation: X:85.70, Y:-4.67, Z:-1.20 [[ 9.99939481e-01 -1.08674372e-02 1.71244630e-03 8.56953030e+01] [ 1.08676155e-02 9.99940941e-01 -9.48541549e-05 -4.66960545e+00] [-1.71131435e-03 1.13458623e-04 9.99998529e-01 -1.19856366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860371743 meters 0.03428517516297163 Centerline is valid? [True, True] Translation: X:85.73, Y:-4.66, Z:-1.20 [[ 9.99956741e-01 -8.85582377e-03 2.84438342e-03 8.57274185e+01] [ 8.85631042e-03 9.99960770e-01 -1.58542059e-04 -4.66315777e+00] [-2.84286781e-03 1.83725943e-04 9.99995942e-01 -1.19795944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.890371743 meters 0.037340285413693365 Centerline is valid? [True, True] Translation: X:85.76, Y:-4.67, Z:-1.20 [[ 9.99963040e-01 -8.03421437e-03 3.06113091e-03 8.57586881e+01] [ 8.03477489e-03 9.99967706e-01 -1.70854377e-04 -4.66905466e+00] [-3.05965937e-03 1.95443560e-04 9.99995300e-01 -1.19872505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920371743 meters 0.04091183420718246 Centerline is valid? [True, True] Translation: X:85.79, Y:-4.67, Z:-1.20 [[ 9.99964087e-01 -7.05845831e-03 4.69071170e-03 8.57899574e+01] [ 7.05976622e-03 9.99975045e-01 -2.62329975e-04 -4.67483021e+00] [-4.68874300e-03 2.95435882e-04 9.99988964e-01 -1.19862266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.950371743 meters 0.03453611256502131 Centerline is valid? [True, True] Translation: X:85.82, Y:-4.67, Z:-1.20 [[ 9.99960804e-01 -7.08705491e-03 5.30706495e-03 8.58236233e+01] [ 7.08873032e-03 9.99974831e-01 -2.96951036e-04 -4.66691052e+00] [-5.30482687e-03 3.34559748e-04 9.99985873e-01 -1.19691157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98037174299999 meters 0.03430934534378571 Centerline is valid? [True, True] Translation: X:85.86, Y:-4.67, Z:-1.20 [[ 9.99956527e-01 -7.08284653e-03 6.06445829e-03 8.58564889e+01] [ 7.08503950e-03 9.99974843e-01 -3.40201907e-04 -4.66863318e+00] [-6.06189613e-03 3.83154044e-04 9.99981553e-01 -1.19730228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.010371743 meters 0.03408447690864924 Centerline is valid? [True, True] Translation: X:85.89, Y:-4.67, Z:-1.20 [[ 9.99946847e-01 -8.11291842e-03 6.36262703e-03 8.58887892e+01] [ 8.11535973e-03 9.99967006e-01 -3.57971005e-04 -4.67138594e+00] [-6.35951291e-03 4.09586985e-04 9.99979694e-01 -1.19741556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040371743 meters 0.03622449067774677 Centerline is valid? [True, True] Translation: X:85.92, Y:-4.68, Z:-1.20 [[ 9.99937667e-01 -9.41171389e-03 6.00684709e-03 8.59198268e+01] [ 9.41391632e-03 9.99955631e-01 -3.38483586e-04 -4.67639304e+00] [-6.00339486e-03 3.95010443e-04 9.99981901e-01 -1.19846296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.070371743 meters 0.03664542233377604 Centerline is valid? [True, True] Translation: X:85.95, Y:-4.68, Z:-1.20 [[ 9.99925746e-01 -1.07240041e-02 5.78778319e-03 8.59518367e+01] [ 1.07260715e-02 9.99942421e-01 -3.26275124e-04 -4.67943420e+00] [-5.78395096e-03 3.88331073e-04 9.99983197e-01 -1.19958162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100371743 meters 0.037383417507129056 Centerline is valid? [True, True] Translation: X:85.98, Y:-4.68, Z:-1.20 [[ 9.99888010e-01 -1.42896689e-02 4.44660530e-03 8.59820131e+01] [ 1.42909275e-02 9.99897848e-01 -2.51412012e-04 -4.68388571e+00] [-4.44255847e-03 3.14929970e-04 9.99990082e-01 -1.20046476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.130371743 meters 0.039268691498613 Centerline is valid? [True, True] Translation: X:86.01, Y:-4.69, Z:-1.20 [[ 9.99859469e-01 -1.63887403e-02 3.52873625e-03 8.60115822e+01] [ 1.63895461e-02 9.99865662e-01 -1.99557318e-04 -4.68933560e+00] [-3.52499172e-03 2.57363659e-04 9.99993754e-01 -1.20177867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160371743 meters 0.0424960837079638 Centerline is valid? [True, True] Translation: X:86.04, Y:-4.70, Z:-1.21 [[ 9.99810132e-01 -1.94088140e-02 1.73127767e-03 8.60405214e+01] [ 1.94090127e-02 9.99811623e-01 -9.80751375e-05 -4.69760015e+00] [-1.72904801e-03 1.31658906e-04 9.99998497e-01 -1.20535487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.190371743 meters 0.04233249071701074 Centerline is valid? [True, True] Translation: X:86.07, Y:-4.70, Z:-1.21 [[ 9.99793459e-01 -2.02715889e-02 1.44977128e-03 8.60720850e+01] [ 2.02717279e-02 9.99794504e-01 -8.12978063e-05 -4.70072519e+00] [-1.44782532e-03 1.10670384e-04 9.99998946e-01 -1.20688192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220371743 meters 0.041981673929891154 Centerline is valid? [True, True] Translation: X:86.10, Y:-4.70, Z:-1.21 [[ 9.99781603e-01 -2.08439076e-02 1.50921847e-03 8.61041488e+01] [ 2.08440588e-02 9.99782735e-01 -8.45186800e-05 -4.70303495e+00] [-1.50712887e-03 1.15958460e-04 9.99998858e-01 -1.20748141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.250371743 meters 0.04287104788051369 Centerline is valid? [True, True] Translation: X:86.14, Y:-4.71, Z:-1.21 [[ 9.99783220e-01 -2.07417954e-02 1.81414529e-03 8.61361470e+01] [ 2.07420143e-02 9.99784856e-01 -1.01932754e-04 -4.70653593e+00] [-1.81164072e-03 1.39539685e-04 9.99998349e-01 -1.20805789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280371743 meters 0.04256427853281723 Centerline is valid? [True, True] Translation: X:86.17, Y:-4.71, Z:-1.21 [[ 9.99805034e-01 -1.94584028e-02 3.35615417e-03 8.61675906e+01] [ 1.94591497e-02 9.99810635e-01 -1.90028655e-04 -4.70773024e+00] [-3.35182098e-03 2.55299512e-04 9.99994350e-01 -1.20726647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.310371743 meters 0.04308405729181371 Centerline is valid? [True, True] Translation: X:86.20, Y:-4.71, Z:-1.21 [[ 9.99825212e-01 -1.81595316e-02 4.44721573e-03 8.61976865e+01] [ 1.81608287e-02 9.99835047e-01 -2.51460325e-04 -4.71027784e+00] [-4.44191574e-03 3.32181496e-04 9.99990079e-01 -1.20740787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.340371743 meters 0.04249681476399876 Centerline is valid? [True, True] Translation: X:86.23, Y:-4.71, Z:-1.21 [[ 9.99837884e-01 -1.71500767e-02 5.48464552e-03 8.62302878e+01] [ 1.71520404e-02 9.99852845e-01 -3.11188992e-04 -4.71154621e+00] [-5.47850151e-03 4.05211404e-04 9.99984911e-01 -1.20669758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37037174299999 meters 0.04260958489852571 Centerline is valid? [True, True] Translation: X:86.26, Y:-4.71, Z:-1.21 [[ 9.99862046e-01 -1.49137128e-02 7.31237038e-03 8.62602594e+01] [ 1.49171558e-02 9.99888646e-01 -4.16518290e-04 -4.71377006e+00] [-7.30534429e-03 5.25540597e-04 9.99973178e-01 -1.20592989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400371743 meters 0.043154266552231584 Centerline is valid? [True, True] Translation: X:86.29, Y:-4.72, Z:-1.21 [[ 9.99869875e-01 -1.40945865e-02 7.84704439e-03 8.62918111e+01] [ 1.40985230e-02 9.99900511e-01 -4.46553560e-04 -4.71654054e+00] [-7.83996971e-03 5.57127188e-04 9.99969112e-01 -1.20646740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.430371743 meters 0.0437191017972723 Centerline is valid? [True, True] Translation: X:86.32, Y:-4.72, Z:-1.21 [[ 9.99879449e-01 -1.36648789e-02 7.37284651e-03 8.63239011e+01] [ 1.36683447e-02 9.99906496e-01 -4.19900067e-04 -4.71998701e+00] [-7.36641924e-03 5.20624056e-04 9.99972732e-01 -1.20763439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460371743 meters 0.04454528126920883 Centerline is valid? [True, True] Translation: X:86.35, Y:-4.72, Z:-1.21 [[ 9.99886803e-01 -1.36525249e-02 6.32375858e-03 8.63548259e+01] [ 1.36550784e-02 9.99906700e-01 -3.60780391e-04 -4.72424289e+00] [-6.31824301e-03 4.47090971e-04 9.99979940e-01 -1.20994342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.490371743 meters 0.036170783678686966 Centerline is valid? [True, True] Translation: X:86.39, Y:-4.71, Z:-1.21 [[ 9.99890833e-01 -1.38024144e-02 5.27399803e-03 8.63876024e+01] [ 1.38041922e-02 9.99904672e-01 -3.00839407e-04 -4.71460759e+00] [-5.26934296e-03 3.73609848e-04 9.99986047e-01 -1.20991560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520371743 meters 0.04573807510282921 Centerline is valid? [True, True] Translation: X:86.42, Y:-4.73, Z:-1.21 [[ 9.99899524e-01 -1.38093621e-02 3.20041832e-03 8.64177960e+01] [ 1.38100170e-02 9.99904621e-01 -1.82590989e-04 -4.73087563e+00] [-3.19759160e-03 2.26770474e-04 9.99994862e-01 -1.21436843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.550371743 meters 0.04651535686756359 Centerline is valid? [True, True] Translation: X:86.45, Y:-4.73, Z:-1.22 [[ 9.99902326e-01 -1.37093112e-02 2.71893366e-03 8.64487697e+01] [ 1.37097814e-02 9.99906005e-01 -1.54376505e-04 -4.73441692e+00] [-2.71656170e-03 1.91637413e-04 9.99996292e-01 -1.21570162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580371743 meters 0.03752539942501443 Centerline is valid? [True, True] Translation: X:86.48, Y:-4.72, Z:-1.21 [[ 9.99904350e-01 -1.34461266e-02 3.23920592e-03 8.64812751e+01] [ 1.34467968e-02 9.99909571e-01 -1.85212904e-04 -4.72413574e+00] [-3.23642260e-03 2.28752132e-04 9.99994737e-01 -1.21382035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.610371743 meters 0.038836853855930935 Centerline is valid? [True, True] Translation: X:86.51, Y:-4.73, Z:-1.21 [[ 9.99913589e-01 -1.24797271e-02 4.13172500e-03 8.65128643e+01] [ 1.24808118e-02 9.99922084e-01 -2.36827684e-04 -4.72841064e+00] [-4.12844752e-03 2.88374501e-04 9.99991436e-01 -1.21322411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640371743 meters 0.039268663037235675 Centerline is valid? [True, True] Translation: X:86.54, Y:-4.73, Z:-1.21 [[ 9.99918546e-01 -1.18492448e-02 4.74301170e-03 8.65447242e+01] [ 1.18506694e-02 9.99929741e-01 -2.72360431e-04 -4.73083502e+00] [-4.73945120e-03 3.28546110e-04 9.99988715e-01 -1.21291370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.670371743 meters 0.03974040342394207 Centerline is valid? [True, True] Translation: X:86.58, Y:-4.73, Z:-1.21 [[ 9.99921584e-01 -1.11310756e-02 5.73796908e-03 8.65760916e+01] [ 1.11331532e-02 9.99937970e-01 -3.30254252e-04 -4.73341827e+00] [-5.73393707e-03 3.94110044e-04 9.99983483e-01 -1.21252726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.700371743 meters 0.039577169338182755 Centerline is valid? [True, True] Translation: X:86.61, Y:-4.74, Z:-1.21 [[ 9.99921616e-01 -1.05568541e-02 6.73155038e-03 8.66086213e+01] [ 1.05597029e-02 9.99944170e-01 -3.87801152e-04 -4.73543098e+00] [-6.72708059e-03 4.58853926e-04 9.99977268e-01 -1.21191404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73037174299999 meters 0.03554137964984301 Centerline is valid? [True, True] Translation: X:86.64, Y:-4.73, Z:-1.21 [[ 9.99922324e-01 -9.48079781e-03 8.09072492e-03 8.66409186e+01] [ 9.48488426e-03 9.99954908e-01 -4.66856355e-04 -4.73286740e+00] [-8.08593393e-03 5.43559681e-04 9.99967161e-01 -1.21103617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760371743 meters 0.035430034614568715 Centerline is valid? [True, True] Translation: X:86.67, Y:-4.74, Z:-1.21 [[ 9.99920166e-01 -9.46974942e-03 8.36571989e-03 8.66740784e+01] [ 9.47412170e-03 9.99955003e-01 -4.83166434e-04 -4.73537288e+00] [-8.36076799e-03 5.62385710e-04 9.99964890e-01 -1.21156922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.790371743 meters 0.03904516320522811 Centerline is valid? [True, True] Translation: X:86.71, Y:-4.74, Z:-1.21 [[ 9.99918464e-01 -9.34710455e-03 8.70039365e-03 8.67061256e+01] [ 9.35183455e-03 9.99956144e-01 -5.03128426e-04 -4.74370023e+00] [-8.69530929e-03 5.84452045e-04 9.99962024e-01 -1.21244748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820371743 meters 0.03768737015025647 Centerline is valid? [True, True] Translation: X:86.74, Y:-4.74, Z:-1.21 [[ 9.99916338e-01 -9.89487762e-03 8.33118364e-03 8.67382073e+01] [ 9.89925042e-03 9.99950884e-01 -4.83797032e-04 -4.74429320e+00] [-8.32598734e-03 5.66229029e-04 9.99965178e-01 -1.21287050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.850371743 meters 0.03644979656660153 Centerline is valid? [True, True] Translation: X:86.77, Y:-4.75, Z:-1.21 [[ 9.99913038e-01 -1.09634204e-02 7.32942712e-03 8.67699334e+01] [ 1.09668372e-02 9.99939772e-01 -4.26136861e-04 -4.74590146e+00] [-7.32431376e-03 5.06480437e-04 9.99973049e-01 -1.21417108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880371743 meters 0.03711511790525134 Centerline is valid? [True, True] Translation: X:86.80, Y:-4.75, Z:-1.22 [[ 9.99910388e-01 -1.13527468e-02 7.09443695e-03 8.68019073e+01] [ 1.13559594e-02 9.99935434e-01 -4.12712948e-04 -4.74940753e+00] [-7.08929346e-03 4.93240102e-04 9.99974749e-01 -1.21527618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.910371743 meters 0.03724863473630304 Centerline is valid? [True, True] Translation: X:86.83, Y:-4.75, Z:-1.22 [[ 9.99901975e-01 -1.22759578e-02 6.73361528e-03 8.68343818e+01] [ 1.22788757e-02 9.99924535e-01 -3.92151802e-04 -4.75185801e+00] [-6.72829308e-03 4.74794586e-04 9.99977252e-01 -1.21589176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940371743 meters 0.03802216154892727 Centerline is valid? [True, True] Translation: X:86.87, Y:-4.76, Z:-1.22 [[ 9.99885727e-01 -1.40819191e-02 5.49838585e-03 8.68650121e+01] [ 1.40838940e-02 9.99900766e-01 -3.20622455e-04 -4.75572012e+00] [-5.49332524e-03 3.98024500e-04 9.99984832e-01 -1.21681707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.970371743 meters 0.03802216154892727 Centerline is valid? [True, True] Translation: X:86.90, Y:-4.76, Z:-1.22 [[ 9.99887244e-01 -1.39738240e-02 5.49839946e-03 8.68975807e+01] [ 1.39757960e-02 9.99902282e-01 -3.20390319e-04 -4.75771488e+00] [-5.49338509e-03 3.97198703e-04 9.99984832e-01 -1.21727511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000371743 meters 0.036728777448626626 Centerline is valid? [True, True] Translation: X:86.93, Y:-4.76, Z:-1.22 [[ 9.99875617e-01 -1.49916253e-02 4.89914413e-03 8.69299250e+01] [ 1.49932063e-02 9.99887555e-01 -2.86156751e-04 -4.75821844e+00] [-4.89430329e-03 3.59575036e-04 9.99987958e-01 -1.21800920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.030371743 meters 0.03773775465014115 Centerline is valid? [True, True] Translation: X:86.96, Y:-4.76, Z:-1.22 [[ 9.99837855e-01 -1.76265859e-02 3.68329180e-03 8.69606990e+01] [ 1.76274995e-02 9.99844600e-01 -2.15724816e-04 -4.76291579e+00] [-3.67891693e-03 2.80617062e-04 9.99993193e-01 -1.21997069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.060371743 meters 0.0454257283006755 Centerline is valid? [True, True] Translation: X:86.99, Y:-4.78, Z:-1.22 [[ 9.99813346e-01 -1.89728286e-02 3.64748779e-03 8.69914001e+01] [ 1.89737323e-02 9.99819960e-01 -2.13314257e-04 -4.77652000e+00] [-3.64278392e-03 2.82480898e-04 9.99993325e-01 -1.22201534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.090371743 meters 0.039893135493850304 Centerline is valid? [True, True] Translation: X:87.02, Y:-4.77, Z:-1.22 [[ 9.99790471e-01 -2.02084067e-02 3.26114258e-03 8.70234258e+01] [ 2.02091359e-02 9.99795756e-01 -1.90817795e-04 -4.77132018e+00] [-3.25662039e-03 2.56682687e-04 9.99994664e-01 -1.22142818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12037174299999 meters 0.041978531468037296 Centerline is valid? [True, True] Translation: X:87.05, Y:-4.78, Z:-1.22 [[ 9.99749652e-01 -2.21164685e-02 3.39045125e-03 8.70546656e+01] [ 2.21172691e-02 9.99755364e-01 -1.98797224e-04 -4.77610028e+00] [-3.38522513e-03 2.73734978e-04 9.99994233e-01 -1.22180619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.150371743 meters 0.0416176475504924 Centerline is valid? [True, True] Translation: X:87.09, Y:-4.78, Z:-1.22 [[ 9.99749301e-01 -2.20406118e-02 3.94293706e-03 8.70872670e+01] [ 2.20416919e-02 9.99757026e-01 -2.30678542e-04 -4.77737676e+00] [-3.93689474e-03 3.17529715e-04 9.99992200e-01 -1.22164876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180371743 meters 0.04370435356587678 Centerline is valid? [True, True] Translation: X:87.12, Y:-4.78, Z:-1.22 [[ 9.99753346e-01 -2.17666288e-02 4.41143774e-03 8.71184958e+01] [ 2.17679834e-02 9.99763016e-01 -2.59285177e-04 -4.78158487e+00] [-4.40474853e-03 3.55249327e-04 9.99990236e-01 -1.22176259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.210371743 meters 0.04110115471070059 Centerline is valid? [True, True] Translation: X:87.15, Y:-4.78, Z:-1.22 [[ 9.99764833e-01 -2.10641481e-02 5.15558380e-03 8.71511991e+01] [ 2.10659902e-02 9.99778041e-01 -3.03262091e-04 -4.77960557e+00] [-5.14805151e-03 4.11798252e-04 9.99986664e-01 -1.22091091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240371743 meters 0.04070272130887088 Centerline is valid? [True, True] Translation: X:87.18, Y:-4.78, Z:-1.22 [[ 9.99807895e-01 -1.83887527e-02 6.78435746e-03 8.71825461e+01] [ 1.83918896e-02 9.99830775e-01 -4.00278934e-04 -4.78015709e+00] [-6.77584874e-03 5.24979192e-04 9.99976906e-01 -1.21980558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.270371743 meters 0.040708755141323584 Centerline is valid? [True, True] Translation: X:87.21, Y:-4.78, Z:-1.22 [[ 9.99831705e-01 -1.68029168e-02 7.36365882e-03 8.72141401e+01] [ 1.68065690e-02 9.99858665e-01 -4.34372475e-04 -4.78142308e+00] [-7.35531936e-03 5.58057212e-04 9.99972794e-01 -1.22001160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300371743 meters 0.03849104644492487 Centerline is valid? [True, True] Translation: X:87.25, Y:-4.78, Z:-1.22 [[ 9.99860946e-01 -1.50412597e-02 7.20060331e-03 8.72461840e+01] [ 1.50447092e-02 9.99886732e-01 -4.25119824e-04 -4.77959840e+00] [-7.19339337e-03 5.33391692e-04 9.99973985e-01 -1.22021320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.330371743 meters 0.037699135869072274 Centerline is valid? [True, True] Translation: X:87.28, Y:-4.78, Z:-1.22 [[ 9.99905382e-01 -1.20567980e-02 6.62274749e-03 8.72770353e+01] [ 1.20596544e-02 9.99927203e-01 -3.91536153e-04 -4.77934581e+00] [-6.61754470e-03 4.71367152e-04 9.99977993e-01 -1.22139309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360371743 meters 0.039361681212858414 Centerline is valid? [True, True] Translation: X:87.31, Y:-4.78, Z:-1.22 [[ 9.99927579e-01 -1.05494316e-02 5.79183437e-03 8.73070437e+01] [ 1.05515919e-02 9.99944272e-01 -3.42551570e-04 -4.78331407e+00] [-5.78789788e-03 4.03639835e-04 9.99983169e-01 -1.22298503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.390371743 meters 0.03665480158198568 Centerline is valid? [True, True] Translation: X:87.34, Y:-4.78, Z:-1.22 [[ 9.99960721e-01 -7.51554159e-03 4.69813621e-03 8.73380799e+01] [ 7.51692986e-03 9.99971709e-01 -2.77905606e-04 -4.78061862e+00] [-4.69591468e-03 3.13210251e-04 9.99988925e-01 -1.22464620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420371743 meters 0.03756363431616153 Centerline is valid? [True, True] Translation: X:87.37, Y:-4.78, Z:-1.23 [[ 9.99975081e-01 -5.67295223e-03 4.20177853e-03 8.73682453e+01] [ 5.67404665e-03 9.99983872e-01 -2.48591804e-04 -4.78346105e+00] [-4.20030051e-03 2.72426697e-04 9.99991142e-01 -1.22610942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.450371743 meters 0.033854150960645354 Centerline is valid? [True, True] Translation: X:87.40, Y:-4.78, Z:-1.23 [[ 9.99986585e-01 -3.67705888e-03 3.64804641e-03 8.74003019e+01] [ 3.67786934e-03 9.99993213e-01 -2.15479934e-04 -4.77913559e+00] [-3.64722932e-03 2.28894081e-04 9.99993323e-01 -1.22606192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48037174299999 meters 0.0357880430579661 Centerline is valid? [True, True] Translation: X:87.43, Y:-4.78, Z:-1.23 [[ 9.99992868e-01 -1.45377966e-03 3.48574099e-03 8.74307830e+01] [ 1.45450739e-03 9.99998921e-01 -2.06247704e-04 -4.78289388e+00] [-3.48543739e-03 2.11316269e-04 9.99993904e-01 -1.22686808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.510371743 meters 0.033627842898483425 Centerline is valid? [True, True] Translation: X:87.46, Y:-4.78, Z:-1.23 [[ 9.99991217e-01 2.19703117e-03 3.56910694e-03 8.74616083e+01] [-2.19629019e-03 9.99997566e-01 -2.11516797e-04 -4.77914683e+00] [-3.56956296e-03 2.03676145e-04 9.99993608e-01 -1.22656452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540371743 meters 0.032066996283069624 Centerline is valid? [True, True] Translation: X:87.49, Y:-4.78, Z:-1.23 [[ 9.99986973e-01 3.66118374e-03 3.55675428e-03 8.74931240e+01] [-3.66045757e-03 9.99993278e-01 -2.10653916e-04 -4.77771800e+00] [-3.55750161e-03 1.97631824e-04 9.99993653e-01 -1.22648560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.570371743 meters 0.03232330912412433 Centerline is valid? [True, True] Translation: X:87.52, Y:-4.78, Z:-1.23 [[ 9.99977044e-01 5.82954063e-03 3.45367344e-03 8.75236755e+01] [-5.82887061e-03 9.99982991e-01 -2.04034382e-04 -4.77842896e+00] [-3.45480413e-03 1.83898683e-04 9.99994015e-01 -1.22716835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600371743 meters 0.030807255688276792 Centerline is valid? [True, True] Translation: X:87.55, Y:-4.78, Z:-1.23 [[ 9.99972909e-01 6.37033004e-03 3.68788948e-03 8.75539491e+01] [-6.36956379e-03 9.99979690e-01 -2.19481353e-04 -4.77730737e+00] [-3.68921275e-03 1.95985160e-04 9.99993176e-01 -1.22745227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.630371743 meters 0.030984644445824213 Centerline is valid? [True, True] Translation: X:87.58, Y:-4.78, Z:-1.23 [[ 9.99968616e-01 6.80055734e-03 4.06444749e-03 8.75834349e+01] [-6.79962985e-03 9.99976853e-01 -2.41971943e-04 -4.77881593e+00] [-4.06599895e-03 2.14327611e-04 9.99991711e-01 -1.22840070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660371743 meters 0.030643153603777347 Centerline is valid? [True, True] Translation: X:87.61, Y:-4.78, Z:-1.23 [[ 9.99967899e-01 6.91995208e-03 4.03914826e-03 8.76133288e+01] [-6.91903765e-03 9.99976034e-01 -2.40323494e-04 -4.77977550e+00] [-4.04071449e-03 2.12368761e-04 9.99991814e-01 -1.22893423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.690371743 meters 0.030333401021310356 Centerline is valid? [True, True] Translation: X:87.64, Y:-4.78, Z:-1.23 [[ 9.99964855e-01 6.89742358e-03 4.76602668e-03 8.76429241e+01] [-6.89615141e-03 9.99976181e-01 -2.83307716e-04 -4.78020993e+00] [-4.76786725e-03 2.50430518e-04 9.99988602e-01 -1.22923169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720371743 meters 0.032251830808667704 Centerline is valid? [True, True] Translation: X:87.67, Y:-4.78, Z:-1.23 [[ 9.99963176e-01 7.07518883e-03 4.85686791e-03 8.76723341e+01] [-7.07387318e-03 9.99974938e-01 -2.88009207e-04 -4.78447482e+00] [-4.85878391e-03 2.53641734e-04 9.99988164e-01 -1.23010765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.750371743 meters 0.030653551369971197 Centerline is valid? [True, True] Translation: X:87.70, Y:-4.78, Z:-1.23 [[ 9.99959546e-01 7.50016289e-03 4.96532399e-03 8.77019570e+01] [-7.49879002e-03 9.99971840e-01 -2.95050273e-04 -4.78289690e+00] [-4.96739709e-03 2.57804415e-04 9.99987629e-01 -1.22974954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780371743 meters 0.03030496502521244 Centerline is valid? [True, True] Translation: X:87.73, Y:-4.78, Z:-1.23 [[ 9.99952387e-01 8.35621850e-03 5.03956004e-03 8.77319324e+01] [-8.35481608e-03 9.99965053e-01 -2.99272640e-04 -4.78200441e+00] [-5.04188471e-03 2.57153794e-04 9.99987257e-01 -1.22983215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.810371743 meters 0.03282412122199014 Centerline is valid? [True, True] Translation: X:87.76, Y:-4.79, Z:-1.23 [[ 9.99948169e-01 8.91543694e-03 4.91674655e-03 8.77607846e+01] [-8.91410982e-03 9.99960226e-01 -2.91767787e-04 -4.78664366e+00] [-4.91915223e-03 2.47924246e-04 9.99987870e-01 -1.23082566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.840371743 meters 0.029698885492014868 Centerline is valid? [True, True] Translation: X:87.79, Y:-4.78, Z:-1.23 [[ 9.99938700e-01 9.96573794e-03 4.82498038e-03 8.77903921e+01] [-9.96447175e-03 9.99950312e-01 -2.86394164e-04 -4.78289629e+00] [-4.82759476e-03 2.38298228e-04 9.99988319e-01 -1.23080513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87037174299999 meters 0.03005810651571593 Centerline is valid? [True, True] Translation: X:87.82, Y:-4.78, Z:-1.23 [[ 9.99929993e-01 1.06033320e-02 5.25152662e-03 8.78193036e+01] [-1.06018418e-02 9.99943750e-01 -3.11517974e-04 -4.78491509e+00] [-5.25453435e-03 2.55820311e-04 9.99986162e-01 -1.23151241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900371743 meters 0.02958368368325787 Centerline is valid? [True, True] Translation: X:87.85, Y:-4.79, Z:-1.23 [[ 9.99927921e-01 1.08931069e-02 5.04899807e-03 8.78481307e+01] [-1.08917348e-02 9.99940639e-01 -2.99187835e-04 -4.78539497e+00] [-5.05195744e-03 2.44173922e-04 9.99987209e-01 -1.23139225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.930371743 meters 0.030103731759757817 Centerline is valid? [True, True] Translation: X:87.88, Y:-4.79, Z:-1.23 [[ 9.99919561e-01 1.16474954e-02 5.02076191e-03 8.78756827e+01] [-1.16461490e-02 9.99932137e-01 -2.97312898e-04 -4.78761126e+00] [-5.02388413e-03 2.38816441e-04 9.99987352e-01 -1.23167060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960371743 meters 0.029121574836506764 Centerline is valid? [True, True] Translation: X:87.91, Y:-4.79, Z:-1.23 [[ 9.99902736e-01 1.32035021e-02 4.49290826e-03 8.79051893e+01] [-1.32024424e-02 9.99912809e-01 -2.65449661e-04 -4.78634749e+00] [-4.49602138e-03 2.06106480e-04 9.99989872e-01 -1.23127206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.990371743 meters 0.02906337298221076 Centerline is valid? [True, True] Translation: X:87.93, Y:-4.79, Z:-1.23 [[ 9.99889182e-01 1.42270854e-02 4.38343514e-03 8.79342388e+01] [-1.42260867e-02 9.99898771e-01 -2.58932269e-04 -4.78754614e+00] [-4.38667526e-03 1.96544446e-04 9.99990359e-01 -1.23176825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020371743 meters 0.028867907557338906 Centerline is valid? [True, True] Translation: X:87.96, Y:-4.79, Z:-1.23 [[ 9.99871199e-01 1.52594726e-02 4.97324301e-03 8.79627515e+01] [-1.52582022e-02 9.99883544e-01 -2.93287990e-04 -4.78834339e+00] [-4.97713927e-03 2.17367467e-04 9.99987590e-01 -1.23246188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.050371743 meters 0.027275157815713644 Centerline is valid? [True, True] Translation: X:87.99, Y:-4.79, Z:-1.23 [[ 9.99832754e-01 1.73929242e-02 5.65240987e-03 8.79920522e+01] [-1.73913185e-02 9.99848704e-01 -3.33112770e-04 -4.78646417e+00] [-5.65734849e-03 2.34754199e-04 9.99983970e-01 -1.23257496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080371743 meters 0.02835030770402667 Centerline is valid? [True, True] Translation: X:88.02, Y:-4.79, Z:-1.23 [[ 9.99815080e-01 1.81728382e-02 6.28918394e-03 8.80202420e+01] [-1.81708726e-02 9.99834828e-01 -3.69533164e-04 -4.79000939e+00] [-6.29486060e-03 2.55184869e-04 9.99980155e-01 -1.23342207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.110371743 meters 0.027267596073121424 Centerline is valid? [True, True] Translation: X:88.05, Y:-4.79, Z:-1.23 [[ 9.99803213e-01 1.86556680e-02 6.74544570e-03 8.80494042e+01] [-1.86534216e-02 9.99825931e-01 -3.95778557e-04 -4.79027230e+00] [-6.75165505e-03 2.69875030e-04 9.99977171e-01 -1.23335923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140371743 meters 0.027110797065283937 Centerline is valid? [True, True] Translation: X:88.08, Y:-4.79, Z:-1.23 [[ 9.99817308e-01 1.76697261e-02 7.28918328e-03 8.80777291e+01] [-1.76670812e-02 9.99843834e-01 -4.27091450e-04 -4.79210662e+00] [-7.29559154e-03 2.98234831e-04 9.99973342e-01 -1.23377880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.170371743 meters 0.026926286779859365 Centerline is valid? [True, True] Translation: X:88.11, Y:-4.79, Z:-1.23 [[ 9.99835641e-01 1.67109367e-02 7.03099598e-03 8.81067333e+01] [-1.67084554e-02 9.99860319e-01 -4.11499473e-04 -4.79398659e+00] [-7.03689043e-03 2.93954757e-04 9.99975198e-01 -1.23436492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.200371743 meters 0.027694640970307792 Centerline is valid? [True, True] Translation: X:88.14, Y:-4.80, Z:-1.24 [[ 9.99864928e-01 1.51046451e-02 6.47879617e-03 8.81353401e+01] [-1.51025081e-02 9.99885879e-01 -3.78642323e-04 -4.79796490e+00] [-6.48377606e-03 2.80745108e-04 9.99978941e-01 -1.23506346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23037174299999 meters 0.028328799945230784 Centerline is valid? [True, True] Translation: X:88.16, Y:-4.80, Z:-1.24 [[ 9.99896206e-01 1.31817626e-02 5.81532695e-03 8.81649228e+01] [-1.31800106e-02 9.99913082e-01 -3.39501580e-04 -4.80136281e+00] [-5.81929672e-03 2.62820271e-04 9.99983033e-01 -1.23565286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260371743 meters 0.029782385838583118 Centerline is valid? [True, True] Translation: X:88.19, Y:-4.81, Z:-1.24 [[ 9.99927577e-01 1.08356933e-02 5.23717254e-03 8.81931324e+01] [-1.08342401e-02 9.99941261e-01 -3.05766040e-04 -4.80619251e+00] [-5.24017810e-03 2.49003111e-04 9.99986239e-01 -1.23651140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.290371743 meters 0.030889636131512323 Centerline is valid? [True, True] Translation: X:88.22, Y:-4.81, Z:-1.24 [[ 9.99970441e-01 6.60460269e-03 3.93643408e-03 8.82230142e+01] [-6.60375053e-03 9.99978169e-01 -2.29439408e-04 -4.81161327e+00] [-3.93786350e-03 2.03437397e-04 9.99992226e-01 -1.23785899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320371743 meters 0.03170234392421072 Centerline is valid? [True, True] Translation: X:88.25, Y:-4.82, Z:-1.24 [[ 9.99984996e-01 4.42485418e-03 3.22928271e-03 8.82522804e+01] [-4.42426877e-03 9.99990195e-01 -1.88401252e-04 -4.81520323e+00] [-3.23008470e-03 1.74111210e-04 9.99994768e-01 -1.23874820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.350371743 meters 0.03204024567814017 Centerline is valid? [True, True] Translation: X:88.28, Y:-4.82, Z:-1.24 [[ 9.99993356e-01 1.93542054e-03 3.08910478e-03 8.82822066e+01] [-1.93487388e-03 9.99998112e-01 -1.79942104e-04 -4.81883065e+00] [-3.08944721e-03 1.73963881e-04 9.99995213e-01 -1.23942717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380371743 meters 0.03404503310348466 Centerline is valid? [True, True] Translation: X:88.31, Y:-4.82, Z:-1.24 [[ 9.99994272e-01 1.37255242e-03 3.09383268e-03 8.83124220e+01] [-1.37200279e-03 9.99999043e-01 -1.79767509e-04 -4.82410532e+00] [-3.09407645e-03 1.75521732e-04 9.99995198e-01 -1.24035362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.410371743 meters 0.03150104388893957 Centerline is valid? [True, True] Translation: X:88.34, Y:-4.82, Z:-1.24 [[ 9.99995591e-01 5.19907192e-04 2.92377315e-03 8.83434828e+01] [-5.19414260e-04 9.99999851e-01 -1.69351209e-04 -4.82209572e+00] [-2.92386076e-03 1.67831813e-04 9.99995711e-01 -1.23979643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440371743 meters 0.03345453263251056 Centerline is valid? [True, True] Translation: X:88.37, Y:-4.83, Z:-1.24 [[ 9.99996305e-01 1.35529417e-04 2.71515375e-03 8.83747007e+01] [-1.35107657e-04 9.99999979e-01 -1.55518461e-04 -4.82695934e+00] [-2.71517477e-03 1.55151048e-04 9.99996302e-01 -1.24044028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.470371743 meters 0.03256194647586646 Centerline is valid? [True, True] Translation: X:88.41, Y:-4.83, Z:-1.24 [[ 9.99995928e-01 -1.97088564e-04 2.84685187e-03 8.84057390e+01] [ 1.97562257e-04 9.99999967e-01 -1.66111531e-04 -4.82700966e+00] [-2.84681903e-03 1.66673286e-04 9.99995934e-01 -1.24042335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500371743 meters 0.035632308552325576 Centerline is valid? [True, True] Translation: X:88.44, Y:-4.83, Z:-1.24 [[ 9.99993984e-01 -1.11777283e-03 3.28370542e-03 8.84360381e+01] [ 1.11840547e-03 9.99999356e-01 -1.90828678e-04 -4.83374653e+00] [-3.28349000e-03 1.94500044e-04 9.99994590e-01 -1.24227798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.530371743 meters 0.0329987040763907 Centerline is valid? [True, True] Translation: X:88.47, Y:-4.83, Z:-1.24 [[ 9.99994703e-01 -1.57539741e-03 2.84831228e-03 8.84684933e+01] [ 1.57587157e-03 9.99998745e-01 -1.64234098e-04 -4.83159099e+00] [-2.84804997e-03 1.68721803e-04 9.99995930e-01 -1.24225764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.560371743 meters 0.03433710545932161 Centerline is valid? [True, True] Translation: X:88.50, Y:-4.84, Z:-1.24 [[ 9.99993731e-01 -2.08057939e-03 2.86504373e-03 8.84996597e+01] [ 2.08106971e-03 9.99997820e-01 -1.68169124e-04 -4.83601922e+00] [-2.86468759e-03 1.74130425e-04 9.99995882e-01 -1.24357017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.590371743 meters 0.03416388724521407 Centerline is valid? [True, True] Translation: X:88.53, Y:-4.84, Z:-1.24 [[ 9.99994032e-01 -2.81212908e-03 2.00691514e-03 8.85321936e+01] [ 2.81236615e-03 9.99996039e-01 -1.15310928e-04 -4.83728806e+00] [-2.00658292e-03 1.20954420e-04 9.99997979e-01 -1.24412599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62037174299999 meters 0.035469269188921765 Centerline is valid? [True, True] Translation: X:88.56, Y:-4.84, Z:-1.24 [[ 9.99986782e-01 -4.87486816e-03 1.63472266e-03 8.85628116e+01] [ 4.87503252e-03 9.99988112e-01 -9.65744340e-05 -4.84017952e+00] [-1.63423244e-03 1.04542484e-04 9.99998659e-01 -1.24437241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.650371743 meters 0.03680987220770643 Centerline is valid? [True, True] Translation: X:88.59, Y:-4.84, Z:-1.24 [[ 9.99980372e-01 -5.96041781e-03 1.93084300e-03 8.85934145e+01] [ 5.96064886e-03 9.99982229e-01 -1.13930125e-04 -4.84357665e+00] [-1.93012961e-03 1.25436966e-04 9.99998129e-01 -1.24467659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680371743 meters 0.03727286279992303 Centerline is valid? [True, True] Translation: X:88.63, Y:-4.85, Z:-1.24 [[ 9.99974405e-01 -6.93482402e-03 1.76011157e-03 8.86255861e+01] [ 6.93501679e-03 9.99975947e-01 -1.03445295e-04 -4.84592260e+00] [-1.75935186e-03 1.15649051e-04 9.99998446e-01 -1.24448695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.710371743 meters 0.04051426942434739 Centerline is valid? [True, True] Translation: X:88.66, Y:-4.85, Z:-1.24 [[ 9.99956223e-01 -9.19498952e-03 1.73309497e-03 8.86556395e+01] [ 9.19518113e-03 9.99957718e-01 -1.02622908e-04 -4.85235775e+00] [-1.73207808e-03 1.18554537e-04 9.99998493e-01 -1.24486449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740371743 meters 0.03738168317338799 Centerline is valid? [True, True] Translation: X:88.69, Y:-4.85, Z:-1.24 [[ 9.99948053e-01 -1.00386672e-02 1.76557451e-03 8.86878296e+01] [ 1.00388663e-02 9.99949604e-01 -1.03916544e-04 -4.84980412e+00] [-1.76444234e-03 1.21635512e-04 9.99998436e-01 -1.24456364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.770371743 meters 0.03583798661462457 Centerline is valid? [True, True] Translation: X:88.72, Y:-4.85, Z:-1.24 [[ 9.99928060e-01 -1.19503759e-02 1.03101577e-03 8.87187155e+01] [ 1.19504451e-02 9.99928589e-01 -6.10314418e-05 -4.84956915e+00] [-1.03021279e-03 7.33481485e-05 9.99999467e-01 -1.24496397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800371743 meters 0.04354215093599596 Centerline is valid? [True, True] Translation: X:88.75, Y:-4.86, Z:-1.25 [[ 9.99914303e-01 -1.30718275e-02 7.17026780e-04 8.87488750e+01] [ 1.30718609e-02 9.99914559e-01 -4.18939381e-05 -4.86245990e+00] [-7.16417886e-04 5.12632222e-05 9.99999742e-01 -1.24770952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.830371743 meters 0.044892558878516814 Centerline is valid? [True, True] Translation: X:88.78, Y:-4.87, Z:-1.25 [[ 9.99901427e-01 -1.40395234e-02 -1.65461857e-04 8.87805156e+01] [ 1.40395253e-02 9.99901441e-01 1.05673199e-05 -4.86620165e+00] [ 1.65297189e-04 -1.28892842e-05 9.99999986e-01 -1.24877227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860371743 meters 0.04728942602591107 Centerline is valid? [True, True] Translation: X:88.81, Y:-4.87, Z:-1.25 [[ 9.99885104e-01 -1.51414838e-02 -7.17610792e-04 8.88111932e+01] [ 1.51415189e-02 9.99885360e-01 4.34799759e-05 -4.87126996e+00] [ 7.16870173e-04 -5.43406976e-05 9.99999742e-01 -1.24984451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.890371743 meters 0.04728942602591107 Centerline is valid? [True, True] Translation: X:88.84, Y:-4.87, Z:-1.25 [[ 9.99886111e-01 -1.50748417e-02 -7.17594344e-04 8.88429167e+01] [ 1.50748770e-02 9.99886367e-01 4.37553895e-05 -4.87322913e+00] [ 7.16853196e-04 -5.45680527e-05 9.99999742e-01 -1.25029067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920371743 meters 0.039084795785821906 Centerline is valid? [True, True] Translation: X:88.88, Y:-4.86, Z:-1.25 [[ 9.99884166e-01 -1.51912610e-02 -9.37962580e-04 8.88759997e+01] [ 1.51913211e-02 9.99884604e-01 5.70509229e-05 -4.86334328e+00] [ 9.36987667e-04 -7.12932052e-05 9.99999558e-01 -1.24822662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.950371743 meters 0.04779454009660005 Centerline is valid? [True, True] Translation: X:88.91, Y:-4.88, Z:-1.25 [[ 9.99882562e-01 -1.52666499e-02 -1.33886877e-03 8.89060609e+01] [ 1.52667730e-02 9.99883453e-01 8.18028632e-05 -4.87689360e+00] [ 1.33746387e-03 -1.02233462e-04 9.99999100e-01 -1.25092737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98037174299999 meters 0.0383961467862752 Centerline is valid? [True, True] Translation: X:88.94, Y:-4.87, Z:-1.25 [[ 9.99889293e-01 -1.47982019e-02 -1.55422841e-03 8.89395498e+01] [ 1.47983668e-02 9.99890494e-01 9.46378012e-05 -4.86513209e+00] [ 1.55265775e-03 -1.17627366e-04 9.99998788e-01 -1.24847339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.010371743 meters 0.037751501243261855 Centerline is valid? [True, True] Translation: X:88.97, Y:-4.86, Z:-1.25 [[ 9.99905106e-01 -1.34345216e-02 -3.04827452e-03 8.89721993e+01] [ 1.34351447e-02 9.99909727e-01 1.84031079e-04 -4.86391059e+00] [ 3.04552697e-03 -2.24967625e-04 9.99995337e-01 -1.24872362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040371743 meters 0.03671843368509111 Centerline is valid? [True, True] Translation: X:89.00, Y:-4.86, Z:-1.25 [[ 9.99923103e-01 -1.19410420e-02 -3.34662664e-03 8.90033005e+01] [ 1.19417832e-02 9.99928674e-01 2.01558711e-04 -4.86343387e+00] [ 3.34398112e-03 -2.41507901e-04 9.99994380e-01 -1.24932071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.070371743 meters 0.03862605871558111 Centerline is valid? [True, True] Translation: X:89.03, Y:-4.87, Z:-1.25 [[ 9.99948942e-01 -9.44772220e-03 -3.58518464e-03 8.90329602e+01] [ 9.44855482e-03 9.99955338e-01 2.15370899e-04 -4.86725240e+00] [ 3.58298975e-03 -2.49234716e-04 9.99993550e-01 -1.25078116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100371743 meters 0.03560093660458977 Centerline is valid? [True, True] Translation: X:89.06, Y:-4.86, Z:-1.25 [[ 9.99984944e-01 -3.66519284e-03 -4.08392199e-03 8.90639509e+01] [ 3.66622511e-03 9.99993249e-01 2.45307478e-04 -4.86235797e+00] [ 4.08299532e-03 -2.60276362e-04 9.99991631e-01 -1.25085760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.130371743 meters 0.03551085448004183 Centerline is valid? [True, True] Translation: X:89.09, Y:-4.86, Z:-1.25 [[ 9.99994125e-01 -2.25984969e-04 -3.42025166e-03 8.90943142e+01] [ 2.26688001e-04 9.99999953e-01 2.05163562e-04 -4.86260277e+00] [ 3.42020513e-03 -2.05937687e-04 9.99994130e-01 -1.25108279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160371743 meters 0.03149838111440654 Centerline is valid? [True, True] Translation: X:89.12, Y:-4.86, Z:-1.25 [[ 9.99976710e-01 6.21639237e-03 -2.81696089e-03 8.91247751e+01] [-6.21594176e-03 9.99980667e-01 1.68691535e-04 -4.85593657e+00] [ 2.81795508e-03 -1.51177542e-04 9.99996018e-01 -1.24929447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.190371743 meters 0.02932817138518399 Centerline is valid? [True, True] Translation: X:89.15, Y:-4.85, Z:-1.25 [[ 9.99953435e-01 9.39595982e-03 -2.20079388e-03 8.91548578e+01] [-9.39569242e-03 9.99955851e-01 1.31809163e-04 -4.85311346e+00] [ 2.20193519e-03 -1.11125043e-04 9.99997570e-01 -1.24818649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220371743 meters 0.02843312277896283 Centerline is valid? [True, True] Translation: X:89.18, Y:-4.85, Z:-1.25 [[ 9.99924616e-01 1.22015101e-02 -1.37329658e-03 8.91844345e+01] [-1.22014092e-02 9.99925557e-01 8.18474198e-05 -4.85261319e+00] [ 1.37419301e-03 -6.50850963e-05 9.99999054e-01 -1.24815822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.250371743 meters 0.028446268021300722 Centerline is valid? [True, True] Translation: X:89.21, Y:-4.85, Z:-1.25 [[ 9.99854096e-01 1.70610724e-02 -8.40917810e-04 8.92130708e+01] [-1.70610361e-02 9.99854449e-01 5.03655378e-05 -4.85408540e+00] [ 8.41654703e-04 -3.60112602e-05 9.99999645e-01 -1.24868667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280371743 meters 0.02687845261353068 Centerline is valid? [True, True] Translation: X:89.24, Y:-4.85, Z:-1.25 [[ 9.99832752e-01 1.82822176e-02 -4.78742167e-04 8.92419911e+01] [-1.82822064e-02 9.99832866e-01 2.76579884e-05 -4.85313145e+00] [ 4.79167802e-04 -1.89008995e-05 9.99999885e-01 -1.24837243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.310371743 meters 0.02660144931366975 Centerline is valid? [True, True] Translation: X:89.27, Y:-4.85, Z:-1.25 [[ 9.99821606e-01 1.88816935e-02 -4.88677087e-04 8.92705565e+01] [-1.88816820e-02 9.99821725e-01 2.82190686e-05 -4.85391642e+00] [ 4.89122791e-04 -1.89869891e-05 9.99999880e-01 -1.24870467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.340371743 meters 0.027440818839624855 Centerline is valid? [True, True] Translation: X:89.30, Y:-4.86, Z:-1.25 [[ 9.99818026e-01 1.90718153e-02 -4.25149435e-04 8.92978119e+01] [-1.90718069e-02 9.99818116e-01 2.37472038e-05 -4.85725134e+00] [ 4.25525010e-04 -1.56345145e-05 9.99999909e-01 -1.24925010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37037174299999 meters 0.027757717158861706 Centerline is valid? [True, True] Translation: X:89.33, Y:-4.86, Z:-1.25 [[ 9.99832666e-01 1.82622542e-02 -1.06273398e-03 8.93259881e+01] [-1.82621985e-02 9.99833230e-01 6.21205721e-05 -4.86021200e+00] [ 1.06369121e-03 -4.27023184e-05 9.99999433e-01 -1.24983896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400371743 meters 0.02717248893133803 Centerline is valid? [True, True] Translation: X:89.35, Y:-4.86, Z:-1.25 [[ 9.99846673e-01 1.74476504e-02 -1.48676188e-03 8.93547052e+01] [-1.74475395e-02 9.99847776e-01 8.75193319e-05 -4.86164114e+00] [ 1.48806257e-03 -6.15655762e-05 9.99998891e-01 -1.24981302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.430371743 meters 0.032271912294166684 Centerline is valid? [True, True] Translation: X:89.38, Y:-4.87, Z:-1.25 [[ 9.99862538e-01 1.64282271e-02 -2.24003047e-03 8.93816623e+01] [-1.64279727e-02 9.99865043e-01 1.31927763e-04 -4.87271121e+00] [ 2.24189550e-03 -9.51104682e-05 9.99997482e-01 -1.25390033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460371743 meters 0.028320883759520243 Centerline is valid? [True, True] Translation: X:89.41, Y:-4.87, Z:-1.25 [[ 9.99896706e-01 1.39420618e-02 -3.49223182e-03 8.94115806e+01] [-1.39414237e-02 9.99902792e-01 2.07007557e-04 -4.87001962e+00] [ 3.49477846e-03 -1.58299491e-04 9.99993881e-01 -1.25237129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.490371743 meters 0.028304130954777035 Centerline is valid? [True, True] Translation: X:89.44, Y:-4.87, Z:-1.25 [[ 9.99908501e-01 1.29772595e-02 -3.81835810e-03 8.94402937e+01] [-1.29764924e-02 9.99915776e-01 2.25601162e-04 -4.87247816e+00] [ 3.82096419e-03 -1.76031624e-04 9.99992685e-01 -1.25310138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520371743 meters 0.03030970644483991 Centerline is valid? [True, True] Translation: X:89.47, Y:-4.88, Z:-1.25 [[ 9.99942547e-01 1.02455224e-02 -3.15149128e-03 8.94688353e+01] [-1.02449877e-02 9.99947501e-01 1.85771863e-04 -4.87896552e+00] [ 3.15322916e-03 -1.53474200e-04 9.99995017e-01 -1.25347728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.550371743 meters 0.030050507892008194 Centerline is valid? [True, True] Translation: X:89.50, Y:-4.88, Z:-1.25 [[ 9.99959567e-01 8.77468286e-03 -1.96717152e-03 8.94974274e+01] [-8.77447266e-03 9.99961497e-01 1.15458946e-04 -4.88083817e+00] [ 1.96810890e-03 -9.81933851e-05 9.99998058e-01 -1.25238801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580371743 meters 0.03339994858182647 Centerline is valid? [True, True] Translation: X:89.52, Y:-4.89, Z:-1.25 [[ 9.99974586e-01 7.02500841e-03 -1.21534950e-03 8.95245288e+01] [-7.02492778e-03 9.99975322e-01 7.05980543e-05 -4.88799257e+00] [ 1.21581546e-03 -6.20585177e-05 9.99999259e-01 -1.25359103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.610371743 meters 0.03410247492431369 Centerline is valid? [True, True] Translation: X:89.55, Y:-4.89, Z:-1.25 [[ 9.99981298e-01 6.08686363e-03 -5.94975388e-04 8.95535047e+01] [-6.08684437e-03 9.99981474e-01 3.41767333e-05 -4.89117098e+00] [ 5.95172395e-04 -3.05545715e-05 9.99999822e-01 -1.25315867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640371743 meters 0.030516685433125672 Centerline is valid? [True, True] Translation: X:89.58, Y:-4.89, Z:-1.25 [[ 9.99987751e-01 4.94942340e-03 1.92179001e-05 8.95824297e+01] [-4.94942336e-03 9.99987752e-01 -2.15333441e-06 -4.88705596e+00] [-1.92283225e-05 2.05819051e-06 1.00000000e+00 -1.25055404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.670371743 meters 0.03156682277897661 Centerline is valid? [True, True] Translation: X:89.61, Y:-4.89, Z:-1.25 [[ 9.99986776e-01 5.14152275e-03 1.08477067e-04 8.96108965e+01] [-5.14152200e-03 9.99986782e-01 -7.15318601e-06 -4.89004705e+00] [-1.08512411e-04 6.59535420e-06 9.99999994e-01 -1.25067106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.700371743 meters 0.032643465713297945 Centerline is valid? [True, True] Translation: X:89.64, Y:-4.89, Z:-1.25 [[ 9.99986323e-01 5.22210967e-03 2.87783527e-04 8.96393551e+01] [-5.22210480e-03 9.99986365e-01 -1.76882820e-05 -4.89309941e+00] [-2.87871974e-04 1.61852044e-05 9.99999958e-01 -1.25085992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73037174299999 meters 0.03146255936722993 Centerline is valid? [True, True] Translation: X:89.67, Y:-4.89, Z:-1.25 [[ 9.99987699e-01 4.95004086e-03 3.13624877e-04 8.96679145e+01] [-4.95003500e-03 9.99987748e-01 -1.94434164e-05 -4.89255113e+00] [-3.13717280e-04 1.78907231e-05 9.99999951e-01 -1.25104770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760371743 meters 0.03353663139341368 Centerline is valid? [True, True] Translation: X:89.70, Y:-4.90, Z:-1.25 [[ 9.99988681e-01 4.74364005e-03 3.68537396e-04 8.96961190e+01] [-4.74363212e-03 9.99988749e-01 -2.23944558e-05 -4.89758716e+00] [-3.68639481e-04 2.06459965e-05 9.99999932e-01 -1.25263523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.790371743 meters 0.030947293854155827 Centerline is valid? [True, True] Translation: X:89.73, Y:-4.89, Z:-1.25 [[ 9.99992862e-01 3.72298014e-03 -6.44792171e-04 8.97256506e+01] [-3.72295684e-03 9.99993069e-01 3.73421085e-05 -4.89498713e+00] [ 6.44926726e-04 -3.49413085e-05 9.99999791e-01 -1.25302158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820371743 meters 0.030967060389224445 Centerline is valid? [True, True] Translation: X:89.75, Y:-4.90, Z:-1.25 [[ 9.99994435e-01 3.18907416e-03 -9.79684683e-04 8.97542358e+01] [-3.18902042e-03 9.99994913e-01 5.64161250e-05 -4.89619374e+00] [ 9.79859615e-04 -5.32915766e-05 9.99999519e-01 -1.25379787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.850371743 meters 0.03514924676654443 Centerline is valid? [True, True] Translation: X:89.78, Y:-4.90, Z:-1.26 [[ 9.99993872e-01 3.04350787e-03 -1.73001224e-03 8.97826640e+01] [-3.04333811e-03 9.99995364e-01 1.00749778e-04 -4.90391805e+00] [ 1.73031085e-03 -9.54841486e-05 9.99998498e-01 -1.25639287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880371743 meters 0.03174783341369228 Centerline is valid? [True, True] Translation: X:89.81, Y:-4.90, Z:-1.25 [[ 9.99994146e-01 3.24137561e-03 -1.09572409e-03 8.98120781e+01] [-3.24130841e-03 9.99994745e-01 6.31011451e-05 -4.90002668e+00] [ 1.09592286e-03 -5.95491960e-05 9.99999398e-01 -1.25487958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.910371743 meters 0.03526922339340709 Centerline is valid? [True, True] Translation: X:89.84, Y:-4.91, Z:-1.26 [[ 9.99993336e-01 3.46485953e-03 -1.15010899e-03 8.98398895e+01] [-3.46478535e-03 9.99993995e-01 6.64842438e-05 -4.90691091e+00] [ 1.15033244e-03 -6.24989199e-05 9.99999336e-01 -1.25626478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940371743 meters 0.03148101756274958 Centerline is valid? [True, True] Translation: X:89.87, Y:-4.90, Z:-1.25 [[ 9.99993683e-01 3.46128154e-03 -8.08496754e-04 8.98686665e+01] [-3.46124532e-03 9.99994009e-01 4.62032586e-05 -4.90248622e+00] [ 8.08651833e-04 -4.34045612e-05 9.99999672e-01 -1.25436076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.970371743 meters 0.03223872640105314 Centerline is valid? [True, True] Translation: X:89.90, Y:-4.91, Z:-1.25 [[ 9.99994889e-01 3.19731201e-03 3.32003309e-07 8.98970660e+01] [-3.19731201e-03 9.99994889e-01 -7.67162363e-07 -4.90598327e+00] [-3.34454543e-07 7.66096927e-07 1.00000000e+00 -1.25438579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000371743 meters 0.03217258891318355 Centerline is valid? [True, True] Translation: X:89.93, Y:-4.91, Z:-1.25 [[ 9.99996073e-01 2.79825515e-03 1.54901804e-04 8.99263836e+01] [-2.79825370e-03 9.99996085e-01 -9.52982216e-06 -4.90783162e+00] [-1.54927864e-04 9.09633019e-06 9.99999988e-01 -1.25447359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.030371743 meters 0.03259141311718958 Centerline is valid? [True, True] Translation: X:89.96, Y:-4.91, Z:-1.25 [[ 9.99997469e-01 2.18307998e-03 5.43719997e-04 8.99562483e+01] [-2.18306281e-03 9.99997617e-01 -3.21780848e-05 -4.90999334e+00] [-5.43788948e-04 3.09910285e-05 9.99999852e-01 -1.25485048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.060371743 meters 0.03176607820377156 Centerline is valid? [True, True] Translation: X:89.99, Y:-4.91, Z:-1.26 [[ 9.99999911e-01 3.58187252e-04 2.22830686e-04 8.99860917e+01] [-3.58184312e-04 9.99999936e-01 -1.32335735e-05 -4.91088383e+00] [-2.22835412e-04 1.31537579e-05 9.99999975e-01 -1.25577660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.090371743 meters 0.03304728682781645 Centerline is valid? [True, True] Translation: X:90.02, Y:-4.92, Z:-1.26 [[ 9.99999745e-01 -5.99935567e-04 -3.88509037e-04 9.00161972e+01] [ 5.99944404e-04 9.99999820e-01 2.26295863e-05 -4.91509560e+00] [ 3.88495390e-04 -2.28626643e-05 9.99999924e-01 -1.25679935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12037174299999 meters 0.03261371882492789 Centerline is valid? [True, True] Translation: X:90.05, Y:-4.92, Z:-1.26 [[ 9.99998963e-01 -1.44002693e-03 -1.02107144e-05 9.00468564e+01] [ 1.44002694e-03 9.99998963e-01 5.94746114e-07 -4.91638391e+00] [ 1.02098473e-05 -6.09449198e-07 1.00000000e+00 -1.25699419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.150371743 meters 0.03696506717983034 Centerline is valid? [True, True] Translation: X:90.08, Y:-4.92, Z:-1.26 [[ 9.99997706e-01 -2.04783148e-03 6.28526457e-04 9.00766997e+01] [ 2.04785475e-03 9.99997902e-01 -3.63697427e-05 -4.92481496e+00] [-6.28450659e-04 3.76567902e-05 9.99999802e-01 -1.25817513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180371743 meters 0.03374356983107767 Centerline is valid? [True, True] Translation: X:90.11, Y:-4.92, Z:-1.26 [[ 9.99997851e-01 -2.01775945e-03 4.75828585e-04 9.01084745e+01] [ 2.01777264e-03 9.99997964e-01 -2.72393148e-05 -4.92170574e+00] [-4.75772653e-04 2.81993701e-05 9.99999886e-01 -1.25769777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.210371743 meters 0.036535368886678285 Centerline is valid? [True, True] Translation: X:90.14, Y:-4.93, Z:-1.26 [[ 9.99998832e-01 -1.52442872e-03 1.14272338e-04 9.01383393e+01] [ 1.52442946e-03 9.99998838e-01 -6.41566908e-06 -4.92760581e+00] [-1.14262425e-04 6.58986171e-06 9.99999993e-01 -1.25893873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240371743 meters 0.03448103092945532 Centerline is valid? [True, True] Translation: X:90.17, Y:-4.93, Z:-1.26 [[ 9.99999677e-01 -7.17617968e-04 3.61151561e-04 9.01694754e+01] [ 7.17625648e-04 9.99999742e-01 -2.11357705e-05 -4.92644209e+00] [-3.61136300e-04 2.13949353e-05 9.99999935e-01 -1.25856997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.270371743 meters 0.034191908330695665 Centerline is valid? [True, True] Translation: X:90.20, Y:-4.93, Z:-1.26 [[ 9.99999836e-01 3.42769714e-04 4.59416893e-04 9.02000701e+01] [-3.42757442e-04 9.99999941e-01 -2.67901262e-05 -4.92786584e+00] [-4.59426049e-04 2.66326532e-05 9.99999894e-01 -1.25853723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300371743 meters 0.033939149718585575 Centerline is valid? [True, True] Translation: X:90.23, Y:-4.93, Z:-1.26 [[ 9.99999100e-01 1.18175703e-03 6.34558352e-04 9.02310427e+01] [-1.18173394e-03 9.99999301e-01 -3.67680897e-05 -4.92892422e+00] [-6.34601359e-04 3.60181775e-05 9.99999798e-01 -1.25862626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.330371743 meters 0.033546068253384465 Centerline is valid? [True, True] Translation: X:90.26, Y:-4.93, Z:-1.26 [[ 9.99989149e-01 4.50106879e-03 1.20090788e-03 9.02607891e+01] [-4.50098790e-03 9.99989868e-01 -7.00500260e-05 -4.92993409e+00] [-1.20121101e-03 6.46439941e-05 9.99999276e-01 -1.25876017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360371743 meters 0.03306780590807601 Centerline is valid? [True, True] Translation: X:90.29, Y:-4.93, Z:-1.26 [[ 9.99978136e-01 6.47795746e-03 1.32799017e-03 9.02901190e+01] [-6.47785651e-03 9.99979015e-01 -8.02993795e-05 -4.93117174e+00] [-1.32848248e-03 7.16950941e-05 9.99999115e-01 -1.25885666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.390371743 meters 0.030384717233829156 Centerline is valid? [True, True] Translation: X:90.32, Y:-4.93, Z:-1.26 [[ 9.99963655e-01 8.22519721e-03 2.24374872e-03 9.03197545e+01] [-8.22492390e-03 9.99966166e-01 -1.31006383e-04 -4.92882488e+00] [-2.24475036e-03 1.12546959e-04 9.99997474e-01 -1.25792377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420371743 meters 0.029896690147205585 Centerline is valid? [True, True] Translation: X:90.35, Y:-4.93, Z:-1.26 [[ 9.99925381e-01 1.15231199e-02 4.05588367e-03 9.03501180e+01] [-1.15222587e-02 9.99933589e-01 -2.35636157e-04 -4.92992978e+00] [-4.05832958e-03 1.88885634e-04 9.99991747e-01 -1.25761817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.450371743 meters 0.028644835336147936 Centerline is valid? [True, True] Translation: X:90.38, Y:-4.93, Z:-1.26 [[ 9.99908281e-01 1.26681285e-02 4.79039983e-03 9.03794589e+01] [-1.26669393e-02 9.99919732e-01 -2.78513446e-04 -4.92979608e+00] [-4.79354356e-03 2.17808198e-04 9.99988487e-01 -1.25713582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48037174299999 meters 0.028886352739262638 Centerline is valid? [True, True] Translation: X:90.41, Y:-4.93, Z:-1.26 [[ 9.99885528e-01 1.38264952e-02 6.14477687e-03 9.04073036e+01] [-1.38245619e-02 9.99904372e-01 -3.56987150e-04 -4.93278463e+00] [-6.14912514e-03 2.71997437e-04 9.99981057e-01 -1.25757259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.510371743 meters 0.02833776941856945 Centerline is valid? [True, True] Translation: X:90.44, Y:-4.93, Z:-1.26 [[ 9.99881176e-01 1.38167661e-02 6.83599979e-03 9.04363146e+01] [-1.38143791e-02 9.99904498e-01 -3.96275257e-04 -4.93499216e+00] [-6.84082219e-03 3.01793077e-04 9.99976556e-01 -1.25787253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540371743 meters 0.028756262192767685 Centerline is valid? [True, True] Translation: X:90.47, Y:-4.94, Z:-1.26 [[ 9.99883106e-01 1.34565068e-02 7.25930698e-03 9.04650223e+01] [-1.34538098e-02 9.99909405e-01 -4.20234015e-04 -4.93839645e+00] [-7.26430421e-03 3.22519557e-04 9.99973563e-01 -1.25855044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.570371743 meters 0.028433093669323062 Centerline is valid? [True, True] Translation: X:90.49, Y:-4.94, Z:-1.26 [[ 9.99916887e-01 1.15993632e-02 5.62801417e-03 9.04942872e+01] [-1.15977146e-02 9.99932691e-01 -3.25488542e-04 -4.94016927e+00] [-5.63141081e-03 2.60189388e-04 9.99984110e-01 -1.25990846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600371743 meters 0.030357110025551273 Centerline is valid? [True, True] Translation: X:90.52, Y:-4.95, Z:-1.26 [[ 9.99935899e-01 1.04696611e-02 4.31096104e-03 9.05224205e+01] [-1.04686835e-02 9.99945171e-01 -2.49260078e-04 -4.94571331e+00] [-4.31333435e-03 2.04114013e-04 9.99990677e-01 -1.26205661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.630371743 meters 0.031151912898871325 Centerline is valid? [True, True] Translation: X:90.55, Y:-4.95, Z:-1.26 [[ 9.99952824e-01 9.37945075e-03 2.52518965e-03 9.05511708e+01] [-9.37911167e-03 9.99956004e-01 -1.46088512e-04 -4.94904804e+00] [-2.52644878e-03 1.22397584e-04 9.99996801e-01 -1.26404333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660371743 meters 0.030380220189686686 Centerline is valid? [True, True] Translation: X:90.58, Y:-4.95, Z:-1.27 [[ 9.99974308e-01 7.15280258e-03 4.69267524e-04 9.05806066e+01] [-7.15279046e-03 9.99974418e-01 -2.75102047e-05 -4.95098432e+00] [-4.69452294e-04 2.41529256e-05 9.99999890e-01 -1.26598302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.690371743 meters 0.0307480089728079 Centerline is valid? [True, True] Translation: X:90.61, Y:-4.95, Z:-1.27 [[ 9.99982190e-01 5.96780427e-03 7.55056990e-05 9.06091493e+01] [-5.96780388e-03 9.99982192e-01 -5.34387913e-06 -4.95362815e+00] [-7.55362457e-05 4.89318075e-06 9.99999997e-01 -1.26643968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720371743 meters 0.03165343388415733 Centerline is valid? [True, True] Translation: X:90.64, Y:-4.96, Z:-1.27 [[ 9.99987961e-01 4.89631953e-03 3.21556766e-04 9.06364501e+01] [-4.89631344e-03 9.99988013e-01 -1.97067656e-05 -4.95701978e+00] [-3.21649402e-04 1.81320856e-05 9.99999948e-01 -1.26684161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.750371743 meters 0.03126035590854493 Centerline is valid? [True, True] Translation: X:90.66, Y:-4.96, Z:-1.27 [[ 9.99990111e-01 4.12310959e-03 1.66682738e-03 9.06647814e+01] [-4.12295435e-03 9.99991496e-01 -9.65606093e-05 -4.95920560e+00] [-1.66721133e-03 8.96874012e-05 9.99998606e-01 -1.26586025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780371743 meters 0.032461395802889016 Centerline is valid? [True, True] Translation: X:90.69, Y:-4.96, Z:-1.27 [[ 9.99989886e-01 4.00415636e-03 2.04819241e-03 9.06939575e+01] [-4.00392379e-03 9.99991977e-01 -1.17637412e-04 -4.96270640e+00] [-2.04864702e-03 1.09435416e-04 9.99997896e-01 -1.26573893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.810371743 meters 0.032461395802889016 Centerline is valid? [True, True] Translation: X:90.72, Y:-4.96, Z:-1.27 [[ 9.99990025e-01 3.96917764e-03 2.04818256e-03 9.07231033e+01] [-3.96894464e-03 9.99992117e-01 -1.17809444e-04 -4.96434560e+00] [-2.04863402e-03 1.09679146e-04 9.99997896e-01 -1.26614904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.840371743 meters 0.03384421828276679 Centerline is valid? [True, True] Translation: X:90.75, Y:-4.97, Z:-1.27 [[ 9.99983267e-01 4.21023442e-03 3.96732295e-03 9.07527548e+01] [-4.20936521e-03 9.99991115e-01 -2.27418483e-04 -4.96879468e+00] [-3.96824519e-03 2.10714766e-04 9.99992104e-01 -1.26567996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87037174299999 meters 0.03179452987778979 Centerline is valid? [True, True] Translation: X:90.78, Y:-4.97, Z:-1.26 [[ 9.99978680e-01 4.36391430e-03 4.85758569e-03 9.07835147e+01] [-4.36261446e-03 9.99990445e-01 -2.78151931e-04 -4.96790168e+00] [-4.85875311e-03 2.56954227e-04 9.99988163e-01 -1.26496601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900371743 meters 0.032274879131933755 Centerline is valid? [True, True] Translation: X:90.81, Y:-4.97, Z:-1.27 [[ 9.99971195e-01 4.45071457e-03 6.14820564e-03 9.08135756e+01] [-4.44863389e-03 9.99990043e-01 -3.52054576e-04 -4.97071226e+00] [-6.14971132e-03 3.24693319e-04 9.99981038e-01 -1.26526514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.930371743 meters 0.03244131599351765 Centerline is valid? [True, True] Translation: X:90.84, Y:-4.97, Z:-1.27 [[ 9.99964042e-01 4.54636593e-03 7.15860220e-03 9.08443505e+01] [-4.54354932e-03 9.99989594e-01 -4.09671674e-04 -4.97383684e+00] [-7.16039023e-03 3.77131481e-04 9.99974293e-01 -1.26511588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960371743 meters 0.033645568974571466 Centerline is valid? [True, True] Translation: X:90.88, Y:-4.98, Z:-1.27 [[ 9.99961434e-01 4.47888221e-03 7.55448522e-03 9.08752923e+01] [-4.47575065e-03 9.99989891e-01 -4.31384814e-04 -4.97821958e+00] [-7.55634097e-03 3.97556185e-04 9.99971371e-01 -1.26502136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.990371743 meters 0.03378555113368521 Centerline is valid? [True, True] Translation: X:90.91, Y:-4.98, Z:-1.26 [[ 9.99962123e-01 4.34965104e-03 7.53881422e-03 9.09073946e+01] [-4.34651678e-03 9.99990461e-01 -4.32085082e-04 -4.98044074e+00] [-7.54062172e-03 3.99301134e-04 9.99971489e-01 -1.26495155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020371743 meters 0.03406336874734973 Centerline is valid? [True, True] Translation: X:90.94, Y:-4.98, Z:-1.27 [[ 9.99965349e-01 3.96508449e-03 7.31970410e-03 9.09393178e+01] [-3.96210725e-03 9.99992062e-01 -4.21199756e-04 -4.98435446e+00] [-7.32131609e-03 3.92183709e-04 9.99973122e-01 -1.26657561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.050371743 meters 0.032388777612650396 Centerline is valid? [True, True] Translation: X:90.97, Y:-4.98, Z:-1.27 [[ 9.99972357e-01 3.82232819e-03 6.37770378e-03 9.09714075e+01] [-3.82005844e-03 9.99992636e-01 -3.68032981e-04 -4.98434552e+00] [-6.37906356e-03 3.43659606e-04 9.99979595e-01 -1.26807337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080371743 meters 0.03365594116195527 Centerline is valid? [True, True] Translation: X:91.00, Y:-4.99, Z:-1.27 [[ 9.99975566e-01 4.32015325e-03 5.49581623e-03 9.10022420e+01] [-4.31846955e-03 9.99990625e-01 -3.18189565e-04 -4.98929281e+00] [-5.49713933e-03 2.94448276e-04 9.99984847e-01 -1.27030227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.110371743 meters 0.03400456664727375 Centerline is valid? [True, True] Translation: X:91.03, Y:-4.99, Z:-1.27 [[ 9.99977980e-01 4.68302316e-03 4.70205484e-03 9.10338810e+01] [-4.68178335e-03 9.99989003e-01 -2.74646163e-04 -4.99262195e+00] [-4.70328930e-03 2.52626114e-04 9.99988908e-01 -1.27204425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140371743 meters 0.035060658793126 Centerline is valid? [True, True] Translation: X:91.06, Y:-5.00, Z:-1.28 [[ 9.99968972e-01 7.39842422e-03 2.70525635e-03 9.10638804e+01] [-7.39802588e-03 9.99972622e-01 -1.57221612e-04 -4.99693033e+00] [-2.70634547e-03 1.37203178e-04 9.99996328e-01 -1.27504590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.170371743 meters 0.032808739173091565 Centerline is valid? [True, True] Translation: X:91.09, Y:-4.99, Z:-1.28 [[ 9.99958843e-01 8.89890639e-03 1.76661672e-03 9.10935734e+01] [-8.89873659e-03 9.99960400e-01 -1.03951652e-04 -4.99447734e+00] [-1.76747182e-03 8.82267168e-05 9.99998434e-01 -1.27555286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.200371743 meters 0.0296205685285568 Centerline is valid? [True, True] Translation: X:91.12, Y:-4.99, Z:-1.28 [[ 9.99913329e-01 1.30721641e-02 1.56643320e-03 9.11240416e+01] [-1.30720361e-02 9.99914553e-01 -9.19663514e-05 -4.99066530e+00] [-1.56750155e-03 7.14819093e-05 9.99998769e-01 -1.27524025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23037174299999 meters 0.02938861245835964 Centerline is valid? [True, True] Translation: X:91.15, Y:-4.99, Z:-1.28 [[ 9.99881825e-01 1.52320094e-02 2.07886771e-03 9.11524016e+01] [-1.52317875e-02 9.99883982e-01 -1.22548718e-04 -4.99132816e+00] [-2.08049318e-03 9.08693649e-05 9.99997832e-01 -1.27532351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260371743 meters 0.026290593577748596 Centerline is valid? [True, True] Translation: X:91.18, Y:-4.99, Z:-1.27 [[ 9.99806573e-01 1.92301534e-02 4.12536226e-03 9.11822867e+01] [-1.92293198e-02 9.99815070e-01 -2.41635073e-04 -4.98705982e+00] [-4.12924603e-03 1.62260424e-04 9.99991461e-01 -1.27246249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.290371743 meters 0.025485141842331187 Centerline is valid? [True, True] Translation: X:91.21, Y:-4.99, Z:-1.27 [[ 9.99777119e-01 2.03125033e-02 5.75444341e-03 9.12113737e+01] [-2.03108998e-02 9.99793656e-01 -3.36954742e-04 -4.98690601e+00] [-5.76010041e-03 2.20001718e-04 9.99983386e-01 -1.27185124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320371743 meters 0.025855088371940355 Centerline is valid? [True, True] Translation: X:91.24, Y:-4.99, Z:-1.27 [[ 9.99754662e-01 2.09628979e-02 7.15346583e-03 9.12389471e+01] [-2.09604410e-02 9.99780218e-01 -4.18256189e-04 -4.98973009e+00] [-7.16066149e-03 2.68213777e-04 9.99974326e-01 -1.27147660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.350371743 meters 0.03128379369906677 Centerline is valid? [True, True] Translation: X:91.27, Y:-5.00, Z:-1.27 [[ 9.99743403e-01 2.08432602e-02 8.87053913e-03 9.12662663e+01] [-2.08394880e-02 9.99782700e-01 -5.17476244e-04 -5.00209842e+00] [-8.87939746e-03 3.32485967e-04 9.99960522e-01 -1.27204013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380371743 meters 0.02559743736643084 Centerline is valid? [True, True] Translation: X:91.30, Y:-4.99, Z:-1.27 [[ 9.99767619e-01 1.96631906e-02 8.83553743e-03 9.12955033e+01] [-1.96594098e-02 9.99806603e-01 -5.14575268e-04 -4.99480126e+00] [-8.84394685e-03 3.40754240e-04 9.99960833e-01 -1.27112118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.410371743 meters 0.026325626384331377 Centerline is valid? [True, True] Translation: X:91.32, Y:-5.00, Z:-1.27 [[ 9.99798115e-01 1.80892992e-02 8.74682695e-03 9.13242381e+01] [-1.80855392e-02 9.99836314e-01 -5.08788667e-04 -4.99905498e+00] [-8.75459885e-03 3.50494869e-04 9.99961616e-01 -1.27221220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440371743 meters 0.027421419701781274 Centerline is valid? [True, True] Translation: X:91.35, Y:-5.01, Z:-1.27 [[ 9.99882158e-01 1.35937621e-02 7.13297769e-03 9.13545442e+01] [-1.35911533e-02 9.99907550e-01 -4.14096570e-04 -5.00526733e+00] [-7.13794737e-03 3.17102379e-04 9.99974474e-01 -1.27439685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.470371743 meters 0.028118293357543164 Centerline is valid? [True, True] Translation: X:91.38, Y:-5.01, Z:-1.28 [[ 9.99921801e-01 1.10076397e-02 5.93496611e-03 9.13842836e+01] [-1.10057864e-02 9.99939375e-01 -3.44838329e-04 -5.00926123e+00] [-5.93840216e-03 2.79492393e-04 9.99982328e-01 -1.27590523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500371743 meters 0.03102953760079336 Centerline is valid? [True, True] Translation: X:91.41, Y:-5.02, Z:-1.28 [[ 9.99979768e-01 5.34897545e-03 3.44259538e-03 9.14136539e+01] [-5.34831877e-03 9.99985678e-01 -1.99929281e-04 -5.01756050e+00] [-3.44361549e-03 1.81513138e-04 9.99994054e-01 -1.27908106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.530371743 meters 0.03213607000994181 Centerline is valid? [True, True] Translation: X:91.44, Y:-5.02, Z:-1.28 [[ 9.99994878e-01 2.47311322e-03 2.03184556e-03 9.14436049e+01] [-2.47287860e-03 9.99996935e-01 -1.17973163e-04 -5.02191894e+00] [-2.03213110e-03 1.12948051e-04 9.99997929e-01 -1.28038475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.560371743 meters 0.03349209945570976 Centerline is valid? [True, True] Translation: X:91.47, Y:-5.03, Z:-1.28 [[ 9.99999085e-01 7.58044555e-06 1.35253605e-03 9.14734735e+01] [-7.47407019e-06 9.99999997e-01 -7.86538588e-05 -5.02614889e+00] [-1.35253664e-03 7.86436779e-05 9.99999082e-01 -1.28146773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.590371743 meters 0.034703676747851644 Centerline is valid? [True, True] Translation: X:91.50, Y:-5.03, Z:-1.28 [[ 9.99997486e-01 -1.99315045e-03 1.02730289e-03 9.15043903e+01] [ 1.99321245e-03 9.99998012e-01 -5.93263811e-05 -5.02972180e+00] [-1.02718260e-03 6.13738649e-05 9.99999471e-01 -1.28213213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62037174299999 meters 0.03350520862263939 Centerline is valid? [True, True] Translation: X:91.54, Y:-5.03, Z:-1.28 [[ 9.99986590e-01 -4.79252435e-03 1.96260046e-03 9.15359641e+01] [ 4.79275605e-03 9.99988508e-01 -1.13372192e-04 -5.02950480e+00] [-1.96203457e-03 1.22776937e-04 9.99998068e-01 -1.28092241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.650371743 meters 0.03796126568479755 Centerline is valid? [True, True] Translation: X:91.57, Y:-5.04, Z:-1.28 [[ 9.99980679e-01 -5.55570672e-03 2.78839527e-03 9.15669718e+01] [ 5.55617770e-03 9.99984551e-01 -1.61188404e-04 -5.03751179e+00] [-2.78745667e-03 1.76678109e-04 9.99996099e-01 -1.28178964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680371743 meters 0.0362281558079247 Centerline is valid? [True, True] Translation: X:91.60, Y:-5.04, Z:-1.28 [[ 9.99968880e-01 -6.53717512e-03 4.41642004e-03 9.15992147e+01] [ 6.53836843e-03 9.99978592e-01 -2.55813703e-04 -5.03550696e+00] [-4.41465319e-03 2.84681923e-04 9.99990215e-01 -1.28083407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.710371743 meters 0.03385588985589111 Centerline is valid? [True, True] Translation: X:91.63, Y:-5.03, Z:-1.28 [[ 9.99963635e-01 -6.78218831e-03 5.17019459e-03 9.16317606e+01] [ 6.78382968e-03 9.99976945e-01 -2.99998451e-04 -5.03353872e+00] [-5.16804074e-03 3.35061261e-04 9.99986589e-01 -1.28023874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740371743 meters 0.03721746839845547 Centerline is valid? [True, True] Translation: X:91.66, Y:-5.04, Z:-1.28 [[ 9.99958458e-01 -7.01457811e-03 5.82050087e-03 9.16627957e+01] [ 7.01666642e-03 9.99975326e-01 -3.38441931e-04 -5.03958430e+00] [-5.81798323e-03 3.79268385e-04 9.99983003e-01 -1.28089581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.770371743 meters 0.03619103401459742 Centerline is valid? [True, True] Translation: X:91.70, Y:-5.04, Z:-1.28 [[ 9.99940464e-01 -8.00980808e-03 7.41027352e-03 9.16951408e+01] [ 8.01322391e-03 9.99967801e-01 -4.31383052e-04 -5.03892224e+00] [-7.40657962e-03 4.90737549e-04 9.99972450e-01 -1.28005664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800371743 meters 0.03681794885487202 Centerline is valid? [True, True] Translation: X:91.73, Y:-5.04, Z:-1.28 [[ 9.99928539e-01 -8.85988814e-03 8.02617017e-03 9.17272058e+01] [ 8.86392796e-03 9.99960605e-01 -4.67897638e-04 -5.04145296e+00] [-8.02170846e-03 5.39007595e-04 9.99967680e-01 -1.27987713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.830371743 meters 0.03754931725440147 Centerline is valid? [True, True] Translation: X:91.76, Y:-5.04, Z:-1.28 [[ 9.99917367e-01 -1.00191289e-02 8.05456824e-03 9.17590640e+01] [ 1.00232394e-02 9.99949656e-01 -4.70133484e-04 -5.04404480e+00] [-8.04945241e-03 5.50827501e-04 9.99967451e-01 -1.27977432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860371743 meters 0.03953017872599986 Centerline is valid? [True, True] Translation: X:91.79, Y:-5.05, Z:-1.28 [[ 9.99885719e-01 -1.26432646e-02 8.28832799e-03 9.17895339e+01] [ 1.26477136e-02 9.99919897e-01 -4.84580537e-04 -5.04798154e+00] [-8.28153739e-03 5.89353558e-04 9.99965534e-01 -1.28052176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.890371743 meters 0.040628389038294105 Centerline is valid? [True, True] Translation: X:91.82, Y:-5.05, Z:-1.28 [[ 9.99868470e-01 -1.42623208e-02 7.72192922e-03 9.18200233e+01] [ 1.42662336e-02 9.99898130e-01 -4.51863657e-04 -5.05182446e+00] [-7.71469797e-03 5.61967070e-04 9.99970083e-01 -1.28172676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920371743 meters 0.043078996729142754 Centerline is valid? [True, True] Translation: X:91.85, Y:-5.06, Z:-1.29 [[ 9.99834212e-01 -1.72483768e-02 5.83450374e-03 9.18492988e+01] [ 1.72506609e-02 9.99851138e-01 -3.41376424e-04 -5.05808234e+00] [-5.82774701e-03 4.41968873e-04 9.99982921e-01 -1.28507252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.950371743 meters 0.04395726436007946 Centerline is valid? [True, True] Translation: X:91.88, Y:-5.06, Z:-1.29 [[ 9.99820967e-01 -1.84006162e-02 4.41031309e-03 9.18810527e+01] [ 1.84019289e-02 9.99830637e-01 -2.57260368e-04 -5.06178933e+00] [-4.40483240e-03 3.38372578e-04 9.99990241e-01 -1.28700503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98037174299999 meters 0.045583946517575226 Centerline is valid? [True, True] Translation: X:91.91, Y:-5.07, Z:-1.29 [[ 9.99799201e-01 -1.98318894e-02 2.87307824e-03 9.19120301e+01] [ 1.98324542e-02 9.99803303e-01 -1.68234998e-04 -5.06567593e+00] [-2.86917669e-03 2.25181409e-04 9.99995859e-01 -1.28904137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.010371743 meters 0.047479294579737825 Centerline is valid? [True, True] Translation: X:91.94, Y:-5.07, Z:-1.29 [[ 9.99770607e-01 -2.14170458e-02 2.06736437e-04 9.19419856e+01] [ 2.14170485e-02 9.99770629e-01 -1.10848335e-05 -5.06897286e+00] [-2.06451613e-04 1.55099750e-05 9.99999979e-01 -1.29116080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040371743 meters 0.04842394420119134 Centerline is valid? [True, True] Translation: X:91.97, Y:-5.07, Z:-1.29 [[ 9.99761125e-01 -2.18518224e-02 -4.36903752e-04 9.19741431e+01] [ 2.18518362e-02 9.99761220e-01 2.66690351e-05 -5.07135434e+00] [ 4.36216661e-04 -3.62098137e-05 9.99999904e-01 -1.29203563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.070371743 meters 0.04269343803345658 Centerline is valid? [True, True] Translation: X:92.01, Y:-5.06, Z:-1.29 [[ 9.99764081e-01 -2.17135143e-02 -5.53060643e-04 9.20068544e+01] [ 2.17135362e-02 9.99764233e-01 3.35998810e-05 -5.06456955e+00] [ 5.52200677e-04 -4.56008565e-05 9.99999846e-01 -1.29114393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100371743 meters 0.048762576021482894 Centerline is valid? [True, True] Translation: X:92.04, Y:-5.07, Z:-1.29 [[ 9.99780341e-01 -2.09581923e-02 -1.55965588e-04 9.20379773e+01] [ 2.09581942e-02 9.99780353e-01 1.02008047e-05 -5.07371562e+00] [ 1.55717540e-04 -1.34673211e-05 9.99999988e-01 -1.29283402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.130371743 meters 0.0469578921780383 Centerline is valid? [True, True] Translation: X:92.07, Y:-5.07, Z:-1.29 [[ 9.99836694e-01 -1.80477286e-02 9.29734171e-04 9.20687381e+01] [ 1.80477873e-02 9.99837124e-01 -5.47887623e-05 -5.07052301e+00] [-9.28593927e-04 7.15594596e-05 9.99999566e-01 -1.29224883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160371743 meters 0.04403670825474403 Centerline is valid? [True, True] Translation: X:92.10, Y:-5.07, Z:-1.29 [[ 9.99893763e-01 -1.43387577e-02 2.61956445e-03 9.20992377e+01] [ 1.43392116e-02 9.99897176e-01 -1.54594395e-04 -5.06512901e+00] [-2.61707840e-03 1.92140460e-04 9.99996557e-01 -1.29022053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.190371743 meters 0.03645845015767948 Centerline is valid? [True, True] Translation: X:92.13, Y:-5.05, Z:-1.29 [[ 9.99914230e-01 -1.24753822e-02 3.98711961e-03 9.21317417e+01] [ 1.24764170e-02 9.99922139e-01 -2.34752085e-04 -5.05496254e+00] [-3.98388055e-03 2.84476917e-04 9.99992024e-01 -1.28821995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220371743 meters 0.04029437825842967 Centerline is valid? [True, True] Translation: X:92.16, Y:-5.06, Z:-1.29 [[ 9.99927062e-01 -1.10062919e-02 4.97312234e-03 9.21618266e+01] [ 1.10078835e-02 9.99939369e-01 -2.92783883e-04 -5.06106134e+00] [-4.96959835e-03 3.47506079e-04 9.99987591e-01 -1.28837471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.250371743 meters 0.043837964473320806 Centerline is valid? [True, True] Translation: X:92.19, Y:-5.07, Z:-1.29 [[ 9.99933233e-01 -1.00324622e-02 5.73404473e-03 9.21927792e+01] [ 1.00345698e-02 9.99949595e-01 -3.38905556e-04 -5.06682175e+00] [-5.73035565e-03 3.96421600e-04 9.99983503e-01 -1.28902217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280371743 meters 0.04505759065011561 Centerline is valid? [True, True] Translation: X:92.22, Y:-5.07, Z:-1.29 [[ 9.99946839e-01 -8.93360432e-03 5.14880601e-03 9.22243119e+01] [ 8.93528949e-03 9.99960033e-01 -3.04383250e-04 -5.06881141e+00] [-5.14588099e-03 3.50373140e-04 9.99986698e-01 -1.28974289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.310371743 meters 0.03627205631972442 Centerline is valid? [True, True] Translation: X:92.26, Y:-5.06, Z:-1.29 [[ 9.99938543e-01 -9.58376783e-03 5.57324220e-03 9.22572495e+01] [ 9.58575453e-03 9.99954001e-01 -3.29868327e-04 -5.05907212e+00] [-5.56982446e-03 3.83271786e-04 9.99984415e-01 -1.28882388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.340371743 meters 0.0477757646079573 Centerline is valid? [True, True] Translation: X:92.29, Y:-5.08, Z:-1.29 [[ 9.99924751e-01 -1.14799337e-02 4.32473610e-03 9.22858383e+01] [ 1.14811510e-02 9.99934056e-01 -2.56760131e-04 -5.07782861e+00] [-4.32150332e-03 3.06393759e-04 9.99990615e-01 -1.29257231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37037174299999 meters 0.03832803971202756 Centerline is valid? [True, True] Translation: X:92.32, Y:-5.07, Z:-1.29 [[ 9.99908625e-01 -1.29581209e-02 3.85071691e-03 9.23186585e+01] [ 1.29590941e-02 9.99916001e-01 -2.27890713e-04 -5.06670385e+00] [-3.84744042e-03 2.77771693e-04 9.99992560e-01 -1.29156532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400371743 meters 0.04563512735111805 Centerline is valid? [True, True] Translation: X:92.35, Y:-5.08, Z:-1.29 [[ 9.99896810e-01 -1.40348158e-02 3.06490914e-03 9.23488485e+01] [ 1.40354386e-02 9.99901482e-01 -1.81790159e-04 -5.07853485e+00] [-3.06205580e-03 2.24788744e-04 9.99995287e-01 -1.29369721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.430371743 meters 0.04183899627438575 Centerline is valid? [True, True] Translation: X:92.38, Y:-5.08, Z:-1.29 [[ 9.99889150e-01 -1.48651915e-02 8.45412454e-04 9.23814201e+01] [ 1.48652386e-02 9.99889505e-01 -4.93513687e-05 -5.07513903e+00] [-8.44585423e-04 6.19131559e-05 9.99999641e-01 -1.29461169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460371743 meters 0.04197368848982695 Centerline is valid? [True, True] Translation: X:92.41, Y:-5.08, Z:-1.30 [[ 9.99890928e-01 -1.47686179e-02 -1.39712716e-04 9.24138165e+01] [ 1.47686193e-02 9.99890938e-01 9.32594862e-06 -5.07724326e+00] [ 1.39559748e-04 -1.13882953e-05 9.99999990e-01 -1.29581861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.490371743 meters 0.04209448547675103 Centerline is valid? [True, True] Translation: X:92.45, Y:-5.08, Z:-1.30 [[ 9.99895317e-01 -1.44597813e-02 -5.20048852e-04 9.24458887e+01] [ 1.44597999e-02 9.99895451e-01 3.20397940e-05 -5.07911182e+00] [ 5.19531193e-04 -3.95562424e-05 9.99999864e-01 -1.29647259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520371743 meters 0.03998966524166541 Centerline is valid? [True, True] Translation: X:92.48, Y:-5.08, Z:-1.30 [[ 9.99918808e-01 -1.27227825e-02 -7.13131841e-04 9.24778989e+01] [ 1.27228167e-02 9.99919061e-01 4.33642014e-05 -5.07751152e+00] [ 7.12522408e-04 -5.24337263e-05 9.99999745e-01 -1.29595587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.550371743 meters 0.03958750451989477 Centerline is valid? [True, True] Translation: X:92.51, Y:-5.08, Z:-1.30 [[ 9.99933386e-01 -1.15407269e-02 -1.87337864e-04 9.25083624e+01] [ 1.15407293e-02 9.99933404e-01 1.14458930e-05 -5.07771338e+00] [ 1.87193294e-04 -1.36071461e-05 9.99999982e-01 -1.29592898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580371743 meters 0.036541066565750374 Centerline is valid? [True, True] Translation: X:92.54, Y:-5.07, Z:-1.29 [[ 9.99969714e-01 -7.66924781e-03 1.32447006e-03 9.25395652e+01] [ 7.66935932e-03 9.99970587e-01 -7.91304621e-05 -5.07274508e+00] [-1.32382424e-03 8.92859024e-05 9.99999120e-01 -1.29435208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.610371743 meters 0.037049344800303884 Centerline is valid? [True, True] Translation: X:92.57, Y:-5.07, Z:-1.29 [[ 9.99981742e-01 -5.58042756e-03 2.31829429e-03 9.25699830e+01] [ 5.58076320e-03 9.99984418e-01 -1.38338108e-04 -5.07439320e+00] [-2.31748618e-03 1.51273434e-04 9.99997303e-01 -1.29484312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640371743 meters 0.03427202897130046 Centerline is valid? [True, True] Translation: X:92.60, Y:-5.07, Z:-1.29 [[ 9.99988322e-01 -3.51418061e-03 3.31762456e-03 9.26019876e+01] [ 3.51485594e-03 9.99993803e-01 -1.97750635e-04 -5.07163322e+00] [-3.31690907e-03 2.09409298e-04 9.99994477e-01 -1.29422545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.670371743 meters 0.03516330951383729 Centerline is valid? [True, True] Translation: X:92.63, Y:-5.07, Z:-1.29 [[ 9.99988040e-01 -7.57278013e-05 4.89012745e-03 9.26319034e+01] [ 7.71596266e-05 9.99999954e-01 -2.92611183e-04 -5.07275641e+00] [-4.89010507e-03 2.92985004e-04 9.99988000e-01 -1.29407921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.700371743 meters 0.032647736244748614 Centerline is valid? [True, True] Translation: X:92.66, Y:-5.07, Z:-1.29 [[ 9.99988453e-01 1.30532903e-03 4.62485223e-03 9.26632035e+01] [-1.30406465e-03 9.99999112e-01 -2.76392926e-04 -5.06968823e+00] [-4.62520891e-03 2.70358629e-04 9.99989267e-01 -1.29415037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73037174299999 meters 0.032647736244748614 Centerline is valid? [True, True] Translation: X:92.69, Y:-5.07, Z:-1.29 [[ 9.99988405e-01 1.34179038e-03 4.62484203e-03 9.26940472e+01] [-1.34052561e-03 9.99999063e-01 -2.76563372e-04 -5.07156568e+00] [-4.62520879e-03 2.70360447e-04 9.99989267e-01 -1.29458419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760371743 meters 0.0348656561600149 Centerline is valid? [True, True] Translation: X:92.73, Y:-5.08, Z:-1.30 [[ 9.99987405e-01 2.48170153e-03 4.36247874e-03 9.27250486e+01] [-2.48058719e-03 9.99996889e-01 -2.60829649e-04 -5.07548650e+00] [-4.36311247e-03 2.50004855e-04 9.99990450e-01 -1.29621365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.790371743 meters 0.03541750219480617 Centerline is valid? [True, True] Translation: X:92.75, Y:-5.08, Z:-1.30 [[ 9.99986549e-01 2.60115815e-03 4.48735630e-03 9.27547808e+01] [-2.59997749e-03 9.99996584e-01 -2.68921350e-04 -5.07859524e+00] [-4.48804048e-03 2.57250708e-04 9.99989896e-01 -1.29697378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820371743 meters 0.03262674997529483 Centerline is valid? [True, True] Translation: X:92.79, Y:-5.08, Z:-1.30 [[ 9.99991042e-01 1.99781834e-03 3.73170103e-03 9.27865900e+01] [-1.99699827e-03 9.99997981e-01 -2.23470948e-04 -5.07648592e+00] [-3.73213995e-03 2.16016745e-04 9.99993012e-01 -1.29692467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.850371743 meters 0.03308841764299064 Centerline is valid? [True, True] Translation: X:92.82, Y:-5.08, Z:-1.30 [[ 9.99993469e-01 1.56290105e-03 3.25869580e-03 9.28181062e+01] [-1.56227322e-03 9.99998761e-01 -1.95198212e-04 -5.07870400e+00] [-3.25899684e-03 1.90105964e-04 9.99994671e-01 -1.29785625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880371743 meters 0.032639239279174934 Centerline is valid? [True, True] Translation: X:92.85, Y:-5.08, Z:-1.30 [[ 9.99994703e-01 1.30393825e-03 2.98226864e-03 9.28498013e+01] [-1.30341109e-03 9.99999135e-01 -1.78700649e-04 -5.08033155e+00] [-2.98249907e-03 1.74812581e-04 9.99995537e-01 -1.29811791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.910371743 meters 0.03334881373659942 Centerline is valid? [True, True] Translation: X:92.88, Y:-5.08, Z:-1.30 [[ 9.99996914e-01 1.14972385e-03 2.20240530e-03 9.28799658e+01] [-1.14943562e-03 9.99999331e-01 -1.32130760e-04 -5.08408255e+00] [-2.20255574e-03 1.29598829e-04 9.99997566e-01 -1.29982912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940371743 meters 0.03359765472208444 Centerline is valid? [True, True] Translation: X:92.91, Y:-5.09, Z:-1.30 [[ 9.99997449e-01 1.46110338e-03 1.72235989e-03 9.29108432e+01] [-1.46092798e-03 9.99998928e-01 -1.03091773e-04 -5.08651388e+00] [-1.72250867e-03 1.00575267e-04 9.99998511e-01 -1.30126310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.970371743 meters 0.034146990442288916 Centerline is valid? [True, True] Translation: X:92.94, Y:-5.09, Z:-1.30 [[ 9.99996444e-01 2.41945241e-03 1.12187437e-03 9.29413443e+01] [-2.41937849e-03 9.99997071e-01 -6.72457318e-05 -5.08893285e+00] [-1.12203378e-03 6.45312540e-05 9.99999368e-01 -1.30218067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000371743 meters 0.031176897735183062 Centerline is valid? [True, True] Translation: X:92.97, Y:-5.09, Z:-1.30 [[ 9.99993771e-01 3.41811813e-03 8.80305190e-04 9.29717891e+01] [-3.41807262e-03 9.99994157e-01 -5.31968053e-05 -5.08595504e+00] [-8.80481879e-04 5.01875269e-05 9.99999611e-01 -1.30167296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.030371743 meters 0.03123082324799336 Centerline is valid? [True, True] Translation: X:93.00, Y:-5.09, Z:-1.30 [[ 9.99990871e-01 4.17997208e-03 8.85869559e-04 9.30018476e+01] [-4.17992631e-03 9.99991263e-01 -5.35124927e-05 -5.08752170e+00] [-8.86085500e-04 4.98091347e-05 9.99999606e-01 -1.30187546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.060371743 meters 0.03171341520818413 Centerline is valid? [True, True] Translation: X:93.03, Y:-5.09, Z:-1.30 [[ 9.99984850e-01 5.20276454e-03 1.79735335e-03 9.30307663e+01] [-5.20257791e-03 9.99986461e-01 -1.08497628e-04 -5.08987597e+00] [-1.79789350e-03 9.91451133e-05 9.99998379e-01 -1.30223630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.090371743 meters 0.030914031468854238 Centerline is valid? [True, True] Translation: X:93.06, Y:-5.09, Z:-1.30 [[ 9.99982352e-01 5.55081828e-03 2.11754394e-03 9.30601180e+01] [-5.55055991e-03 9.99984587e-01 -1.27875979e-04 -5.09076018e+00] [-2.11822112e-03 1.16120168e-04 9.99997750e-01 -1.30215641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12037174299999 meters 0.03492772290552041 Centerline is valid? [True, True] Translation: X:93.09, Y:-5.10, Z:-1.30 [[ 9.99980747e-01 5.54052544e-03 2.79414721e-03 9.30884043e+01] [-5.54007662e-03 9.99984639e-01 -1.68340818e-04 -5.09871927e+00] [-2.79503699e-03 1.52857788e-04 9.99996082e-01 -1.30350594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.150371743 meters 0.03607474103185157 Centerline is valid? [True, True] Translation: X:93.12, Y:-5.10, Z:-1.30 [[ 9.99979201e-01 5.65999793e-03 3.09226428e-03 9.31179989e+01] [-5.65945079e-03 9.99983968e-01 -1.85660843e-04 -5.10227111e+00] [-3.09326554e-03 1.68156464e-04 9.99995202e-01 -1.30382059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180371743 meters 0.03690385948245896 Centerline is valid? [True, True] Translation: X:93.15, Y:-5.10, Z:-1.30 [[ 9.99982316e-01 5.33600755e-03 2.62583264e-03 9.31473152e+01] [-5.33561144e-03 9.99985753e-01 -1.57832144e-04 -5.10472180e+00] [-2.62663743e-03 1.43818930e-04 9.99996540e-01 -1.30458805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.210371743 meters 0.030252648392416145 Centerline is valid? [True, True] Translation: X:93.18, Y:-5.10, Z:-1.30 [[ 9.99986344e-01 4.88832317e-03 1.84848412e-03 9.31772250e+01] [-4.88812589e-03 9.99988047e-01 -1.11226990e-04 -5.09637237e+00] [-1.84900574e-03 1.02189848e-04 9.99998285e-01 -1.30317733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240371743 meters 0.03245380924511569 Centerline is valid? [True, True] Translation: X:93.21, Y:-5.10, Z:-1.31 [[ 9.99992569e-01 3.77326767e-03 7.90205240e-04 9.32060277e+01] [-3.77323106e-03 9.99992880e-01 -4.78095523e-05 -5.10186901e+00] [-7.90380012e-04 4.48275701e-05 9.99999687e-01 -1.30544155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.270371743 meters 0.031478354611459605 Centerline is valid? [True, True] Translation: X:93.24, Y:-5.10, Z:-1.31 [[ 9.99994235e-01 3.38140385e-03 3.10069965e-04 9.32361119e+01] [-3.38139810e-03 9.99994283e-01 -1.90513955e-05 -5.10225436e+00] [-3.10132612e-04 1.80028156e-05 9.99999952e-01 -1.30590963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300371743 meters 0.03079399737040506 Centerline is valid? [True, True] Translation: X:93.27, Y:-5.10, Z:-1.31 [[ 9.99996534e-01 2.62679939e-03 -1.79926198e-04 9.32660229e+01] [-2.62679759e-03 9.99996550e-01 1.02469922e-05 -5.10269105e+00] [ 1.79952494e-04 -9.77432700e-06 9.99999984e-01 -1.30547597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.330371743 meters 0.03144851614151012 Centerline is valid? [True, True] Translation: X:93.29, Y:-5.11, Z:-1.31 [[ 9.99996568e-01 2.59487674e-03 3.61155608e-04 9.32943235e+01] [-2.59486885e-03 9.99996633e-01 -2.23340828e-05 -5.10521888e+00] [-3.61212346e-04 2.13968548e-05 9.99999935e-01 -1.30588983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360371743 meters 0.033429898492846805 Centerline is valid? [True, True] Translation: X:93.32, Y:-5.11, Z:-1.31 [[ 9.99995915e-01 2.84983570e-03 2.19164716e-04 9.33235112e+01] [-2.84983297e-03 9.99995939e-01 -1.27819780e-05 -5.10929233e+00] [-2.19200253e-04 1.21573430e-05 9.99999976e-01 -1.30599509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.390371743 meters 0.03160170234814263 Centerline is valid? [True, True] Translation: X:93.35, Y:-5.11, Z:-1.30 [[ 9.99993542e-01 3.44914322e-03 1.00937703e-03 9.33538578e+01] [-3.44908385e-03 9.99994050e-01 -6.05486699e-05 -5.10657140e+00] [-1.00957987e-03 5.70668528e-05 9.99999489e-01 -1.30389732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420371743 meters 0.032058487341405165 Centerline is valid? [True, True] Translation: X:93.38, Y:-5.11, Z:-1.30 [[ 9.99992480e-01 3.57942663e-03 1.49244126e-03 9.33833496e+01] [-3.57929688e-03 9.99993590e-01 -8.96006172e-05 -5.10848466e+00] [-1.49275242e-03 8.42580531e-05 9.99998882e-01 -1.30398111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.450371743 meters 0.03274992391490228 Centerline is valid? [True, True] Translation: X:93.41, Y:-5.11, Z:-1.30 [[ 9.99991326e-01 3.89251368e-03 1.48181179e-03 9.34125055e+01] [-3.89238724e-03 9.99992421e-01 -8.82003858e-05 -5.11046360e+00] [-1.48214388e-03 8.24318355e-05 9.99998898e-01 -1.30441362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48037174299999 meters 0.03391450396552799 Centerline is valid? [True, True] Translation: X:93.44, Y:-5.11, Z:-1.31 [[ 9.99992024e-01 3.71632371e-03 1.46310365e-03 9.34414826e+01] [-3.71619950e-03 9.99993091e-01 -8.76006666e-05 -5.11382853e+00] [-1.46341910e-03 8.21627829e-05 9.99998926e-01 -1.30510811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.510371743 meters 0.03275533624853646 Centerline is valid? [True, True] Translation: X:93.47, Y:-5.11, Z:-1.31 [[ 9.99993426e-01 3.23875879e-03 1.63072266e-03 9.34709245e+01] [-3.23860359e-03 9.99994751e-01 -9.78006941e-05 -5.11372129e+00] [-1.63103086e-03 9.25187869e-05 9.99998666e-01 -1.30502102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540371743 meters 0.03293928525373243 Centerline is valid? [True, True] Translation: X:93.50, Y:-5.12, Z:-1.31 [[ 9.99993442e-01 3.13201750e-03 1.81841609e-03 9.35007397e+01] [-3.13182456e-03 9.99995090e-01 -1.08936097e-04 -5.11552878e+00] [-1.81874836e-03 1.03240422e-04 9.99998341e-01 -1.30571115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.570371743 meters 0.03285008973413324 Centerline is valid? [True, True] Translation: X:93.53, Y:-5.12, Z:-1.31 [[ 9.99992539e-01 3.78553879e-03 7.69226846e-04 9.35303153e+01] [-3.78550443e-03 9.99992834e-01 -4.61090785e-05 -5.11552775e+00] [-7.69395882e-04 4.31968228e-05 9.99999703e-01 -1.30624033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600371743 meters 0.032469039975087044 Centerline is valid? [True, True] Translation: X:93.56, Y:-5.12, Z:-1.31 [[ 9.99991044e-01 4.23213792e-03 3.27481244e-05 9.35599373e+01] [-4.23213784e-03 9.99991044e-01 -2.45466782e-06 -5.11572932e+00] [-3.27582197e-05 2.31605126e-06 9.99999999e-01 -1.30675795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.630371743 meters 0.03165715733462785 Centerline is valid? [True, True] Translation: X:93.59, Y:-5.12, Z:-1.31 [[ 9.99988440e-01 4.77372430e-03 -5.75056045e-04 9.35889785e+01] [-4.77370598e-03 9.99988605e-01 3.32139036e-05 -5.11509448e+00] [ 5.75208047e-04 -3.04683712e-05 9.99999834e-01 -1.30755604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660371743 meters 0.031918801895320086 Centerline is valid? [True, True] Translation: X:93.62, Y:-5.12, Z:-1.31 [[ 9.99989044e-01 4.65887261e-03 -4.55548261e-04 9.36179109e+01] [-4.65886122e-03 9.99989147e-01 2.60741675e-05 -5.11650852e+00] [ 4.55664794e-04 -2.39515457e-05 9.99999896e-01 -1.30854166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.690371743 meters 0.03250868757402669 Centerline is valid? [True, True] Translation: X:93.65, Y:-5.12, Z:-1.31 [[ 9.99987647e-01 4.81565005e-03 -1.23078105e-03 9.36454126e+01] [-4.81556532e-03 9.99988403e-01 7.18005808e-05 -5.11852683e+00] [ 1.23111254e-03 -6.58727873e-05 9.99999240e-01 -1.30930218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720371743 meters 0.033459444966471685 Centerline is valid? [True, True] Translation: X:93.67, Y:-5.12, Z:-1.31 [[ 9.99987584e-01 4.61264844e-03 -1.88530886e-03 9.36728330e+01] [-4.61244858e-03 9.99989357e-01 1.10342705e-04 -5.12046817e+00] [ 1.88579777e-03 -1.01645445e-04 9.99998217e-01 -1.31045697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.750371743 meters 0.03453365481824389 Centerline is valid? [True, True] Translation: X:93.70, Y:-5.12, Z:-1.31 [[ 9.99988706e-01 3.56170262e-03 -3.14689367e-03 9.37019636e+01] [-3.56113629e-03 9.99993642e-01 1.85549196e-04 -5.12151872e+00] [ 3.14753453e-03 -1.74340583e-04 9.99995031e-01 -1.31212271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780371743 meters 0.03430332037001999 Centerline is valid? [True, True] Translation: X:93.73, Y:-5.12, Z:-1.31 [[ 9.99988732e-01 3.20923321e-03 -3.49808304e-03 9.37306256e+01] [-3.20853273e-03 9.99994831e-01 2.05842041e-04 -5.12210881e+00] [ 3.49872556e-03 -1.94616008e-04 9.99993861e-01 -1.31281085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.810371743 meters 0.03651622520077383 Centerline is valid? [True, True] Translation: X:93.76, Y:-5.13, Z:-1.31 [[ 9.99988853e-01 2.95851019e-03 -3.67987879e-03 9.37579802e+01] [-2.95773514e-03 9.99995603e-01 2.16041258e-04 -5.12621025e+00] [ 3.68050177e-03 -2.05154743e-04 9.99993206e-01 -1.31458231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.840371743 meters 0.034828295196760235 Centerline is valid? [True, True] Translation: X:93.79, Y:-5.12, Z:-1.31 [[ 9.99986226e-01 3.51052631e-03 -3.90174251e-03 9.37866584e+01] [-3.50965893e-03 9.99993815e-01 2.29128979e-04 -5.12368030e+00] [ 3.90252274e-03 -2.15432038e-04 9.99992362e-01 -1.31429552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87037174299999 meters 0.03475710415349948 Centerline is valid? [True, True] Translation: X:93.82, Y:-5.12, Z:-1.31 [[ 9.99982846e-01 4.81352018e-03 -3.33729902e-03 9.38151546e+01] [-4.81289402e-03 9.99988399e-01 1.95628729e-04 -5.12436479e+00] [ 3.33820197e-03 -1.79563307e-04 9.99994412e-01 -1.31445236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900371743 meters 0.033992051638968526 Centerline is valid? [True, True] Translation: X:93.84, Y:-5.12, Z:-1.31 [[ 9.99965129e-01 8.25298570e-03 -1.27622666e-03 9.38447941e+01] [-8.25289711e-03 9.99965941e-01 7.46695418e-05 -5.12265191e+00] [ 1.27679944e-03 -6.41343707e-05 9.99999183e-01 -1.31312772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.930371743 meters 0.033370808303925054 Centerline is valid? [True, True] Translation: X:93.87, Y:-5.12, Z:-1.31 [[ 9.99946553e-01 1.03353436e-02 -2.66906186e-04 9.38748513e+01] [-1.03353398e-02 9.99946589e-01 1.54753660e-05 -5.12226194e+00] [ 2.67051874e-04 -1.27159728e-05 9.99999964e-01 -1.31276597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960371743 meters 0.028125563796461653 Centerline is valid? [True, True] Translation: X:93.90, Y:-5.11, Z:-1.31 [[ 9.99924891e-01 1.22552099e-02 1.48674104e-04 9.39040001e+01] [-1.22552086e-02 9.99924902e-01 -9.75649235e-06 -5.11350957e+00] [-1.48782507e-04 7.93372739e-06 9.99999989e-01 -1.31012779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.990371743 meters 0.028685319949338692 Centerline is valid? [True, True] Translation: X:93.93, Y:-5.12, Z:-1.31 [[ 9.99897857e-01 1.42793890e-02 6.12350044e-04 9.39317958e+01] [-1.42793688e-02 9.99898044e-01 -3.73864957e-05 -5.11506232e+00] [-6.12821468e-04 2.86387049e-05 9.99999812e-01 -1.31023386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020371743 meters 0.02770717370259403 Centerline is valid? [True, True] Translation: X:93.96, Y:-5.11, Z:-1.31 [[ 9.99896855e-01 1.43428998e-02 7.48757502e-04 9.39607197e+01] [-1.43428702e-02 9.99897135e-01 -4.48892668e-05 -5.11463741e+00] [-7.49324323e-04 3.41453050e-05 9.99999719e-01 -1.30988419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.050371743 meters 0.02859551229568349 Centerline is valid? [True, True] Translation: X:93.99, Y:-5.12, Z:-1.31 [[ 9.99907507e-01 1.35895836e-02 5.47444339e-04 9.39887674e+01] [-1.35895673e-02 9.99907657e-01 -3.34493707e-05 -5.11740693e+00] [-5.47848350e-04 2.60067452e-05 9.99999850e-01 -1.31044886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080371743 meters 0.02883804092935179 Centerline is valid? [True, True] Translation: X:94.02, Y:-5.12, Z:-1.31 [[ 9.99910729e-01 1.33615514e-02 5.98415531e-05 9.40172599e+01] [-1.33615512e-02 9.99910730e-01 -4.48843119e-06 -5.11919487e+00] [-5.98961835e-05 3.68845453e-06 9.99999998e-01 -1.31130954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.110371743 meters 0.028492502546309844 Centerline is valid? [True, True] Translation: X:94.05, Y:-5.12, Z:-1.31 [[ 9.99916433e-01 1.29058105e-02 -7.53323242e-04 9.40459072e+01] [-1.29057818e-02 9.99916716e-01 4.29662143e-05 -5.12027977e+00] [ 7.53815016e-04 -3.32403984e-05 9.99999715e-01 -1.31206947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140371743 meters 0.029157559073436153 Centerline is valid? [True, True] Translation: X:94.07, Y:-5.12, Z:-1.32 [[ 9.99914892e-01 1.27973826e-02 -2.53685077e-03 9.40731458e+01] [-1.27970518e-02 9.99918104e-01 1.46596688e-04 -5.12347252e+00] [ 2.53851907e-03 -1.14120001e-04 9.99996771e-01 -1.31530724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.170371743 meters 0.028694059022476612 Centerline is valid? [True, True] Translation: X:94.10, Y:-5.12, Z:-1.32 [[ 9.99912322e-01 1.28402725e-02 -3.23677331e-03 9.41018851e+01] [-1.28397331e-02 9.99917550e-01 1.87391709e-04 -5.12384393e+00] [ 3.23891259e-03 -1.45815974e-04 9.99994744e-01 -1.31601316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.200371743 meters 0.028525310184553836 Centerline is valid? [True, True] Translation: X:94.13, Y:-5.13, Z:-1.32 [[ 9.99911370e-01 1.29105317e-02 -3.25105184e-03 9.41311104e+01] [-1.29099923e-02 9.99916645e-01 1.86851821e-04 -5.12543107e+00] [ 3.25319321e-03 -1.44864206e-04 9.99994698e-01 -1.31658075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23037174299999 meters 0.02729706832508399 Centerline is valid? [True, True] Translation: X:94.16, Y:-5.12, Z:-1.32 [[ 9.99907244e-01 1.33158007e-02 -2.86225734e-03 9.41601825e+01] [-1.33153829e-02 9.99911333e-01 1.64974278e-04 -5.12481564e+00] [ 2.86420032e-03 -1.26846923e-04 9.99995890e-01 -1.31556532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260371743 meters 0.027881218485484152 Centerline is valid? [True, True] Translation: X:94.19, Y:-5.13, Z:-1.32 [[ 9.99906263e-01 1.34687468e-02 -2.46126099e-03 9.41878911e+01] [-1.34684407e-02 9.99909287e-01 1.40923505e-04 -5.12712765e+00] [ 2.46293578e-03 -1.07760948e-04 9.99996961e-01 -1.31605036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.290371743 meters 0.028920494502822604 Centerline is valid? [True, True] Translation: X:94.22, Y:-5.13, Z:-1.32 [[ 9.99908336e-01 1.34369791e-02 -1.66372482e-03 9.42153624e+01] [-1.34368397e-02 9.99909717e-01 9.49127762e-05 -5.13012543e+00] [ 1.66484996e-03 -7.25488723e-05 9.99998612e-01 -1.31591813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320371743 meters 0.028084502251815927 Centerline is valid? [True, True] Translation: X:94.24, Y:-5.13, Z:-1.32 [[ 9.99911314e-01 1.32789353e-02 -1.01708555e-03 9.42437294e+01] [-1.32788835e-02 9.99911830e-01 5.77118994e-05 -5.13087054e+00] [ 1.01776222e-03 -4.42010206e-05 9.99999481e-01 -1.31583771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.350371743 meters 0.028385037954072052 Centerline is valid? [True, True] Translation: X:94.27, Y:-5.13, Z:-1.32 [[ 9.99916582e-01 1.28873102e-02 -8.63760640e-04 9.42726708e+01] [-1.28872728e-02 9.99916954e-01 4.88019390e-05 -5.13333811e+00] [ 8.64317834e-04 -3.76663490e-05 9.99999626e-01 -1.31609720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380371743 meters 0.028520341989884266 Centerline is valid? [True, True] Translation: X:94.30, Y:-5.14, Z:-1.32 [[ 9.99924702e-01 1.22609080e-02 -5.10053335e-04 9.43015867e+01] [-1.22608951e-02 9.99924832e-01 2.83781835e-05 -5.13663430e+00] [ 5.10362938e-04 -2.21223362e-05 9.99999870e-01 -1.31612623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.410371743 meters 0.028854027047319483 Centerline is valid? [True, True] Translation: X:94.33, Y:-5.14, Z:-1.32 [[ 9.99932279e-01 1.16173221e-02 -6.89061711e-04 9.43298715e+01] [-1.16172983e-02 9.99932516e-01 3.86407269e-05 -5.13917162e+00] [ 6.89464112e-04 -3.06330747e-05 9.99999762e-01 -1.31626145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440371743 meters 0.0286827192610507 Centerline is valid? [True, True] Translation: X:94.36, Y:-5.14, Z:-1.32 [[ 9.99938011e-01 1.11120114e-02 -7.05622758e-04 9.43581010e+01] [-1.11119866e-02 9.99938259e-01 3.91001490e-05 -5.14088390e+00] [ 7.06013673e-04 -3.12568545e-05 9.99999750e-01 -1.31609963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.470371743 meters 0.028689130763440783 Centerline is valid? [True, True] Translation: X:94.39, Y:-5.14, Z:-1.32 [[ 9.99947144e-01 1.02623942e-02 -6.27136836e-04 9.43865403e+01] [-1.02623743e-02 9.99947340e-01 3.49561697e-05 -5.14298196e+00] [ 6.27462544e-04 -2.85184091e-05 9.99999803e-01 -1.31530094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500371743 meters 0.029242172403593534 Centerline is valid? [True, True] Translation: X:94.41, Y:-5.15, Z:-1.32 [[ 9.99951568e-01 9.81869012e-03 -6.74569342e-04 9.44147700e+01] [-9.81866696e-03 9.99951795e-01 3.76371370e-05 -5.14565792e+00] [ 6.74906372e-04 -3.10119424e-05 9.99999772e-01 -1.31589940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.530371743 meters 0.029637783809756783 Centerline is valid? [True, True] Translation: X:94.44, Y:-5.15, Z:-1.32 [[ 9.99955301e-01 9.43505667e-03 -6.12449379e-04 9.44435972e+01] [-9.43503758e-03 9.99955488e-01 3.40436919e-05 -5.14842022e+00] [ 6.12743322e-04 -2.82636873e-05 9.99999812e-01 -1.31619547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.560371743 meters 0.029080550014577614 Centerline is valid? [True, True] Translation: X:94.47, Y:-5.15, Z:-1.32 [[ 9.99958830e-01 9.05182830e-03 -6.34550590e-04 9.44726719e+01] [-9.05180775e-03 9.99959031e-01 3.52490396e-05 -5.15106053e+00] [ 6.34843662e-04 -2.95037585e-05 9.99999798e-01 -1.31705830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.590371743 meters 0.029658624398969605 Centerline is valid? [True, True] Translation: X:94.50, Y:-5.15, Z:-1.32 [[ 9.99956444e-01 9.31431126e-03 -5.95364158e-04 9.44999188e+01] [-9.31429343e-03 9.99956620e-01 3.27142826e-05 -5.15476509e+00] [ 5.95643042e-04 -2.71674612e-05 9.99999822e-01 -1.31835237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62037174299999 meters 0.029658624398969605 Centerline is valid? [True, True] Translation: X:94.53, Y:-5.16, Z:-1.32 [[ 9.99957094e-01 9.24422032e-03 -5.95351829e-04 9.45282094e+01] [-9.24420235e-03 9.99957271e-01 3.29298068e-05 -5.15631755e+00] [ 5.95630800e-04 -2.74248412e-05 9.99999822e-01 -1.31875083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.650371743 meters 0.028848584698927482 Centerline is valid? [True, True] Translation: X:94.56, Y:-5.16, Z:-1.32 [[ 9.99940215e-01 1.07994442e-02 -1.71426026e-03 9.45573950e+01] [-1.07992941e-02 9.99941681e-01 9.68205738e-05 -5.15709441e+00] [ 1.71520590e-03 -7.83019846e-05 9.99998526e-01 -1.32023579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680371743 meters 0.03047652521863124 Centerline is valid? [True, True] Translation: X:94.59, Y:-5.16, Z:-1.32 [[ 9.99922304e-01 1.23081878e-02 -1.97321585e-03 9.45854376e+01] [-1.23079924e-02 9.99924248e-01 1.11179527e-04 -5.16112213e+00] [ 1.97443479e-03 -8.68845634e-05 9.99998047e-01 -1.32215367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.710371743 meters 0.028219488647036783 Centerline is valid? [True, True] Translation: X:94.61, Y:-5.16, Z:-1.32 [[ 9.99903348e-01 1.37988479e-02 -1.69921637e-03 9.46147074e+01] [-1.37987055e-02 9.99904789e-01 9.54788869e-05 -5.15798313e+00] [ 1.70037208e-03 -7.20226723e-05 9.99998552e-01 -1.32110347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740371743 meters 0.027629929564609388 Centerline is valid? [True, True] Translation: X:94.64, Y:-5.16, Z:-1.32 [[ 9.99880459e-01 1.53583099e-02 -1.78595005e-03 9.46437811e+01] [-1.53581553e-02 9.99882052e-01 1.00276898e-04 -5.15849626e+00] [ 1.78727948e-03 -7.28360128e-05 9.99998400e-01 -1.32142913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.770371743 meters 0.02678390784228918 Centerline is valid? [True, True] Translation: X:94.67, Y:-5.16, Z:-1.32 [[ 9.99823292e-01 1.87754395e-02 -9.31550508e-04 9.46733318e+01] [-1.87753989e-02 9.99823725e-01 5.22973174e-05 -5.15966341e+00] [ 9.32368204e-04 -3.47978436e-05 9.99999565e-01 -1.32186893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800371743 meters 0.02604290807703127 Centerline is valid? [True, True] Translation: X:94.70, Y:-5.16, Z:-1.32 [[ 9.99794504e-01 2.02505808e-02 -9.29559732e-04 9.47022112e+01] [-2.02505415e-02 9.99794935e-01 5.16204113e-05 -5.16028416e+00] [ 9.30414456e-04 -3.27857156e-05 9.99999567e-01 -1.32194164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.830371743 meters 0.02514711565028073 Centerline is valid? [True, True] Translation: X:94.73, Y:-5.16, Z:-1.32 [[ 9.99731225e-01 2.31396660e-02 -1.42592465e-03 9.47310175e+01] [-2.31395760e-02 9.99732241e-01 7.96081670e-05 -5.16122324e+00] [ 1.42738495e-03 -4.65914786e-05 9.99998980e-01 -1.32252654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860371743 meters 0.024759555343953132 Centerline is valid? [True, True] Translation: X:94.76, Y:-5.16, Z:-1.32 [[ 9.99690463e-01 2.48431398e-02 -1.34041231e-03 9.47601645e+01] [-2.48430616e-02 9.99691361e-01 7.49543054e-05 -5.16269651e+00] [ 1.34186070e-03 -4.16311588e-05 9.99999099e-01 -1.32307690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.890371743 meters 0.02569753964357666 Centerline is valid? [True, True] Translation: X:94.79, Y:-5.17, Z:-1.33 [[ 9.99647294e-01 2.65269672e-02 -1.26829188e-03 9.47879433e+01] [-2.65268994e-02 9.99648097e-01 7.02853005e-05 -5.16705753e+00] [ 1.26971002e-03 -3.66166595e-05 9.99999193e-01 -1.32505373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920371743 meters 0.02393083558609521 Centerline is valid? [True, True] Translation: X:94.82, Y:-5.17, Z:-1.32 [[ 9.99554094e-01 2.98496518e-02 -7.82036735e-04 9.48169626e+01] [-2.98496272e-02 9.99554400e-01 4.30631038e-05 -5.16621288e+00] [ 7.82973678e-04 -1.97003967e-05 9.99999693e-01 -1.32446515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.950371743 meters 0.023244284203552384 Centerline is valid? [True, True] Translation: X:94.85, Y:-5.17, Z:-1.32 [[ 9.99491048e-01 3.19005275e-02 -2.04245499e-05 9.48459510e+01] [-3.19005275e-02 9.99491049e-01 1.65613810e-07 -5.16744752e+00] [ 2.04194379e-05 4.86024399e-07 1.00000000e+00 -1.32457070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98037174299999 meters 0.02212348329080045 Centerline is valid? [True, True] Translation: X:94.88, Y:-5.17, Z:-1.32 [[ 9.99423837e-01 3.39367256e-02 5.40977514e-04 9.48750816e+01] [-3.39367136e-02 9.99423983e-01 -3.14095489e-05 -5.16743191e+00] [-5.41731839e-04 1.30324529e-05 9.99999853e-01 -1.32363262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.010371743 meters 0.021914493210624244 Centerline is valid? [True, True] Translation: X:94.90, Y:-5.17, Z:-1.32 [[ 9.99305979e-01 3.72054144e-02 1.82148618e-03 9.49032727e+01] [-3.72052880e-02 9.99307638e-01 -1.03196801e-04 -5.17103307e+00] [-1.82406453e-03 3.53562627e-05 9.99998336e-01 -1.32403512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040371743 meters 0.021704899128700314 Centerline is valid? [True, True] Translation: X:94.93, Y:-5.17, Z:-1.32 [[ 9.99272696e-01 3.80547874e-02 2.43156877e-03 9.49322646e+01] [-3.80545661e-02 9.99275653e-01 -1.37241987e-04 -5.17292977e+00] [-2.43503018e-03 4.46098759e-05 9.99997034e-01 -1.32358123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.070371743 meters 0.021762728114443936 Centerline is valid? [True, True] Translation: X:94.96, Y:-5.18, Z:-1.32 [[ 9.99279747e-01 3.78550512e-02 2.64234754e-03 9.49600252e+01] [-3.78547888e-02 9.99283239e-01 -1.49271486e-04 -5.17612218e+00] [-2.64610429e-03 4.91384647e-05 9.99996498e-01 -1.32363494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100371743 meters 0.021818649431430616 Centerline is valid? [True, True] Translation: X:94.99, Y:-5.18, Z:-1.32 [[ 9.99345719e-01 3.60620961e-02 2.76756228e-03 9.49882177e+01] [-3.60618035e-02 9.99349550e-01 -1.55577431e-04 -5.18324082e+00] [-2.77137256e-03 5.56723522e-05 9.99996158e-01 -1.32446434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.130371743 meters 0.022355958408408864 Centerline is valid? [True, True] Translation: X:95.02, Y:-5.19, Z:-1.33 [[ 9.99419606e-01 3.39125265e-02 3.22361233e-03 9.50161083e+01] [-3.39121191e-02 9.99424802e-01 -1.80998002e-04 -5.18963648e+00] [-3.22789621e-03 7.15734273e-05 9.99994788e-01 -1.32531232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160371743 meters 0.02319564171515938 Centerline is valid? [True, True] Translation: X:95.05, Y:-5.20, Z:-1.33 [[ 9.99574480e-01 2.89077300e-02 3.89904952e-03 9.50453467e+01] [-2.89071003e-02 9.99582079e-01 -2.17774660e-04 -5.19972699e+00] [-3.90371540e-03 1.04971777e-04 9.99992375e-01 -1.32518848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.190371743 meters 0.023845724548855893 Centerline is valid? [True, True] Translation: X:95.07, Y:-5.21, Z:-1.33 [[ 9.99654015e-01 2.60070445e-02 3.93493448e-03 9.50731831e+01] [-2.60063792e-02 9.99661753e-01 -2.20169425e-04 -5.20580164e+00] [-3.93932946e-03 1.17759851e-04 9.99992234e-01 -1.32529957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220371743 meters 0.024432585703389475 Centerline is valid? [True, True] Translation: X:95.10, Y:-5.21, Z:-1.33 [[ 9.99712567e-01 2.36314580e-02 4.04209649e-03 9.51014810e+01] [-2.36307388e-02 9.99720730e-01 -2.25594939e-04 -5.21161051e+00] [-4.04629879e-03 1.30012369e-04 9.99991805e-01 -1.32562918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.250371743 meters 0.025891552994708158 Centerline is valid? [True, True] Translation: X:95.13, Y:-5.22, Z:-1.33 [[ 9.99821823e-01 1.85189977e-02 3.65637237e-03 9.51303593e+01] [-1.85183777e-02 9.99828499e-01 -2.03349781e-04 -5.22269250e+00] [-3.65951113e-03 1.35603464e-04 9.99993295e-01 -1.32711928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280371743 meters 0.026126588811051094 Centerline is valid? [True, True] Translation: X:95.16, Y:-5.23, Z:-1.33 [[ 9.99863876e-01 1.61118916e-02 3.55486023e-03 9.51590792e+01] [-1.61112888e-02 9.99870185e-01 -1.98162906e-04 -5.22882284e+00] [-3.55759154e-03 1.40862552e-04 9.99993662e-01 -1.32831453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.310371743 meters 0.02661121731584159 Centerline is valid? [True, True] Translation: X:95.19, Y:-5.24, Z:-1.33 [[ 9.99925084e-01 1.16889787e-02 3.63246048e-03 9.51891287e+01] [-1.16883236e-02 9.99931669e-01 -2.01532260e-04 -5.23877564e+00] [-3.63456797e-03 1.59059789e-04 9.99993382e-01 -1.32945811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.340371743 meters 0.030090863237205657 Centerline is valid? [True, True] Translation: X:95.22, Y:-5.25, Z:-1.33 [[ 9.99952999e-01 9.06029798e-03 3.45105819e-03 9.52175037e+01] [-9.05968892e-03 9.99958942e-01 -1.92077754e-04 -5.24897404e+00] [-3.45265678e-03 1.60803213e-04 9.99994027e-01 -1.33111198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37037174299999 meters 0.030106872757613264 Centerline is valid? [True, True] Translation: X:95.25, Y:-5.25, Z:-1.33 [[ 9.99969273e-01 6.95846891e-03 3.60995551e-03 9.52470310e+01] [-6.95779055e-03 9.99975774e-01 -2.00436398e-04 -5.25412533e+00] [-3.61126279e-03 1.75312925e-04 9.99993464e-01 -1.33119811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400371743 meters 0.03018721075394825 Centerline is valid? [True, True] Translation: X:95.28, Y:-5.26, Z:-1.33 [[ 9.99983129e-01 3.06897296e-03 4.93186839e-03 9.52765724e+01] [-3.06766248e-03 9.99995257e-01 -2.73259545e-04 -5.26186891e+00] [-4.93268362e-03 2.58125627e-04 9.99987801e-01 -1.33024754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.430371743 meters 0.029442064651964712 Centerline is valid? [True, True] Translation: X:95.31, Y:-5.26, Z:-1.33 [[ 9.99985266e-01 1.04510598e-03 5.32694043e-03 9.53071931e+01] [-1.04355015e-03 9.99999412e-01 -2.94840218e-04 -5.26489488e+00] [-5.32724543e-03 2.89276945e-04 9.99985768e-01 -1.33009231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460371743 meters 0.035599046153150314 Centerline is valid? [True, True] Translation: X:95.34, Y:-5.28, Z:-1.33 [[ 9.99981781e-01 -2.10069893e-03 5.65912533e-03 9.53363931e+01] [ 2.10250662e-03 9.99997741e-01 -3.13497484e-04 -5.28122481e+00] [-5.65845398e-03 3.25390121e-04 9.99983938e-01 -1.33147287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.490371743 meters 0.03248855388753331 Centerline is valid? [True, True] Translation: X:95.37, Y:-5.28, Z:-1.33 [[ 9.99981902e-01 -3.30652834e-03 5.02622269e-03 9.53685005e+01] [ 3.30796625e-03 9.99994490e-01 -2.77794986e-04 -5.28060172e+00] [-5.02527646e-03 2.94416534e-04 9.99987330e-01 -1.33173734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520371743 meters 0.03285869177175424 Centerline is valid? [True, True] Translation: X:95.40, Y:-5.29, Z:-1.33 [[ 9.99977089e-01 -4.48502276e-03 5.07012838e-03 9.53999597e+01] [ 4.48649557e-03 9.99989897e-01 -2.79150767e-04 -5.28519485e+00] [-5.06882516e-03 3.01891480e-04 9.99987108e-01 -1.33227478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.550371743 meters 0.034475414391401636 Centerline is valid? [True, True] Translation: X:95.43, Y:-5.29, Z:-1.33 [[ 9.99967827e-01 -6.52549469e-03 4.66499550e-03 9.54292011e+01] [ 6.52677763e-03 9.99978667e-01 -2.59842499e-04 -5.29355018e+00] [-4.66320038e-03 2.90281528e-04 9.99989085e-01 -1.33327341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580371743 meters 0.033477262372633175 Centerline is valid? [True, True] Translation: X:95.46, Y:-5.30, Z:-1.33 [[ 9.99961687e-01 -7.37696382e-03 4.71215159e-03 9.54616058e+01] [ 7.37827909e-03 9.99972746e-01 -2.61799469e-04 -5.29597530e+00] [-4.71009188e-03 2.96557008e-04 9.99988863e-01 -1.33381504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.610371743 meters 0.03626569782589045 Centerline is valid? [True, True] Translation: X:95.49, Y:-5.30, Z:-1.33 [[ 9.99953671e-01 -8.42205357e-03 4.66091511e-03 9.54919427e+01] [ 8.42335478e-03 9.99964489e-01 -2.59614656e-04 -5.30481900e+00] [-4.65856310e-03 2.98863170e-04 9.99989104e-01 -1.33466042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640371743 meters 0.03727426343287819 Centerline is valid? [True, True] Translation: X:95.52, Y:-5.31, Z:-1.33 [[ 9.99951488e-01 -8.55816276e-03 4.87643456e-03 9.55233930e+01] [ 8.55958894e-03 9.99963329e-01 -2.71668450e-04 -5.30884506e+00] [-4.87393076e-03 3.13395546e-04 9.99988073e-01 -1.33457153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.670371743 meters 0.037604845894936414 Centerline is valid? [True, True] Translation: X:95.56, Y:-5.31, Z:-1.33 [[ 9.99951658e-01 -8.56925699e-03 4.82186133e-03 9.55551924e+01] [ 8.57065198e-03 9.99963235e-01 -2.68714936e-04 -5.31124210e+00] [-4.81938137e-03 3.10028441e-04 9.99988339e-01 -1.33433220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.700371743 meters 0.038161310509846065 Centerline is valid? [True, True] Translation: X:95.59, Y:-5.31, Z:-1.33 [[ 9.99956932e-01 -7.92509007e-03 4.82976816e-03 9.55858504e+01] [ 7.92648455e-03 9.99968549e-01 -2.69653518e-04 -5.31477056e+00] [-4.82747923e-03 3.07924987e-04 9.99988300e-01 -1.33477514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73037174299999 meters 0.03416325340731663 Centerline is valid? [True, True] Translation: X:95.62, Y:-5.31, Z:-1.33 [[ 9.99963580e-01 -7.23551806e-03 4.52607312e-03 9.56180486e+01] [ 7.23673564e-03 9.99973783e-01 -2.52694639e-04 -5.31118062e+00] [-4.52412608e-03 2.85439431e-04 9.99989725e-01 -1.33438292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760371743 meters 0.03389889626097008 Centerline is valid? [True, True] Translation: X:95.65, Y:-5.31, Z:-1.33 [[ 9.99966501e-01 -6.58928276e-03 4.85579897e-03 9.56499379e+01] [ 6.59067866e-03 9.99978244e-01 -2.71525136e-04 -5.31347047e+00] [-4.85390418e-03 3.03519051e-04 9.99988174e-01 -1.33457616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.790371743 meters 0.03882774405512514 Centerline is valid? [True, True] Translation: X:95.68, Y:-5.32, Z:-1.34 [[ 9.99972928e-01 -4.66854099e-03 5.68757072e-03 9.56799328e+01] [ 4.67043096e-03 9.99989043e-01 -3.19061637e-04 -5.32229595e+00] [-5.68601884e-03 3.45616405e-04 9.99983775e-01 -1.33506477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820371743 meters 0.033890136720349094 Centerline is valid? [True, True] Translation: X:95.71, Y:-5.32, Z:-1.33 [[ 9.99980089e-01 -3.10538240e-03 5.49355735e-03 9.57120458e+01] [ 3.10712050e-03 9.99995125e-01 -3.07884063e-04 -5.31674076e+00] [-5.49257447e-03 3.24947078e-04 9.99984863e-01 -1.33455272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.850371743 meters 0.03795889726461305 Centerline is valid? [True, True] Translation: X:95.74, Y:-5.32, Z:-1.34 [[ 9.99983598e-01 -6.66137289e-04 5.68861841e-03 9.57426161e+01] [ 6.67965227e-04 9.99999726e-01 -3.19438574e-04 -5.32438489e+00] [-5.68840406e-03 3.23233134e-04 9.99983769e-01 -1.33640236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880371743 meters 0.03350040207034412 Centerline is valid? [True, True] Translation: X:95.77, Y:-5.32, Z:-1.34 [[ 9.99981961e-01 5.68120563e-04 5.97947911e-03 9.57747840e+01] [-5.66123142e-04 9.99999783e-01 -3.35733266e-04 -5.32012799e+00] [-5.97966855e-03 3.32342088e-04 9.99982066e-01 -1.33578522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.910371743 meters 0.03137965892144802 Centerline is valid? [True, True] Translation: X:95.81, Y:-5.32, Z:-1.34 [[ 9.99978578e-01 1.51356142e-03 6.36803959e-03 9.58068651e+01] [-1.51131197e-03 9.99998794e-01 -3.58037933e-04 -5.31902852e+00] [-6.36857382e-03 3.48406169e-04 9.99979660e-01 -1.33550759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940371743 meters 0.03406892524018917 Centerline is valid? [True, True] Translation: X:95.84, Y:-5.33, Z:-1.34 [[ 9.99973645e-01 2.16011386e-03 6.93127386e-03 9.58382714e+01] [-2.15746034e-03 9.99997597e-01 -3.90287120e-04 -5.32544695e+00] [-6.93210027e-03 3.75322885e-04 9.99975902e-01 -1.33646593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.970371743 meters 0.03389431470754065 Centerline is valid? [True, True] Translation: X:95.87, Y:-5.33, Z:-1.34 [[ 9.99969467e-01 2.64780783e-03 7.35214399e-03 9.58706623e+01] [-2.64483935e-03 9.99996417e-01 -4.13450213e-04 -5.32828384e+00] [-7.35321238e-03 3.93992349e-04 9.99972887e-01 -1.33703856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000371743 meters 0.03499748941999285 Centerline is valid? [True, True] Translation: X:95.90, Y:-5.33, Z:-1.34 [[ 9.99969184e-01 3.16846366e-03 7.18278285e-03 9.59020993e+01] [-3.16563119e-03 9.99994907e-01 -4.05676166e-04 -5.33273387e+00] [-7.18403164e-03 3.82925623e-04 9.99974121e-01 -1.33762928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.030371743 meters 0.030420549412440927 Centerline is valid? [True, True] Translation: X:95.94, Y:-5.33, Z:-1.34 [[ 9.99971890e-01 3.46296574e-03 6.65032668e-03 9.59351575e+01] [-3.46053749e-03 9.99993941e-01 -3.76606081e-04 -5.32795107e+00] [-6.65159056e-03 3.53581790e-04 9.99977815e-01 -1.33735380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.060371743 meters 0.029050187754282926 Centerline is valid? [True, True] Translation: X:95.97, Y:-5.33, Z:-1.34 [[ 9.99974704e-01 3.61010392e-03 6.12852384e-03 9.59677712e+01] [-3.60803715e-03 9.99993430e-01 -3.48259564e-04 -5.32762072e+00] [-6.12974083e-03 3.26138813e-04 9.99981160e-01 -1.33772403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.090371743 meters 0.030884449438770202 Centerline is valid? [True, True] Translation: X:96.00, Y:-5.33, Z:-1.34 [[ 9.99979188e-01 4.27333651e-03 4.83346774e-03 9.59987390e+01] [-4.27205151e-03 9.99990837e-01 -2.76148420e-04 -5.33336145e+00] [-4.83460353e-03 2.55493850e-04 9.99988281e-01 -1.33978237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12037174299999 meters 0.03121515433496299 Centerline is valid? [True, True] Translation: X:96.03, Y:-5.34, Z:-1.34 [[ 9.99974846e-01 4.97053940e-03 5.05966696e-03 9.60296481e+01] [-4.96913026e-03 9.99987611e-01 -2.91037234e-04 -5.33638121e+00] [-5.06105089e-03 2.65887769e-04 9.99987157e-01 -1.34111197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.150371743 meters 0.02785101641568949 Centerline is valid? [True, True] Translation: X:96.06, Y:-5.33, Z:-1.34 [[ 9.99970481e-01 5.79053946e-03 5.05038553e-03 9.60614057e+01] [-5.78914635e-03 9.99983201e-01 -2.90416918e-04 -5.33304652e+00] [-5.05198236e-03 2.61170924e-04 9.99987205e-01 -1.34094404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180371743 meters 0.026818245801432796 Centerline is valid? [True, True] Translation: X:96.09, Y:-5.33, Z:-1.34 [[ 9.99934490e-01 9.62733466e-03 6.19109506e-03 9.60922188e+01] [-9.62531148e-03 9.99953612e-01 -3.56502314e-04 -5.33365674e+00] [-6.19424003e-03 2.96887741e-04 9.99980771e-01 -1.34098958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.210371743 meters 0.02644856075681494 Centerline is valid? [True, True] Translation: X:96.12, Y:-5.33, Z:-1.34 [[ 9.99906502e-01 1.19133854e-02 6.71253937e-03 9.61228478e+01] [-1.19110565e-02 9.99928986e-01 -3.86805815e-04 -5.33365491e+00] [-6.71667086e-03 3.06816214e-04 9.99977396e-01 -1.34135959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240371743 meters 0.024419624302525478 Centerline is valid? [True, True] Translation: X:96.15, Y:-5.33, Z:-1.34 [[ 9.99817487e-01 1.77680627e-02 7.02059279e-03 9.61532236e+01] [-1.77656591e-02 9.99842096e-01 -4.04586699e-04 -5.33041770e+00] [-7.02667293e-03 2.79787399e-04 9.99975273e-01 -1.34157447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.270371743 meters 0.02421949243238358 Centerline is valid? [True, True] Translation: X:96.18, Y:-5.33, Z:-1.34 [[ 9.99768940e-01 2.02791914e-02 7.12894447e-03 9.61810052e+01] [-2.02767728e-02 9.99794320e-01 -4.11395329e-04 -5.33081692e+00] [-7.13582096e-03 2.66748285e-04 9.99974504e-01 -1.34232316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300371743 meters 0.024205164651259898 Centerline is valid? [True, True] Translation: X:96.21, Y:-5.33, Z:-1.34 [[ 9.99730297e-01 2.20634935e-02 7.24819523e-03 9.62093036e+01] [-2.20610459e-02 9.99756538e-01 -4.17467342e-04 -5.33152595e+00] [-7.25564136e-03 2.57451982e-04 9.99973644e-01 -1.34313843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.330371743 meters 0.023305639295388585 Centerline is valid? [True, True] Translation: X:96.24, Y:-5.33, Z:-1.34 [[ 9.99699714e-01 2.33980164e-02 7.28109145e-03 9.62382353e+01] [-2.33955857e-02 9.99726198e-01 -4.18844957e-04 -5.33094551e+00] [-7.28889802e-03 2.48373785e-04 9.99973405e-01 -1.34359495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360371743 meters 0.023753477289755992 Centerline is valid? [True, True] Translation: X:96.27, Y:-5.33, Z:-1.34 [[ 9.99676082e-01 2.44382211e-02 7.10666549e-03 9.62658706e+01] [-2.44359343e-02 9.99701315e-01 -4.08444504e-04 -5.33259651e+00] [-7.11452449e-03 2.34654191e-04 9.99974664e-01 -1.34479746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.390371743 meters 0.024005244708821444 Centerline is valid? [True, True] Translation: X:96.29, Y:-5.33, Z:-1.35 [[ 9.99682486e-01 2.40772617e-02 7.43050039e-03 9.62944822e+01] [-2.40747581e-02 9.99710070e-01 -4.26206796e-04 -5.33456992e+00] [-7.43860796e-03 2.47183970e-04 9.99972303e-01 -1.34568729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420371743 meters 0.02437302816317011 Centerline is valid? [True, True] Translation: X:96.32, Y:-5.34, Z:-1.35 [[ 9.99708942e-01 2.28164556e-02 7.83842930e-03 9.63236182e+01] [-2.28136356e-02 9.99739634e-01 -4.49000824e-04 -5.33646807e+00] [-7.84663305e-03 2.70047069e-04 9.99969178e-01 -1.34548497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.450371743 meters 0.024266679528358183 Centerline is valid? [True, True] Translation: X:96.35, Y:-5.34, Z:-1.35 [[ 9.99742488e-01 2.12172309e-02 8.04900930e-03 9.63526805e+01] [-2.12142103e-02 9.99774847e-01 -4.60475998e-04 -5.33777756e+00] [-8.05696707e-03 2.89604044e-04 9.99967500e-01 -1.34546458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48037174299999 meters 0.024991470947765267 Centerline is valid? [True, True] Translation: X:96.38, Y:-5.34, Z:-1.35 [[ 9.99814523e-01 1.75235184e-02 7.99038715e-03 9.63817887e+01] [-1.75204290e-02 9.99846401e-01 -4.56477703e-04 -5.34039061e+00] [-7.99715893e-03 3.16398026e-04 9.99967972e-01 -1.34545471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.510371743 meters 0.024991470947765267 Centerline is valid? [True, True] Translation: X:96.41, Y:-5.34, Z:-1.35 [[ 9.99815782e-01 1.74515213e-02 7.99040814e-03 9.64100718e+01] [-1.74484325e-02 9.99847660e-01 -4.56109878e-04 -5.34194446e+00] [-7.99715070e-03 3.16605757e-04 9.99967972e-01 -1.34585283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540371743 meters 0.024914539131641867 Centerline is valid? [True, True] Translation: X:96.44, Y:-5.34, Z:-1.35 [[ 9.99844698e-01 1.57098187e-02 7.98637451e-03 9.64397115e+01] [-1.57066839e-02 9.99876539e-01 -4.55088329e-04 -5.34354659e+00] [-7.99253786e-03 3.29578192e-04 9.99968005e-01 -1.34650664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.570371743 meters 0.02668904204021709 Centerline is valid? [True, True] Translation: X:96.47, Y:-5.35, Z:-1.35 [[ 9.99874067e-01 1.39326552e-02 7.59808871e-03 9.64679825e+01] [-1.39297677e-02 9.99902882e-01 -4.32823937e-04 -5.34838098e+00] [-7.60338119e-03 3.26929820e-04 9.99971040e-01 -1.34772753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600371743 meters 0.02834931657671044 Centerline is valid? [True, True] Translation: X:96.50, Y:-5.35, Z:-1.35 [[ 9.99916398e-01 1.08498421e-02 7.03401837e-03 9.64974380e+01] [-1.08472954e-02 9.99941086e-01 -4.00107473e-04 -5.35213895e+00] [-7.03794508e-03 3.23773948e-04 9.99975181e-01 -1.34843143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.630371743 meters 0.029500795786837068 Centerline is valid? [True, True] Translation: X:96.53, Y:-5.35, Z:-1.35 [[ 9.99933911e-01 9.07552061e-03 7.05744930e-03 9.65270966e+01] [-9.07291370e-03 9.99958760e-01 -4.01313105e-04 -5.35493012e+00] [-7.06080037e-03 3.37254954e-04 9.99975015e-01 -1.34900468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660371743 meters 0.029444348196550747 Centerline is valid? [True, True] Translation: X:96.56, Y:-5.36, Z:-1.35 [[ 9.99953533e-01 5.70777648e-03 7.76868538e-03 9.65574669e+01] [-5.70451834e-03 9.99983632e-01 -4.41488207e-04 -5.35635763e+00] [-7.77107813e-03 3.97151084e-04 9.99969726e-01 -1.34865481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.690371743 meters 0.02907463320553985 Centerline is valid? [True, True] Translation: X:96.59, Y:-5.36, Z:-1.35 [[ 9.99962596e-01 4.13962213e-03 7.59406164e-03 9.65885980e+01] [-4.13646549e-03 9.99991352e-01 -4.31332194e-04 -5.35741607e+00] [-7.59578152e-03 3.99903487e-04 9.99971072e-01 -1.34839637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720371743 meters 0.029630020506159732 Centerline is valid? [True, True] Translation: X:96.62, Y:-5.36, Z:-1.35 [[ 9.99961880e-01 3.00603124e-03 8.19774653e-03 9.66203427e+01] [-3.00232150e-03 9.99995385e-01 -4.64801174e-04 -5.36000908e+00] [-8.19910591e-03 4.40171185e-04 9.99966290e-01 -1.34834932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.750371743 meters 0.03201726289677683 Centerline is valid? [True, True] Translation: X:96.65, Y:-5.36, Z:-1.35 [[ 9.99966556e-01 -3.78872833e-05 8.17831597e-03 9.66501199e+01] [ 4.17077995e-05 9.99999890e-01 -4.66981890e-04 -5.36409723e+00] [-8.17829738e-03 4.67307372e-04 9.99966448e-01 -1.34836352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780371743 meters 0.032725686855681606 Centerline is valid? [True, True] Translation: X:96.68, Y:-5.37, Z:-1.35 [[ 9.99971021e-01 -1.23872791e-03 7.51145286e-03 9.66820142e+01] [ 1.24198105e-03 9.99999137e-01 -4.28441206e-04 -5.36615667e+00] [-7.51091566e-03 4.37757873e-04 9.99971697e-01 -1.34867347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.810371743 meters 0.034122108704931764 Centerline is valid? [True, True] Translation: X:96.71, Y:-5.37, Z:-1.35 [[ 9.99966233e-01 -4.06668737e-03 7.14106080e-03 9.67129057e+01] [ 4.06970533e-03 9.99991635e-01 -4.08140585e-04 -5.36922368e+00] [-7.13934129e-03 4.37188817e-04 9.99974419e-01 -1.34994474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.840371743 meters 0.03266160189110661 Centerline is valid? [True, True] Translation: X:96.75, Y:-5.37, Z:-1.35 [[ 9.99963384e-01 -5.36823967e-03 6.66430465e-03 9.67453168e+01] [ 5.37089486e-03 9.99985504e-01 -3.80586797e-04 -5.36846391e+00] [-6.66216497e-03 4.16366141e-04 9.99977721e-01 -1.35051822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87037174299999 meters 0.03481879024307799 Centerline is valid? [True, True] Translation: X:96.78, Y:-5.37, Z:-1.35 [[ 9.99964429e-01 -5.86763108e-03 6.05908776e-03 9.67763676e+01] [ 5.86983804e-03 9.99982712e-01 -3.46521872e-04 -5.37298789e+00] [-6.05694975e-03 3.82075409e-04 9.99981584e-01 -1.35112985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900371743 meters 0.03551857353320768 Centerline is valid? [True, True] Translation: X:96.81, Y:-5.37, Z:-1.35 [[ 9.99965528e-01 -6.17888632e-03 5.54653694e-03 9.68080847e+01] [ 6.18074183e-03 9.99980849e-01 -3.17456931e-04 -5.37430294e+00] [-5.54446918e-03 3.51727701e-04 9.99984567e-01 -1.35162840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.930371743 meters 0.03473459657729491 Centerline is valid? [True, True] Translation: X:96.84, Y:-5.37, Z:-1.35 [[ 9.99975544e-01 -4.75059431e-03 5.13254907e-03 9.68393154e+01] [ 4.75216634e-03 9.99988665e-01 -2.94133895e-04 -5.37185417e+00] [-5.13109358e-03 3.18517428e-04 9.99986785e-01 -1.35099451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960371743 meters 0.034086363545266805 Centerline is valid? [True, True] Translation: X:96.87, Y:-5.37, Z:-1.35 [[ 9.99981537e-01 -3.74335236e-03 4.78672412e-03 9.68719926e+01] [ 3.74470726e-03 9.99992951e-01 -2.74123125e-04 -5.37111549e+00] [-4.78566424e-03 2.92042945e-04 9.99988506e-01 -1.35115907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.990371743 meters 0.03345004686596756 Centerline is valid? [True, True] Translation: X:96.90, Y:-5.37, Z:-1.35 [[ 9.99986754e-01 -1.32472000e-03 4.97364345e-03 9.69039478e+01] [ 1.32615573e-03 9.99999080e-01 -2.85381546e-04 -5.36943585e+00] [-4.97326082e-03 2.91973592e-04 9.99987591e-01 -1.35109110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020371743 meters 0.031317670686820676 Centerline is valid? [True, True] Translation: X:96.94, Y:-5.37, Z:-1.35 [[ 9.99987345e-01 1.40610405e-04 5.02898191e-03 9.69357404e+01] [-1.39158866e-04 9.99999949e-01 -2.88983497e-04 -5.36655728e+00] [-5.02902228e-03 2.88280013e-04 9.99987313e-01 -1.35059186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.050371743 meters 0.03218153469135733 Centerline is valid? [True, True] Translation: X:96.97, Y:-5.37, Z:-1.35 [[ 9.99984772e-01 1.48009161e-03 5.31653747e-03 9.69665376e+01] [-1.47848699e-03 9.99998860e-01 -3.05733242e-04 -5.36815687e+00] [-5.31698392e-03 2.97868155e-04 9.99985820e-01 -1.35092334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080371743 meters 0.029918584324757642 Centerline is valid? [True, True] Translation: X:97.00, Y:-5.36, Z:-1.35 [[ 9.99976334e-01 4.41979370e-03 5.27228861e-03 9.69976356e+01] [-4.41825461e-03 9.99990193e-01 -3.03531983e-04 -5.36335344e+00] [-5.27357845e-03 2.80230486e-04 9.99986055e-01 -1.35075094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.110371743 meters 0.031426026288698054 Centerline is valid? [True, True] Translation: X:97.03, Y:-5.37, Z:-1.35 [[ 9.99971786e-01 5.47476507e-03 5.14339692e-03 9.70283911e+01] [-5.47331461e-03 9.99984977e-01 -2.96039021e-04 -5.36602028e+00] [-5.14494040e-03 2.67879239e-04 9.99986729e-01 -1.35175060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140371743 meters 0.029289555223766764 Centerline is valid? [True, True] Translation: X:97.06, Y:-5.36, Z:-1.35 [[ 9.99957595e-01 7.92109459e-03 4.69725550e-03 9.70591761e+01] [-7.91990960e-03 9.99968600e-01 -2.70821218e-04 -5.36226439e+00] [-4.69925320e-03 2.33607895e-04 9.99988931e-01 -1.35235947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.170371743 meters 0.03140630070958336 Centerline is valid? [True, True] Translation: X:97.09, Y:-5.37, Z:-1.35 [[ 9.99952768e-01 8.86792689e-03 3.97763050e-03 9.70881219e+01] [-8.86708394e-03 9.99960660e-01 -2.29508919e-04 -5.36570562e+00] [-3.97950929e-03 1.94228095e-04 9.99992063e-01 -1.35381980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.200371743 meters 0.02924761054430729 Centerline is valid? [True, True] Translation: X:97.12, Y:-5.36, Z:-1.35 [[ 9.99947644e-01 9.61295183e-03 3.50730456e-03 9.71178208e+01] [-9.61230047e-03 9.99953780e-01 -2.02524869e-04 -5.36280250e+00] [-3.50908931e-03 1.68801000e-04 9.99993829e-01 -1.35367461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23037174299999 meters 0.03051634123924956 Centerline is valid? [True, True] Translation: X:97.15, Y:-5.36, Z:-1.36 [[ 9.99928119e-01 1.14448669e-02 3.57364320e-03 9.71461509e+01] [-1.14442015e-02 9.99934492e-01 -2.06583417e-04 -5.36473747e+00] [-3.57577342e-03 1.65671075e-04 9.99993593e-01 -1.35509479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260371743 meters 0.029029329058993802 Centerline is valid? [True, True] Translation: X:97.17, Y:-5.36, Z:-1.36 [[ 9.99919368e-01 1.21519246e-02 3.68620335e-03 9.71747600e+01] [-1.21512225e-02 9.99926149e-01 -2.12800481e-04 -5.36392558e+00] [-3.68851705e-03 1.67991446e-04 9.99993183e-01 -1.35519259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.290371743 meters 0.029730306900315362 Centerline is valid? [True, True] Translation: X:97.20, Y:-5.37, Z:-1.36 [[ 9.99908949e-01 1.28831487e-02 4.01467695e-03 9.72029900e+01] [-1.28823233e-02 9.99916993e-01 -2.31386130e-04 -5.36620205e+00] [-4.01732469e-03 1.79646695e-04 9.99991914e-01 -1.35620805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320371743 meters 0.02967709998236421 Centerline is valid? [True, True] Translation: X:97.23, Y:-5.37, Z:-1.36 [[ 9.99910018e-01 1.27947224e-02 4.03131234e-03 9.72321365e+01] [-1.27938906e-02 9.99918128e-01 -2.32051827e-04 -5.36769322e+00] [-4.03395132e-03 1.80454778e-04 9.99991847e-01 -1.35662023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.350371743 meters 0.030700079435623952 Centerline is valid? [True, True] Translation: X:97.26, Y:-5.37, Z:-1.36 [[ 9.99918040e-01 1.22247487e-02 3.80388499e-03 9.72598476e+01] [-1.22240041e-02 9.99925260e-01 -2.18922272e-04 -5.36941144e+00] [-3.80627696e-03 1.72405623e-04 9.99992741e-01 -1.35724080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380371743 meters 0.03125098800999822 Centerline is valid? [True, True] Translation: X:97.29, Y:-5.37, Z:-1.36 [[ 9.99926411e-01 1.15372892e-02 3.75003171e-03 9.72887921e+01] [-1.15365626e-02 9.99933428e-01 -2.15335436e-04 -5.37200524e+00] [-3.75226645e-03 1.72057114e-04 9.99992945e-01 -1.35755761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.410371743 meters 0.030337475866290025 Centerline is valid? [True, True] Translation: X:97.32, Y:-5.37, Z:-1.36 [[ 9.99940271e-01 1.02681228e-02 3.74432800e-03 9.73174484e+01] [-1.02673904e-02 9.99947266e-01 -2.14773814e-04 -5.37212140e+00] [-3.74633587e-03 1.76316509e-04 9.99992967e-01 -1.35742956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440371743 meters 0.03341101313484853 Centerline is valid? [True, True] Translation: X:97.35, Y:-5.38, Z:-1.36 [[ 9.99958499e-01 8.21026292e-03 3.94874413e-03 9.73457922e+01] [-8.20943428e-03 9.99966276e-01 -2.26014071e-04 -5.37911534e+00] [-3.95046660e-03 1.93587736e-04 9.99992178e-01 -1.35854140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.470371743 meters 0.03349621437172206 Centerline is valid? [True, True] Translation: X:97.38, Y:-5.38, Z:-1.36 [[ 9.99969690e-01 6.72746281e-03 3.91934487e-03 9.73755337e+01] [-6.72663668e-03 9.99977351e-01 -2.23928705e-04 -5.38035639e+00] [-3.92076258e-03 1.97557909e-04 9.99992294e-01 -1.35842117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500371743 meters 0.03573456248767806 Centerline is valid? [True, True] Translation: X:97.40, Y:-5.38, Z:-1.36 [[ 9.99982513e-01 4.73883258e-03 3.53793659e-03 9.74041450e+01] [-4.73814726e-03 9.99988755e-01 -2.02061863e-04 -5.38454454e+00] [-3.53885434e-03 1.85295065e-04 9.99993721e-01 -1.35948577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.530371743 meters 0.03095786648306944 Centerline is valid? [True, True] Translation: X:97.43, Y:-5.38, Z:-1.36 [[ 9.99987364e-01 3.90683591e-03 3.16372605e-03 9.74349892e+01] [-3.90628507e-03 9.99992354e-01 -1.80271392e-04 -5.37812081e+00] [-3.16440615e-03 1.67910698e-04 9.99994979e-01 -1.35866042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.560371743 meters 0.031287735010356255 Centerline is valid? [True, True] Translation: X:97.47, Y:-5.38, Z:-1.36 [[ 9.99993095e-01 3.07464188e-03 2.08724816e-03 9.74652963e+01] [-3.07440031e-03 9.99995267e-01 -1.18932905e-04 -5.38016338e+00] [-2.08760395e-03 1.12515048e-04 9.99997815e-01 -1.35967480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.590371743 meters 0.03180348902078718 Centerline is valid? [True, True] Translation: X:97.50, Y:-5.38, Z:-1.36 [[ 9.99996861e-01 2.41168003e-03 6.79865943e-04 9.74959593e+01] [-2.41165424e-03 9.99997091e-01 -3.87392518e-05 -5.38156457e+00] [-6.79957392e-04 3.70995286e-05 9.99999768e-01 -1.36148544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62037174299999 meters 0.031776289141860814 Centerline is valid? [True, True] Translation: X:97.53, Y:-5.38, Z:-1.36 [[ 9.99995632e-01 2.93705963e-03 -3.31065348e-04 9.75257611e+01] [-2.93705371e-03 9.99995687e-01 1.83550806e-05 -5.38161359e+00] [ 3.31117830e-04 -1.73826437e-05 9.99999945e-01 -1.36235907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.650371743 meters 0.030901865270929457 Centerline is valid? [True, True] Translation: X:97.56, Y:-5.38, Z:-1.36 [[ 9.99992199e-01 3.94381205e-03 2.18631308e-04 9.75551878e+01] [-3.94380932e-03 9.99992223e-01 -1.29433568e-05 -5.38096894e+00] [-2.18680654e-04 1.20810157e-05 9.99999976e-01 -1.36222873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680371743 meters 0.031143268311885356 Centerline is valid? [True, True] Translation: X:97.58, Y:-5.38, Z:-1.36 [[ 9.99984429e-01 5.57379106e-03 2.74789224e-04 9.75839706e+01] [-5.57378677e-03 9.99984466e-01 -1.63689081e-05 -5.38190842e+00] [-2.74876193e-04 1.48370367e-05 9.99999962e-01 -1.36249076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.710371743 meters 0.030539077150157665 Centerline is valid? [True, True] Translation: X:97.61, Y:-5.38, Z:-1.36 [[ 9.99972562e-01 7.40203136e-03 2.91187452e-04 9.76134253e+01] [-7.40202663e-03 9.99972604e-01 -1.72852647e-05 -5.38098326e+00] [-2.91307421e-04 1.51294132e-05 9.99999957e-01 -1.36255344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740371743 meters 0.02792263440033558 Centerline is valid? [True, True] Translation: X:97.64, Y:-5.37, Z:-1.36 [[ 9.99913377e-01 1.31387089e-02 7.83153105e-04 9.76439604e+01] [-1.31386780e-02 9.99913683e-01 -4.45329010e-05 -5.37467863e+00] [-7.83670610e-04 3.42394469e-05 9.99999692e-01 -1.36153194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.770371743 meters 0.02829789843749589 Centerline is valid? [True, True] Translation: X:97.67, Y:-5.37, Z:-1.36 [[ 9.99861364e-01 1.66121073e-02 1.13639512e-03 9.76728206e+01] [-1.66120441e-02 9.99862008e-01 -6.50086069e-05 -5.37499302e+00] [-1.13731824e-03 4.61217486e-05 9.99999352e-01 -1.36213356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800371743 meters 0.025297183372466222 Centerline is valid? [True, True] Translation: X:97.70, Y:-5.37, Z:-1.36 [[ 9.99688722e-01 2.48477203e-02 2.24698742e-03 9.77032938e+01] [-2.48474962e-02 9.99691245e-01 -1.27584427e-04 -5.36771938e+00] [-2.24946383e-03 7.17127014e-05 9.99997467e-01 -1.36172283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.830371743 meters 0.024464684834340472 Centerline is valid? [True, True] Translation: X:97.73, Y:-5.37, Z:-1.36 [[ 9.99581929e-01 2.88056126e-02 2.49081511e-03 9.77337040e+01] [-2.88053491e-02 9.99585030e-01 -1.41584406e-04 -5.36639732e+00] [-2.49385992e-03 6.97764145e-05 9.99996888e-01 -1.36222998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860371743 meters 0.023216806547249554 Centerline is valid? [True, True] Translation: X:97.76, Y:-5.36, Z:-1.36 [[ 9.99479867e-01 3.21404519e-02 2.64343540e-03 9.77631181e+01] [-3.21401639e-02 9.99483360e-01 -1.51373387e-04 -5.36402479e+00] [-2.64693490e-03 6.63342058e-05 9.99996495e-01 -1.36221952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.890371743 meters 0.023033064842965686 Centerline is valid? [True, True] Translation: X:97.79, Y:-5.36, Z:-1.36 [[ 9.99381248e-01 3.50984661e-02 2.28431630e-03 9.77913992e+01] [-3.50982602e-02 9.99383858e-01 -1.30183210e-04 -5.36414865e+00] [-2.28747807e-03 4.99271309e-05 9.99997382e-01 -1.36314477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920371743 meters 0.022603722700648844 Centerline is valid? [True, True] Translation: X:97.82, Y:-5.36, Z:-1.36 [[ 9.99277428e-01 3.79417016e-02 2.24708124e-03 9.78207176e+01] [-3.79415103e-02 9.99279954e-01 -1.27702733e-04 -5.36266149e+00] [-2.25030850e-03 4.23528029e-05 9.99997467e-01 -1.36344008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.950371743 meters 0.022774803364357173 Centerline is valid? [True, True] Translation: X:97.85, Y:-5.36, Z:-1.36 [[ 9.99277848e-01 3.79465212e-02 1.96072598e-03 9.78475246e+01] [-3.79463740e-02 9.99279771e-01 -1.12265990e-04 -5.36491877e+00] [-1.96357391e-03 3.77824754e-05 9.99998071e-01 -1.36414851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98037174299999 meters 0.022341924150289297 Centerline is valid? [True, True] Translation: X:97.88, Y:-5.37, Z:-1.36 [[ 9.99324057e-01 3.67015037e-02 2.10447635e-03 9.78761727e+01] [-3.67013334e-02 9.99326272e-01 -1.19497109e-04 -5.36678265e+00] [-2.10744423e-03 4.21792474e-05 9.99997778e-01 -1.36313163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.010371743 meters 0.023235752202075008 Centerline is valid? [True, True] Translation: X:97.90, Y:-5.37, Z:-1.36 [[ 9.99358319e-01 3.57664240e-02 1.92693386e-03 9.79039169e+01] [-3.57662791e-02 9.99360176e-01 -1.09572730e-04 -5.37137202e+00] [-1.92961999e-03 4.05831646e-05 9.99998137e-01 -1.36426941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040371743 meters 0.022956387685682787 Centerline is valid? [True, True] Translation: X:97.93, Y:-5.37, Z:-1.36 [[ 9.99413112e-01 3.42138674e-02 1.68635593e-03 9.79323938e+01] [-3.42137547e-02 9.99414534e-01 -9.56891303e-05 -5.37197254e+00] [-1.68864252e-03 3.79364034e-05 9.99998574e-01 -1.36353426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.070371743 meters 0.023451329048183412 Centerline is valid? [True, True] Translation: X:97.96, Y:-5.38, Z:-1.36 [[ 9.99514409e-01 3.11375356e-02 1.18299150e-03 9.79605981e+01] [-3.11374774e-02 9.99515109e-01 -6.75817923e-05 -5.37640223e+00] [-1.18452221e-03 3.07136041e-05 9.99999298e-01 -1.36426562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100371743 meters 0.023602860037248322 Centerline is valid? [True, True] Translation: X:97.99, Y:-5.38, Z:-1.36 [[ 9.99565372e-01 2.94533015e-02 1.25273397e-03 9.79880334e+01] [-2.94532345e-02 9.99566157e-01 -7.18856059e-05 -5.38022156e+00] [-1.25430775e-03 3.49572951e-05 9.99999213e-01 -1.36494712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.130371743 meters 0.02422933970788686 Centerline is valid? [True, True] Translation: X:98.02, Y:-5.39, Z:-1.37 [[ 9.99657976e-01 2.60610073e-02 2.18061547e-03 9.80161316e+01] [-2.60608010e-02 9.99660352e-01 -1.22995640e-04 -5.38612056e+00] [-2.18308022e-03 6.61249863e-05 9.99997615e-01 -1.36543638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160371743 meters 0.02488216592047284 Centerline is valid? [True, True] Translation: X:98.04, Y:-5.39, Z:-1.37 [[ 9.99699938e-01 2.43554240e-02 2.61685193e-03 9.80433655e+01] [-2.43551223e-02 9.99703359e-01 -1.47107794e-04 -5.39043912e+00] [-2.61965854e-03 8.33299036e-05 9.99996565e-01 -1.36548517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.190371743 meters 0.02543917510340689 Centerline is valid? [True, True] Translation: X:98.07, Y:-5.39, Z:-1.37 [[ 9.99745844e-01 2.22969682e-02 3.33051374e-03 9.80713071e+01] [-2.22964703e-02 9.99751385e-01 -1.86575191e-04 -5.39474875e+00] [-3.33384579e-03 1.12269071e-04 9.99994436e-01 -1.36527835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220371743 meters 0.026189085001030375 Centerline is valid? [True, True] Translation: X:98.10, Y:-5.40, Z:-1.36 [[ 9.99835392e-01 1.76818143e-02 4.06730615e-03 9.81001807e+01] [-1.76810366e-02 9.99843652e-01 -2.27074474e-04 -5.39958769e+00] [-4.07068532e-03 1.55122907e-04 9.99991703e-01 -1.36405691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.250371743 meters 0.02732245916963299 Centerline is valid? [True, True] Translation: X:98.13, Y:-5.40, Z:-1.36 [[ 9.99882290e-01 1.47813817e-02 4.11290416e-03 9.81286193e+01] [-1.47805641e-02 9.99890735e-01 -2.29104402e-04 -5.40482293e+00] [-4.11584124e-03 1.68286391e-04 9.99991516e-01 -1.36462275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280371743 meters 0.02893150503737341 Centerline is valid? [True, True] Translation: X:98.16, Y:-5.41, Z:-1.37 [[ 9.99957950e-01 8.07824263e-03 4.34048367e-03 9.81588158e+01] [-8.07727246e-03 9.99967349e-01 -2.41000933e-04 -5.41320132e+00] [-4.34228882e-03 2.05931530e-04 9.99990551e-01 -1.36501078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.310371743 meters 0.0310473885971952 Centerline is valid? [True, True] Translation: X:98.19, Y:-5.42, Z:-1.37 [[ 9.99978349e-01 4.68033877e-03 4.62565970e-03 9.81873110e+01] [-4.67920135e-03 9.99989020e-01 -2.56686159e-04 -5.42072236e+00] [-4.62681029e-03 2.35036209e-04 9.99989269e-01 -1.36626820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.340371743 meters 0.032909656598821384 Centerline is valid? [True, True] Translation: X:98.22, Y:-5.43, Z:-1.37 [[ 9.99986430e-01 1.76038352e-03 4.90316088e-03 9.82171131e+01] [-1.75907315e-03 9.99998416e-01 -2.71549195e-04 -5.42755792e+00] [-4.90363114e-03 2.62920491e-04 9.99987943e-01 -1.36691325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37037174299999 meters 0.03570314869911489 Centerline is valid? [True, True] Translation: X:98.25, Y:-5.43, Z:-1.37 [[ 9.99984533e-01 -2.88837483e-03 4.75309719e-03 9.82460117e+01] [ 2.88966448e-03 9.99995790e-01 -2.64483381e-04 -5.43484946e+00] [-4.75231325e-03 2.78214146e-04 9.99988669e-01 -1.36764196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400371743 meters 0.03570314869911489 Centerline is valid? [True, True] Translation: X:98.28, Y:-5.44, Z:-1.37 [[ 9.99984729e-01 -2.81961039e-03 4.75314377e-03 9.82777058e+01] [ 2.82089530e-03 9.99995987e-01 -2.63645990e-04 -5.43667669e+00] [-4.75238131e-03 2.77050085e-04 9.99988669e-01 -1.36808793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.430371743 meters 0.03315156675023948 Centerline is valid? [True, True] Translation: X:98.31, Y:-5.44, Z:-1.37 [[ 9.99979200e-01 -4.40586113e-03 4.71051332e-03 9.83100825e+01] [ 4.40714199e-03 9.99990254e-01 -2.61568870e-04 -5.43510096e+00] [-4.70931497e-03 2.82323331e-04 9.99988871e-01 -1.36790798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460371743 meters 0.03425116384609119 Centerline is valid? [True, True] Translation: X:98.34, Y:-5.44, Z:-1.37 [[ 9.99974996e-01 -5.37888104e-03 4.59075793e-03 9.83413133e+01] [ 5.38011001e-03 9.99985494e-01 -2.55397454e-04 -5.44003830e+00] [-4.58931759e-03 2.80089850e-04 9.99989430e-01 -1.36916820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.490371743 meters 0.034492502716897196 Centerline is valid? [True, True] Translation: X:98.37, Y:-5.44, Z:-1.37 [[ 9.99976956e-01 -5.02874020e-03 4.56056975e-03 9.83735354e+01] [ 5.02994978e-03 9.99987318e-01 -2.53795083e-04 -5.44255448e+00] [-4.55923564e-03 2.76728672e-04 9.99989568e-01 -1.37007215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520371743 meters 0.03498228805209787 Centerline is valid? [True, True] Translation: X:98.40, Y:-5.45, Z:-1.37 [[ 9.99977524e-01 -4.32902473e-03 5.11964624e-03 9.84049849e+01] [ 4.33053976e-03 9.99990583e-01 -2.84876061e-04 -5.44520671e+00] [-5.11836479e-03 3.07040489e-04 9.99986854e-01 -1.37074621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.550371743 meters 0.034704028469896515 Centerline is valid? [True, True] Translation: X:98.44, Y:-5.45, Z:-1.37 [[ 9.99980068e-01 -2.62046427e-03 5.74424261e-03 9.84353510e+01] [ 2.62235425e-03 9.99996510e-01 -3.21514842e-04 -5.44648831e+00] [-5.74338005e-03 3.36571872e-04 9.99983450e-01 -1.37052546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580371743 meters 0.03458713869013285 Centerline is valid? [True, True] Translation: X:98.47, Y:-5.45, Z:-1.37 [[ 9.99975384e-01 -1.42096241e-03 6.87112633e-03 9.84679458e+01] [ 1.42363623e-03 9.99998913e-01 -3.84264011e-04 -5.44785876e+00] [-6.87057283e-03 3.94036536e-04 9.99976320e-01 -1.37081650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.610371743 meters 0.03442189553126022 Centerline is valid? [True, True] Translation: X:98.50, Y:-5.45, Z:-1.37 [[ 9.99971565e-01 8.89750342e-04 7.48854966e-03 9.84988436e+01] [-8.86630750e-04 9.99999519e-01 -4.19891166e-04 -5.44885727e+00] [-7.48891966e-03 4.13239648e-04 9.99971872e-01 -1.37101939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640371743 meters 0.03455673501708693 Centerline is valid? [True, True] Translation: X:98.53, Y:-5.45, Z:-1.37 [[ 9.99971101e-01 2.22123611e-03 7.27071883e-03 9.85304591e+01] [-2.21833039e-03 9.99997456e-01 -4.07687354e-04 -5.45085952e+00] [-7.27160590e-03 3.91546716e-04 9.99973485e-01 -1.37167280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.670371743 meters 0.03447745095979195 Centerline is valid? [True, True] Translation: X:98.56, Y:-5.45, Z:-1.37 [[ 9.99969880e-01 3.42254313e-03 6.96596059e-03 9.85626495e+01] [-3.41990192e-03 9.99994076e-01 -3.91036452e-04 -5.45172258e+00] [-6.96725766e-03 3.67201772e-04 9.99975661e-01 -1.37247394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.700371743 meters 0.028591705845137965 Centerline is valid? [True, True] Translation: X:98.60, Y:-5.44, Z:-1.37 [[ 9.99963491e-01 6.15775144e-03 5.92445800e-03 9.85952069e+01] [-6.15588682e-03 9.99980997e-01 -3.32915760e-04 -5.44372482e+00] [-5.92639543e-03 2.96433313e-04 9.99982395e-01 -1.37230792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73037174299999 meters 0.028278980596395244 Centerline is valid? [True, True] Translation: X:98.63, Y:-5.44, Z:-1.37 [[ 9.99952478e-01 7.99847634e-03 5.57366385e-03 9.86258119e+01] [-7.99685032e-03 9.99967975e-01 -3.13957472e-04 -5.44430360e+00] [-5.57599654e-03 2.69370797e-04 9.99984418e-01 -1.37322019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760371743 meters 0.027339120017858036 Centerline is valid? [True, True] Translation: X:98.66, Y:-5.44, Z:-1.37 [[ 9.99907584e-01 1.24217842e-02 5.52465141e-03 9.86562585e+01] [-1.24202531e-02 9.99922817e-01 -3.11350649e-04 -5.44262579e+00] [-5.52809254e-03 2.42704306e-04 9.99984691e-01 -1.37392059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.790371743 meters 0.0271833023211554 Centerline is valid? [True, True] Translation: X:98.68, Y:-5.44, Z:-1.37 [[ 9.99874009e-01 1.48811170e-02 5.52441489e-03 9.86846490e+01] [-1.48796225e-02 9.99889244e-01 -3.11541125e-04 -5.44346177e+00] [-5.52843911e-03 2.29300665e-04 9.99984692e-01 -1.37479363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820371743 meters 0.026560875723403668 Centerline is valid? [True, True] Translation: X:98.71, Y:-5.44, Z:-1.38 [[ 9.99829543e-01 1.76124947e-02 5.53948469e-03 9.87140465e+01] [-1.76110355e-02 9.99844865e-01 -3.12084924e-04 -5.44352812e+00] [-5.54412191e-03 2.14475665e-04 9.99984608e-01 -1.37573168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.850371743 meters 0.025024337961791272 Centerline is valid? [True, True] Translation: X:98.74, Y:-5.44, Z:-1.38 [[ 9.99718080e-01 2.32816953e-02 4.66085165e-03 9.87443570e+01] [-2.32807260e-02 9.99728933e-01 -2.62122039e-04 -5.44162796e+00] [-4.66569089e-03 1.53540131e-04 9.99989104e-01 -1.37699159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880371743 meters 0.02423088794815614 Centerline is valid? [True, True] Translation: X:98.77, Y:-5.44, Z:-1.38 [[ 9.99654823e-01 2.58696927e-02 4.58198759e-03 9.87733274e+01] [-2.58687811e-02 9.99665314e-01 -2.58117854e-04 -5.44036944e+00] [-4.58713149e-03 1.39498324e-04 9.99989469e-01 -1.37735500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.910371743 meters 0.023721044454401024 Centerline is valid? [True, True] Translation: X:98.80, Y:-5.44, Z:-1.38 [[ 9.99592425e-01 2.81165327e-02 4.94423435e-03 9.88021529e+01] [-2.81155009e-02 9.99604642e-01 -2.78086252e-04 -5.44056184e+00] [-4.95009843e-03 1.38963286e-04 9.99987739e-01 -1.37764345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940371743 meters 0.023927464752008208 Centerline is valid? [True, True] Translation: X:98.83, Y:-5.44, Z:-1.38 [[ 9.99499905e-01 3.09750040e-02 6.36302561e-03 9.88300439e+01] [-3.09733567e-02 9.99520147e-01 -3.57278850e-04 -5.44192492e+00] [-6.37103901e-03 1.60015915e-04 9.99979692e-01 -1.37768916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.970371743 meters 0.023309187977306474 Centerline is valid? [True, True] Translation: X:98.86, Y:-5.44, Z:-1.38 [[ 9.99471878e-01 3.16887954e-02 7.19623470e-03 9.88584657e+01] [-3.16867137e-02 9.99497769e-01 -4.03141697e-04 -5.44220800e+00] [-7.20539560e-03 1.74903760e-04 9.99974026e-01 -1.37706521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000371743 meters 0.02320832005830528 Centerline is valid? [True, True] Translation: X:98.89, Y:-5.44, Z:-1.38 [[ 9.99457039e-01 3.19274728e-02 8.14019265e-03 9.88865487e+01] [-3.19248218e-02 9.99490169e-01 -4.55426600e-04 -5.44474443e+00] [-8.15058315e-03 1.95305122e-04 9.99966764e-01 -1.37664651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.030371743 meters 0.02266053884600582 Centerline is valid? [True, True] Translation: X:98.92, Y:-5.45, Z:-1.38 [[ 9.99486434e-01 3.09559418e-02 8.28242416e-03 9.89157450e+01] [-3.09531709e-02 9.99520729e-01 -4.62559999e-04 -5.44539254e+00] [-8.29277362e-03 2.05955154e-04 9.99965593e-01 -1.37679427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.060371743 meters 0.022684947198793978 Centerline is valid? [True, True] Translation: X:98.94, Y:-5.45, Z:-1.38 [[ 9.99530214e-01 2.96906795e-02 7.60361491e-03 9.89448861e+01] [-2.96883111e-02 9.99559115e-01 -4.24190117e-04 -5.44794440e+00] [-7.61285708e-03 1.98252353e-04 9.99971002e-01 -1.37735958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.090371743 meters 0.023211557556410894 Centerline is valid? [True, True] Translation: X:98.97, Y:-5.45, Z:-1.38 [[ 9.99624754e-01 2.65082403e-02 6.90388395e-03 9.89741647e+01] [-2.65062164e-02 9.99648575e-01 -3.84500453e-04 -5.45172832e+00] [-6.91165018e-03 2.01360329e-04 9.99976094e-01 -1.37832473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12037174299999 meters 0.023414207782637742 Centerline is valid? [True, True] Translation: X:99.00, Y:-5.45, Z:-1.38 [[ 9.99677506e-01 2.44617712e-02 6.81952486e-03 9.90032326e+01] [-2.44597487e-02 9.99700743e-01 -3.79827930e-04 -5.45413587e+00] [-6.82677534e-03 2.12901573e-04 9.99976675e-01 -1.37915907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.150371743 meters 0.024577538275305424 Centerline is valid? [True, True] Translation: X:99.03, Y:-5.46, Z:-1.38 [[ 9.99783239e-01 2.00221465e-02 5.70859892e-03 9.90309108e+01] [-2.00206584e-02 9.99799516e-01 -3.17697677e-04 -5.45977624e+00] [-5.71381543e-03 2.03338904e-04 9.99983655e-01 -1.38054014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180371743 meters 0.025921912605064223 Centerline is valid? [True, True] Translation: X:99.06, Y:-5.46, Z:-1.38 [[ 9.99834254e-01 1.73871531e-02 5.39911784e-03 9.90593860e+01] [-1.73857863e-02 9.99848811e-01 -2.99977452e-04 -5.46446709e+00] [-5.40351731e-03 2.06059823e-04 9.99985380e-01 -1.38156575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.210371743 meters 0.029820572324538185 Centerline is valid? [True, True] Translation: X:99.09, Y:-5.47, Z:-1.38 [[ 9.99879772e-01 1.45749408e-02 5.29273905e-03 9.90878092e+01] [-1.45735895e-02 9.99893756e-01 -2.93788832e-04 -5.47284398e+00] [-5.29645869e-03 2.16619304e-04 9.99985950e-01 -1.38301146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240371743 meters 0.028823152817630746 Centerline is valid? [True, True] Translation: X:99.12, Y:-5.47, Z:-1.38 [[ 9.99946411e-01 8.61613489e-03 5.73911235e-03 9.91181102e+01] [-8.61445237e-03 9.99962844e-01 -3.17822584e-04 -5.47342454e+00] [-5.74163751e-03 2.68366242e-04 9.99983481e-01 -1.38178628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.270371743 meters 0.028883502134225813 Centerline is valid? [True, True] Translation: X:99.15, Y:-5.48, Z:-1.38 [[ 9.99966251e-01 5.47180880e-03 6.12829293e-03 9.91482346e+01] [-5.46983177e-03 9.99984983e-01 -3.39320161e-04 -5.47588227e+00] [-6.13005759e-03 3.05787978e-04 9.99981164e-01 -1.38129753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300371743 meters 0.031251752464033306 Centerline is valid? [True, True] Translation: X:99.18, Y:-5.48, Z:-1.38 [[ 9.99978681e-01 2.33096230e-03 6.09959512e-03 9.91782103e+01] [-2.32894680e-03 9.99997231e-01 -3.37514303e-04 -5.48168851e+00] [-6.10036497e-03 3.23301475e-04 9.99981340e-01 -1.38197983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.330371743 meters 0.031788061440329585 Centerline is valid? [True, True] Translation: X:99.21, Y:-5.49, Z:-1.38 [[ 9.99971535e-01 -3.03117152e-03 6.90947087e-03 9.92083942e+01] [ 3.03388719e-03 9.99995325e-01 -3.82588158e-04 -5.48541417e+00] [-6.90827888e-03 4.03539823e-04 9.99976056e-01 -1.38160818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360371743 meters 0.03221704360357937 Centerline is valid? [True, True] Translation: X:99.24, Y:-5.49, Z:-1.38 [[ 9.99962148e-01 -5.21739899e-03 6.96281052e-03 9.92398157e+01] [ 5.22020810e-03 9.99986300e-01 -3.85330685e-04 -5.48811005e+00] [-6.96070471e-03 4.21663419e-04 9.99975685e-01 -1.38165236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.390371743 meters 0.0325597691652538 Centerline is valid? [True, True] Translation: X:99.27, Y:-5.49, Z:-1.38 [[ 9.99944873e-01 -8.30223512e-03 6.42835075e-03 9.92703163e+01] [ 8.30469513e-03 9.99965452e-01 -3.56083288e-04 -5.48985820e+00] [-6.42517238e-03 4.09449151e-04 9.99979275e-01 -1.38165500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420371743 meters 0.03679852327702535 Centerline is valid? [True, True] Translation: X:99.30, Y:-5.50, Z:-1.38 [[ 9.99941856e-01 -8.91656494e-03 6.06454414e-03 9.93007210e+01] [ 8.91876447e-03 9.99960171e-01 -3.35738454e-04 -5.49734249e+00] [-6.06130896e-03 3.89807174e-04 9.99981554e-01 -1.38298970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.450371743 meters 0.03283010214326889 Centerline is valid? [True, True] Translation: X:99.33, Y:-5.49, Z:-1.38 [[ 9.99940691e-01 -9.50543757e-03 5.31606818e-03 9.93331118e+01] [ 9.50713610e-03 9.99954763e-01 -2.94330021e-04 -5.49270875e+00] [-5.31302996e-03 3.44853148e-04 9.99985826e-01 -1.38319255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48037174299999 meters 0.03331427368921688 Centerline is valid? [True, True] Translation: X:99.37, Y:-5.50, Z:-1.38 [[ 9.99941288e-01 -9.98710236e-03 4.20457249e-03 9.93653988e+01] [ 9.98816952e-03 9.99950090e-01 -2.32888634e-04 -5.49514666e+00] [-4.20203676e-03 2.74870943e-04 9.99991134e-01 -1.38454513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.510371743 meters 0.03536958737052771 Centerline is valid? [True, True] Translation: X:99.40, Y:-5.50, Z:-1.39 [[ 9.99943590e-01 -9.84481235e-03 3.98708824e-03 9.93971358e+01] [ 9.84577106e-03 9.99951505e-01 -2.20898288e-04 -5.49973317e+00] [-3.98472018e-03 2.60141785e-04 9.99992027e-01 -1.38556721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540371743 meters 0.034325829251622884 Centerline is valid? [True, True] Translation: X:99.43, Y:-5.50, Z:-1.39 [[ 9.99950533e-01 -9.03791360e-03 4.15300249e-03 9.94294736e+01] [ 9.03894943e-03 9.99959121e-01 -2.30715541e-04 -5.49898732e+00] [-4.15074753e-03 2.68242907e-04 9.99991350e-01 -1.38516412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.570371743 meters 0.03436646628607897 Centerline is valid? [True, True] Translation: X:99.46, Y:-5.50, Z:-1.39 [[ 9.99959804e-01 -8.14954475e-03 3.73837425e-03 9.94608561e+01] [ 8.15037923e-03 9.99966763e-01 -2.08039682e-04 -5.50004249e+00] [-3.73655457e-03 2.38500487e-04 9.99992991e-01 -1.38543236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600371743 meters 0.03275312488153042 Centerline is valid? [True, True] Translation: X:99.49, Y:-5.50, Z:-1.39 [[ 9.99972876e-01 -6.54756437e-03 3.37278849e-03 9.94920351e+01] [ 6.54823555e-03 9.99978542e-01 -1.87992291e-04 -5.49799281e+00] [-3.37148523e-03 2.10073005e-04 9.99994294e-01 -1.38552018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.630371743 meters 0.03138952582273936 Centerline is valid? [True, True] Translation: X:99.52, Y:-5.50, Z:-1.39 [[ 9.99985394e-01 -4.84201898e-03 2.40139445e-03 9.95238301e+01] [ 4.84235416e-03 9.99988267e-01 -1.33782503e-04 -5.49586591e+00] [-2.40071849e-03 1.45408951e-04 9.99997108e-01 -1.38573855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660371743 meters 0.031816797110575654 Centerline is valid? [True, True] Translation: X:99.55, Y:-5.50, Z:-1.39 [[ 9.99997951e-01 7.18792078e-04 1.89238374e-03 9.95535576e+01] [-7.18592660e-04 9.99999736e-01 -1.06057113e-04 -5.49537549e+00] [-1.89245948e-03 1.04697043e-04 9.99998204e-01 -1.38668240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.690371743 meters 0.028043081541045966 Centerline is valid? [True, True] Translation: X:99.58, Y:-5.49, Z:-1.39 [[ 9.99970542e-01 7.59374975e-03 1.11847794e-03 9.95844851e+01] [-7.59368454e-03 9.99971166e-01 -6.25422563e-05 -5.48784630e+00] [-1.11892062e-03 5.40470453e-05 9.99999373e-01 -1.38633768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720371743 meters 0.027422277326918945 Centerline is valid? [True, True] Translation: X:99.61, Y:-5.49, Z:-1.39 [[ 9.99932355e-01 1.15476401e-02 1.39210420e-03 9.96138667e+01] [-1.15475423e-02 9.99933322e-01 -7.82870760e-05 -5.48685990e+00] [-1.39291541e-03 6.22063982e-05 9.99999028e-01 -1.38701480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.750371743 meters 0.026629762441870167 Centerline is valid? [True, True] Translation: X:99.64, Y:-5.49, Z:-1.39 [[ 9.99875898e-01 1.57003787e-02 1.29872112e-03 9.96437345e+01] [-1.57002971e-02 9.99876740e-01 -7.30208970e-05 -5.48519022e+00] [-1.29970749e-03 5.26215276e-05 9.99999154e-01 -1.38753022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780371743 meters 0.025093261075076277 Centerline is valid? [True, True] Translation: X:99.67, Y:-5.48, Z:-1.39 [[ 9.99732863e-01 2.30669110e-02 1.45588751e-03 9.96730873e+01] [-2.30668167e-02 9.99733922e-01 -8.15620235e-05 -5.48100854e+00] [-1.45738151e-03 4.79575450e-05 9.99998937e-01 -1.38809205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.810371743 meters 0.02444283574486462 Centerline is valid? [True, True] Translation: X:99.70, Y:-5.48, Z:-1.39 [[ 9.99649652e-01 2.64202626e-02 1.59477131e-03 9.97023221e+01] [-2.64201531e-02 9.99650923e-01 -8.96723676e-05 -5.47970508e+00] [-1.59658378e-03 4.75068488e-05 9.99998724e-01 -1.38839754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.840371743 meters 0.02358190023331978 Centerline is valid? [True, True] Translation: X:99.73, Y:-5.48, Z:-1.39 [[ 9.99505768e-01 3.13027774e-02 2.89060712e-03 9.97309548e+01] [-3.13024404e-02 9.99509945e-01 -1.61771922e-04 -5.47772302e+00] [-2.89425448e-03 7.12089119e-05 9.99995809e-01 -1.38864068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87037174299999 meters 0.02312765543385402 Centerline is valid? [True, True] Translation: X:99.76, Y:-5.48, Z:-1.39 [[ 9.99460238e-01 3.27214451e-02 2.92234089e-03 9.97602351e+01] [-3.27211046e-02 9.99464508e-01 -1.64256957e-04 -5.47780705e+00] [-2.92615073e-03 6.85460756e-05 9.99995716e-01 -1.38895883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900371743 meters 0.02296718174409548 Centerline is valid? [True, True] Translation: X:99.79, Y:-5.48, Z:-1.39 [[ 9.99421737e-01 3.38286911e-02 3.43665284e-03 9.97882226e+01] [-3.38282310e-02 9.99427643e-01 -1.91922330e-04 -5.47932110e+00] [-3.44117833e-03 7.55554624e-05 9.99994076e-01 -1.38962482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.930371743 meters 0.023041259171207244 Centerline is valid? [True, True] Translation: X:99.82, Y:-5.48, Z:-1.39 [[ 9.99397271e-01 3.45346389e-02 3.52893577e-03 9.98160950e+01] [-3.45341594e-02 9.99403499e-01 -1.96723916e-04 -5.48113771e+00] [-3.53362455e-03 7.47365143e-05 9.99993754e-01 -1.39010419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960371743 meters 0.02305376508369496 Centerline is valid? [True, True] Translation: X:99.84, Y:-5.48, Z:-1.39 [[ 9.99397747e-01 3.45249872e-02 3.48838696e-03 9.98433596e+01] [-3.45245184e-02 9.99403832e-01 -1.94523770e-04 -5.48357726e+00] [-3.49302323e-03 7.39717373e-05 9.99993897e-01 -1.39076754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.990371743 meters 0.022420184678075654 Centerline is valid? [True, True] Translation: X:99.87, Y:-5.49, Z:-1.39 [[ 9.99444260e-01 3.30707604e-02 4.18279328e-03 9.98720436e+01] [-3.30700791e-02 9.99453008e-01 -2.31948518e-04 -5.48570441e+00] [-4.18817604e-03 9.34943101e-05 9.99991225e-01 -1.38987797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020371743 meters 0.022880774219848674 Centerline is valid? [True, True] Translation: X:99.90, Y:-5.49, Z:-1.39 [[ 9.99492081e-01 3.15440322e-02 4.53375307e-03 9.99008196e+01] [-3.15432179e-02 9.99502357e-01 -2.51012684e-04 -5.48885772e+00] [-4.53941483e-03 1.07876029e-04 9.99989691e-01 -1.39011029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.050371743 meters 0.024190814770536494 Centerline is valid? [True, True] Translation: X:99.93, Y:-5.50, Z:-1.39 [[ 9.99538349e-01 3.00416703e-02 4.53730695e-03 9.99280148e+01] [-3.00408400e-02 9.99548641e-01 -2.51047676e-04 -5.49566069e+00] [-4.54280088e-03 1.14627267e-04 9.99989675e-01 -1.39167603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080371743 meters 0.023511933805417495 Centerline is valid? [True, True] Translation: X:99.96, Y:-5.50, Z:-1.39 [[ 9.99630495e-01 2.68624580e-02 4.15702743e-03 9.99575122e+01] [-2.68617368e-02 9.99639132e-01 -2.29224201e-04 -5.49862186e+00] [-4.16168482e-03 1.17474524e-04 9.99991333e-01 -1.39143483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.110371743 meters 0.024012561165180538 Centerline is valid? [True, True] Translation: X:99.99, Y:-5.50, Z:-1.39 [[ 9.99670514e-01 2.53597736e-02 3.96810377e-03 9.99862701e+01] [-2.53591038e-02 9.99678382e-01 -2.19044039e-04 -5.50226848e+00] [-3.97238246e-03 1.18344312e-04 9.99992103e-01 -1.39255428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140371743 meters 0.024097927683318827 Centerline is valid? [True, True] Translation: X:100.01, Y:-5.51, Z:-1.39 [[ 9.99698012e-01 2.42433050e-02 4.01836444e-03 1.00014773e+02] [-2.42426102e-02 9.99706080e-01 -2.21524512e-04 -5.50580042e+00] [-4.02255385e-03 1.24041971e-04 9.99991902e-01 -1.39340740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.170371743 meters 0.025112972096593387 Centerline is valid? [True, True] Translation: X:100.04, Y:-5.51, Z:-1.39 [[ 9.99754259e-01 2.17337534e-02 4.36643922e-03 1.00043061e+02] [-2.17329109e-02 9.99763784e-01 -2.40312170e-04 -5.51242246e+00] [-4.37063069e-03 1.45357680e-04 9.99990438e-01 -1.39420357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.200371743 meters 0.02472109311597793 Centerline is valid? [True, True] Translation: X:100.07, Y:-5.52, Z:-1.39 [[ 9.99801531e-01 1.91062614e-02 5.64347933e-03 1.00071533e+02] [-1.91048160e-02 9.99817438e-01 -3.09925815e-04 -5.51665461e+00] [-5.64837057e-03 2.02046671e-04 9.99984027e-01 -1.39378054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23037174299999 meters 0.026226453145772113 Centerline is valid? [True, True] Translation: X:100.10, Y:-5.52, Z:-1.39 [[ 9.99828210e-01 1.75180061e-02 6.05550422e-03 1.00099384e+02] [-1.75163151e-02 9.99846522e-01 -3.32179459e-04 -5.52302645e+00] [-6.06039396e-03 2.26052274e-04 9.99981610e-01 -1.39414652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260371743 meters 0.025766333075308255 Centerline is valid? [True, True] Translation: X:100.13, Y:-5.53, Z:-1.39 [[ 9.99859481e-01 1.55016719e-02 6.38100639e-03 1.00128478e+02] [-1.54997590e-02 9.99879811e-01 -3.49121136e-04 -5.52509184e+00] [-6.38565142e-03 2.50168016e-04 9.99979580e-01 -1.39409524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.290371743 meters 0.02848063328146241 Centerline is valid? [True, True] Translation: X:100.16, Y:-5.54, Z:-1.40 [[ 9.99923717e-01 1.05593917e-02 6.40773046e-03 1.00156881e+02] [-1.05573663e-02 9.99944208e-01 -3.49841473e-04 -5.53557061e+00] [-6.41106708e-03 2.82166028e-04 9.99979409e-01 -1.39526377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320371743 meters 0.02848063328146241 Centerline is valid? [True, True] Translation: X:100.19, Y:-5.54, Z:-1.40 [[ 9.99924083e-01 1.05246959e-02 6.40771763e-03 1.00186018e+02] [-1.05226682e-02 9.99944574e-01 -3.50076595e-04 -5.53713005e+00] [-6.41104693e-03 2.82623732e-04 9.99979409e-01 -1.39567361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.350371743 meters 0.030471584005883897 Centerline is valid? [True, True] Translation: X:100.21, Y:-5.54, Z:-1.40 [[ 9.99948766e-01 7.54064504e-03 6.75302065e-03 1.00214765e+02] [-7.53832679e-03 9.99971518e-01 -3.68678607e-04 -5.54410777e+00] [-6.75560839e-03 3.17753242e-04 9.99977130e-01 -1.39686230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380371743 meters 0.029577559942257314 Centerline is valid? [True, True] Translation: X:100.25, Y:-5.55, Z:-1.40 [[ 9.99972458e-01 3.01206921e-03 6.78307446e-03 1.00245565e+02] [-3.00963155e-03 9.99995403e-01 -3.69552855e-04 -5.54743319e+00] [-6.78415639e-03 3.49128122e-04 9.99976926e-01 -1.39704320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.410371743 meters 0.033690602064117586 Centerline is valid? [True, True] Translation: X:100.28, Y:-5.56, Z:-1.40 [[ 9.99976833e-01 1.60181904e-03 6.61572906e-03 1.00276421e+02] [-1.59947728e-03 9.99998656e-01 -3.59244829e-04 -5.55629801e+00] [-6.61629561e-03 3.48654798e-04 9.99978051e-01 -1.39821362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440371743 meters 0.03527114724180701 Centerline is valid? [True, True] Translation: X:100.31, Y:-5.56, Z:-1.40 [[ 9.99977977e-01 4.65548403e-04 6.62031580e-03 1.00306990e+02] [-4.63158655e-04 9.99999827e-01 -3.62500514e-04 -5.56095202e+00] [-6.62048342e-03 3.59426274e-04 9.99978020e-01 -1.39887611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.470371743 meters 0.031836441035707326 Centerline is valid? [True, True] Translation: X:100.34, Y:-5.56, Z:-1.40 [[ 9.99979892e-01 7.62977719e-05 6.34118408e-03 1.00339597e+02] [-7.41065852e-05 9.99999937e-01 -3.45782767e-04 -5.55839693e+00] [-6.34121007e-03 3.45305890e-04 9.99979835e-01 -1.39847596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500371743 meters 0.03716306482691037 Centerline is valid? [True, True] Translation: X:100.37, Y:-5.57, Z:-1.40 [[ 9.99984721e-01 -6.90685424e-04 5.48461142e-03 1.00370574e+02] [ 6.92341848e-04 9.99999715e-01 -3.00120143e-04 -5.56651745e+00] [-5.48440257e-03 3.03912783e-04 9.99984914e-01 -1.40026579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.530371743 meters 0.03368071421746872 Centerline is valid? [True, True] Translation: X:100.40, Y:-5.56, Z:-1.40 [[ 9.99983828e-01 -7.33504827e-04 5.63969256e-03 1.00402673e+02] [ 7.35272078e-04 9.99999681e-01 -3.11292559e-04 -5.56306705e+00] [-5.63946243e-03 3.15434234e-04 9.99984048e-01 -1.40006003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.560371743 meters 0.031000165743881064 Centerline is valid? [True, True] Translation: X:100.43, Y:-5.56, Z:-1.40 [[ 9.99978503e-01 -1.08756638e-03 6.46604720e-03 1.00434651e+02] [ 1.08989258e-03 9.99999343e-01 -3.56243937e-04 -5.56038624e+00] [-6.46565551e-03 3.63283576e-04 9.99979031e-01 -1.40023445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59037174299999 meters 0.032007123553862815 Centerline is valid? [True, True] Translation: X:100.47, Y:-5.56, Z:-1.40 [[ 9.99975378e-01 -1.46307602e-03 6.86321705e-03 1.00465718e+02] [ 1.46572287e-03 9.99998853e-01 -3.80643427e-04 -5.56352977e+00] [-6.86265227e-03 3.90693629e-04 9.99976375e-01 -1.40068143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62037174299999 meters 0.032456884710082255 Centerline is valid? [True, True] Translation: X:100.50, Y:-5.57, Z:-1.40 [[ 9.99974828e-01 -1.87463278e-03 6.84320023e-03 1.00498205e+02] [ 1.87728339e-03 9.99998165e-01 -3.80932568e-04 -5.56525034e+00] [-6.84247357e-03 3.93769605e-04 9.99976512e-01 -1.40119097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.650371743 meters 0.03273027204142137 Centerline is valid? [True, True] Translation: X:100.53, Y:-5.57, Z:-1.40 [[ 9.99966879e-01 -3.20509258e-03 7.48120982e-03 1.00530231e+02] [ 3.20830231e-03 9.99994766e-01 -4.17075978e-04 -5.56575483e+00] [-7.47983390e-03 4.41064147e-04 9.99971928e-01 -1.40170179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680371743 meters 0.03376148527112694 Centerline is valid? [True, True] Translation: X:100.56, Y:-5.57, Z:-1.40 [[ 9.99969558e-01 -3.67755228e-03 6.88177263e-03 1.00561798e+02] [ 3.68028310e-03 9.99993154e-01 -3.84197528e-04 -5.56785520e+00] [-6.88031261e-03 4.09512704e-04 9.99976247e-01 -1.40242612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.710371743 meters 0.03515441755669709 Centerline is valid? [True, True] Translation: X:100.59, Y:-5.57, Z:-1.40 [[ 9.99957980e-01 -5.09436676e-03 7.62136746e-03 1.00592431e+02] [ 5.09776170e-03 9.99986916e-01 -4.26090692e-04 -5.57039969e+00] [-7.61909707e-03 4.64924703e-04 9.99970866e-01 -1.40282588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740371743 meters 0.03598798871557761 Centerline is valid? [True, True] Translation: X:100.62, Y:-5.57, Z:-1.40 [[ 9.99950996e-01 -5.84047833e-03 7.99340371e-03 1.00623987e+02] [ 5.84423821e-03 9.99982822e-01 -4.47095827e-04 -5.57271643e+00] [-7.99065515e-03 4.93789273e-04 9.99967952e-01 -1.40309918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.770371743 meters 0.0366520144455182 Centerline is valid? [True, True] Translation: X:100.66, Y:-5.57, Z:-1.40 [[ 9.99946630e-01 -6.17604672e-03 8.28216991e-03 1.00655798e+02] [ 6.18009765e-03 9.99980796e-01 -4.63611148e-04 -5.57459422e+00] [-8.27914757e-03 5.14771023e-04 9.99965595e-01 -1.40305377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800371743 meters 0.03857034311583624 Centerline is valid? [True, True] Translation: X:100.69, Y:-5.58, Z:-1.40 [[ 9.99941215e-01 -6.81154403e-03 8.43622543e-03 1.00686912e+02] [ 6.81577555e-03 9.99976660e-01 -4.72939756e-04 -5.57768289e+00] [-8.43280708e-03 5.30411373e-04 9.99964303e-01 -1.40331368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.830371743 meters 0.034845657657539116 Centerline is valid? [True, True] Translation: X:100.72, Y:-5.57, Z:-1.40 [[ 9.99942171e-01 -6.97083224e-03 8.18916448e-03 1.00719796e+02] [ 6.97482722e-03 9.99975570e-01 -4.59378585e-04 -5.57318725e+00] [-8.18576217e-03 5.16470027e-04 9.99966363e-01 -1.40319123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860371743 meters 0.03470713116818015 Centerline is valid? [True, True] Translation: X:100.75, Y:-5.57, Z:-1.40 [[ 9.99944843e-01 -6.82872090e-03 7.97994207e-03 1.00752533e+02] [ 6.83251244e-03 9.99976558e-01 -4.47967581e-04 -5.57407640e+00] [-7.97669595e-03 5.02465926e-04 9.99968059e-01 -1.40401702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.890371743 meters 0.03460757672179632 Centerline is valid? [True, True] Translation: X:100.78, Y:-5.57, Z:-1.40 [[ 9.99958871e-01 -5.37705136e-03 7.30363508e-03 1.00783929e+02] [ 5.38019199e-03 9.99985442e-01 -4.10428405e-04 -5.57412589e+00] [-7.30132187e-03 4.49706483e-04 9.99973244e-01 -1.40485351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920371743 meters 0.03491134209795523 Centerline is valid? [True, True] Translation: X:100.82, Y:-5.58, Z:-1.41 [[ 9.99969197e-01 -3.92653665e-03 6.79608594e-03 1.00816535e+02] [ 3.92923015e-03 9.99992207e-01 -3.83025305e-04 -5.57505610e+00] [-6.79452902e-03 4.09716892e-04 9.99976833e-01 -1.40561493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.950371743 meters 0.034005744043410474 Centerline is valid? [True, True] Translation: X:100.85, Y:-5.57, Z:-1.41 [[ 9.99979329e-01 6.16088907e-05 6.42948856e-03 1.00846376e+02] [-5.92715023e-05 9.99999932e-01 -3.63731802e-04 -5.57208487e+00] [-6.42951053e-03 3.63343197e-04 9.99979264e-01 -1.40593961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98037174299999 meters 0.03348076528429951 Centerline is valid? [True, True] Translation: X:100.88, Y:-5.57, Z:-1.41 [[ 9.99975302e-01 2.61282000e-03 6.52452136e-03 1.00878168e+02] [-2.61046971e-03 9.99996525e-01 -3.68713926e-04 -5.57137643e+00] [-6.52546207e-03 3.51672754e-04 9.99978647e-01 -1.40610703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.010371743 meters 0.029618612118216814 Centerline is valid? [True, True] Translation: X:100.91, Y:-5.57, Z:-1.41 [[ 9.99964220e-01 5.33049185e-03 6.56848467e-03 1.00909906e+02] [-5.32816520e-03 9.99985736e-01 -3.71661704e-04 -5.56541884e+00] [-6.57037211e-03 3.36650434e-04 9.99978358e-01 -1.40559934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040371743 meters 0.028817959526338203 Centerline is valid? [True, True] Translation: X:100.94, Y:-5.56, Z:-1.41 [[ 9.99914295e-01 1.09338674e-02 7.20086677e-03 1.00939248e+02] [-1.09312113e-02 9.99940169e-01 -4.08110688e-04 -5.56310205e+00] [-7.20489816e-03 3.29361514e-04 9.99973990e-01 -1.40644495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.070371743 meters 0.027896435213056625 Centerline is valid? [True, True] Translation: X:100.97, Y:-5.56, Z:-1.41 [[ 9.99886940e-01 1.33084516e-02 6.99948529e-03 1.00969185e+02] [-1.33059997e-02 9.99911393e-01 -3.96740957e-04 -5.56182238e+00] [-7.00414510e-03 3.03560951e-04 9.99975425e-01 -1.40711464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100371743 meters 0.02627189356177292 Centerline is valid? [True, True] Translation: X:101.00, Y:-5.56, Z:-1.41 [[ 9.99803676e-01 1.85440599e-02 6.98045925e-03 1.00999175e+02] [-1.85417514e-02 9.99828009e-01 -3.95286963e-04 -5.55800069e+00] [-6.98658890e-03 2.65779418e-04 9.99975558e-01 -1.40791433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.130371743 meters 0.02616506834225971 Centerline is valid? [True, True] Translation: X:101.03, Y:-5.56, Z:-1.41 [[ 9.99763898e-01 2.07034055e-02 6.59670374e-03 1.01027171e+02] [-2.07013880e-02 9.99785633e-01 -3.73981985e-04 -5.55821521e+00] [-6.60303232e-03 2.37332764e-04 9.99978172e-01 -1.40873146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160371743 meters 0.025471032909218275 Centerline is valid? [True, True] Translation: X:101.06, Y:-5.56, Z:-1.41 [[ 9.99735826e-01 2.21507207e-02 6.13381209e-03 1.01055872e+02] [-2.21490072e-02 9.99754620e-01 -3.47140489e-04 -5.55698740e+00] [-6.13999639e-03 2.11190935e-04 9.99981128e-01 -1.40919044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.190371743 meters 0.024994716181534496 Centerline is valid? [True, True] Translation: X:101.08, Y:-5.56, Z:-1.41 [[ 9.99689573e-01 2.42966689e-02 5.51633683e-03 1.01084618e+02] [-2.42953174e-02 9.99704777e-01 -3.11896485e-04 -5.55654182e+00] [-5.52228632e-03 1.77778509e-04 9.99984736e-01 -1.41014155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220371743 meters 0.025178146453211325 Centerline is valid? [True, True] Translation: X:101.11, Y:-5.56, Z:-1.41 [[ 9.99684681e-01 2.44633025e-02 5.66431435e-03 1.01112879e+02] [-2.44618826e-02 9.99700712e-01 -3.19823901e-04 -5.55828344e+00] [-5.67044304e-03 1.81163261e-04 9.99983906e-01 -1.41045168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.250371743 meters 0.025647330464344552 Centerline is valid? [True, True] Translation: X:101.14, Y:-5.56, Z:-1.41 [[ 9.99705281e-01 2.35390849e-02 5.93827417e-03 1.01140862e+02] [-2.35375101e-02 9.99722898e-01 -3.34958041e-04 -5.56178964e+00] [-5.94451327e-03 1.95087134e-04 9.99982312e-01 -1.41159192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280371743 meters 0.02630710756037292 Centerline is valid? [True, True] Translation: X:101.17, Y:-5.56, Z:-1.41 [[ 9.99731967e-01 2.23151738e-02 6.16666162e-03 1.01169448e+02] [-2.23134568e-02 9.99750964e-01 -3.47095628e-04 -5.56462530e+00] [-6.17287140e-03 2.09403057e-04 9.99980926e-01 -1.41195024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.310371743 meters 0.02643168866627541 Centerline is valid? [True, True] Translation: X:101.20, Y:-5.57, Z:-1.41 [[ 9.99761098e-01 2.08571282e-02 6.53657611e-03 1.01197769e+02] [-2.08551713e-02 9.99782440e-01 -3.67398531e-04 -5.56709130e+00] [-6.54281689e-03 2.30989344e-04 9.99978569e-01 -1.41185680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34037174299999 meters 0.027708509908190966 Centerline is valid? [True, True] Translation: X:101.23, Y:-5.57, Z:-1.41 [[ 9.99808836e-01 1.79788018e-02 7.68460883e-03 1.01225742e+02] [-1.79760192e-02 9.99838325e-01 -4.31025925e-04 -5.57165484e+00] [-7.69111575e-03 2.92804852e-04 9.99970380e-01 -1.41156281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37037174299999 meters 0.02720863731070695 Centerline is valid? [True, True] Translation: X:101.25, Y:-5.57, Z:-1.41 [[ 9.99830082e-01 1.66054903e-02 8.00409110e-03 1.01254772e+02] [-1.66024289e-02 9.99862069e-01 -4.48778854e-04 -5.57280372e+00] [-8.01043928e-03 3.15815245e-04 9.99967866e-01 -1.41144790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400371743 meters 0.026763413230239362 Centerline is valid? [True, True] Translation: X:101.28, Y:-5.57, Z:-1.41 [[ 9.99872068e-01 1.37279313e-02 8.20920836e-03 1.01284528e+02] [-1.37246208e-02 9.99905707e-01 -4.59470024e-04 -5.57483876e+00] [-8.21474186e-03 3.46742972e-04 9.99966198e-01 -1.41193257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.430371743 meters 0.029952765352347286 Centerline is valid? [True, True] Translation: X:101.31, Y:-5.58, Z:-1.41 [[ 9.99896983e-01 1.19366825e-02 7.97117457e-03 1.01312832e+02] [-1.19335058e-02 9.99928694e-01 -4.45971135e-04 -5.58292499e+00] [-7.97592959e-03 3.50801134e-04 9.99968130e-01 -1.41334728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460371743 meters 0.028942503573593716 Centerline is valid? [True, True] Translation: X:101.34, Y:-5.58, Z:-1.41 [[ 9.99924571e-01 9.82861381e-03 7.36544899e-03 1.01342686e+02] [-9.82584780e-03 9.99951640e-01 -4.11631367e-04 -5.58325511e+00] [-7.36913856e-03 3.39228538e-04 9.99972790e-01 -1.41362970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.490371743 meters 0.030376384441330184 Centerline is valid? [True, True] Translation: X:101.37, Y:-5.59, Z:-1.41 [[ 9.99963231e-01 5.19441245e-03 6.82307462e-03 1.01372974e+02] [-5.19193447e-03 9.99986449e-01 -3.80839154e-04 -5.58892892e+00] [-6.82496040e-03 3.45400195e-04 9.99976650e-01 -1.41469512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520371743 meters 0.0306704293658662 Centerline is valid? [True, True] Translation: X:101.40, Y:-5.59, Z:-1.41 [[ 9.99974331e-01 2.31961478e-03 6.77916851e-03 1.01403541e+02] [-2.31710337e-03 9.99997244e-01 -3.78289407e-04 -5.59206431e+00] [-6.78002732e-03 3.62571662e-04 9.99976950e-01 -1.41495289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.550371743 meters 0.03342953138616681 Centerline is valid? [True, True] Translation: X:101.43, Y:-5.60, Z:-1.42 [[ 9.99976651e-01 -2.12832229e-03 6.49358964e-03 1.01432458e+02] [ 2.13072231e-03 9.99997664e-01 -3.62703604e-04 -5.60000841e+00] [-6.49280252e-03 3.76531172e-04 9.99978851e-01 -1.41582714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580371743 meters 0.033421220035170306 Centerline is valid? [True, True] Translation: X:101.46, Y:-5.60, Z:-1.42 [[ 9.99973713e-01 -3.89837404e-03 6.11361030e-03 1.01464760e+02] [ 3.90052974e-03 9.99992335e-01 -3.40722086e-04 -5.60253022e+00] [-6.11223518e-03 3.64559449e-04 9.99981254e-01 -1.41662784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.610371743 meters 0.03519584122686494 Centerline is valid? [True, True] Translation: X:101.50, Y:-5.61, Z:-1.42 [[ 9.99967761e-01 -5.37156332e-03 5.96855728e-03 1.01495843e+02] [ 5.37363885e-03 9.99985507e-01 -3.31761559e-04 -5.60814577e+00] [-5.96668870e-03 3.63823735e-04 9.99982133e-01 -1.41806978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640371743 meters 0.037144484838314354 Centerline is valid? [True, True] Translation: X:101.53, Y:-5.61, Z:-1.42 [[ 9.99968554e-01 -5.49316038e-03 5.71972235e-03 1.01526502e+02] [ 5.49508367e-03 9.99984851e-01 -3.20595413e-04 -5.61272799e+00] [-5.71787462e-03 3.52015684e-04 9.99983591e-01 -1.41862825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.670371743 meters 0.03264610911153032 Centerline is valid? [True, True] Translation: X:101.56, Y:-5.61, Z:-1.42 [[ 9.99971983e-01 -4.67853422e-03 5.84324875e-03 1.01558605e+02] [ 4.68052856e-03 9.99988993e-01 -3.27677870e-04 -5.60808595e+00] [-5.84165138e-03 3.55018182e-04 9.99982874e-01 -1.41828991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.700371743 meters 0.03682560407263918 Centerline is valid? [True, True] Translation: X:101.59, Y:-5.61, Z:-1.42 [[ 9.99981489e-01 -2.41179744e-03 5.58605347e-03 1.01588511e+02] [ 2.41358941e-03 9.99997038e-01 -3.14075174e-04 -5.61471044e+00] [-5.58527944e-03 3.27551800e-04 9.99984349e-01 -1.41922533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73037174299999 meters 0.03512272392778072 Centerline is valid? [True, True] Translation: X:101.62, Y:-5.61, Z:-1.42 [[ 9.99981949e-01 -7.32242428e-04 5.96362347e-03 1.01620201e+02] [ 7.34255039e-04 9.99999674e-01 -3.35298866e-04 -5.61356516e+00] [-5.96337601e-03 3.39671635e-04 9.99982161e-01 -1.41944753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760371743 meters 0.03595320920385633 Centerline is valid? [True, True] Translation: X:101.65, Y:-5.61, Z:-1.42 [[ 9.99982464e-01 2.84435686e-03 5.19439747e-03 1.01650344e+02] [-2.84287589e-03 9.99995916e-01 -2.92470723e-04 -5.61443520e+00] [-5.19520815e-03 2.77698567e-04 9.99986466e-01 -1.42122437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.790371743 meters 0.03033184560364678 Centerline is valid? [True, True] Translation: X:101.68, Y:-5.61, Z:-1.42 [[ 9.99976786e-01 4.79076746e-03 4.84513858e-03 1.01682686e+02] [-4.78950413e-03 9.99988493e-01 -2.72311905e-04 -5.60637785e+00] [-4.84638741e-03 2.49099772e-04 9.99988225e-01 -1.42088851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820371743 meters 0.02905165444287437 Centerline is valid? [True, True] Translation: X:101.71, Y:-5.60, Z:-1.42 [[ 9.99950119e-01 9.08747232e-03 4.14446706e-03 1.01713512e+02] [-9.08658282e-03 9.99958689e-01 -2.33401807e-04 -5.60325125e+00] [-4.14641688e-03 1.95731122e-04 9.99991384e-01 -1.42215709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.850371743 meters 0.027802319316990634 Centerline is valid? [True, True] Translation: X:101.74, Y:-5.60, Z:-1.42 [[ 9.99931545e-01 1.11052199e-02 3.68502357e-03 1.01743049e+02] [-1.11045282e-02 9.99938321e-01 -2.08121161e-04 -5.60098940e+00] [-3.68710751e-03 1.67186466e-04 9.99993189e-01 -1.42251514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880371743 meters 0.026911138686722118 Centerline is valid? [True, True] Translation: X:101.77, Y:-5.60, Z:-1.42 [[ 9.99908021e-01 1.31838908e-02 3.18357522e-03 1.01772224e+02] [-1.31833840e-02 9.99913079e-01 -1.80148275e-04 -5.59934423e+00] [-3.18567355e-03 1.38161411e-04 9.99994916e-01 -1.42301214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.910371743 meters 0.02618256679589402 Centerline is valid? [True, True] Translation: X:101.80, Y:-5.60, Z:-1.42 [[ 9.99853220e-01 1.70078225e-02 2.06674529e-03 1.01801266e+02] [-1.70076171e-02 9.99855353e-01 -1.16933875e-04 -5.59613107e+00] [-2.06843513e-03 8.17662994e-05 9.99997857e-01 -1.42331270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940371743 meters 0.02567705176148321 Centerline is valid? [True, True] Translation: X:101.83, Y:-5.59, Z:-1.42 [[ 9.99784591e-01 2.06099510e-02 2.44979985e-03 1.01831426e+02] [-2.06096749e-02 9.99787589e-01 -1.37920660e-04 -5.59367149e+00] [-2.45212202e-03 8.74013722e-05 9.99996990e-01 -1.42348268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.970371743 meters 0.02451271210472206 Centerline is valid? [True, True] Translation: X:101.86, Y:-5.59, Z:-1.42 [[ 9.99755421e-01 2.18881408e-02 3.16349465e-03 1.01860504e+02] [-2.18876852e-02 9.99760420e-01 -1.78570476e-04 -5.59161168e+00] [-3.16664532e-03 1.09285227e-04 9.99994980e-01 -1.42271131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000371743 meters 0.02515154973340074 Centerline is valid? [True, True] Translation: X:101.89, Y:-5.59, Z:-1.42 [[ 9.99717521e-01 2.33965815e-02 4.18076674e-03 1.01888031e+02] [-2.33958009e-02 9.99726253e-01 -2.35527989e-04 -5.59320129e+00] [-4.18513282e-03 1.37649071e-04 9.99991233e-01 -1.42314529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.030371743 meters 0.024720638384682234 Centerline is valid? [True, True] Translation: X:101.92, Y:-5.59, Z:-1.42 [[ 9.99689168e-01 2.45875979e-02 4.12522120e-03 1.01917308e+02] [-2.45868503e-02 9.99697671e-01 -2.31852078e-04 -5.59222329e+00] [-4.12967471e-03 1.30353815e-04 9.99991464e-01 -1.42276721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.060371743 meters 0.024394237639419374 Centerline is valid? [True, True] Translation: X:101.95, Y:-5.59, Z:-1.42 [[ 9.99645652e-01 2.63025148e-02 4.09250284e-03 1.01945952e+02] [-2.63017945e-02 9.99654022e-01 -2.29732061e-04 -5.59055122e+00] [-4.09712946e-03 1.22010487e-04 9.99991599e-01 -1.42305142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09037174299999 meters 0.023699234542974536 Centerline is valid? [True, True] Translation: X:101.98, Y:-5.59, Z:-1.42 [[ 9.99629926e-01 2.67701644e-02 4.83412363e-03 1.01975199e+02] [-2.67691673e-02 9.99641605e-01 -2.70854453e-04 -5.59043718e+00] [-4.83964192e-03 1.41348753e-04 9.99988279e-01 -1.42316857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12037174299999 meters 0.02422846328795287 Centerline is valid? [True, True] Translation: X:102.00, Y:-5.59, Z:-1.42 [[ 9.99624523e-01 2.69089826e-02 5.16919871e-03 1.02003207e+02] [-2.69078459e-02 9.99637876e-01 -2.89337484e-04 -5.59250970e+00] [-5.17511260e-03 1.50136842e-04 9.99986598e-01 -1.42396986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.150371743 meters 0.02416719826881153 Centerline is valid? [True, True] Translation: X:102.03, Y:-5.59, Z:-1.42 [[ 9.99634792e-01 2.64314981e-02 5.62659279e-03 1.02031688e+02] [-2.64301481e-02 9.99650613e-01 -3.14166215e-04 -5.59342903e+00] [-5.63293082e-03 1.65339798e-04 9.99984121e-01 -1.42381814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180371743 meters 0.024663222769329723 Centerline is valid? [True, True] Translation: X:102.06, Y:-5.60, Z:-1.42 [[ 9.99654846e-01 2.57134205e-02 5.38606341e-03 1.02059793e+02] [-2.57121741e-02 9.99669342e-01 -3.00544536e-04 -5.59523043e+00] [-5.39201049e-03 1.61953402e-04 9.99985450e-01 -1.42421607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.210371743 meters 0.024663222769329723 Centerline is valid? [True, True] Translation: X:102.09, Y:-5.60, Z:-1.42 [[ 9.99657546e-01 2.56082213e-02 5.38608141e-03 1.02087219e+02] [-2.56069751e-02 9.99672043e-01 -3.00221452e-04 -5.59666306e+00] [-5.39200314e-03 1.62197388e-04 9.99985450e-01 -1.42460229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240371743 meters 0.025007212155973103 Centerline is valid? [True, True] Translation: X:102.12, Y:-5.60, Z:-1.42 [[ 9.99704546e-01 2.37565049e-02 5.14279949e-03 1.02116239e+02] [-2.37553483e-02 9.99717761e-01 -2.85874899e-04 -5.59912944e+00] [-5.14813938e-03 1.63621443e-04 9.99986735e-01 -1.42425945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.270371743 meters 0.025593525579428428 Centerline is valid? [True, True] Translation: X:102.14, Y:-5.60, Z:-1.42 [[ 9.99736944e-01 2.23960866e-02 4.94560322e-03 1.02144362e+02] [-2.23950012e-02 9.99749163e-01 -2.74756441e-04 -5.60213291e+00] [-4.95051615e-03 1.63927375e-04 9.99987733e-01 -1.42476308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300371743 meters 0.026292176178215807 Centerline is valid? [True, True] Translation: X:102.17, Y:-5.61, Z:-1.43 [[ 9.99782539e-01 2.03505989e-02 4.55288190e-03 1.02173213e+02] [-2.03496599e-02 9.99792892e-01 -2.52468496e-04 -5.60636598e+00] [-4.55707685e-03 1.59763996e-04 9.99989604e-01 -1.42590333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.330371743 meters 0.025927206390987802 Centerline is valid? [True, True] Translation: X:102.20, Y:-5.61, Z:-1.43 [[ 9.99805084e-01 1.92948787e-02 4.18338706e-03 1.02201670e+02] [-1.92940776e-02 9.99813825e-01 -2.31776655e-04 -5.60789444e+00] [-4.18708032e-03 1.51016883e-04 9.99991223e-01 -1.42636805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360371743 meters 0.02768482716084033 Centerline is valid? [True, True] Translation: X:102.23, Y:-5.61, Z:-1.43 [[ 9.99840801e-01 1.74557200e-02 3.69733415e-03 1.02229263e+02] [-1.74550809e-02 9.99847627e-01 -2.05064108e-04 -5.61358082e+00] [-3.70035032e-03 1.40494195e-04 9.99993144e-01 -1.42836401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.390371743 meters 0.027993260708663117 Centerline is valid? [True, True] Translation: X:102.26, Y:-5.62, Z:-1.43 [[ 9.99859155e-01 1.64496001e-02 3.32892802e-03 1.02258113e+02] [-1.64490785e-02 9.99864688e-01 -1.84023001e-04 -5.61646216e+00] [-3.33150468e-03 1.29239284e-04 9.99994442e-01 -1.42933871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420371743 meters 0.02706847735615257 Centerline is valid? [True, True] Translation: X:102.29, Y:-5.62, Z:-1.43 [[ 9.99887481e-01 1.45714704e-02 3.56349015e-03 1.02286535e+02] [-1.45708611e-02 9.99893820e-01 -1.96893571e-04 -5.61719375e+00] [-3.56598080e-03 1.44948297e-04 9.99993631e-01 -1.42907908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.450371743 meters 0.027348389133949047 Centerline is valid? [True, True] Translation: X:102.31, Y:-5.62, Z:-1.43 [[ 9.99898009e-01 1.38282650e-02 3.57073224e-03 1.02314960e+02] [-1.38276503e-02 9.99904374e-01 -1.96788184e-04 -5.61983920e+00] [-3.57311202e-03 1.47393277e-04 9.99993606e-01 -1.42901911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48037174299999 meters 0.027335050624750813 Centerline is valid? [True, True] Translation: X:102.34, Y:-5.62, Z:-1.43 [[ 9.99912179e-01 1.25836844e-02 4.15753330e-03 1.02343970e+02] [-1.25828421e-02 9.99920807e-01 -2.28669558e-04 -5.62210136e+00] [-4.16008156e-03 1.76335891e-04 9.99991331e-01 -1.42891049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.510371743 meters 0.028762822570667933 Centerline is valid? [True, True] Translation: X:102.37, Y:-5.63, Z:-1.43 [[ 9.99934112e-01 1.06187493e-02 4.36038834e-03 1.02372570e+02] [-1.06178066e-02 9.99943601e-01 -2.39287944e-04 -5.62733697e+00] [-4.36268335e-03 1.92974418e-04 9.99990465e-01 -1.42939154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540371743 meters 0.028805392384771807 Centerline is valid? [True, True] Translation: X:102.40, Y:-5.63, Z:-1.43 [[ 9.99953596e-01 8.66797453e-03 4.20379165e-03 1.02402103e+02] [-8.66708269e-03 9.99962414e-01 -2.30323118e-04 -5.63108497e+00] [-4.20563008e-03 1.93877820e-04 9.99991138e-01 -1.42956161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.570371743 meters 0.029181510206012017 Centerline is valid? [True, True] Translation: X:102.43, Y:-5.63, Z:-1.43 [[ 9.99960088e-01 7.81981898e-03 4.32118082e-03 1.02431263e+02] [-7.81886947e-03 9.99969404e-01 -2.36585093e-04 -5.63466712e+00] [-4.32289866e-03 2.02788902e-04 9.99990636e-01 -1.43029713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600371743 meters 0.028499010523102487 Centerline is valid? [True, True] Translation: X:102.46, Y:-5.64, Z:-1.43 [[ 9.99969245e-01 6.91873573e-03 3.69320760e-03 1.02460640e+02] [-6.91803620e-03 9.99976050e-01 -2.02151823e-04 -5.63582129e+00] [-3.69451778e-03 1.76595862e-04 9.99993160e-01 -1.43099078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.630371743 meters 0.029410146039867375 Centerline is valid? [True, True] Translation: X:102.49, Y:-5.64, Z:-1.43 [[ 9.99973604e-01 6.48238179e-03 3.28182917e-03 1.02490282e+02] [-6.48182793e-03 9.99978977e-01 -1.79376310e-04 -5.64045119e+00] [-3.28292296e-03 1.58099324e-04 9.99994599e-01 -1.43339397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660371743 meters 0.029494228067676657 Centerline is valid? [True, True] Translation: X:102.52, Y:-5.64, Z:-1.43 [[ 9.99975612e-01 6.42616313e-03 2.73493250e-03 1.02520133e+02] [-6.42577775e-03 9.99979343e-01 -1.49676525e-04 -5.64238335e+00] [-2.73583785e-03 1.32098806e-04 9.99996249e-01 -1.43442772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.690371743 meters 0.02938821219455431 Centerline is valid? [True, True] Translation: X:102.55, Y:-5.64, Z:-1.44 [[ 9.99967753e-01 7.47111332e-03 2.94531526e-03 1.02549394e+02] [-7.47067074e-03 9.99972081e-01 -1.61239879e-04 -5.64381410e+00] [-2.94643767e-03 1.39231199e-04 9.99995650e-01 -1.43531402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720371743 meters 0.029452638757627117 Centerline is valid? [True, True] Translation: X:102.58, Y:-5.64, Z:-1.44 [[ 9.99961437e-01 8.32252960e-03 2.80374955e-03 1.02579075e+02] [-8.32213275e-03 9.99965359e-01 -1.53177896e-04 -5.64490179e+00] [-2.80492725e-03 1.29838813e-04 9.99996058e-01 -1.43587214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.750371743 meters 0.029168673715098827 Centerline is valid? [True, True] Translation: X:102.61, Y:-5.65, Z:-1.44 [[ 9.99936958e-01 1.05948275e-02 3.71890764e-03 1.02607521e+02] [-1.05941454e-02 9.99943860e-01 -2.03060945e-04 -5.64559173e+00] [-3.72085025e-03 1.63649495e-04 9.99993064e-01 -1.43566909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780371743 meters 0.028681466628882487 Centerline is valid? [True, True] Translation: X:102.64, Y:-5.65, Z:-1.44 [[ 9.99922585e-01 1.17253123e-02 4.16428496e-03 1.02636238e+02] [-1.17244674e-02 9.99931240e-01 -2.27245807e-04 -5.64574185e+00] [-4.16666315e-03 1.78404192e-04 9.99991304e-01 -1.43606791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.810371743 meters 0.028190301334866837 Centerline is valid? [True, True] Translation: X:102.66, Y:-5.65, Z:-1.44 [[ 9.99907090e-01 1.29171877e-02 4.35408441e-03 1.02664959e+02] [-1.29162769e-02 9.99916553e-01 -2.37253651e-04 -5.64572917e+00] [-4.35678572e-03 1.80993048e-04 9.99990493e-01 -1.43613408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84037174299999 meters 0.02729369299554379 Centerline is valid? [True, True] Translation: X:102.70, Y:-5.64, Z:-1.44 [[ 9.99858358e-01 1.62604680e-02 4.34289949e-03 1.02695042e+02] [-1.62595968e-02 9.99867776e-01 -2.35833812e-04 -5.64437018e+00] [-4.34616002e-03 1.65186613e-04 9.99990542e-01 -1.43678712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87037174299999 meters 0.028507046231966947 Centerline is valid? [True, True] Translation: X:102.72, Y:-5.65, Z:-1.44 [[ 9.99833487e-01 1.77666967e-02 4.16439547e-03 1.02722821e+02] [-1.77659061e-02 9.99842148e-01 -2.26766412e-04 -5.64754305e+00] [-4.16776700e-03 1.52744393e-04 9.99991303e-01 -1.43843263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900371743 meters 0.02622885866097602 Centerline is valid? [True, True] Translation: X:102.75, Y:-5.64, Z:-1.44 [[ 9.99790037e-01 1.99677750e-02 4.60097472e-03 1.02752334e+02] [-1.99668372e-02 9.99800612e-01 -2.49683549e-04 -5.64408857e+00] [-4.60504297e-03 1.57764212e-04 9.99989384e-01 -1.43801587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.930371743 meters 0.025509209490561232 Centerline is valid? [True, True] Translation: X:102.78, Y:-5.64, Z:-1.44 [[ 9.99775788e-01 2.06410956e-02 4.72427356e-03 1.02781246e+02] [-2.06401148e-02 9.99786937e-01 -2.56279487e-04 -5.64375794e+00] [-4.72855689e-03 1.58712477e-04 9.99988808e-01 -1.43819017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960371743 meters 0.02513220726127991 Centerline is valid? [True, True] Translation: X:102.81, Y:-5.64, Z:-1.44 [[ 9.99767467e-01 2.10759290e-02 4.56255898e-03 1.02810381e+02] [-2.10750200e-02 9.99777867e-01 -2.47223559e-04 -5.64314306e+00] [-4.56675595e-03 1.51010050e-04 9.99989561e-01 -1.43828811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.990371743 meters 0.026858890380346074 Centerline is valid? [True, True] Translation: X:102.84, Y:-5.65, Z:-1.44 [[ 9.99780272e-01 2.04593794e-02 4.56297782e-03 1.02838153e+02] [-2.04584646e-02 9.99790673e-01 -2.47078589e-04 -5.64826769e+00] [-4.56707774e-03 1.53672779e-04 9.99989559e-01 -1.43946172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020371743 meters 0.027316690335980276 Centerline is valid? [True, True] Translation: X:102.87, Y:-5.65, Z:-1.44 [[ 9.99798499e-01 1.95036466e-02 4.75071156e-03 1.02866881e+02] [-1.95026474e-02 9.99809772e-01 -2.56561586e-04 -5.65042804e+00] [-4.75481173e-03 1.63858436e-04 9.99988682e-01 -1.44011880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.050371743 meters 0.02746011294172254 Centerline is valid? [True, True] Translation: X:102.90, Y:-5.65, Z:-1.44 [[ 9.99859312e-01 1.60601403e-02 4.84015898e-03 1.02896362e+02] [-1.60590660e-02 9.99871011e-01 -2.60736256e-04 -5.65319716e+00] [-4.84372211e-03 1.82971141e-04 9.99988252e-01 -1.44065211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080371743 meters 0.027846777308625666 Centerline is valid? [True, True] Translation: X:102.93, Y:-5.66, Z:-1.44 [[ 9.99896618e-01 1.36242041e-02 4.59717386e-03 1.02925955e+02] [-1.36232099e-02 9.99907169e-01 -2.47512309e-04 -5.65623129e+00] [-4.60011926e-03 1.84858456e-04 9.99989402e-01 -1.44068536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.110371743 meters 0.028639161765748274 Centerline is valid? [True, True] Translation: X:102.96, Y:-5.66, Z:-1.44 [[ 9.99953382e-01 8.35723403e-03 4.83640735e-03 1.02955698e+02] [-8.35607388e-03 9.99965054e-01 -2.60036316e-04 -5.65990147e+00] [-4.83841152e-03 2.19610816e-04 9.99988271e-01 -1.43980580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140371743 meters 0.029847250005381264 Centerline is valid? [True, True] Translation: X:102.99, Y:-5.66, Z:-1.44 [[ 9.99973701e-01 5.06400021e-03 5.19165084e-03 1.02986160e+02] [-5.06262048e-03 9.99987146e-01 -2.78865438e-04 -5.66382020e+00] [-5.19299628e-03 2.52574746e-04 9.99986484e-01 -1.44004528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.170371743 meters 0.03189640125800694 Centerline is valid? [True, True] Translation: X:103.02, Y:-5.67, Z:-1.44 [[ 9.99986836e-01 -1.00829737e-03 5.03106131e-03 1.03016447e+02] [ 1.00966957e-03 9.99999454e-01 -2.70213576e-04 -5.67019412e+00] [-5.03078610e-03 2.75289728e-04 9.99987308e-01 -1.44003248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.200371743 meters 0.03247247807184842 Centerline is valid? [True, True] Translation: X:103.05, Y:-5.67, Z:-1.44 [[ 9.99980679e-01 -3.90729117e-03 4.83469477e-03 1.03047156e+02] [ 3.90859150e-03 9.99992328e-01 -2.59540342e-04 -5.67390630e+00] [-4.83364358e-03 2.78432174e-04 9.99988279e-01 -1.44042738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23037174299999 meters 0.03329553425263738 Centerline is valid? [True, True] Translation: X:103.08, Y:-5.68, Z:-1.44 [[ 9.99950573e-01 -8.69885947e-03 4.81462514e-03 1.03077477e+02] [ 8.70020543e-03 9.99962119e-01 -2.58681699e-04 -5.67853153e+00] [-4.81219253e-03 3.00557141e-04 9.99988376e-01 -1.44135345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260371743 meters 0.037443400833107224 Centerline is valid? [True, True] Translation: X:103.11, Y:-5.69, Z:-1.44 [[ 9.99937262e-01 -1.02244557e-02 4.57526258e-03 1.03108298e+02] [ 1.02256849e-02 9.99947686e-01 -2.45352976e-04 -5.68712823e+00] [-4.57251463e-03 2.92122776e-04 9.99989503e-01 -1.44284789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.290371743 meters 0.03537040455226258 Centerline is valid? [True, True] Translation: X:103.14, Y:-5.69, Z:-1.44 [[ 9.99930059e-01 -1.11070487e-02 4.06341427e-03 1.03140669e+02] [ 1.11080253e-02 9.99938280e-01 -2.17859942e-04 -5.68537719e+00] [-4.06074370e-03 2.62981213e-04 9.99991721e-01 -1.44259696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320371743 meters 0.03584124046950436 Centerline is valid? [True, True] Translation: X:103.17, Y:-5.69, Z:-1.44 [[ 9.99936816e-01 -1.06161109e-02 3.69626675e-03 1.03171450e+02] [ 1.06169171e-02 9.99943619e-01 -1.98546773e-04 -5.68722771e+00] [-3.69395056e-03 2.37777186e-04 9.99993149e-01 -1.44289872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.350371743 meters 0.03424630610402891 Centerline is valid? [True, True] Translation: X:103.20, Y:-5.69, Z:-1.44 [[ 9.99946973e-01 -9.57304498e-03 3.79570867e-03 1.03204241e+02] [ 9.57388703e-03 9.99954149e-01 -2.03733297e-04 -5.68625802e+00] [-3.79358429e-03 2.40062180e-04 9.99992776e-01 -1.44274083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380371743 meters 0.03491811180642486 Centerline is valid? [True, True] Translation: X:103.23, Y:-5.69, Z:-1.44 [[ 9.99973464e-01 -6.10281036e-03 3.97839398e-03 1.03233548e+02] [ 6.10371409e-03 9.99981349e-01 -2.15057179e-04 -5.68796047e+00] [-3.97700733e-03 2.39334451e-04 9.99992063e-01 -1.44336425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.410371743 meters 0.032955287040024164 Centerline is valid? [True, True] Translation: X:103.27, Y:-5.69, Z:-1.44 [[ 9.99983752e-01 -3.92197448e-03 4.13681319e-03 1.03265479e+02] [ 3.92292974e-03 9.99992280e-01 -2.22826653e-04 -5.68668277e+00] [-4.13590734e-03 2.39051460e-04 9.99991419e-01 -1.44352615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440371743 meters 0.030455301241332514 Centerline is valid? [True, True] Translation: X:103.30, Y:-5.68, Z:-1.44 [[ 9.99993882e-01 3.85901903e-04 3.47670704e-03 1.03296127e+02] [-3.85250940e-04 9.99999908e-01 -1.87903382e-04 -5.68303886e+00] [-3.47677924e-03 1.86562828e-04 9.99993939e-01 -1.44419827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.470371743 meters 0.029896385859570655 Centerline is valid? [True, True] Translation: X:103.33, Y:-5.68, Z:-1.45 [[ 9.99990830e-01 2.83435297e-03 3.21020172e-03 1.03327640e+02] [-2.83381182e-03 9.99995970e-01 -1.73105739e-04 -5.68328108e+00] [-3.21067942e-03 1.64007044e-04 9.99994832e-01 -1.44509157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500371743 meters 0.029195856820229727 Centerline is valid? [True, True] Translation: X:103.36, Y:-5.68, Z:-1.45 [[ 9.99971094e-01 7.36398860e-03 1.89258218e-03 1.03357438e+02] [-7.36380804e-03 9.99972882e-01 -1.02356153e-04 -5.68135424e+00] [-1.89328460e-03 8.84165829e-05 9.99998204e-01 -1.44633275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.530371743 meters 0.02877507638184736 Centerline is valid? [True, True] Translation: X:103.39, Y:-5.68, Z:-1.45 [[ 9.99956295e-01 9.30740068e-03 8.83935925e-04 1.03386038e+02] [-9.30736122e-03 9.99956684e-01 -4.87427068e-05 -5.68046478e+00] [-8.84351305e-04 4.05134656e-05 9.99999608e-01 -1.44732585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.560371743 meters 0.02777025347703354 Centerline is valid? [True, True] Translation: X:103.42, Y:-5.68, Z:-1.45 [[ 9.99912130e-01 1.32428248e-02 -5.99544047e-04 1.03416310e+02] [-1.32428079e-02 9.99912310e-01 3.21216611e-05 -5.67852541e+00] [ 5.99916855e-04 -2.41791919e-05 9.99999820e-01 -1.44953151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59037174299999 meters 0.027308643246806312 Centerline is valid? [True, True] Translation: X:103.45, Y:-5.68, Z:-1.45 [[ 9.99883815e-01 1.52004818e-02 -1.14055697e-03 1.03445711e+02] [-1.52004223e-02 9.99884465e-01 6.07738284e-05 -5.67855335e+00] [ 1.14134899e-03 -4.34298198e-05 9.99999348e-01 -1.45044051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62037174299999 meters 0.02683290331952772 Centerline is valid? [True, True] Translation: X:103.47, Y:-5.68, Z:-1.45 [[ 9.99842730e-01 1.76633544e-02 -1.58785118e-03 1.03473476e+02] [-1.76632428e-02 9.99843989e-01 8.42739449e-05 -5.67793932e+00] [ 1.58909202e-03 -5.62140902e-05 9.99998736e-01 -1.45190922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.650371743 meters 0.026710640446744514 Centerline is valid? [True, True] Translation: X:103.50, Y:-5.68, Z:-1.45 [[ 9.99828958e-01 1.84260286e-02 -1.59267168e-03 1.03502323e+02] [-1.84259171e-02 9.99830225e-01 8.46737603e-05 -5.67761172e+00] [ 1.59396149e-03 -5.53128411e-05 9.99998728e-01 -1.45202663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680371743 meters 0.02625284600759323 Centerline is valid? [True, True] Translation: X:103.53, Y:-5.68, Z:-1.45 [[ 9.99818365e-01 1.89778186e-02 -1.75477312e-03 1.03531596e+02] [-1.89776859e-02 9.99819903e-01 9.22598127e-05 -5.67759560e+00] [ 1.75620798e-03 -5.89415220e-05 9.99998456e-01 -1.45208340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.710371743 meters 0.02595319072521387 Centerline is valid? [True, True] Translation: X:103.56, Y:-5.68, Z:-1.45 [[ 9.99812837e-01 1.93019779e-02 -1.31301601e-03 1.03560874e+02] [-1.93019035e-02 9.99813699e-01 6.93554569e-05 -5.67696552e+00] [ 1.31411009e-03 -4.39987679e-05 9.99999136e-01 -1.45157545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740371743 meters 0.02579049316632649 Centerline is valid? [True, True] Translation: X:103.59, Y:-5.68, Z:-1.45 [[ 9.99829210e-01 1.84626735e-02 -8.25477791e-04 1.03589729e+02] [-1.84626442e-02 9.99829550e-01 4.31722731e-05 -5.67838630e+00] [ 8.26134164e-04 -2.79243970e-05 9.99999658e-01 -1.45144106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.770371743 meters 0.026923730644783567 Centerline is valid? [True, True] Translation: X:103.62, Y:-5.68, Z:-1.45 [[ 9.99878584e-01 1.55824360e-02 -7.28418811e-05 1.03619349e+02] [-1.55824358e-02 9.99878586e-01 3.39883557e-06 -5.68221936e+00] [ 7.28859991e-05 -2.26336896e-06 9.99999997e-01 -1.45180469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800371743 meters 0.027773333697013194 Centerline is valid? [True, True] Translation: X:103.65, Y:-5.69, Z:-1.45 [[ 9.99908715e-01 1.35017307e-02 5.14921260e-04 1.03647508e+02] [-1.35017176e-02 9.99908847e-01 -2.87254650e-05 -5.68563310e+00] [-5.15262167e-04 2.17705214e-05 9.99999867e-01 -1.45202997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.830371743 meters 0.0277187758783416 Centerline is valid? [True, True] Translation: X:103.68, Y:-5.69, Z:-1.45 [[ 9.99957623e-01 9.04800506e-03 1.69899088e-03 1.03678018e+02] [-9.04786399e-03 9.99959063e-01 -9.06964777e-05 -5.68787924e+00] [-1.69974196e-03 7.53203957e-05 9.99998553e-01 -1.45076022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860371743 meters 0.032624575577714525 Centerline is valid? [True, True] Translation: X:103.71, Y:-5.70, Z:-1.45 [[ 9.99975007e-01 6.73148134e-03 2.16181210e-03 1.03706043e+02] [-6.73124623e-03 9.99977338e-01 -1.16010208e-04 -5.69852288e+00] [-2.16254403e-03 1.01455619e-04 9.99997657e-01 -1.45244128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.890371743 meters 0.02992781669893628 Centerline is valid? [True, True] Translation: X:103.74, Y:-5.70, Z:-1.45 [[ 9.99993880e-01 2.45159590e-03 2.49587598e-03 1.03735947e+02] [-2.45127077e-03 9.99996987e-01 -1.33315772e-04 -5.69599956e+00] [-2.49619529e-03 1.27196888e-04 9.99996876e-01 -1.44997951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920371743 meters 0.03057755005491737 Centerline is valid? [True, True] Translation: X:103.77, Y:-5.70, Z:-1.45 [[ 9.99996693e-01 6.39711968e-04 2.49110960e-03 1.03766466e+02] [-6.39383103e-04 9.99999787e-01 -1.32809490e-04 -5.69939625e+00] [-2.49119403e-03 1.31216277e-04 9.99996888e-01 -1.45023865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.950371743 meters 0.032409051145475605 Centerline is valid? [True, True] Translation: X:103.80, Y:-5.70, Z:-1.45 [[ 9.99997666e-01 -1.10804136e-03 1.85497948e-03 1.03796874e+02] [ 1.10822390e-03 9.99999381e-01 -9.73777917e-05 -5.70426197e+00] [-1.85487044e-03 9.94332970e-05 9.99998275e-01 -1.45150799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98037174299999 meters 0.033537937702015845 Centerline is valid? [True, True] Translation: X:103.83, Y:-5.71, Z:-1.45 [[ 9.99989038e-01 -4.57595247e-03 9.92427726e-04 1.03827658e+02] [ 4.57600712e-03 9.99989529e-01 -5.28031694e-05 -5.70957106e+00] [-9.92175709e-04 5.73439469e-05 9.99999506e-01 -1.45336594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.010371743 meters 0.035403719679283276 Centerline is valid? [True, True] Translation: X:103.86, Y:-5.72, Z:-1.46 [[ 9.99971683e-01 -7.51177192e-03 -4.53719426e-04 1.03857928e+02] [ 7.51178381e-03 9.99971786e-01 2.45084833e-05 -5.71603492e+00] [ 4.53522523e-04 -2.79160315e-05 9.99999897e-01 -1.45625965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040371743 meters 0.03610564128804704 Centerline is valid? [True, True] Translation: X:103.89, Y:-5.72, Z:-1.46 [[ 9.99968671e-01 -7.85948532e-03 -9.40692294e-04 1.03888845e+02] [ 7.85953765e-03 9.99969112e-01 5.19526938e-05 -5.71973518e+00] [ 9.40254917e-04 -5.93444727e-05 9.99999556e-01 -1.45789095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.070371743 meters 0.0360316230373556 Centerline is valid? [True, True] Translation: X:103.92, Y:-5.72, Z:-1.46 [[ 9.99972668e-01 -7.23167073e-03 -1.53824351e-03 1.03921121e+02] [ 7.23180772e-03 9.99973847e-01 8.35139257e-05 -5.72157572e+00] [ 1.53759933e-03 -9.46359244e-05 9.99998813e-01 -1.45853812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100371743 meters 0.0358510020524942 Centerline is valid? [True, True] Translation: X:103.95, Y:-5.72, Z:-1.46 [[ 9.99985311e-01 -5.18820268e-03 -1.56878142e-03 1.03951718e+02] [ 5.18834195e-03 9.99986537e-01 8.47143170e-05 -5.72253090e+00] [ 1.56832079e-03 -9.28524471e-05 9.99998766e-01 -1.45919777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.130371743 meters 0.0358510020524942 Centerline is valid? [True, True] Translation: X:103.98, Y:-5.72, Z:-1.46 [[ 9.99985488e-01 -5.15390588e-03 -1.56877887e-03 1.03982574e+02] [ 5.15404517e-03 9.99986714e-01 8.47616885e-05 -5.72421959e+00] [ 1.56832117e-03 -9.28460156e-05 9.99998766e-01 -1.45963162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160371743 meters 0.03271223944664916 Centerline is valid? [True, True] Translation: X:104.01, Y:-5.72, Z:-1.46 [[ 9.99995867e-01 -2.43894770e-03 -1.52245744e-03 1.04013841e+02] [ 2.43907546e-03 9.99997022e-01 8.20659640e-05 -5.72050299e+00] [ 1.52225275e-03 -8.57790134e-05 9.99998838e-01 -1.45891281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.190371743 meters 0.03071551843217984 Centerline is valid? [True, True] Translation: X:104.04, Y:-5.72, Z:-1.46 [[ 9.99988359e-01 4.69712308e-03 -1.10420845e-03 1.04044055e+02] [-4.69706046e-03 9.99988967e-01 5.92969258e-05 -5.71692407e+00] [ 1.10447479e-03 -5.41097016e-05 9.99999389e-01 -1.45845055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220371743 meters 0.026803303012884257 Centerline is valid? [True, True] Translation: X:104.07, Y:-5.71, Z:-1.46 [[ 9.99917141e-01 1.28711072e-02 -2.13265004e-04 1.04074559e+02] [-1.28711052e-02 9.99917164e-01 1.09923555e-05 -5.70996578e+00] [ 2.13388821e-04 -8.24648834e-06 9.99999977e-01 -1.45684282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.250371743 meters 0.02627320798894471 Centerline is valid? [True, True] Translation: X:104.10, Y:-5.71, Z:-1.46 [[ 9.99860719e-01 1.66892426e-02 -1.11041888e-04 1.04103109e+02] [-1.66892421e-02 9.99860725e-01 5.46559071e-06 -5.70957368e+00] [ 1.11117639e-04 -3.61162450e-06 9.99999994e-01 -1.45734692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280371743 meters 0.02621485042233797 Centerline is valid? [True, True] Translation: X:104.13, Y:-5.71, Z:-1.46 [[ 9.99793880e-01 2.03017748e-02 -1.88272123e-04 1.04131681e+02] [-2.03017733e-02 9.99793898e-01 9.36231416e-06 -5.71020479e+00] [ 1.88423391e-04 -5.53812643e-06 9.99999982e-01 -1.45863145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.310371743 meters 0.023844108057341478 Centerline is valid? [True, True] Translation: X:104.16, Y:-5.71, Z:-1.46 [[ 9.99655117e-01 2.62535666e-02 -6.30859693e-04 1.04161525e+02] [-2.62535508e-02 9.99655316e-01 3.33105435e-05 -5.70560309e+00] [ 6.31516766e-04 -1.67367482e-05 9.99999800e-01 -1.45830492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34037174299999 meters 0.02369248639246616 Centerline is valid? [True, True] Translation: X:104.19, Y:-5.71, Z:-1.46 [[ 9.99597014e-01 2.83715271e-02 -9.30119822e-04 1.04189300e+02] [-2.83714942e-02 9.99597447e-01 4.85374413e-05 -5.70678727e+00] [ 9.31122481e-04 -2.21289922e-05 9.99999566e-01 -1.45936418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37037174299999 meters 0.023818650967092656 Centerline is valid? [True, True] Translation: X:104.22, Y:-5.71, Z:-1.46 [[ 9.99517776e-01 3.10172428e-02 -1.46497571e-03 1.04217641e+02] [-3.10171628e-02 9.99518849e-01 7.73187727e-05 -5.70756423e+00] [ 1.46666905e-03 -3.18420978e-05 9.99998924e-01 -1.46098270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400371743 meters 0.023188069516013522 Centerline is valid? [True, True] Translation: X:104.25, Y:-5.71, Z:-1.46 [[ 9.99498523e-01 3.16263566e-02 -1.57342824e-03 1.04246742e+02] [-3.16262651e-02 9.99499761e-01 8.30130822e-05 -5.70824324e+00] [ 1.57526655e-03 -3.32097944e-05 9.99998759e-01 -1.46075755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.430371743 meters 0.023602264563146357 Centerline is valid? [True, True] Translation: X:104.27, Y:-5.71, Z:-1.46 [[ 9.99486661e-01 3.20100713e-02 -1.33017544e-03 1.04274548e+02] [-3.20100069e-02 9.99487546e-01 6.96956644e-05 -5.71154012e+00] [ 1.33172475e-03 -2.70809619e-05 9.99999113e-01 -1.46246578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460371743 meters 0.02354559446583739 Centerline is valid? [True, True] Translation: X:104.30, Y:-5.71, Z:-1.46 [[ 9.99493524e-01 3.18012644e-02 -1.17301903e-03 1.04302350e+02] [-3.18012147e-02 9.99494212e-01 6.10081923e-05 -5.71380100e+00] [ 1.17436587e-03 -2.36738631e-05 9.99999310e-01 -1.46331049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.490371743 meters 0.02217064853489094 Centerline is valid? [True, True] Translation: X:104.33, Y:-5.71, Z:-1.46 [[ 9.99507090e-01 3.13660107e-02 -1.32301600e-03 1.04331677e+02] [-3.13659465e-02 9.99507965e-01 6.92693981e-05 -5.71281907e+00] [ 1.32453773e-03 -2.77376056e-05 9.99999122e-01 -1.46140742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520371743 meters 0.024704021199396606 Centerline is valid? [True, True] Translation: X:104.36, Y:-5.72, Z:-1.46 [[ 9.99574757e-01 2.91310323e-02 -1.29909690e-03 1.04358906e+02] [-2.91309689e-02 9.99575601e-01 6.76467215e-05 -5.72117186e+00] [ 1.30051618e-03 -2.97740038e-05 9.99999154e-01 -1.46458092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.550371743 meters 0.023127279619880457 Centerline is valid? [True, True] Translation: X:104.39, Y:-5.72, Z:-1.46 [[ 9.99631387e-01 2.71326589e-02 -9.53312388e-04 1.04388045e+02] [-2.71326240e-02 9.99631841e-01 4.94887996e-05 -5.71966545e+00] [ 9.54304180e-04 -2.36046908e-05 9.99999544e-01 -1.46192977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580371743 meters 0.02365098852548084 Centerline is valid? [True, True] Translation: X:104.42, Y:-5.72, Z:-1.46 [[ 9.99738135e-01 2.28817517e-02 -2.95683020e-04 1.04417609e+02] [-2.28817482e-02 9.99738178e-01 1.51414388e-05 -5.72428943e+00] [ 2.95952066e-04 -8.37172934e-06 9.99999956e-01 -1.46122997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.610371743 meters 0.02436143958009325 Centerline is valid? [True, True] Translation: X:104.45, Y:-5.73, Z:-1.46 [[ 9.99796959e-01 2.01491018e-02 2.34062263e-04 1.04445980e+02] [-2.01490992e-02 9.99796986e-01 -1.33696647e-05 -5.72859599e+00] [-2.34284132e-04 8.65080635e-06 9.99999973e-01 -1.46137317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640371743 meters 0.025333753682646162 Centerline is valid? [True, True] Translation: X:104.47, Y:-5.73, Z:-1.46 [[ 9.99850397e-01 1.72662464e-02 1.02995629e-03 1.04474994e+02] [-1.72661988e-02 9.99850927e-01 -5.51181146e-05 -5.73353422e+00] [-1.03075443e-03 3.73264388e-05 9.99999468e-01 -1.46179296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.670371743 meters 0.03024660823646455 Centerline is valid? [True, True] Translation: X:104.50, Y:-5.75, Z:-1.46 [[ 9.99938527e-01 1.08096927e-02 2.46851897e-03 1.04503572e+02] [-1.08094029e-02 9.99941568e-01 -1.30718564e-04 -5.74677793e+00] [-2.46978776e-03 1.04027312e-04 9.99996945e-01 -1.46326362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.700371743 meters 0.029869403769376055 Centerline is valid? [True, True] Translation: X:104.53, Y:-5.75, Z:-1.46 [[ 9.99989103e-01 3.49920125e-03 3.09010397e-03 1.04534048e+02] [-3.49871418e-03 9.99993866e-01 -1.63012192e-04 -5.75051013e+00] [-3.09065543e-03 1.52199025e-04 9.99995212e-01 -1.46246451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73037174299999 meters 0.03770121174592449 Centerline is valid? [True, True] Translation: X:104.56, Y:-5.77, Z:-1.46 [[ 9.99989828e-01 -3.34770888e-03 3.02268934e-03 1.04562817e+02] [ 3.34820641e-03 9.99994382e-01 -1.59554538e-04 -5.76678879e+00] [-3.02213821e-03 1.69673502e-04 9.99995419e-01 -1.46449949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760371743 meters 0.03166139938590003 Centerline is valid? [True, True] Translation: X:104.59, Y:-5.76, Z:-1.46 [[ 9.99976153e-01 -6.03507210e-03 3.35714259e-03 1.04594561e+02] [ 6.03569917e-03 9.99981769e-01 -1.76685634e-04 -5.76052078e+00] [-3.35601508e-03 1.96944123e-04 9.99994349e-01 -1.46299007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.790371743 meters 0.03474840566310362 Centerline is valid? [True, True] Translation: X:104.62, Y:-5.77, Z:-1.46 [[ 9.99945751e-01 -9.91302364e-03 3.19798639e-03 1.04623943e+02] [ 9.91361281e-03 9.99950845e-01 -1.68433714e-04 -5.76836887e+00] [-3.19615950e-03 2.00128176e-04 9.99994872e-01 -1.46386548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820371743 meters 0.035107723934486926 Centerline is valid? [True, True] Translation: X:104.66, Y:-5.77, Z:-1.46 [[ 9.99934428e-01 -1.10860248e-02 2.87056894e-03 1.04656240e+02] [ 1.10865032e-02 9.99938531e-01 -1.50811252e-04 -5.77144147e+00] [-2.86872059e-03 1.82625935e-04 9.99995869e-01 -1.46467365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.850371743 meters 0.03486217246907932 Centerline is valid? [True, True] Translation: X:104.69, Y:-5.77, Z:-1.47 [[ 9.99918720e-01 -1.25713294e-02 2.12481932e-03 1.04687923e+02] [ 1.25715936e-02 9.99920968e-01 -1.11006187e-04 -5.77286568e+00] [-2.12325590e-03 1.37709529e-04 9.99997736e-01 -1.46578203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880371743 meters 0.03547661881830866 Centerline is valid? [True, True] Translation: X:104.72, Y:-5.77, Z:-1.47 [[ 9.99918596e-01 -1.25614602e-02 2.23875488e-03 1.04719996e+02] [ 1.25617553e-02 9.99921091e-01 -1.17810399e-04 -5.77498561e+00] [-2.23709835e-03 1.45923500e-04 9.99997487e-01 -1.46647130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.910371743 meters 0.037730775896990906 Centerline is valid? [True, True] Translation: X:104.75, Y:-5.78, Z:-1.47 [[ 9.99924796e-01 -1.20789907e-02 2.12120437e-03 1.04751256e+02] [ 1.20792552e-02 9.99927037e-01 -1.11941148e-04 -5.77952686e+00] [-2.11969746e-03 1.37555298e-04 9.99997744e-01 -1.46768133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940371743 meters 0.03424621251471156 Centerline is valid? [True, True] Translation: X:104.78, Y:-5.78, Z:-1.47 [[ 9.99934939e-01 -1.12176108e-02 2.06929735e-03 1.04784001e+02] [ 1.12178604e-02 9.99937072e-01 -1.09062700e-04 -5.77562558e+00] [-2.06794371e-03 1.32268693e-04 9.99997853e-01 -1.46727146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.970371743 meters 0.03391191073623518 Centerline is valid? [True, True] Translation: X:104.82, Y:-5.78, Z:-1.47 [[ 9.99955231e-01 -8.92884651e-03 3.13249739e-03 1.04815929e+02] [ 8.92941035e-03 9.99960118e-01 -1.66056188e-04 -5.77605377e+00] [-3.13088977e-03 1.94020108e-04 9.99995080e-01 -1.46783072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000371743 meters 0.03283908941751735 Centerline is valid? [True, True] Translation: X:104.85, Y:-5.78, Z:-1.47 [[ 9.99969613e-01 -7.14950748e-03 3.10773060e-03 1.04847792e+02] [ 7.15005436e-03 9.99974424e-01 -1.64901085e-04 -5.77519446e+00] [-3.10647216e-03 1.87116517e-04 9.99995157e-01 -1.46788288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.030371743 meters 0.03088520719788839 Centerline is valid? [True, True] Translation: X:104.88, Y:-5.77, Z:-1.47 [[ 9.99978965e-01 -5.51362706e-03 3.41609979e-03 1.04879155e+02] [ 5.51427987e-03 9.99984780e-01 -1.81708828e-04 -5.77253690e+00] [-3.41504592e-03 2.00542336e-04 9.99994149e-01 -1.46762676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.060371743 meters 0.03369570717401825 Centerline is valid? [True, True] Translation: X:104.91, Y:-5.78, Z:-1.47 [[ 9.99992795e-01 -1.63946320e-03 3.42386190e-03 1.04909256e+02] [ 1.64009813e-03 9.99998638e-01 -1.82642723e-04 -5.77594785e+00] [-3.42355780e-03 1.88256877e-04 9.99994122e-01 -1.46882935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09037174299999 meters 0.0315893867424323 Centerline is valid? [True, True] Translation: X:104.94, Y:-5.77, Z:-1.47 [[ 9.99992915e-01 4.74083092e-04 3.73435185e-03 1.04941376e+02] [-4.73344523e-04 9.99999868e-01 -1.98658296e-04 -5.77374776e+00] [-3.73444554e-03 1.96889253e-04 9.99993008e-01 -1.46891708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12037174299999 meters 0.03066456507722534 Centerline is valid? [True, True] Translation: X:104.97, Y:-5.77, Z:-1.47 [[ 9.99983887e-01 4.24190941e-03 3.77249312e-03 1.04972445e+02] [-4.24118026e-03 9.99990986e-01 -2.01261041e-04 -5.77260333e+00] [-3.77331285e-03 1.85257975e-04 9.99992864e-01 -1.46961433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.150371743 meters 0.02870466644656832 Centerline is valid? [True, True] Translation: X:105.00, Y:-5.77, Z:-1.47 [[ 9.99973718e-01 6.32184594e-03 3.54917980e-03 1.05002999e+02] [-6.32121281e-03 9.99980003e-01 -1.89578684e-04 -5.77015823e+00] [-3.55030731e-03 1.67138581e-04 9.99993684e-01 -1.46951434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180371743 meters 0.027501779401569247 Centerline is valid? [True, True] Translation: X:105.03, Y:-5.77, Z:-1.47 [[ 9.99944139e-01 1.01198405e-02 3.05093240e-03 1.05033134e+02] [-1.01193897e-02 9.99948784e-01 -1.63162041e-04 -5.76773064e+00] [-3.05242731e-03 1.32279353e-04 9.99995333e-01 -1.47024422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.210371743 meters 0.0267158220972622 Centerline is valid? [True, True] Translation: X:105.06, Y:-5.77, Z:-1.47 [[ 9.99921140e-01 1.22674057e-02 2.68786557e-03 1.05062218e+02] [-1.22670619e-02 9.99924746e-01 -1.44342148e-04 -5.76666205e+00] [-2.68943400e-03 1.11358552e-04 9.99996377e-01 -1.47074950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240371743 meters 0.02615517923662466 Centerline is valid? [True, True] Translation: X:105.09, Y:-5.77, Z:-1.47 [[ 9.99899563e-01 1.39324033e-02 2.59862596e-03 1.05090827e+02] [-1.39320880e-02 9.99902934e-01 -1.39397285e-04 -5.76599084e+00] [-2.60031586e-03 1.03178998e-04 9.99996614e-01 -1.47143898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.270371743 meters 0.02556731222871729 Centerline is valid? [True, True] Translation: X:105.12, Y:-5.77, Z:-1.47 [[ 9.99848674e-01 1.72779882e-02 2.02470257e-03 1.05119677e+02] [-1.72778039e-02 9.99850722e-01 -1.08466344e-04 -5.76508638e+00] [-2.02627441e-03 7.34675166e-05 9.99997944e-01 -1.47270170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300371743 meters 0.025397616486460373 Centerline is valid? [True, True] Translation: X:105.15, Y:-5.76, Z:-1.47 [[ 9.99816237e-01 1.90519872e-02 2.12464782e-03 1.05149157e+02] [-1.90517886e-02 9.99818492e-01 -1.13661431e-04 -5.76432977e+00] [-2.12642766e-03 7.31622029e-05 9.99997736e-01 -1.47260364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.330371743 meters 0.02549232987323372 Centerline is valid? [True, True] Translation: X:105.18, Y:-5.76, Z:-1.47 [[ 9.99804020e-01 1.96235213e-02 2.61532580e-03 1.05176969e+02] [-1.96232218e-02 9.99807436e-01 -1.40126088e-04 -5.76472620e+00] [-2.61757195e-03 8.87775075e-05 9.99996570e-01 -1.47235074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360371743 meters 0.025547243424123043 Centerline is valid? [True, True] Translation: X:105.21, Y:-5.76, Z:-1.47 [[ 9.99810711e-01 1.91920491e-02 3.19484114e-03 1.05206052e+02] [-1.91916029e-02 9.99815810e-01 -1.70240789e-04 -5.76407263e+00] [-3.19751996e-03 1.08894442e-04 9.99994882e-01 -1.47199951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.390371743 meters 0.025753515842203936 Centerline is valid? [True, True] Translation: X:105.23, Y:-5.77, Z:-1.47 [[ 9.99822487e-01 1.84330295e-02 3.90105507e-03 1.05234571e+02] [-1.84323605e-02 9.99830088e-01 -2.07376580e-04 -5.76562592e+00] [-3.90421481e-03 1.35434115e-04 9.99992369e-01 -1.47200004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420371743 meters 0.02637416353242935 Centerline is valid? [True, True] Translation: X:105.26, Y:-5.77, Z:-1.47 [[ 9.99857008e-01 1.59258384e-02 5.68606207e-03 1.05263354e+02] [-1.59243815e-02 9.99873154e-01 -3.01402592e-04 -5.76797868e+00] [-5.69014090e-03 2.10812472e-04 9.99983789e-01 -1.47180837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.450371743 meters 0.027395363442517213 Centerline is valid? [True, True] Translation: X:105.29, Y:-5.77, Z:-1.47 [[ 9.99884384e-01 1.40982370e-02 5.69717107e-03 1.05292357e+02] [-1.40967471e-02 9.99900590e-01 -3.01581887e-04 -5.77075975e+00] [-5.70085649e-03 2.21235439e-04 9.99983726e-01 -1.47237877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48037174299999 meters 0.027160710239291955 Centerline is valid? [True, True] Translation: X:105.32, Y:-5.77, Z:-1.47 [[ 9.99915373e-01 1.18233857e-02 5.42719275e-03 1.05321604e+02] [-1.18220029e-02 9.99930077e-01 -2.86818223e-04 -5.77135962e+00] [-5.43020442e-03 2.22633662e-04 9.99985232e-01 -1.47286478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.510371743 meters 0.02928140712138293 Centerline is valid? [True, True] Translation: X:105.35, Y:-5.78, Z:-1.47 [[ 9.99975027e-01 5.67466255e-03 4.21240774e-03 1.05351807e+02] [-5.67377738e-03 9.99983879e-01 -2.22055356e-04 -5.77583710e+00] [-4.21359993e-03 1.98149547e-04 9.99991103e-01 -1.47409406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540371743 meters 0.02988024980777768 Centerline is valid? [True, True] Translation: X:105.38, Y:-5.78, Z:-1.47 [[ 9.99991517e-01 -9.76909645e-04 4.00145005e-03 1.05382010e+02] [ 9.77761288e-04 9.99999500e-01 -2.10882929e-04 -5.77899792e+00] [-4.00124203e-03 2.14793603e-04 9.99991972e-01 -1.47450559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.570371743 meters 0.03136876912706803 Centerline is valid? [True, True] Translation: X:105.41, Y:-5.78, Z:-1.48 [[ 9.99985972e-01 -3.57757472e-03 3.90586446e-03 1.05411911e+02] [ 3.57840262e-03 9.99993576e-01 -2.04995302e-04 -5.78345248e+00] [-3.90510598e-03 2.18969182e-04 9.99992351e-01 -1.47553632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600371743 meters 0.032773098341555805 Centerline is valid? [True, True] Translation: X:105.44, Y:-5.79, Z:-1.48 [[ 9.99971781e-01 -6.35597831e-03 4.00491720e-03 1.05442527e+02] [ 6.35687522e-03 9.99979773e-01 -2.11263280e-04 -5.78758653e+00] [-4.00349341e-03 2.36716077e-04 9.99991958e-01 -1.47585132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.630371743 meters 0.0392404425475463 Centerline is valid? [True, True] Translation: X:105.47, Y:-5.80, Z:-1.48 [[ 9.99945876e-01 -9.65286100e-03 3.88158059e-03 1.05471600e+02] [ 9.65372660e-03 9.99953381e-01 -2.04327460e-04 -5.79760145e+00] [-3.87942729e-03 2.41788119e-04 9.99992446e-01 -1.47675975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660371743 meters 0.04001998176580584 Centerline is valid? [True, True] Translation: X:105.50, Y:-5.80, Z:-1.48 [[ 9.99938421e-01 -1.05122937e-02 3.55596793e-03 1.05503953e+02] [ 1.05130261e-02 9.99944719e-01 -1.87335130e-04 -5.79957770e+00] [-3.55380203e-03 2.24707578e-04 9.99993660e-01 -1.47698965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.690371743 meters 0.04171587985427295 Centerline is valid? [True, True] Translation: X:105.53, Y:-5.80, Z:-1.48 [[ 9.99930793e-01 -1.11861223e-02 3.64421017e-03 1.05534703e+02] [ 1.11868951e-02 9.99937406e-01 -1.91742450e-04 -5.80163309e+00] [-3.64183721e-03 2.32496577e-04 9.99993341e-01 -1.47777506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720371743 meters 0.04186734010746274 Centerline is valid? [True, True] Translation: X:105.57, Y:-5.80, Z:-1.48 [[ 9.99937547e-01 -1.06751612e-02 3.30802038e-03 1.05566947e+02] [ 1.06757978e-02 9.99942997e-01 -1.74830416e-04 -5.80298953e+00] [-3.30596547e-03 2.10135254e-04 9.99994513e-01 -1.47870710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.750371743 meters 0.04185463883143738 Centerline is valid? [True, True] Translation: X:105.60, Y:-5.80, Z:-1.48 [[ 9.99942939e-01 -1.01565702e-02 3.31094552e-03 1.05599679e+02] [ 1.01572052e-02 9.99948399e-01 -1.75029939e-04 -5.80389431e+00] [-3.30899697e-03 2.08649905e-04 9.99994503e-01 -1.47980740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780371743 meters 0.035617686155291456 Centerline is valid? [True, True] Translation: X:105.63, Y:-5.79, Z:-1.48 [[ 9.99957068e-01 -8.76367616e-03 3.00986544e-03 1.05632565e+02] [ 8.76419547e-03 9.99961581e-01 -1.59389533e-04 -5.79456194e+00] [-3.00835297e-03 1.85761739e-04 9.99995458e-01 -1.47891271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.810371743 meters 0.034132599245394274 Centerline is valid? [True, True] Translation: X:105.67, Y:-5.79, Z:-1.48 [[ 9.99965312e-01 -7.90200705e-03 2.63308412e-03 1.05665091e+02] [ 7.90240162e-03 9.99968766e-01 -1.39481657e-04 -5.79223434e+00] [-2.63189970e-03 1.60284507e-04 9.99996524e-01 -1.47871235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84037174299999 meters 0.04299548233572561 Centerline is valid? [True, True] Translation: X:105.70, Y:-5.80, Z:-1.48 [[ 9.99972133e-01 -6.90691576e-03 2.83330144e-03 1.05696084e+02] [ 6.90736946e-03 9.99976133e-01 -1.50375060e-04 -5.80497480e+00] [-2.83219519e-03 1.69941529e-04 9.99995975e-01 -1.48137898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87037174299999 meters 0.0346651995818134 Centerline is valid? [True, True] Translation: X:105.73, Y:-5.79, Z:-1.48 [[ 9.99983174e-01 -5.27147905e-03 2.42157991e-03 1.05728702e+02] [ 5.27180626e-03 9.99986096e-01 -1.28759998e-04 -5.79073391e+00] [-2.42086748e-03 1.41523932e-04 9.99997060e-01 -1.47944936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900371743 meters 0.03511980101421376 Centerline is valid? [True, True] Translation: X:105.76, Y:-5.79, Z:-1.48 [[ 9.99989751e-01 -3.98865488e-03 2.14220035e-03 1.05760066e+02] [ 3.98890808e-03 9.99992038e-01 -1.13940272e-04 -5.79174311e+00] [-2.14172883e-03 1.22484144e-04 9.99997699e-01 -1.48007220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.930371743 meters 0.03478491494127788 Centerline is valid? [True, True] Translation: X:105.79, Y:-5.79, Z:-1.48 [[ 9.99994779e-01 -2.78779524e-03 1.63429445e-03 1.05792685e+02] [ 2.78794053e-03 9.99996110e-01 -8.66248095e-05 -5.78963132e+00] [-1.63404660e-03 9.11806730e-05 9.99998661e-01 -1.48128565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960371743 meters 0.034946152727661564 Centerline is valid? [True, True] Translation: X:105.82, Y:-5.79, Z:-1.48 [[ 9.99996042e-01 -2.33464969e-03 1.57042328e-03 1.05824247e+02] [ 2.33478374e-03 9.99997271e-01 -8.35306057e-05 -5.78994853e+00] [-1.57022398e-03 8.71968737e-05 9.99998763e-01 -1.48204759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.990371743 meters 0.035251047412457194 Centerline is valid? [True, True] Translation: X:105.86, Y:-5.79, Z:-1.48 [[ 9.99997763e-01 -1.35593841e-03 1.62347234e-03 1.05855443e+02] [ 1.35608057e-03 9.99999077e-01 -8.64686393e-05 -5.78931007e+00] [-1.62335359e-03 8.86700051e-05 9.99998678e-01 -1.48284652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020371743 meters 0.035251047412457194 Centerline is valid? [True, True] Translation: X:105.89, Y:-5.79, Z:-1.48 [[ 9.99997808e-01 -1.32213855e-03 1.62345643e-03 1.05886292e+02] [ 1.32228115e-03 9.99999122e-01 -8.67649175e-05 -5.79099919e+00] [-1.62334029e-03 8.89113932e-05 9.99998678e-01 -1.48328016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.050371743 meters 0.035505922322924204 Centerline is valid? [True, True] Translation: X:105.92, Y:-5.79, Z:-1.48 [[ 9.99998589e-01 -8.95853750e-04 1.42078863e-03 1.05917655e+02] [ 8.95962525e-04 9.99999596e-01 -7.59248198e-05 -5.79173937e+00] [-1.42072003e-03 7.71976861e-05 9.99998988e-01 -1.48378446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080371743 meters 0.03284919647253669 Centerline is valid? [True, True] Translation: X:105.95, Y:-5.79, Z:-1.48 [[ 9.99998311e-01 1.26644938e-04 1.83358650e-03 1.05949038e+02] [-1.26465148e-04 9.99999987e-01 -9.81695412e-05 -5.78630717e+00] [-1.83359891e-03 9.79374906e-05 9.99998314e-01 -1.48336914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.110371743 meters 0.0348297572141048 Centerline is valid? [True, True] Translation: X:105.98, Y:-5.79, Z:-1.49 [[ 9.99996777e-01 1.65008377e-03 1.92936873e-03 1.05979501e+02] [-1.64988695e-03 9.99998634e-01 -1.03602958e-04 -5.78990383e+00] [-1.92953705e-03 1.00419384e-04 9.99998133e-01 -1.48500148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140371743 meters 0.034689042503779806 Centerline is valid? [True, True] Translation: X:106.01, Y:-5.79, Z:-1.49 [[ 9.99991123e-01 3.52172307e-03 2.31328763e-03 1.06009615e+02] [-3.52144665e-03 9.99993792e-01 -1.23553103e-04 -5.79013809e+00] [-2.31370839e-03 1.15405887e-04 9.99997317e-01 -1.48533797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.170371743 meters 0.028918594460888587 Centerline is valid? [True, True] Translation: X:106.04, Y:-5.78, Z:-1.48 [[ 9.99965352e-01 7.21267391e-03 4.15590355e-03 1.06040709e+02] [-7.21180429e-03 9.99973969e-01 -2.24199169e-04 -5.78008424e+00] [-4.15741245e-03 1.94219838e-04 9.99991339e-01 -1.48225141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.200371743 meters 0.028724420998236036 Centerline is valid? [True, True] Translation: X:106.07, Y:-5.78, Z:-1.48 [[ 9.99950028e-01 8.56152559e-03 5.16148995e-03 1.06070649e+02] [-8.56020211e-03 9.99963322e-01 -2.78452119e-04 -5.78003306e+00] [-5.16368461e-03 2.34254808e-04 9.99986641e-01 -1.48207948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23037174299999 meters 0.02813899369854194 Centerline is valid? [True, True] Translation: X:106.10, Y:-5.78, Z:-1.48 [[ 9.99927574e-01 1.04626669e-02 5.94799978e-03 1.06100631e+02] [-1.04609446e-02 9.99945231e-01 -3.20593107e-04 -5.77885149e+00] [-5.95102827e-03 2.58348191e-04 9.99982259e-01 -1.48113396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260371743 meters 0.027988846153934564 Centerline is valid? [True, True] Translation: X:106.13, Y:-5.78, Z:-1.48 [[ 9.99926012e-01 1.08382393e-02 5.52294627e-03 1.06129802e+02] [-1.08367593e-02 9.99941236e-01 -2.97820392e-04 -5.77973121e+00] [-5.52584957e-03 2.37947517e-04 9.99984704e-01 -1.48212687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.290371743 meters 0.02856539162974621 Centerline is valid? [True, True] Translation: X:106.16, Y:-5.78, Z:-1.48 [[ 9.99936845e-01 1.06197397e-02 3.67789701e-03 1.06157449e+02] [-1.06190810e-02 9.99943596e-01 -1.98575114e-04 -5.78147846e+00] [-3.67979838e-03 1.59506687e-04 9.99993217e-01 -1.48442962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320371743 meters 0.0289297189655747 Centerline is valid? [True, True] Translation: X:106.19, Y:-5.78, Z:-1.49 [[ 9.99940842e-01 1.05031773e-02 2.82780550e-03 1.06185244e+02] [-1.05027874e-02 9.99944833e-01 -1.52708048e-04 -5.78421052e+00] [-2.82925342e-03 1.22999174e-04 9.99995990e-01 -1.48600891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.350371743 meters 0.029643486746380055 Centerline is valid? [True, True] Translation: X:106.21, Y:-5.79, Z:-1.49 [[ 9.99947510e-01 9.91623543e-03 2.57799657e-03 1.06213190e+02] [-9.91590945e-03 9.99950826e-01 -1.39200310e-04 -5.78740024e+00] [-2.57925014e-03 1.13629823e-04 9.99996667e-01 -1.48811281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380371743 meters 0.027840732810550498 Centerline is valid? [True, True] Translation: X:106.24, Y:-5.79, Z:-1.49 [[ 9.99942635e-01 1.02402448e-02 3.14075410e-03 1.06242056e+02] [-1.02397653e-02 9.99947558e-01 -1.68723562e-04 -5.78631712e+00] [-3.14231716e-03 1.36553298e-04 9.99995054e-01 -1.48709235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.410371743 meters 0.027252693448311265 Centerline is valid? [True, True] Translation: X:106.27, Y:-5.79, Z:-1.49 [[ 9.99933715e-01 1.09629357e-02 3.51860220e-03 1.06271106e+02] [-1.09623396e-02 9.99939894e-01 -1.88660067e-04 -5.78634211e+00] [-3.52045898e-03 1.50075449e-04 9.99993792e-01 -1.48641488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440371743 meters 0.026283648079656326 Centerline is valid? [True, True] Translation: X:106.30, Y:-5.79, Z:-1.48 [[ 9.99883629e-01 1.44031038e-02 5.02777939e-03 1.06301429e+02] [-1.44019352e-02 9.99896251e-01 -2.68546592e-04 -5.78559251e+00] [-5.03112567e-03 1.96105588e-04 9.99987325e-01 -1.48498658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.470371743 meters 0.02523770916762289 Centerline is valid? [True, True] Translation: X:106.33, Y:-5.78, Z:-1.48 [[ 9.99848070e-01 1.65056996e-02 5.60344440e-03 1.06330325e+02] [-1.65042817e-02 9.99863750e-01 -2.99188018e-04 -5.78491599e+00] [-5.60761924e-03 2.06661737e-04 9.99984256e-01 -1.48454189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500371743 meters 0.025799290296548715 Centerline is valid? [True, True] Translation: X:106.36, Y:-5.79, Z:-1.48 [[ 9.99801170e-01 1.89599483e-02 6.17585513e-03 1.06358362e+02] [-1.89582762e-02 9.99820222e-01 -3.29191589e-04 -5.78724372e+00] [-6.18098630e-03 2.12042568e-04 9.99980875e-01 -1.48477895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.530371743 meters 0.024260823982648286 Centerline is valid? [True, True] Translation: X:106.39, Y:-5.79, Z:-1.48 [[ 9.99692270e-01 2.38708458e-02 6.74899940e-03 1.06388502e+02] [-2.38689659e-02 9.99715031e-01 -3.58969044e-04 -5.78615373e+00] [-6.75564504e-03 1.97766942e-04 9.99977161e-01 -1.48471552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.560371743 meters 0.02292323768420344 Centerline is valid? [True, True] Translation: X:106.42, Y:-5.79, Z:-1.49 [[ 9.99557061e-01 2.92230971e-02 5.62963631e-03 1.06418591e+02] [-2.92218744e-02 9.99572905e-01 -2.99329451e-04 -5.78591662e+00] [-5.63597925e-03 1.34688341e-04 9.99984109e-01 -1.48646185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59037174299999 meters 0.02250138351091301 Centerline is valid? [True, True] Translation: X:106.45, Y:-5.79, Z:-1.49 [[ 9.99462282e-01 3.24654297e-02 4.59804299e-03 1.06446018e+02] [-3.24646472e-02 9.99472854e-01 -2.44733751e-04 -5.78652688e+00] [-4.60356454e-03 9.53283092e-05 9.99989399e-01 -1.48781498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62037174299999 meters 0.021668804707576744 Centerline is valid? [True, True] Translation: X:106.48, Y:-5.79, Z:-1.49 [[ 9.99358470e-01 3.56227991e-02 3.69655700e-03 1.06475235e+02] [-3.56223136e-02 9.99365305e-01 -1.97099353e-04 -5.78647607e+00] [-3.70123204e-03 6.52929952e-05 9.99993148e-01 -1.48857586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.650371743 meters 0.021547781012195504 Centerline is valid? [True, True] Translation: X:106.50, Y:-5.79, Z:-1.49 [[ 9.99231594e-01 3.90755278e-02 3.05368073e-03 1.06502610e+02] [-3.90752143e-02 9.99236259e-01 -1.62278681e-04 -5.78730570e+00] [-3.05768964e-03 4.28307564e-05 9.99995324e-01 -1.48997547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680371743 meters 0.02076350165577937 Centerline is valid? [True, True] Translation: X:106.53, Y:-5.79, Z:-1.49 [[ 9.98943302e-01 4.58123888e-02 3.67478983e-03 1.06531799e+02] [-4.58119812e-02 9.98950061e-01 -1.95055631e-04 -5.78660872e+00] [-3.67986749e-03 2.65001140e-05 9.99993229e-01 -1.49072937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.710371743 meters 0.020428544816026923 Centerline is valid? [True, True] Translation: X:106.56, Y:-5.79, Z:-1.49 [[ 9.98687050e-01 5.10061991e-02 4.74804140e-03 1.06560888e+02] [-5.10055771e-02 9.98698337e-01 -2.52067979e-04 -5.78744486e+00] [-4.75471808e-03 9.56043479e-06 9.99988696e-01 -1.49033195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740371743 meters 0.020227750879568306 Centerline is valid? [True, True] Translation: X:106.59, Y:-5.79, Z:-1.49 [[ 9.98627057e-01 5.21207641e-02 5.23706845e-03 1.06588902e+02] [-5.21200293e-02 9.98640789e-01 -2.76779046e-04 -5.78951932e+00] [-5.24437611e-03 3.44288286e-06 9.99986248e-01 -1.48955587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.770371743 meters 0.02015666998881975 Centerline is valid? [True, True] Translation: X:106.62, Y:-5.79, Z:-1.49 [[ 9.98598613e-01 5.25681010e-02 6.11596575e-03 1.06616534e+02] [-5.25671220e-02 9.98617342e-01 -3.20828936e-04 -5.79240155e+00] [-6.12437483e-03 -1.11938725e-06 9.99981246e-01 -1.48916776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800371743 meters 0.02001730185216468 Centerline is valid? [True, True] Translation: X:106.64, Y:-5.80, Z:-1.49 [[ 9.98674484e-01 5.10006990e-02 6.94288042e-03 1.06643061e+02] [-5.09994215e-02 9.98698618e-01 -3.61029436e-04 -5.79873641e+00] [-6.95225783e-03 6.46800036e-06 9.99975833e-01 -1.48911688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.830371743 meters 0.019994802594638615 Centerline is valid? [True, True] Translation: X:106.67, Y:-5.80, Z:-1.49 [[ 9.98776425e-01 4.89431671e-02 7.08651623e-03 1.06670977e+02] [-4.89417989e-02 9.98801565e-01 -3.66457736e-04 -5.80378622e+00] [-7.09595910e-03 1.91824951e-05 9.99974823e-01 -1.48945493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860371743 meters 0.020192102579354495 Centerline is valid? [True, True] Translation: X:106.70, Y:-5.81, Z:-1.49 [[ 9.99026323e-01 4.35305519e-02 7.17608700e-03 1.06699353e+02] [-4.35290166e-02 9.99052095e-01 -3.70065571e-04 -5.81429852e+00] [-7.18539390e-03 5.73372365e-05 9.99974183e-01 -1.49039494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.890371743 meters 0.020387040093325086 Centerline is valid? [True, True] Translation: X:106.73, Y:-5.82, Z:-1.49 [[ 9.99179372e-01 3.98784996e-02 7.09138518e-03 1.06727725e+02] [-3.98769118e-02 9.99204533e-01 -3.65213012e-04 -5.82032052e+00] [-7.10030836e-03 8.21307667e-05 9.99974789e-01 -1.49083965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920371743 meters 0.021082417207357332 Centerline is valid? [True, True] Translation: X:106.75, Y:-5.83, Z:-1.49 [[ 9.99341528e-01 3.56232700e-02 6.89149187e-03 1.06754809e+02] [-3.56216717e-02 9.99365284e-01 -3.54572944e-04 -5.82767362e+00] [-6.89974877e-03 1.08853007e-04 9.99976191e-01 -1.49182190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.950371743 meters 0.022268625888641178 Centerline is valid? [True, True] Translation: X:106.78, Y:-5.84, Z:-1.49 [[ 9.99632135e-01 2.64514829e-02 5.99273132e-03 1.06784852e+02] [-2.64501160e-02 9.99650087e-01 -3.07241137e-04 -5.83976011e+00] [-5.99876137e-03 1.48619675e-04 9.99981996e-01 -1.49270718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98037174299999 meters 0.023842038643008073 Centerline is valid? [True, True] Translation: X:106.81, Y:-5.85, Z:-1.49 [[ 9.99753868e-01 2.14844055e-02 5.53380660e-03 1.06812613e+02] [-2.14831605e-02 9.99769170e-01 -2.84322052e-04 -5.84834108e+00] [-5.53863772e-03 1.65368416e-04 9.99984648e-01 -1.49372186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.010371743 meters 0.026869958383705327 Centerline is valid? [True, True] Translation: X:106.84, Y:-5.86, Z:-1.50 [[ 9.99915711e-01 1.20341490e-02 4.87346247e-03 1.06840931e+02] [-1.20330774e-02 9.99927569e-01 -2.49150309e-04 -5.86335749e+00] [-4.87610779e-03 1.90486558e-04 9.99988094e-01 -1.49525844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040371743 meters 0.02969922339363415 Centerline is valid? [True, True] Translation: X:106.87, Y:-5.87, Z:-1.50 [[ 9.99959431e-01 7.63212333e-03 4.78401289e-03 1.06869543e+02] [-7.63103628e-03 9.99970853e-01 -2.45438728e-04 -5.87374186e+00] [-4.78574667e-03 2.08921795e-04 9.99988526e-01 -1.49653753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.070371743 meters 0.02732939546097214 Centerline is valid? [True, True] Translation: X:106.90, Y:-5.87, Z:-1.50 [[ 9.99981399e-01 3.60951410e-03 4.91667569e-03 1.06900235e+02] [-3.60831989e-03 9.99993458e-01 -2.51739512e-04 -5.87499377e+00] [-4.91755219e-03 2.33993891e-04 9.99987881e-01 -1.49585080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100371743 meters 0.030482246044898093 Centerline is valid? [True, True] Translation: X:106.93, Y:-5.89, Z:-1.50 [[ 9.99978460e-01 -2.92391769e-03 5.87618895e-03 1.06928963e+02] [ 2.92573675e-03 9.99995675e-01 -3.00992506e-04 -5.88835414e+00] [-5.87528346e-03 3.18178205e-04 9.99982690e-01 -1.49557257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.130371743 meters 0.030173557477467285 Centerline is valid? [True, True] Translation: X:106.96, Y:-5.89, Z:-1.49 [[ 9.99969066e-01 -5.24409570e-03 5.86231690e-03 1.06959639e+02] [ 5.24594210e-03 9.99986195e-01 -2.99627184e-04 -5.89127507e+00] [-5.86066470e-03 3.30371291e-04 9.99982772e-01 -1.49489819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160371743 meters 0.031544007971754384 Centerline is valid? [True, True] Translation: X:106.99, Y:-5.90, Z:-1.49 [[ 9.99945164e-01 -8.16216501e-03 6.56112989e-03 1.06990473e+02] [ 8.16454424e-03 9.99966613e-01 -3.35921440e-04 -5.89967352e+00] [-6.55816899e-03 3.89471655e-04 9.99978419e-01 -1.49458553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.190371743 meters 0.032565934909057744 Centerline is valid? [True, True] Translation: X:107.02, Y:-5.91, Z:-1.50 [[ 9.99942335e-01 -9.04287240e-03 5.79249580e-03 1.07022296e+02] [ 9.04474069e-03 9.99959052e-01 -2.96421258e-04 -5.90505965e+00] [-5.78957811e-03 3.48795788e-04 9.99983179e-01 -1.49552245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220371743 meters 0.03364498095112463 Centerline is valid? [True, True] Translation: X:107.05, Y:-5.91, Z:-1.50 [[ 9.99938681e-01 -9.71665945e-03 5.31231244e-03 1.07052512e+02] [ 9.71824356e-03 9.99952740e-01 -2.72463553e-04 -5.91367150e+00] [-5.30941394e-03 3.24073192e-04 9.99985852e-01 -1.49799266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.250371743 meters 0.03394692249809711 Centerline is valid? [True, True] Translation: X:107.08, Y:-5.92, Z:-1.50 [[ 9.99941038e-01 -9.81583083e-03 4.64424612e-03 1.07084554e+02] [ 9.81704158e-03 9.99951783e-01 -2.37973127e-04 -5.91785384e+00] [-4.64168629e-03 2.83551853e-04 9.99989187e-01 -1.49936594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280371743 meters 0.03389357119001728 Centerline is valid? [True, True] Translation: X:107.12, Y:-5.92, Z:-1.50 [[ 9.99944305e-01 -9.62861014e-03 4.32162084e-03 1.07116698e+02] [ 9.62965780e-03 9.99953609e-01 -2.21679907e-04 -5.92134492e+00] [-4.31928589e-03 2.63283290e-04 9.99990637e-01 -1.50052232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.310371743 meters 0.03228449402805807 Centerline is valid? [True, True] Translation: X:107.15, Y:-5.92, Z:-1.50 [[ 9.99954823e-01 -8.95541872e-03 3.18630330e-03 1.07148596e+02] [ 8.95598466e-03 9.99959881e-01 -1.63391749e-04 -5.92122087e+00] [-3.18471223e-03 1.91920850e-04 9.99994910e-01 -1.50075661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34037174299999 meters 0.0339132787163591 Centerline is valid? [True, True] Translation: X:107.18, Y:-5.93, Z:-1.50 [[ 9.99963948e-01 -7.93212375e-03 3.03056485e-03 1.07180053e+02] [ 7.93263156e-03 9.99968524e-01 -1.55581351e-04 -5.92578064e+00] [-3.02923537e-03 1.79616096e-04 9.99995396e-01 -1.50182071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37037174299999 meters 0.03438834290360682 Centerline is valid? [True, True] Translation: X:107.21, Y:-5.93, Z:-1.50 [[ 9.99972826e-01 -6.89070889e-03 2.62002510e-03 1.07211710e+02] [ 6.89108508e-03 9.99976247e-01 -1.34581698e-04 -5.92863581e+00] [-2.61903550e-03 1.52632857e-04 9.99996559e-01 -1.50260565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400371743 meters 0.033061685441756916 Centerline is valid? [True, True] Translation: X:107.24, Y:-5.93, Z:-1.50 [[ 9.99986120e-01 -4.99457405e-03 1.67739016e-03 1.07242959e+02] [ 4.99472591e-03 9.99987523e-01 -8.63539563e-05 -5.92983401e+00] [-1.67693793e-03 9.47308618e-05 9.99998589e-01 -1.50354516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.430371743 meters 0.032710915272431654 Centerline is valid? [True, True] Translation: X:107.28, Y:-5.93, Z:-1.50 [[ 9.99989389e-01 -4.23432669e-03 1.81469784e-03 1.07275336e+02] [ 4.23450259e-03 9.99991030e-01 -9.31008119e-05 -5.93194766e+00] [-1.81428734e-03 1.00784167e-04 9.99998349e-01 -1.50447090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460371743 meters 0.03147444427046914 Centerline is valid? [True, True] Translation: X:107.31, Y:-5.93, Z:-1.50 [[ 9.99994906e-01 -2.40724888e-03 2.09576056e-03 1.07306407e+02] [ 2.40748098e-03 9.99997096e-01 -1.08234279e-04 -5.93251513e+00] [-2.09549392e-03 1.13279232e-04 9.99997798e-01 -1.50396051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.490371743 meters 0.03225749881677185 Centerline is valid? [True, True] Translation: X:107.34, Y:-5.94, Z:-1.50 [[ 9.99996859e-01 -1.77583586e-03 1.76893391e-03 1.07337901e+02] [ 1.77599983e-03 9.99998419e-01 -9.11296073e-05 -5.93550519e+00] [-1.76876928e-03 9.42709474e-05 9.99998431e-01 -1.50468393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520371743 meters 0.03154999780593058 Centerline is valid? [True, True] Translation: X:107.37, Y:-5.94, Z:-1.50 [[ 9.99998553e-01 -1.15569177e-03 1.24855100e-03 1.07369257e+02] [ 1.15577306e-03 9.99999330e-01 -6.43944116e-05 -5.93630809e+00] [-1.24847574e-03 6.58373601e-05 9.99999218e-01 -1.50467228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.550371743 meters 0.033106507977174696 Centerline is valid? [True, True] Translation: X:107.40, Y:-5.94, Z:-1.51 [[ 9.99998496e-01 -9.13982449e-04 1.47382718e-03 1.07399293e+02] [ 9.14095163e-04 9.99999579e-01 -7.58053580e-05 -5.94092806e+00] [-1.47375727e-03 7.71524623e-05 9.99998911e-01 -1.50561086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580371743 meters 0.029158652190406774 Centerline is valid? [True, True] Translation: X:107.43, Y:-5.94, Z:-1.50 [[ 9.99998492e-01 -7.91341535e-04 1.54563251e-03 1.07431010e+02] [ 7.91466079e-04 9.99999684e-01 -7.99682464e-05 -5.93655093e+00] [-1.54556874e-03 8.11914416e-05 9.99998802e-01 -1.50425092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.610371743 meters 0.031195756011172644 Centerline is valid? [True, True] Translation: X:107.46, Y:-5.94, Z:-1.50 [[ 9.99994854e-01 -4.76222759e-04 3.17268994e-03 1.07460716e+02] [ 4.76748659e-04 9.99999873e-01 -1.65004224e-04 -5.94293810e+00] [-3.17261095e-03 1.66515951e-04 9.99994953e-01 -1.50402154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640371743 meters 0.03123656200307424 Centerline is valid? [True, True] Translation: X:107.49, Y:-5.95, Z:-1.50 [[ 9.99990656e-01 -1.11467770e-04 4.32155356e-03 1.07491879e+02] [ 1.12440128e-04 9.99999968e-01 -2.24759504e-04 -5.94516551e+00] [-4.32152837e-03 2.25243320e-04 9.99990637e-01 -1.50325978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.670371743 meters 0.030282425426654005 Centerline is valid? [True, True] Translation: X:107.52, Y:-5.95, Z:-1.50 [[ 9.99984338e-01 -3.91859219e-05 5.59656404e-03 1.07524518e+02] [ 4.08157618e-05 9.99999957e-01 -2.91107607e-04 -5.94648317e+00] [-5.59655239e-03 2.91331476e-04 9.99984297e-01 -1.50172404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.700371743 meters 0.03461648352816839 Centerline is valid? [True, True] Translation: X:107.56, Y:-5.96, Z:-1.50 [[ 9.99983374e-01 -7.18229308e-05 5.76604384e-03 1.07555597e+02] [ 7.35485528e-05 9.99999953e-01 -2.99061658e-04 -5.95539451e+00] [-5.76602209e-03 2.99480770e-04 9.99983332e-01 -1.50323878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73037174299999 meters 0.029706434801029344 Centerline is valid? [True, True] Translation: X:107.59, Y:-5.95, Z:-1.50 [[ 9.99982529e-01 -1.25797213e-04 5.90986676e-03 1.07588075e+02] [ 1.27618289e-04 9.99999945e-01 -3.07765417e-04 -5.95089759e+00] [-5.90982772e-03 3.08514247e-04 9.99982489e-01 -1.50266771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760371743 meters 0.030885131786902876 Centerline is valid? [True, True] Translation: X:107.62, Y:-5.96, Z:-1.50 [[ 9.99983729e-01 -2.02138401e-03 5.33435082e-03 1.07619391e+02] [ 2.02290081e-03 9.99997915e-01 -2.78965245e-04 -5.95731576e+00] [-5.33377581e-03 2.89751569e-04 9.99985733e-01 -1.50429418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.790371743 meters 0.0304859986583503 Centerline is valid? [True, True] Translation: X:107.65, Y:-5.96, Z:-1.50 [[ 9.99984385e-01 -3.21752960e-03 4.56926625e-03 1.07651070e+02] [ 3.21865753e-03 9.99994791e-01 -2.39519667e-04 -5.95930555e+00] [-4.56847179e-03 2.54222830e-04 9.99989532e-01 -1.50480224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820371743 meters 0.030353143453083424 Centerline is valid? [True, True] Translation: X:107.68, Y:-5.96, Z:-1.51 [[ 9.99981865e-01 -4.63537731e-03 3.84490367e-03 1.07683115e+02] [ 4.63619426e-03 9.99989232e-01 -2.03590000e-04 -5.96143838e+00] [-3.84391855e-03 2.21412028e-04 9.99992588e-01 -1.50546169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.850371743 meters 0.03304423700775219 Centerline is valid? [True, True] Translation: X:107.71, Y:-5.97, Z:-1.51 [[ 9.99967683e-01 -7.36444704e-03 3.22469529e-03 1.07712934e+02] [ 7.36503798e-03 9.99972863e-01 -1.71419158e-04 -5.96914803e+00] [-3.22334538e-03 1.95163622e-04 9.99994786e-01 -1.50694592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880371743 meters 0.033446202449076576 Centerline is valid? [True, True] Translation: X:107.74, Y:-5.97, Z:-1.51 [[ 9.99954017e-01 -9.00091598e-03 3.30867334e-03 1.07744748e+02] [ 9.00154534e-03 9.99959470e-01 -1.75373534e-04 -5.97297329e+00] [-3.30696072e-03 2.05148642e-04 9.99994511e-01 -1.50708633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.910371743 meters 0.033568211015840024 Centerline is valid? [True, True] Translation: X:107.78, Y:-5.98, Z:-1.51 [[ 9.99950528e-01 -9.32181452e-03 3.47051037e-03 1.07776873e+02] [ 9.32250992e-03 9.99956527e-01 -1.84250683e-04 -5.97562708e+00] [-3.46864195e-03 2.16595435e-04 9.99993961e-01 -1.50747603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940371743 meters 0.033568211015840024 Centerline is valid? [True, True] Translation: X:107.81, Y:-5.98, Z:-1.51 [[ 9.99951196e-01 -9.24991214e-03 3.47049711e-03 1.07808579e+02] [ 9.25060797e-03 9.99957195e-01 -1.84499695e-04 -5.97737999e+00] [-3.46864195e-03 2.16594899e-04 9.99993961e-01 -1.50792172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.970371743 meters 0.03355157180001114 Centerline is valid? [True, True] Translation: X:107.84, Y:-5.98, Z:-1.51 [[ 9.99951086e-01 -9.25467074e-03 3.48961000e-03 1.07840524e+02] [ 9.25537518e-03 9.99957151e-01 -1.85772024e-04 -5.97982661e+00] [-3.48774121e-03 2.18060587e-04 9.99993894e-01 -1.50837315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000371743 meters 0.03491842433083325 Centerline is valid? [True, True] Translation: X:107.87, Y:-5.98, Z:-1.51 [[ 9.99951986e-01 -9.14900833e-03 3.51006498e-03 1.07871649e+02] [ 9.14972199e-03 9.99958123e-01 -1.87314419e-04 -5.98408359e+00] [-3.50820425e-03 2.19421544e-04 9.99993822e-01 -1.50907518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.030371743 meters 0.03525862310393603 Centerline is valid? [True, True] Translation: X:107.90, Y:-5.99, Z:-1.51 [[ 9.99955729e-01 -8.69196507e-03 3.60411884e-03 1.07902368e+02] [ 8.69271261e-03 9.99962199e-01 -1.91799720e-04 -5.98644696e+00] [-3.60231549e-03 2.23120799e-04 9.99993487e-01 -1.50967602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.060371743 meters 0.03578676182928863 Centerline is valid? [True, True] Translation: X:107.93, Y:-5.99, Z:-1.51 [[ 9.99963441e-01 -7.88344314e-03 3.31172260e-03 1.07933093e+02] [ 7.88407338e-03 9.99968904e-01 -1.77293234e-04 -5.98854938e+00] [-3.31022194e-03 2.03396616e-04 9.99994501e-01 -1.51032745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09037174299999 meters 0.0361807513230905 Centerline is valid? [True, True] Translation: X:107.97, Y:-5.99, Z:-1.51 [[ 9.99962423e-01 -7.88323211e-03 3.60666040e-03 1.07965247e+02] [ 7.88397990e-03 9.99968902e-01 -1.93163346e-04 -5.99105078e+00] [-3.60502549e-03 2.21590925e-04 9.99993477e-01 -1.51094692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12037174299999 meters 0.03781899699878346 Centerline is valid? [True, True] Translation: X:108.00, Y:-6.00, Z:-1.51 [[ 9.99957888e-01 -8.33759916e-03 3.83504307e-03 1.07995821e+02] [ 8.33844992e-03 9.99965213e-01 -2.05902014e-04 -5.99601244e+00] [-3.83319294e-03 2.37871658e-04 9.99992625e-01 -1.51235238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.150371743 meters 0.038277124102854984 Centerline is valid? [True, True] Translation: X:108.03, Y:-6.00, Z:-1.51 [[ 9.99953805e-01 -8.84595519e-03 3.75992496e-03 1.08028226e+02] [ 8.84677658e-03 9.99960846e-01 -2.01882969e-04 -5.99905432e+00] [-3.75799189e-03 2.35136859e-04 9.99992911e-01 -1.51318804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180371743 meters 0.03896730620102975 Centerline is valid? [True, True] Translation: X:108.06, Y:-6.00, Z:-1.51 [[ 9.99948135e-01 -9.36209641e-03 4.00971682e-03 1.08060568e+02] [ 9.36303605e-03 9.99956143e-01 -2.15632754e-04 -6.00168945e+00] [-4.00752219e-03 2.53164694e-04 9.99991938e-01 -1.51409108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.210371743 meters 0.03408956508634136 Centerline is valid? [True, True] Translation: X:108.09, Y:-6.00, Z:-1.51 [[ 9.99931677e-01 -1.12246226e-02 3.26339181e-03 1.08091965e+02] [ 1.12252568e-02 9.99936979e-01 -1.76076365e-04 -5.99520198e+00] [-3.26120976e-03 2.12696746e-04 9.99994660e-01 -1.51384445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240371743 meters 0.0330874043965912 Centerline is valid? [True, True] Translation: X:108.12, Y:-5.99, Z:-1.51 [[ 9.99921385e-01 -1.22282335e-02 2.77366195e-03 1.08124349e+02] [ 1.22286937e-02 9.99925216e-01 -1.49037573e-04 -5.99482651e+00] [-2.77163206e-03 1.82944119e-04 9.99996142e-01 -1.51454857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.270371743 meters 0.03580216848007118 Centerline is valid? [True, True] Translation: X:108.15, Y:-6.00, Z:-1.52 [[ 9.99892074e-01 -1.46190947e-02 1.45719685e-03 1.08153883e+02] [ 1.46192251e-02 9.99893130e-01 -7.88439824e-05 -5.99952737e+00] [-1.45588849e-03 1.00138562e-04 9.99998935e-01 -1.51648677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300371743 meters 0.03948117645757578 Centerline is valid? [True, True] Translation: X:108.18, Y:-6.01, Z:-1.52 [[ 9.99869230e-01 -1.61373767e-02 1.05231851e-03 1.08184094e+02] [ 1.61374450e-02 9.99869781e-01 -5.64719409e-05 -6.00579462e+00] [-1.05127017e-03 7.34462882e-05 9.99999445e-01 -1.51851314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.330371743 meters 0.037318258565210365 Centerline is valid? [True, True] Translation: X:108.22, Y:-6.00, Z:-1.52 [[ 9.99822058e-01 -1.88556218e-02 5.62982438e-04 1.08215793e+02] [ 1.88556416e-02 9.99822216e-01 -2.99951870e-05 -6.00268102e+00] [-5.62316771e-04 4.06052447e-05 9.99999841e-01 -1.51880513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360371743 meters 0.03920495043679155 Centerline is valid? [True, True] Translation: X:108.25, Y:-6.01, Z:-1.52 [[ 9.99790599e-01 -2.04610632e-02 3.20952452e-04 1.08245520e+02] [ 2.04610698e-02 9.99790650e-01 -1.73887586e-05 -6.00560890e+00] [-3.20529468e-04 2.39521479e-05 9.99999948e-01 -1.51949779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.390371743 meters 0.04033353355681587 Centerline is valid? [True, True] Translation: X:108.28, Y:-6.01, Z:-1.52 [[ 9.99761621e-01 -2.18334958e-02 5.04400636e-06 1.08277404e+02] [ 2.18334958e-02 9.99761621e-01 4.78045134e-07 -6.00635891e+00] [-5.05324146e-06 -3.67802883e-07 1.00000000e+00 -1.51972685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420371743 meters 0.04069801536332457 Centerline is valid? [True, True] Translation: X:108.31, Y:-6.01, Z:-1.52 [[ 9.99754832e-01 -2.21404641e-02 2.74151613e-04 1.08309464e+02] [ 2.21404687e-02 9.99754870e-01 -1.38863415e-05 -6.00669252e+00] [-2.73776960e-04 1.99527822e-05 9.99999962e-01 -1.52012222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.450371743 meters 0.03965208354630835 Centerline is valid? [True, True] Translation: X:108.34, Y:-6.01, Z:-1.52 [[ 9.99751999e-01 -2.22530857e-02 8.60232504e-04 1.08341746e+02] [ 2.22531333e-02 9.99752367e-01 -4.57637191e-05 -6.00518890e+00] [-8.59001098e-04 6.48952382e-05 9.99999629e-01 -1.52010410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48037174299999 meters 0.04094257228028411 Centerline is valid? [True, True] Translation: X:108.37, Y:-6.01, Z:-1.52 [[ 9.99766905e-01 -2.15813292e-02 6.17959539e-04 1.08373478e+02] [ 2.15813535e-02 9.99767095e-01 -3.26446622e-05 -6.00530962e+00] [-6.17111098e-04 4.59734562e-05 9.99999809e-01 -1.52093060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.510371743 meters 0.04064993480122331 Centerline is valid? [True, True] Translation: X:108.41, Y:-6.00, Z:-1.52 [[ 9.99768081e-01 -2.15160796e-02 9.18079574e-04 1.08406306e+02] [ 2.15161332e-02 9.99768500e-01 -4.85834471e-05 -6.00496902e+00] [-9.16821713e-04 6.83257021e-05 9.99999577e-01 -1.52153812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540371743 meters 0.041715001216885664 Centerline is valid? [True, True] Translation: X:108.44, Y:-6.01, Z:-1.52 [[ 9.99770619e-01 -2.13825824e-02 1.22232523e-03 1.08437682e+02] [ 2.13826790e-02 9.99771362e-01 -6.60038594e-05 -6.00663882e+00] [-1.22063443e-03 9.21253074e-05 9.99999251e-01 -1.52230445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.570371743 meters 0.04289036329458548 Centerline is valid? [True, True] Translation: X:108.47, Y:-6.01, Z:-1.52 [[ 9.99774171e-01 -2.12267990e-02 1.01496337e-03 1.08469672e+02] [ 2.12268650e-02 9.99774683e-01 -5.42828405e-05 -6.00841734e+00] [-1.01358243e-03 7.58150723e-05 9.99999483e-01 -1.52343082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600371743 meters 0.04399545537942537 Centerline is valid? [True, True] Translation: X:108.50, Y:-6.01, Z:-1.52 [[ 9.99759435e-01 -2.19302800e-02 3.67294607e-04 1.08500833e+02] [ 2.19302886e-02 9.99759502e-01 -1.93780278e-05 -6.00827621e+00] [-3.66781308e-04 2.74282429e-05 9.99999932e-01 -1.52418019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.630371743 meters 0.0445037796028913 Centerline is valid? [True, True] Translation: X:108.53, Y:-6.01, Z:-1.52 [[ 9.99759926e-01 -2.19105641e-02 1.32516076e-04 1.08532908e+02] [ 2.19105651e-02 9.99759935e-01 -6.29796862e-06 -6.00671466e+00] [-1.32346271e-04 9.19995876e-06 9.99999991e-01 -1.52465417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660371743 meters 0.04494363642211519 Centerline is valid? [True, True] Translation: X:108.57, Y:-6.01, Z:-1.53 [[ 9.99772483e-01 -2.13178836e-02 7.28159005e-04 1.08565157e+02] [ 2.13179176e-02 9.99772747e-01 -3.90057559e-05 -6.00725982e+00] [-7.27162009e-04 5.45197151e-05 9.99999734e-01 -1.52500768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.690371743 meters 0.03756983854780648 Centerline is valid? [True, True] Translation: X:108.60, Y:-6.00, Z:-1.52 [[ 9.99790700e-01 -2.04369887e-02 9.41245616e-04 1.08597940e+02] [ 2.04370454e-02 9.99791140e-01 -5.07024642e-05 -5.99680657e+00] [-9.40012822e-04 6.99281316e-05 9.99999556e-01 -1.52369517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720371743 meters 0.038656023249487186 Centerline is valid? [True, True] Translation: X:108.63, Y:-6.00, Z:-1.52 [[ 9.99841286e-01 -1.77810698e-02 1.11204262e-03 1.08628259e+02] [ 1.77811488e-02 9.99841901e-01 -6.11153123e-05 -5.99574579e+00] [-1.11078011e-03 8.08790076e-05 9.99999380e-01 -1.52419201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.750371743 meters 0.037586132868362196 Centerline is valid? [True, True] Translation: X:108.66, Y:-5.99, Z:-1.52 [[ 9.99870272e-01 -1.60909382e-02 7.21143661e-04 1.08659872e+02] [ 1.60909706e-02 9.99870531e-01 -3.91521031e-05 -5.99293551e+00] [-7.20420302e-04 5.07509254e-05 9.99999739e-01 -1.52490118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780371743 meters 0.03546261501201217 Centerline is valid? [True, True] Translation: X:108.69, Y:-5.99, Z:-1.52 [[ 9.99906120e-01 -1.36821122e-02 7.42253526e-04 1.08691034e+02] [ 1.36821461e-02 9.99906394e-01 -4.05782331e-05 -5.98901355e+00] [-7.41628851e-04 5.07300447e-05 9.99999724e-01 -1.52489605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.810371743 meters 0.042476355590155876 Centerline is valid? [True, True] Translation: X:108.72, Y:-5.99, Z:-1.53 [[ 9.99958121e-01 -9.15146525e-03 -8.40146785e-05 1.08720245e+02] [ 9.15146565e-03 9.99958124e-01 4.38579138e-06 -5.99456721e+00] [ 8.39710238e-05 -5.15446515e-06 9.99999996e-01 -1.52873938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84037174299999 meters 0.034290956478881716 Centerline is valid? [True, True] Translation: X:108.75, Y:-5.98, Z:-1.53 [[ 9.99975551e-01 -6.99255019e-03 -3.45216158e-05 1.08753068e+02] [ 6.99255028e-03 9.99975552e-01 2.65758949e-06 -5.98186747e+00] [ 3.45021884e-05 -2.89891864e-06 9.99999999e-01 -1.52727024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87037174299999 meters 0.0346025955252564 Centerline is valid? [True, True] Translation: X:108.78, Y:-5.98, Z:-1.53 [[ 9.99994219e-01 -3.37108882e-03 -4.43619472e-04 1.08783592e+02] [ 3.37109998e-03 9.99994318e-01 2.44209176e-05 -5.97851893e+00] [ 4.43534626e-04 -2.59162621e-05 9.99999901e-01 -1.52811295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900371743 meters 0.03444646925532904 Centerline is valid? [True, True] Translation: X:108.82, Y:-5.98, Z:-1.53 [[ 9.99998039e-01 -1.93707494e-03 -4.11611387e-04 1.08815023e+02] [ 1.93708464e-03 9.99998124e-01 2.31645286e-05 -5.97774187e+00] [ 4.11565743e-04 -2.39618092e-05 9.99999915e-01 -1.52842147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.930371743 meters 0.032858341366862574 Centerline is valid? [True, True] Translation: X:108.85, Y:-5.97, Z:-1.53 [[ 9.99999907e-01 -4.24521201e-04 7.43042879e-05 1.08845700e+02] [ 4.24521507e-04 9.99999910e-01 -4.09299817e-06 -5.97486490e+00] [-7.43025437e-05 4.12454156e-06 9.99999997e-01 -1.52842709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960371743 meters 0.03099167157615596 Centerline is valid? [True, True] Translation: X:108.88, Y:-5.97, Z:-1.53 [[ 9.99997167e-01 2.30549761e-03 5.92812508e-04 1.08876725e+02] [-2.30547866e-03 9.99997342e-01 -3.26546500e-05 -5.96886543e+00] [-5.92886217e-04 3.12878409e-05 9.99999824e-01 -1.52749807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.990371743 meters 0.032473065866263265 Centerline is valid? [True, True] Translation: X:108.91, Y:-5.97, Z:-1.53 [[ 9.99990960e-01 4.12459617e-03 1.03323555e-03 1.08906038e+02] [-4.12453985e-03 9.99991492e-01 -5.66252846e-05 -5.97032527e+00] [-1.03346032e-03 5.23631515e-05 9.99999465e-01 -1.52823700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020371743 meters 0.028077105714799804 Centerline is valid? [True, True] Translation: X:108.94, Y:-5.96, Z:-1.53 [[ 9.99960635e-01 8.53977045e-03 2.40835303e-03 1.08936440e+02] [-8.53947504e-03 9.99963529e-01 -1.32918467e-04 -5.95933357e+00] [-2.40940029e-03 1.12347164e-04 9.99997091e-01 -1.52596566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.050371743 meters 0.03085847827540017 Centerline is valid? [True, True] Translation: X:108.96, Y:-5.96, Z:-1.53 [[ 9.99933550e-01 1.11359445e-02 2.98103328e-03 1.08964617e+02] [-1.11355025e-02 9.99937985e-01 -1.64819438e-04 -5.96312058e+00] [-2.98268383e-03 1.31613182e-04 9.99995543e-01 -1.52773138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080371743 meters 0.02681329104597608 Centerline is valid? [True, True] Translation: X:108.99, Y:-5.96, Z:-1.53 [[ 9.99897403e-01 1.39515732e-02 3.24623508e-03 1.08994881e+02] [-1.39510654e-02 9.99902663e-01 -1.79046460e-04 -5.95525353e+00] [-3.24841708e-03 1.33739653e-04 9.99994715e-01 -1.52674006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.110371743 meters 0.02632174362104845 Centerline is valid? [True, True] Translation: X:109.02, Y:-5.95, Z:-1.53 [[ 9.99819591e-01 1.85324860e-02 4.16329713e-03 1.09024114e+02] [-1.85316915e-02 9.99828247e-01 -2.29330645e-04 -5.95165304e+00] [-4.16683214e-03 1.52136333e-04 9.99991307e-01 -1.52737549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140371743 meters 0.02856850471648927 Centerline is valid? [True, True] Translation: X:109.05, Y:-5.96, Z:-1.53 [[ 9.99795078e-01 1.96953752e-02 4.67923040e-03 1.09052247e+02] [-1.96943839e-02 9.99806014e-01 -2.57842942e-04 -5.95579569e+00] [-4.68340100e-03 1.65635545e-04 9.99989019e-01 -1.52940048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.170371743 meters 0.0258933107112836 Centerline is valid? [True, True] Translation: X:109.08, Y:-5.95, Z:-1.53 [[ 9.99786508e-01 2.01286553e-02 4.66635473e-03 1.09081646e+02] [-2.01276756e-02 9.99797385e-01 -2.56812533e-04 -5.94941787e+00] [-4.67057855e-03 1.62834832e-04 9.99989080e-01 -1.52878235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.200371743 meters 0.02621148904938305 Centerline is valid? [True, True] Translation: X:109.11, Y:-5.95, Z:-1.53 [[ 9.99801387e-01 1.93421277e-02 4.80299623e-03 1.09110696e+02] [-1.93410825e-02 9.99812909e-01 -2.63960874e-04 -5.95045994e+00] [-4.80720320e-03 1.71013301e-04 9.99988431e-01 -1.52943091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23037174299999 meters 0.02618459715620273 Centerline is valid? [True, True] Translation: X:109.14, Y:-5.95, Z:-1.53 [[ 9.99825477e-01 1.80272137e-02 4.90255346e-03 1.09139206e+02] [-1.80261107e-02 9.99837480e-01 -2.69072707e-04 -5.95080550e+00] [-4.90660733e-03 1.80651776e-04 9.99987946e-01 -1.52944684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260371743 meters 0.027280755107694486 Centerline is valid? [True, True] Translation: X:109.17, Y:-5.95, Z:-1.53 [[ 9.99885383e-01 1.42108774e-02 5.22221324e-03 1.09168426e+02] [-1.42095771e-02 9.99898998e-01 -2.86018123e-04 -5.95357679e+00] [-5.22575035e-03 2.11779899e-04 9.99986323e-01 -1.53009083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.290371743 meters 0.02939453299255181 Centerline is valid? [True, True] Translation: X:109.20, Y:-5.96, Z:-1.53 [[ 9.99910526e-01 1.22739613e-02 5.31880718e-03 1.09196591e+02] [-1.22725867e-02 9.99924647e-01 -2.91006740e-04 -5.95883853e+00] [-5.32197819e-03 2.25705181e-04 9.99985813e-01 -1.53125956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320371743 meters 0.03090690175232216 Centerline is valid? [True, True] Translation: X:109.23, Y:-5.96, Z:-1.53 [[ 9.99952753e-01 8.04898014e-03 5.45021591e-03 1.09226405e+02] [-8.04747748e-03 9.99967574e-01 -2.97581069e-04 -5.96310441e+00] [-5.45243441e-03 2.53706519e-04 9.99985103e-01 -1.53165363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.350371743 meters 0.0325504433842574 Centerline is valid? [True, True] Translation: X:109.26, Y:-5.97, Z:-1.53 [[ 9.99967882e-01 6.09557907e-03 5.20368552e-03 1.09255643e+02] [-6.09418330e-03 9.99981390e-01 -2.84041091e-04 -5.96724356e+00] [-5.20532007e-03 2.52319754e-04 9.99986420e-01 -1.53248732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380371743 meters 0.03139852381828515 Centerline is valid? [True, True] Translation: X:109.29, Y:-5.97, Z:-1.53 [[ 9.99978671e-01 4.03917815e-03 5.13246632e-03 1.09285634e+02] [-4.03779446e-03 9.99991809e-01 -2.79927084e-04 -5.96656531e+00] [-5.13355496e-03 2.59197269e-04 9.99986790e-01 -1.53214229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.410371743 meters 0.0316644662944827 Centerline is valid? [True, True] Translation: X:109.32, Y:-5.97, Z:-1.53 [[ 9.99985695e-01 3.10528076e-04 5.33976698e-03 1.09316622e+02] [-3.08979430e-04 9.99999910e-01 -2.90843829e-04 -5.96731000e+00] [-5.33985681e-03 2.89189790e-04 9.99985701e-01 -1.53165124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440371743 meters 0.0325163672850795 Centerline is valid? [True, True] Translation: X:109.35, Y:-5.97, Z:-1.53 [[ 9.99983357e-01 -7.25572461e-04 5.72351111e-03 1.09347483e+02] [ 7.27361224e-04 9.99999687e-01 -3.10453482e-04 -5.97064444e+00] [-5.72328407e-03 3.14611375e-04 9.99983572e-01 -1.53160219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.470371743 meters 0.03278800957043268 Centerline is valid? [True, True] Translation: X:109.38, Y:-5.97, Z:-1.53 [[ 9.99980225e-01 -9.97581378e-04 6.20926170e-03 1.09379883e+02] [ 9.99710359e-04 9.99999443e-01 -3.39777491e-04 -5.97345009e+00] [-6.20891928e-03 3.45978235e-04 9.99980665e-01 -1.53249769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500371743 meters 0.03572020055856277 Centerline is valid? [True, True] Translation: X:109.41, Y:-5.98, Z:-1.53 [[ 9.99978844e-01 -7.25636906e-04 6.46412728e-03 1.09411073e+02] [ 7.27938903e-04 9.99999672e-01 -3.53773188e-04 -5.98013634e+00] [-6.46386846e-03 3.58471193e-04 9.99979045e-01 -1.53375961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.530371743 meters 0.03666829741681388 Centerline is valid? [True, True] Translation: X:109.44, Y:-5.98, Z:-1.53 [[ 9.99978340e-01 -7.96375770e-04 6.53333895e-03 1.09442347e+02] [ 7.98738566e-04 9.99999617e-01 -3.59050806e-04 -5.98329222e+00] [-6.53305051e-03 3.64261459e-04 9.99978593e-01 -1.53466017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.560371743 meters 0.03236826292180784 Centerline is valid? [True, True] Translation: X:109.48, Y:-5.98, Z:-1.53 [[ 9.99984809e-01 -2.38942932e-03 4.96717336e-03 1.09475041e+02] [ 2.39081409e-03 9.99997105e-01 -2.72865271e-04 -5.97810701e+00] [-4.96650698e-03 2.84736714e-04 9.99987626e-01 -1.53479861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59037174299999 meters 0.03309162562475762 Centerline is valid? [True, True] Translation: X:109.51, Y:-5.98, Z:-1.54 [[ 9.99988229e-01 -3.02153349e-03 3.79626276e-03 1.09506596e+02] [ 3.02234773e-03 9.99995411e-01 -2.08766369e-04 -5.98086530e+00] [-3.79561454e-03 2.20237538e-04 9.99992772e-01 -1.53653018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62037174299999 meters 0.03243690970961247 Centerline is valid? [True, True] Translation: X:109.54, Y:-5.98, Z:-1.54 [[ 9.99993994e-01 -3.11845515e-03 1.51242264e-03 1.09538734e+02] [ 3.11858358e-03 9.99995134e-01 -8.25625024e-05 -5.98203115e+00] [-1.51215781e-03 8.72786229e-05 9.99998853e-01 -1.53888703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.650371743 meters 0.03317302071763927 Centerline is valid? [True, True] Translation: X:109.57, Y:-5.99, Z:-1.54 [[ 9.99995926e-01 -2.79830480e-03 5.64142487e-04 1.09569754e+02] [ 2.79832242e-03 9.99996084e-01 -3.04477352e-05 -5.98528232e+00] [-5.64055076e-04 3.20262637e-05 9.99999840e-01 -1.54065507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680371743 meters 0.03452413446236763 Centerline is valid? [True, True] Translation: X:109.60, Y:-5.99, Z:-1.54 [[ 9.99997264e-01 -2.33801439e-03 7.99255738e-05 1.09600797e+02] [ 2.33801469e-03 9.99997267e-01 -3.67717763e-06 -5.98933044e+00] [-7.99167582e-05 3.86403474e-06 9.99999997e-01 -1.54220585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.710371743 meters 0.03273885266639921 Centerline is valid? [True, True] Translation: X:109.63, Y:-5.99, Z:-1.54 [[ 9.99999628e-01 -8.32725342e-04 2.25374883e-04 1.09631994e+02] [ 8.32728064e-04 9.99999653e-01 -1.19833620e-05 -5.98737446e+00] [-2.25364826e-04 1.21710335e-05 9.99999975e-01 -1.54191718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740371743 meters 0.03281852752406143 Centerline is valid? [True, True] Translation: X:109.66, Y:-5.99, Z:-1.54 [[ 9.99999529e-01 4.07935202e-04 8.80547127e-04 1.09663099e+02] [-4.07892603e-04 9.99999916e-01 -4.85570548e-05 -5.98816783e+00] [-8.80566860e-04 4.81978633e-05 9.99999611e-01 -1.54183266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.770371743 meters 0.030689707658644715 Centerline is valid? [True, True] Translation: X:109.69, Y:-5.98, Z:-1.54 [[ 9.99991693e-01 3.27397797e-03 2.42805902e-03 1.09693989e+02] [-3.27366083e-03 9.99994633e-01 -1.34579917e-04 -5.98350002e+00] [-2.42848660e-03 1.26630157e-04 9.99997043e-01 -1.53954228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800371743 meters 0.03180903097360351 Centerline is valid? [True, True] Translation: X:109.72, Y:-5.99, Z:-1.54 [[ 9.99983503e-01 4.56006792e-03 3.49275122e-03 1.09723609e+02] [-4.55941882e-03 9.99989587e-01 -1.93781504e-04 -5.98630831e+00] [-3.49359850e-03 1.77853392e-04 9.99993882e-01 -1.53918302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.830371743 meters 0.03180903097360351 Centerline is valid? [True, True] Translation: X:109.75, Y:-5.99, Z:-1.54 [[ 9.99983503e-01 4.56006439e-03 3.49276512e-03 1.09753600e+02] [-4.55941617e-03 9.99989587e-01 -1.93530656e-04 -5.98797022e+00] [-3.49361126e-03 1.77602493e-04 9.99993882e-01 -1.53960501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860371743 meters 0.030193402489591344 Centerline is valid? [True, True] Translation: X:109.78, Y:-5.99, Z:-1.54 [[ 9.99972357e-01 6.01048512e-03 4.37709057e-03 1.09784371e+02] [-6.00948096e-03 9.99981913e-01 -2.42530253e-04 -5.98624284e+00] [-4.37846913e-03 2.16219507e-04 9.99990391e-01 -1.53904143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.890371743 meters 0.03146439604693192 Centerline is valid? [True, True] Translation: X:109.81, Y:-5.99, Z:-1.54 [[ 9.99950277e-01 8.32892119e-03 5.48388504e-03 1.09813787e+02] [-8.32737893e-03 9.99965281e-01 -3.04007851e-04 -5.98838442e+00] [-5.48622670e-03 2.58326346e-04 9.99984917e-01 -1.53843281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920371743 meters 0.028288862352845428 Centerline is valid? [True, True] Translation: X:109.84, Y:-5.98, Z:-1.54 [[ 9.99946029e-01 9.08440971e-03 5.04109383e-03 1.09843360e+02] [-9.08311554e-03 9.99958709e-01 -2.79559807e-04 -5.98352294e+00] [-5.04342531e-03 2.33755881e-04 9.99987255e-01 -1.53772076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.950371743 meters 0.029103576277381873 Centerline is valid? [True, True] Translation: X:109.87, Y:-5.99, Z:-1.54 [[ 9.99940993e-01 9.68006711e-03 4.93012465e-03 1.09872159e+02] [-9.67883655e-03 9.99953122e-01 -2.73399280e-04 -5.98550923e+00] [-4.93254005e-03 2.25665277e-04 9.99987809e-01 -1.53841792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98037174299999 meters 0.029082676688448134 Centerline is valid? [True, True] Translation: X:109.90, Y:-5.99, Z:-1.54 [[ 9.99941895e-01 1.03038520e-02 3.16816303e-03 1.09900663e+02] [-1.03033461e-02 9.99946904e-01 -1.75969039e-04 -5.98555730e+00] [-3.16980797e-03 1.43316134e-04 9.99994966e-01 -1.54019672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.010371743 meters 0.029230754082758627 Centerline is valid? [True, True] Translation: X:109.93, Y:-5.99, Z:-1.54 [[ 9.99942649e-01 1.03959187e-02 2.57363962e-03 1.09929420e+02] [-1.03955851e-02 9.99945954e-01 -1.42947533e-04 -5.98731456e+00] [-2.57498659e-03 1.16184845e-04 9.99996678e-01 -1.54149304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040371743 meters 0.027949866166254427 Centerline is valid? [True, True] Translation: X:109.96, Y:-5.99, Z:-1.54 [[ 9.99943762e-01 1.04213340e-02 1.96700673e-03 1.09958563e+02] [-1.04211389e-02 9.99945692e-01 -1.09373339e-04 -5.98662569e+00] [-1.96803972e-03 8.88687376e-05 9.99998059e-01 -1.54209008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.070371743 meters 0.028961662631134356 Centerline is valid? [True, True] Translation: X:109.99, Y:-5.99, Z:-1.54 [[ 9.99945517e-01 1.03829565e-02 1.07612287e-03 1.09985878e+02] [-1.03828974e-02 9.99946094e-01 -6.04462861e-05 -5.99032292e+00] [-1.07669247e-03 4.92697194e-05 9.99999419e-01 -1.54368938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100371743 meters 0.028053387388321305 Centerline is valid? [True, True] Translation: X:110.01, Y:-5.99, Z:-1.54 [[ 9.99945546e-01 1.04128749e-02 6.90874210e-04 1.10014339e+02] [-1.04128505e-02 9.99945784e-01 -3.89628837e-05 -5.98982909e+00] [-6.91242470e-04 3.17667922e-05 9.99999761e-01 -1.54366974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.130371743 meters 0.029079502511836313 Centerline is valid? [True, True] Translation: X:110.04, Y:-5.99, Z:-1.54 [[ 9.99945505e-01 1.04059152e-02 8.39575101e-04 1.10042067e+02] [-1.04058791e-02 9.99945856e-01 -4.72948617e-05 -5.99264444e+00] [-8.40021790e-04 3.85557673e-05 9.99999646e-01 -1.54402724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160371743 meters 0.028933592211536047 Centerline is valid? [True, True] Translation: X:110.07, Y:-5.99, Z:-1.54 [[ 9.99935490e-01 1.10188054e-02 2.75707604e-03 1.10071185e+02] [-1.10184281e-02 9.99939284e-01 -1.51977906e-04 -5.99420424e+00] [-2.75858325e-03 1.21589458e-04 9.99996188e-01 -1.54293633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.190371743 meters 0.02949627465740396 Centerline is valid? [True, True] Translation: X:110.10, Y:-6.00, Z:-1.54 [[ 9.99931003e-01 1.12347030e-02 3.43086109e-03 1.10098883e+02] [-1.12341211e-02 9.99936877e-01 -1.88813625e-04 -5.99701656e+00] [-3.43276579e-03 1.50257889e-04 9.99994097e-01 -1.54257504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220371743 meters 0.028726513716047924 Centerline is valid? [True, True] Translation: X:110.13, Y:-6.00, Z:-1.54 [[ 9.99925527e-01 1.13000471e-02 4.60977288e-03 1.10127557e+02] [-1.12990019e-02 9.99936132e-01 -2.52719050e-04 -5.99816010e+00] [-4.61233421e-03 2.00614396e-04 9.99989343e-01 -1.54111982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.250371743 meters 0.02812793027649666 Centerline is valid? [True, True] Translation: X:110.16, Y:-6.00, Z:-1.54 [[ 9.99925047e-01 1.12900295e-02 4.73670147e-03 1.10155955e+02] [-1.12889275e-02 9.99936244e-01 -2.59321994e-04 -5.99931415e+00] [-4.73932723e-03 2.05830277e-04 9.99988748e-01 -1.54065030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280371743 meters 0.028021942644357048 Centerline is valid? [True, True] Translation: X:110.18, Y:-6.00, Z:-1.54 [[ 9.99929260e-01 1.08937510e-02 4.77500197e-03 1.10184849e+02] [-1.08926283e-02 9.99940639e-01 -2.61065445e-04 -6.00144888e+00] [-4.77756250e-03 2.09034656e-04 9.99988566e-01 -1.54087318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.310371743 meters 0.028435753220008922 Centerline is valid? [True, True] Translation: X:110.21, Y:-6.01, Z:-1.54 [[ 9.99930378e-01 1.09817245e-02 4.31747806e-03 1.10212402e+02] [-1.09808077e-02 9.99939681e-01 -2.36001424e-04 -6.00521826e+00] [-4.31980934e-03 1.88575596e-04 9.99990652e-01 -1.54183454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34037174299999 meters 0.02763024359280262 Centerline is valid? [True, True] Translation: X:110.24, Y:-6.01, Z:-1.54 [[ 9.99920492e-01 1.21688481e-02 3.30573592e-03 1.10241176e+02] [-1.21683177e-02 9.99925947e-01 -1.80508008e-04 -6.00646691e+00] [-3.30768769e-03 1.40268412e-04 9.99994520e-01 -1.54320806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37037174299999 meters 0.027020208334301236 Centerline is valid? [True, True] Translation: X:110.27, Y:-6.01, Z:-1.54 [[ 9.99907920e-01 1.32376041e-02 2.98603261e-03 1.10270277e+02] [-1.32371765e-02 9.99912371e-01 -1.62936077e-04 -6.00800212e+00] [-2.98792784e-03 1.23394433e-04 9.99995529e-01 -1.54408091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400371743 meters 0.027419031143875842 Centerline is valid? [True, True] Translation: X:110.30, Y:-6.01, Z:-1.54 [[ 9.99896542e-01 1.41516444e-02 2.57590365e-03 1.10297960e+02] [-1.41513288e-02 9.99899855e-01 -1.40709938e-04 -6.01034040e+00] [-2.57763697e-03 1.04242921e-04 9.99996672e-01 -1.54487818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.430371743 meters 0.02685669782865522 Centerline is valid? [True, True] Translation: X:110.33, Y:-6.01, Z:-1.54 [[ 9.99859508e-01 1.64769770e-02 3.07787875e-03 1.10325583e+02] [-1.64765390e-02 9.99864239e-01 -1.67596161e-04 -6.01277042e+00] [-3.08022237e-03 1.16859825e-04 9.99995249e-01 -1.54483598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460371743 meters 0.026506553124161784 Centerline is valid? [True, True] Translation: X:110.35, Y:-6.01, Z:-1.54 [[ 9.99843897e-01 1.73538941e-02 3.32016709e-03 1.10354556e+02] [-1.73533912e-02 9.99849402e-01 -1.80211523e-04 -6.01407538e+00] [-3.32279445e-03 1.22567233e-04 9.99994472e-01 -1.54480748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.490371743 meters 0.025929182409865813 Centerline is valid? [True, True] Translation: X:110.38, Y:-6.02, Z:-1.54 [[ 9.99828044e-01 1.82598422e-02 3.23431903e-03 1.10383563e+02] [-1.82593703e-02 9.99833268e-01 -1.75356451e-04 -6.01513025e+00] [-3.23698175e-03 1.16269669e-04 9.99994754e-01 -1.54485084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520371743 meters 0.024651502759878017 Centerline is valid? [True, True] Translation: X:110.41, Y:-6.02, Z:-1.54 [[ 9.99817276e-01 1.89936483e-02 2.15792041e-03 1.10412188e+02] [-1.89934396e-02 9.99819601e-01 -1.17198827e-04 -6.01549421e+00] [-2.15975716e-03 7.61910814e-05 9.99997665e-01 -1.54446934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.550371743 meters 0.02543532891140316 Centerline is valid? [True, True] Translation: X:110.44, Y:-6.02, Z:-1.55 [[ 9.99814122e-01 1.91876929e-02 1.88506112e-03 1.10439724e+02] [-1.91875336e-02 9.99815897e-01 -1.02582642e-04 -6.01954133e+00] [-1.88668240e-03 6.63939011e-05 9.99998218e-01 -1.54605204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580371743 meters 0.025147360764598028 Centerline is valid? [True, True] Translation: X:110.47, Y:-6.02, Z:-1.55 [[ 9.99826780e-01 1.85263243e-02 1.78495666e-03 1.10468690e+02] [-1.85261809e-02 9.99828371e-01 -9.68181550e-05 -6.02313820e+00] [-1.78644399e-03 6.37329540e-05 9.99998402e-01 -1.54632769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.610371743 meters 0.02609693392182399 Centerline is valid? [True, True] Translation: X:110.50, Y:-6.03, Z:-1.55 [[ 9.99833827e-01 1.80931817e-02 2.22597156e-03 1.10496378e+02] [-1.80929581e-02 9.99836302e-01 -1.20535779e-04 -6.02794338e+00] [-2.22778804e-03 8.02413390e-05 9.99997515e-01 -1.54696009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640371743 meters 0.02656335476256351 Centerline is valid? [True, True] Translation: X:110.53, Y:-6.03, Z:-1.55 [[ 9.99851312e-01 1.68945825e-02 3.45345256e-03 1.10525263e+02] [-1.68940414e-02 9.99857268e-01 -1.85798650e-04 -6.03234913e+00] [-3.45609863e-03 1.27428254e-04 9.99994020e-01 -1.54634494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.670371743 meters 0.02730147736149587 Centerline is valid? [True, True] Translation: X:110.55, Y:-6.04, Z:-1.55 [[ 9.99863223e-01 1.60742452e-02 3.89286808e-03 1.10552575e+02] [-1.60735523e-02 9.99870790e-01 -2.09214537e-04 -6.03621422e+00] [-3.89572805e-03 1.46613703e-04 9.99992401e-01 -1.54630780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.700371743 meters 0.026092720251763023 Centerline is valid? [True, True] Translation: X:110.58, Y:-6.04, Z:-1.55 [[ 9.99878555e-01 1.49699657e-02 4.33305216e-03 1.10581018e+02] [-1.49690997e-02 9.99887930e-01 -2.32224853e-04 -6.03616170e+00] [-4.33604296e-03 1.67334760e-04 9.99990585e-01 -1.54529452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73037174299999 meters 0.026512838674012773 Centerline is valid? [True, True] Translation: X:110.61, Y:-6.04, Z:-1.55 [[ 9.99914219e-01 1.20145346e-02 5.21593580e-03 1.10610274e+02] [-1.20132442e-02 9.99927800e-01 -2.78654064e-04 -6.04157638e+00] [-5.21890711e-03 2.15969850e-04 9.99986358e-01 -1.54543374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760371743 meters 0.03141529430416167 Centerline is valid? [True, True] Translation: X:110.64, Y:-6.05, Z:-1.55 [[ 9.99938174e-01 9.96571452e-03 4.93288804e-03 1.10638374e+02] [-9.96453541e-03 9.99950318e-01 -2.63549539e-04 -6.05228861e+00] [-4.93526943e-03 2.14379307e-04 9.99987799e-01 -1.54742586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.790371743 meters 0.029124174866025438 Centerline is valid? [True, True] Translation: X:110.67, Y:-6.05, Z:-1.55 [[ 9.99981620e-01 4.90629239e-03 3.56195344e-03 1.10668575e+02] [-4.90564702e-03 9.99987949e-01 -1.89899227e-04 -6.05329079e+00] [-3.56284222e-03 1.72422051e-04 9.99993638e-01 -1.54762183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820371743 meters 0.030575399997487224 Centerline is valid? [True, True] Translation: X:110.70, Y:-6.06, Z:-1.55 [[ 9.99994319e-01 2.13158655e-03 2.61112962e-03 1.10697738e+02] [-2.13123014e-03 9.99997719e-01 -1.39269372e-04 -6.05894783e+00] [-2.61142053e-03 1.33703662e-04 9.99996581e-01 -1.54899162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.850371743 meters 0.03173934522767874 Centerline is valid? [True, True] Translation: X:110.73, Y:-6.06, Z:-1.55 [[ 9.99998664e-01 2.57676200e-04 1.61448035e-03 1.10728156e+02] [-2.57538111e-04 9.99999963e-01 -8.57384609e-05 -6.06416427e+00] [-1.61450239e-03 8.53225561e-05 9.99998693e-01 -1.55054760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880371743 meters 0.032104614629224745 Centerline is valid? [True, True] Translation: X:110.76, Y:-6.07, Z:-1.55 [[ 9.99996773e-01 -2.53752286e-03 -1.21034754e-04 1.10758532e+02] [ 2.53752369e-03 9.99996780e-01 6.69809248e-06 -6.06858844e+00] [ 1.21017368e-04 -7.00519941e-06 9.99999993e-01 -1.55185948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.910371743 meters 0.033446013430469164 Centerline is valid? [True, True] Translation: X:110.79, Y:-6.07, Z:-1.55 [[ 9.99995046e-01 -3.13997330e-03 -2.18138969e-04 1.10788630e+02] [ 3.13997597e-03 9.99995070e-01 1.18725482e-05 -6.07327638e+00] [ 2.18100614e-04 -1.25574405e-05 9.99999976e-01 -1.55307464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940371743 meters 0.03132402356734861 Centerline is valid? [True, True] Translation: X:110.82, Y:-6.07, Z:-1.55 [[ 9.99997836e-01 -2.01080351e-03 5.34267819e-04 1.10820227e+02] [ 2.01081875e-03 9.99997978e-01 -2.79876289e-05 -6.07277262e+00] [-5.34210461e-04 2.90618841e-05 9.99999857e-01 -1.55203782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.970371743 meters 0.03241337098627131 Centerline is valid? [True, True] Translation: X:110.85, Y:-6.08, Z:-1.55 [[ 9.99998505e-01 -7.24272427e-04 1.56985702e-03 1.10850526e+02] [ 7.24404396e-04 9.99999734e-01 -8.34976222e-05 -6.07594846e+00] [-1.56979613e-03 8.46347088e-05 9.99998764e-01 -1.55233522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000371743 meters 0.03272529721510292 Centerline is valid? [True, True] Translation: X:110.88, Y:-6.08, Z:-1.55 [[ 9.99996435e-01 1.25781612e-03 2.35559062e-03 1.10881248e+02] [-1.25752454e-03 9.99999201e-01 -1.25258854e-04 -6.07789926e+00] [-2.35574629e-03 1.22296194e-04 9.99997218e-01 -1.55210105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.030371743 meters 0.029066835017890133 Centerline is valid? [True, True] Translation: X:110.91, Y:-6.07, Z:-1.55 [[ 9.99988596e-01 3.52782760e-03 3.21894032e-03 1.10912025e+02] [-3.52729268e-03 9.99993764e-01 -1.71838801e-04 -6.07338882e+00] [-3.21952646e-03 1.60482697e-04 9.99994804e-01 -1.55040656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.060371743 meters 0.0268986477605476 Centerline is valid? [True, True] Translation: X:110.94, Y:-6.07, Z:-1.55 [[ 9.99956132e-01 8.27666180e-03 4.38537481e-03 1.10942969e+02] [-8.27571437e-03 9.99965728e-01 -2.34144697e-04 -6.07102960e+00] [-4.38716246e-03 1.97842316e-04 9.99990357e-01 -1.54957217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09037174299999 meters 0.027755542871353425 Centerline is valid? [True, True] Translation: X:110.97, Y:-6.07, Z:-1.55 [[ 9.99933884e-01 1.04907665e-02 4.70873605e-03 1.10971264e+02] [-1.04896966e-02 9.99944950e-01 -2.51857475e-04 -6.07387270e+00] [-4.71111901e-03 2.02447611e-04 9.99988882e-01 -1.55013813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12037174299999 meters 0.025543701189838074 Centerline is valid? [True, True] Translation: X:111.00, Y:-6.07, Z:-1.55 [[ 9.99884939e-01 1.42061015e-02 5.31941850e-03 1.11001757e+02] [-1.42047923e-02 9.99899067e-01 -2.83818228e-04 -6.07268792e+00] [-5.32291355e-03 2.08224336e-04 9.99985812e-01 -1.55023275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.150371743 meters 0.02563380369716715 Centerline is valid? [True, True] Translation: X:111.03, Y:-6.07, Z:-1.55 [[ 9.99855544e-01 1.59619240e-02 5.84028335e-03 1.11029074e+02] [-1.59603731e-02 9.99872576e-01 -3.12064809e-04 -6.07489835e+00] [-5.84452032e-03 2.18806628e-04 9.99982897e-01 -1.55128903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180371743 meters 0.028145543478270613 Centerline is valid? [True, True] Translation: X:111.06, Y:-6.08, Z:-1.55 [[ 9.99831198e-01 1.75637054e-02 5.39374959e-03 1.11056164e+02] [-1.75624080e-02 9.99845728e-01 -2.87807063e-04 -6.08206316e+00] [-5.39797244e-03 1.93031250e-04 9.99985412e-01 -1.55359567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.210371743 meters 0.024863196389196124 Centerline is valid? [True, True] Translation: X:111.09, Y:-6.08, Z:-1.55 [[ 9.99778943e-01 2.04242597e-02 4.99152454e-03 1.11085731e+02] [-2.04231854e-02 9.99791390e-01 -2.66114398e-04 -6.07941603e+00] [-4.99591845e-03 1.64112741e-04 9.99987507e-01 -1.55399413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240371743 meters 0.02385196894499909 Centerline is valid? [True, True] Translation: X:111.11, Y:-6.08, Z:-1.55 [[ 9.99761020e-01 2.13570430e-02 4.66692585e-03 1.11114640e+02] [-2.13561171e-02 9.99771901e-01 -2.48142775e-04 -6.07948896e+00] [-4.67116093e-03 1.48416059e-04 9.99989079e-01 -1.55415435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.270371743 meters 0.023393950346924538 Centerline is valid? [True, True] Translation: X:111.14, Y:-6.08, Z:-1.55 [[ 9.99745398e-01 2.21956577e-02 4.06113629e-03 1.11143457e+02] [-2.21949641e-02 9.99753638e-01 -2.15786353e-04 -6.08057153e+00] [-4.06492530e-03 1.25594640e-04 9.99991730e-01 -1.55434315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300371743 meters 0.02364362294137977 Centerline is valid? [True, True] Translation: X:111.17, Y:-6.09, Z:-1.56 [[ 9.99711000e-01 2.37796449e-02 3.52772113e-03 1.11171265e+02] [-2.37791311e-02 9.99717219e-01 -1.87511240e-04 -6.08512745e+00] [-3.53118250e-03 1.03570906e-04 9.99993760e-01 -1.55530017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.330371743 meters 0.023436148176710407 Centerline is valid? [True, True] Translation: X:111.20, Y:-6.09, Z:-1.56 [[ 9.99688785e-01 2.46803719e-02 3.63485743e-03 1.11200374e+02] [-2.46798345e-02 9.99695388e-01 -1.92621139e-04 -6.08807105e+00] [-3.63850417e-03 1.02853513e-04 9.99993375e-01 -1.55615724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360371743 meters 0.023328864069832148 Centerline is valid? [True, True] Translation: X:111.23, Y:-6.09, Z:-1.56 [[ 9.99657994e-01 2.59914046e-02 2.88836567e-03 1.11229073e+02] [-2.59910708e-02 9.99662163e-01 -1.53056944e-04 -6.09254791e+00] [-2.89136804e-03 7.79328812e-05 9.99995817e-01 -1.55732852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.390371743 meters 0.02314030110048001 Centerline is valid? [True, True] Translation: X:111.26, Y:-6.09, Z:-1.56 [[ 9.99639643e-01 2.66828980e-02 2.93385653e-03 1.11257450e+02] [-2.66825572e-02 9.99643945e-01 -1.55245619e-04 -6.09482268e+00] [-2.93695431e-03 7.69068801e-05 9.99995684e-01 -1.55740612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420371743 meters 0.022409885799172708 Centerline is valid? [True, True] Translation: X:111.29, Y:-6.10, Z:-1.56 [[ 9.99633049e-01 2.69274480e-02 2.94632424e-03 1.11286765e+02] [-2.69271059e-02 9.99637388e-01 -1.55723919e-04 -6.09510068e+00] [-2.94944911e-03 7.63307914e-05 9.99995647e-01 -1.55690197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.450371743 meters 0.022076701919930913 Centerline is valid? [True, True] Translation: X:111.32, Y:-6.10, Z:-1.56 [[ 9.99592016e-01 2.83168799e-02 3.73583781e-03 1.11315592e+02] [-2.83163416e-02 9.99598993e-01 -1.96915080e-04 -6.09836520e+00] [-3.73991573e-03 9.10494821e-05 9.99993002e-01 -1.55641800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48037174299999 meters 0.022230117257181933 Centerline is valid? [True, True] Translation: X:111.34, Y:-6.10, Z:-1.56 [[ 9.99573810e-01 2.88945047e-02 4.15999896e-03 1.11343351e+02] [-2.88938433e-02 9.99582462e-01 -2.19022912e-04 -6.10195008e+00] [-4.16459056e-03 9.87312085e-05 9.99991323e-01 -1.55677902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.510371743 meters 0.022336777301298683 Centerline is valid? [True, True] Translation: X:111.37, Y:-6.11, Z:-1.56 [[ 9.99534666e-01 3.00497772e-02 5.24042509e-03 1.11371109e+02] [-3.00487478e-02 9.99548397e-01 -2.75080918e-04 -6.10739811e+00] [-5.24632462e-03 1.17484702e-04 9.99986231e-01 -1.55773279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540371743 meters 0.021875968014631954 Centerline is valid? [True, True] Translation: X:111.40, Y:-6.11, Z:-1.56 [[ 9.99529578e-01 3.01339217e-02 5.70689426e-03 1.11399714e+02] [-3.01327066e-02 9.99545862e-01 -2.98802471e-04 -6.10913973e+00] [-5.71330664e-03 1.26697737e-04 9.99983671e-01 -1.55759305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.570371743 meters 0.02195410741644119 Centerline is valid? [True, True] Translation: X:111.43, Y:-6.11, Z:-1.56 [[ 9.99521981e-01 3.02892524e-02 6.19437449e-03 1.11427692e+02] [-3.02878246e-02 9.99541166e-01 -3.24198526e-04 -6.11192693e+00] [-6.20135203e-03 1.36429426e-04 9.99980762e-01 -1.55807501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600371743 meters 0.02213908629909515 Centerline is valid? [True, True] Translation: X:111.46, Y:-6.11, Z:-1.56 [[ 9.99531178e-01 3.00311003e-02 5.96297485e-03 1.11456068e+02] [-3.00297792e-02 9.99548956e-01 -3.10978455e-04 -6.11478420e+00] [-5.96962431e-03 1.31765844e-04 9.99982173e-01 -1.55842600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.630371743 meters 0.021817356618305625 Centerline is valid? [True, True] Translation: X:111.48, Y:-6.12, Z:-1.56 [[ 9.99540874e-01 2.97315232e-02 5.83762770e-03 1.11484530e+02] [-2.97302543e-02 9.99557912e-01 -3.04047158e-04 -6.11956818e+00] [-5.84408674e-03 1.30353406e-04 9.99982915e-01 -1.55854918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660371743 meters 0.022070942938866307 Centerline is valid? [True, True] Translation: X:111.51, Y:-6.12, Z:-1.56 [[ 9.99556228e-01 2.92857209e-02 5.44925021e-03 1.11513212e+02] [-2.92846104e-02 9.99571074e-01 -2.83498878e-04 -6.12299512e+00] [-5.45521535e-03 1.23793900e-04 9.99985113e-01 -1.55918212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.690371743 meters 0.022490960745784612 Centerline is valid? [True, True] Translation: X:111.54, Y:-6.13, Z:-1.56 [[ 9.99573563e-01 2.87132537e-02 5.31425431e-03 1.11540652e+02] [-2.87121889e-02 9.99587682e-01 -2.76564862e-04 -6.12777039e+00] [-5.32000423e-03 1.23863050e-04 9.99985841e-01 -1.56001150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720371743 meters 0.022359543678394704 Centerline is valid? [True, True] Translation: X:111.57, Y:-6.13, Z:-1.56 [[ 9.99592749e-01 2.80242368e-02 5.38313531e-03 1.11568947e+02] [-2.80231404e-02 9.99607236e-01 -2.78997349e-04 -6.13434584e+00] [-5.38883970e-03 1.28031371e-04 9.99985472e-01 -1.56052762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.750371743 meters 0.022359543678394704 Centerline is valid? [True, True] Translation: X:111.60, Y:-6.14, Z:-1.56 [[ 9.99595713e-01 2.79183046e-02 5.38313930e-03 1.11596378e+02] [-2.79172071e-02 9.99610200e-01 -2.78920994e-04 -6.13567299e+00] [-5.38882796e-03 1.28526015e-04 9.99985472e-01 -1.56091370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780371743 meters 0.02210502635708917 Centerline is valid? [True, True] Translation: X:111.63, Y:-6.14, Z:-1.56 [[ 9.99585858e-01 2.82398918e-02 5.53369702e-03 1.11625013e+02] [-2.82387422e-02 9.99601166e-01 -2.85790969e-04 -6.13881288e+00] [-5.53956070e-03 1.29407968e-04 9.99984648e-01 -1.56113669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.810371743 meters 0.02148285937302824 Centerline is valid? [True, True] Translation: X:111.65, Y:-6.14, Z:-1.56 [[ 9.99565108e-01 2.87695460e-02 6.47372236e-03 1.11653321e+02] [-2.87679877e-02 9.99586060e-01 -3.33724309e-04 -6.14271821e+00] [-6.48064372e-03 1.47343210e-04 9.99978990e-01 -1.56106509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84037174299999 meters 0.021268707534624114 Centerline is valid? [True, True] Translation: X:111.68, Y:-6.15, Z:-1.56 [[ 9.99544425e-01 2.94392433e-02 6.65379682e-03 1.11681783e+02] [-2.94376152e-02 9.99566561e-01 -3.42501939e-04 -6.14588623e+00] [-6.66099580e-03 1.46473993e-04 9.99977805e-01 -1.56149245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87037174299999 meters 0.021567021138433375 Centerline is valid? [True, True] Translation: X:111.71, Y:-6.15, Z:-1.56 [[ 9.99547652e-01 2.93669228e-02 6.48649228e-03 1.11708911e+02] [-2.93653732e-02 9.99568689e-01 -3.34032277e-04 -6.15043699e+00] [-6.49350408e-03 1.43402912e-04 9.99978907e-01 -1.56259789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900371743 meters 0.021243434270464674 Centerline is valid? [True, True] Translation: X:111.74, Y:-6.16, Z:-1.56 [[ 9.99552468e-01 2.91202249e-02 6.84661763e-03 1.11736363e+02] [-2.91185027e-02 9.99575905e-01 -3.51105148e-04 -6.15673324e+00] [-6.85393827e-03 1.51584763e-04 9.99976500e-01 -1.56308847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.930371743 meters 0.02140116046648435 Centerline is valid? [True, True] Translation: X:111.77, Y:-6.16, Z:-1.56 [[ 9.99571367e-01 2.83927963e-02 7.13659778e-03 1.11765211e+02] [-2.83909142e-02 9.99596830e-01 -3.64911080e-04 -6.15993912e+00] [-7.14408136e-03 1.62140132e-04 9.99974468e-01 -1.56291894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960371743 meters 0.022004822785796213 Centerline is valid? [True, True] Translation: X:111.79, Y:-6.17, Z:-1.56 [[ 9.99624185e-01 2.63171021e-02 7.67456046e-03 1.11793518e+02] [-2.63148693e-02 9.99653627e-01 -3.91787975e-04 -6.16658940e+00] [-7.68221293e-03 1.89685679e-04 9.99970473e-01 -1.56284161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.990371743 meters 0.022420332990284154 Centerline is valid? [True, True] Translation: X:111.82, Y:-6.17, Z:-1.56 [[ 9.99667348e-01 2.45660299e-02 7.85521228e-03 1.11821943e+02] [-2.45636413e-02 9.99698188e-01 -4.00423838e-04 -6.17155436e+00] [-7.86267831e-03 2.07338019e-04 9.99969067e-01 -1.56385346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020371743 meters 0.024053225770175286 Centerline is valid? [True, True] Translation: X:111.85, Y:-6.18, Z:-1.57 [[ 9.99726769e-01 2.22227699e-02 7.24818150e-03 1.11848897e+02] [-2.22206762e-02 9.99753022e-01 -3.69275520e-04 -6.17821506e+00] [-7.25459769e-03 2.08115128e-04 9.99973663e-01 -1.56561608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.050371743 meters 0.025021366903135656 Centerline is valid? [True, True] Translation: X:111.88, Y:-6.19, Z:-1.57 [[ 9.99856085e-01 1.53523751e-02 7.21900059e-03 1.11878265e+02] [-1.53501292e-02 9.99882113e-01 -3.66417530e-04 -6.18835710e+00] [-7.22377494e-03 2.55552205e-04 9.99973876e-01 -1.56720532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080371743 meters 0.02641668465373229 Centerline is valid? [True, True] Translation: X:111.91, Y:-6.19, Z:-1.57 [[ 9.99899100e-01 1.21143764e-02 7.41831681e-03 1.11907523e+02] [-1.21119159e-02 9.99926577e-01 -3.76511928e-04 -6.19436428e+00] [-7.42233335e-03 2.86623908e-04 9.99972413e-01 -1.56762021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.110371743 meters 0.027677930727612227 Centerline is valid? [True, True] Translation: X:111.94, Y:-6.20, Z:-1.57 [[ 9.99933739e-01 8.49507150e-03 7.76858815e-03 1.11937173e+02] [-8.49226729e-03 9.99963862e-01 -3.93884594e-04 -6.19975041e+00] [-7.77165349e-03 3.27885568e-04 9.99969746e-01 -1.56788697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140371743 meters 0.03093670890459292 Centerline is valid? [True, True] Translation: X:111.97, Y:-6.21, Z:-1.57 [[ 9.99954991e-01 1.85649643e-03 9.30426556e-03 1.11965815e+02] [-1.85218847e-03 9.99998173e-01 -4.71604554e-04 -6.20989626e+00] [-9.30512410e-03 4.54350074e-04 9.99956603e-01 -1.56742495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.170371743 meters 0.03225254446871721 Centerline is valid? [True, True] Translation: X:112.00, Y:-6.22, Z:-1.57 [[ 9.99945440e-01 -1.60893697e-03 1.03212334e-02 1.11996741e+02] [ 1.61441560e-03 9.99998560e-01 -5.22501783e-04 -6.21510119e+00] [-1.03203778e-02 5.39136036e-04 9.99946598e-01 -1.56745985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.200371743 meters 0.03706185755294499 Centerline is valid? [True, True] Translation: X:112.03, Y:-6.23, Z:-1.57 [[ 9.99905216e-01 -8.20217530e-03 1.10582243e-02 1.12026271e+02] [ 8.20887262e-03 9.99966150e-01 -5.60388400e-04 -6.22714315e+00] [-1.10532536e-02 6.51110838e-04 9.99938699e-01 -1.56794972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23037174299999 meters 0.037803647023297235 Centerline is valid? [True, True] Translation: X:112.06, Y:-6.23, Z:-1.57 [[ 9.99873371e-01 -1.13055115e-02 1.11993986e-02 1.12057130e+02] [ 1.13125759e-02 9.99935850e-01 -5.67635593e-04 -6.23128564e+00] [-1.11922627e-02 6.94257761e-04 9.99937124e-01 -1.56861872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260371743 meters 0.04018621411708326 Centerline is valid? [True, True] Translation: X:112.09, Y:-6.24, Z:-1.57 [[ 9.99832227e-01 -1.43451113e-02 1.13901945e-02 1.12086522e+02] [ 1.43526177e-02 9.99896829e-01 -5.77550020e-04 -6.23715081e+00] [-1.13807344e-02 7.40932230e-04 9.99934963e-01 -1.56907079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.290371743 meters 0.038009902695810296 Centerline is valid? [True, True] Translation: X:112.12, Y:-6.24, Z:-1.57 [[ 9.99760272e-01 -1.89569074e-02 1.09560504e-02 1.12117512e+02] [ 1.89641280e-02 9.99820010e-01 -5.55526384e-04 -6.23582297e+00] [-1.09435473e-02 7.63165151e-04 9.99939826e-01 -1.56823850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320371743 meters 0.044892217609830004 Centerline is valid? [True, True] Translation: X:112.15, Y:-6.25, Z:-1.57 [[ 9.99725932e-01 -2.07949385e-02 1.07532277e-02 1.12147291e+02] [ 2.08019987e-02 9.99783466e-01 -5.45124328e-04 -6.24638546e+00] [-1.07395634e-02 7.68663555e-04 9.99942034e-01 -1.56917339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.350371743 meters 0.039901779741662605 Centerline is valid? [True, True] Translation: X:112.18, Y:-6.24, Z:-1.57 [[ 9.99669310e-01 -2.40630391e-02 9.06869658e-03 1.12177985e+02] [ 2.40681990e-02 9.99710213e-01 -4.60261886e-04 -6.24049417e+00] [-9.05499329e-03 6.78376876e-04 9.99958773e-01 -1.57051548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380371743 meters 0.04083217570032133 Centerline is valid? [True, True] Translation: X:112.21, Y:-6.24, Z:-1.57 [[ 9.99647508e-01 -2.52833033e-02 8.10021398e-03 1.12210148e+02] [ 2.52874575e-02 9.99680137e-01 -4.10822405e-04 -6.24298315e+00] [-8.08723607e-03 6.15511410e-04 9.99967108e-01 -1.57203957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.410371743 meters 0.04241913645906628 Centerline is valid? [True, True] Translation: X:112.24, Y:-6.25, Z:-1.57 [[ 9.99601893e-01 -2.71547464e-02 7.65999596e-03 1.12239873e+02] [ 2.71585232e-02 9.99631063e-01 -3.89445212e-04 -6.24500651e+00] [-7.64659462e-03 5.97324349e-04 9.99970586e-01 -1.57408906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440371743 meters 0.04344226004440675 Centerline is valid? [True, True] Translation: X:112.27, Y:-6.25, Z:-1.57 [[ 9.99598741e-01 -2.73953958e-02 7.20069289e-03 1.12272125e+02] [ 2.73987360e-02 9.99624517e-01 -3.65614078e-04 -6.24598386e+00] [-7.18797301e-03 5.62757256e-04 9.99974008e-01 -1.57459219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.470371743 meters 0.044133158222151095 Centerline is valid? [True, True] Translation: X:112.30, Y:-6.25, Z:-1.57 [[ 9.99604797e-01 -2.70184911e-02 7.76220894e-03 1.12302909e+02] [ 2.70223669e-02 9.99634751e-01 -3.94858954e-04 -6.24650618e+00] [-7.74870531e-03 6.04456162e-04 9.99969796e-01 -1.57456971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500371743 meters 0.042839105195853 Centerline is valid? [True, True] Translation: X:112.34, Y:-6.24, Z:-1.57 [[ 9.99617451e-01 -2.63019921e-02 8.55317379e-03 1.12335413e+02] [ 2.63066756e-02 9.99653825e-01 -4.35519873e-04 -6.24453563e+00] [-8.53875785e-03 6.60358834e-04 9.99963326e-01 -1.57422408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.530371743 meters 0.041137302005706526 Centerline is valid? [True, True] Translation: X:112.37, Y:-6.24, Z:-1.57 [[ 9.99631948e-01 -2.54597631e-02 9.36846903e-03 1.12368252e+02] [ 2.54653517e-02 9.99675591e-01 -4.77701177e-04 -6.24041811e+00] [-9.35326766e-03 7.16096716e-04 9.99956001e-01 -1.57365374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.560371743 meters 0.0392939680985317 Centerline is valid? [True, True] Translation: X:112.40, Y:-6.24, Z:-1.57 [[ 9.99636448e-01 -2.51830578e-02 9.63252307e-03 1.12400963e+02] [ 2.51889623e-02 9.99682587e-01 -4.92127807e-04 -6.23554167e+00] [-9.61707229e-03 7.34582153e-04 9.99953485e-01 -1.57404302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59037174299999 meters 0.039180989838934144 Centerline is valid? [True, True] Translation: X:112.43, Y:-6.24, Z:-1.57 [[ 9.99636664e-01 -2.54299426e-02 8.93634275e-03 1.12432674e+02] [ 2.54350402e-02 9.99676372e-01 -4.57225367e-04 -6.23533292e+00] [-8.92182349e-03 6.84355478e-04 9.99959966e-01 -1.57491064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62037174299999 meters 0.043240002866185435 Centerline is valid? [True, True] Translation: X:112.46, Y:-6.24, Z:-1.58 [[ 9.99623859e-01 -2.61432518e-02 8.28681217e-03 1.12463585e+02] [ 2.61476629e-02 9.99658001e-01 -4.24390722e-04 -6.24026063e+00] [-8.27288313e-03 6.40911862e-04 9.99965574e-01 -1.57610377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.650371743 meters 0.04140650494108176 Centerline is valid? [True, True] Translation: X:112.50, Y:-6.24, Z:-1.58 [[ 9.99622284e-01 -2.63932283e-02 7.66076746e-03 1.12496399e+02] [ 2.63970073e-02 9.99651461e-01 -3.92575605e-04 -6.23730891e+00] [-7.64773605e-03 5.94648657e-04 9.99970579e-01 -1.57624984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680371743 meters 0.05032427823564053 Centerline is valid? [True, True] Translation: X:112.53, Y:-6.25, Z:-1.58 [[ 9.99624532e-01 -2.66047001e-02 6.55621986e-03 1.12527478e+02] [ 2.66074754e-02 9.99645902e-01 -3.36432054e-04 -6.24557031e+00] [-6.54494764e-03 5.10750193e-04 9.99978451e-01 -1.57819755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.710371743 meters 0.04135304167430225 Centerline is valid? [True, True] Translation: X:112.56, Y:-6.23, Z:-1.58 [[ 9.99592240e-01 -2.77231057e-02 6.83986937e-03 1.12560542e+02] [ 2.77261541e-02 9.99615495e-01 -3.51248569e-04 -6.23341553e+00] [-6.82750171e-03 5.40748616e-04 9.99976546e-01 -1.57780063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740371743 meters 0.04755518163355236 Centerline is valid? [True, True] Translation: X:112.59, Y:-6.24, Z:-1.58 [[ 9.99588458e-01 -2.78878789e-02 6.72167418e-03 1.12591762e+02] [ 2.78908307e-02 9.99610915e-01 -3.45778721e-04 -6.24185874e+00] [-6.70941585e-03 5.33109495e-04 9.99977350e-01 -1.57896186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.770371743 meters 0.04942258458133675 Centerline is valid? [True, True] Translation: X:112.62, Y:-6.24, Z:-1.58 [[ 9.99591035e-01 -2.80084508e-02 5.76975124e-03 1.12622527e+02] [ 2.80106297e-02 9.99607581e-01 -2.97177093e-04 -6.24150076e+00] [-5.75916361e-03 4.58669924e-04 9.99983311e-01 -1.58000203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800371743 meters 0.04260778121483232 Centerline is valid? [True, True] Translation: X:112.66, Y:-6.23, Z:-1.58 [[ 9.99595375e-01 -2.79067535e-02 5.50456915e-03 1.12655972e+02] [ 2.79087327e-02 9.99610435e-01 -2.83056778e-04 -6.23154146e+00] [-5.49452557e-03 4.36567795e-04 9.99984810e-01 -1.57931569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.830371743 meters 0.04301747243685917 Centerline is valid? [True, True] Translation: X:112.69, Y:-6.23, Z:-1.58 [[ 9.99613529e-01 -2.72615999e-02 5.44045243e-03 1.12688927e+02] [ 2.72635258e-02 9.99628242e-01 -2.80128242e-04 -6.22850533e+00] [-5.43079316e-03 4.28345896e-04 9.99985161e-01 -1.57959635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860371743 meters 0.04188209304337201 Centerline is valid? [True, True] Translation: X:112.72, Y:-6.23, Z:-1.58 [[ 9.99642170e-01 -2.61724467e-02 5.52577990e-03 1.12720739e+02] [ 2.61744255e-02 9.99657350e-01 -2.86075123e-04 -6.22633158e+00] [-5.51639921e-03 4.30606871e-04 9.99984692e-01 -1.57965787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.890371743 meters 0.04005621037343665 Centerline is valid? [True, True] Translation: X:112.75, Y:-6.22, Z:-1.58 [[ 9.99667465e-01 -2.51300388e-02 5.78285182e-03 1.12753029e+02] [ 2.51321882e-02 9.99684092e-01 -2.99313734e-04 -6.22377920e+00] [-5.77350320e-03 4.44549922e-04 9.99983234e-01 -1.57954502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920371743 meters 0.03970166842630202 Centerline is valid? [True, True] Translation: X:112.78, Y:-6.22, Z:-1.58 [[ 9.99746073e-01 -2.16662345e-02 6.19384872e-03 1.12782849e+02] [ 2.16686416e-02 9.99765156e-01 -3.21775628e-04 -6.22046845e+00] [-6.18542246e-03 4.55906209e-04 9.99980766e-01 -1.58003345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.950371743 meters 0.03965887130497309 Centerline is valid? [True, True] Translation: X:112.81, Y:-6.22, Z:-1.58 [[ 9.99787188e-01 -1.98384486e-02 5.65816919e-03 1.12814593e+02] [ 1.98404236e-02 9.99803116e-01 -2.93142330e-04 -6.21981306e+00] [-5.65123970e-03 4.05340420e-04 9.99983949e-01 -1.58055441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98037174299999 meters 0.03886205354890842 Centerline is valid? [True, True] Translation: X:112.84, Y:-6.21, Z:-1.58 [[ 9.99863631e-01 -1.57497479e-02 4.96629130e-03 1.12844806e+02] [ 1.57512246e-02 9.99875908e-01 -2.58371512e-04 -6.21499751e+00] [-4.96160574e-03 3.36561448e-04 9.99987635e-01 -1.58121449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.010371743 meters 0.03600844317980838 Centerline is valid? [True, True] Translation: X:112.88, Y:-6.21, Z:-1.58 [[ 9.99895961e-01 -1.35596250e-02 4.91967562e-03 1.12876203e+02] [ 1.35610450e-02 9.99908012e-01 -2.55397620e-04 -6.21006876e+00] [-4.91575997e-03 3.22086991e-04 9.99987866e-01 -1.58118525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040371743 meters 0.03652201555404951 Centerline is valid? [True, True] Translation: X:112.91, Y:-6.21, Z:-1.58 [[ 9.99924549e-01 -1.12905846e-02 4.83929369e-03 1.12906928e+02] [ 1.12919330e-02 9.99936212e-01 -2.51393821e-04 -6.21039556e+00] [-4.83614662e-03 3.06019833e-04 9.99988259e-01 -1.58216825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.070371743 meters 0.03208674646339147 Centerline is valid? [True, True] Translation: X:112.94, Y:-6.20, Z:-1.58 [[ 9.99969600e-01 -6.38888173e-03 4.47010652e-03 1.12937696e+02] [ 6.38998526e-03 9.99979557e-01 -2.32629792e-04 -6.20062743e+00] [-4.46852890e-03 2.61186635e-04 9.99989982e-01 -1.58186832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100371743 meters 0.03315259935506887 Centerline is valid? [True, True] Translation: X:112.97, Y:-6.20, Z:-1.58 [[ 9.99983681e-01 -3.70901919e-03 4.34520127e-03 1.12967840e+02] [ 3.71003240e-03 9.99993092e-01 -2.25143184e-04 -6.20129876e+00] [-4.34433620e-03 2.41260347e-04 9.99990534e-01 -1.58252795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.130371743 meters 0.030885136946464914 Centerline is valid? [True, True] Translation: X:113.00, Y:-6.20, Z:-1.58 [[ 9.99988497e-01 -1.09818227e-03 4.66904954e-03 1.12999368e+02] [ 1.09932986e-03 9.99999366e-01 -2.43227165e-04 -6.19645536e+00] [-4.66877948e-03 2.48357193e-04 9.99989070e-01 -1.58207077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160371743 meters 0.029826763235656983 Centerline is valid? [True, True] Translation: X:113.03, Y:-6.19, Z:-1.58 [[ 9.99981822e-01 3.66432297e-03 4.78842063e-03 1.13029548e+02] [-3.66316786e-03 9.99993259e-01 -2.49978457e-04 -6.19175599e+00] [-4.78930435e-03 2.32433125e-04 9.99988504e-01 -1.58247641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.190371743 meters 0.028924753233269592 Centerline is valid? [True, True] Translation: X:113.06, Y:-6.19, Z:-1.58 [[ 9.99971494e-01 6.10359733e-03 4.44501073e-03 1.13060769e+02] [-6.10262759e-03 9.99981352e-01 -2.31694761e-04 -6.19018625e+00] [-4.44634201e-03 2.04561911e-04 9.99990094e-01 -1.58303499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220371743 meters 0.028266236403468308 Centerline is valid? [True, True] Translation: X:113.09, Y:-6.19, Z:-1.58 [[ 9.99958016e-01 8.57922063e-03 3.21921735e-03 1.13091456e+02] [-8.57872361e-03 9.99963188e-01 -1.68168354e-04 -6.18753880e+00] [-3.22054159e-03 1.40544518e-04 9.99994804e-01 -1.58446006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.250371743 meters 0.027681376415864774 Centerline is valid? [True, True] Translation: X:113.12, Y:-6.19, Z:-1.59 [[ 9.99952318e-01 9.22273424e-03 3.20968792e-03 1.13120214e+02] [-9.22224096e-03 9.99957460e-01 -1.68452912e-04 -6.18601871e+00] [-3.21110498e-03 1.38844364e-04 9.99994835e-01 -1.58520902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280371743 meters 0.027666676451523885 Centerline is valid? [True, True] Translation: X:113.15, Y:-6.19, Z:-1.59 [[ 9.99953882e-01 9.31287997e-03 2.34601992e-03 1.13149180e+02] [-9.31261645e-03 9.99956629e-01 -1.23228598e-04 -6.18559642e+00] [-2.34706579e-03 1.01375331e-04 9.99997240e-01 -1.58564822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.310371743 meters 0.028366371006649817 Centerline is valid? [True, True] Translation: X:113.18, Y:-6.19, Z:-1.59 [[ 9.99960152e-01 8.64544655e-03 2.22481126e-03 1.13176819e+02] [-8.64520768e-03 9.99962623e-01 -1.16958550e-04 -6.18510668e+00] [-2.22573926e-03 9.77199340e-05 9.99997518e-01 -1.58602143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34037174299999 meters 0.027772985759580236 Centerline is valid? [True, True] Translation: X:113.21, Y:-6.18, Z:-1.59 [[ 9.99967267e-01 7.75966532e-03 2.29165267e-03 1.13205998e+02] [-7.75941058e-03 9.99969888e-01 -1.20026931e-04 -6.18451011e+00] [-2.29251504e-03 1.02241128e-04 9.99997367e-01 -1.58605796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37037174299999 meters 0.030172644585835396 Centerline is valid? [True, True] Translation: X:113.23, Y:-6.19, Z:-1.59 [[ 9.99979420e-01 5.71823542e-03 2.90890204e-03 1.13234582e+02] [-5.71781837e-03 9.99983642e-01 -1.51665296e-04 -6.18846918e+00] [-2.90972171e-03 1.35029602e-04 9.99995758e-01 -1.58693892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400371743 meters 0.02987784199706751 Centerline is valid? [True, True] Translation: X:113.26, Y:-6.19, Z:-1.59 [[ 9.99984787e-01 4.29390267e-03 3.46240073e-03 1.13264629e+02] [-4.29330511e-03 9.99990768e-01 -1.79999406e-04 -6.18929273e+00] [-3.46314167e-03 1.65131525e-04 9.99993990e-01 -1.58690745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.430371743 meters 0.030089442539035612 Centerline is valid? [True, True] Translation: X:113.29, Y:-6.19, Z:-1.59 [[ 9.99988575e-01 2.93247756e-03 3.77493909e-03 1.13294642e+02] [-2.93175894e-03 9.99995683e-01 -1.95885927e-04 -6.19041879e+00] [-3.77549722e-03 1.84816478e-04 9.99992856e-01 -1.58727527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460371743 meters 0.031012557920218804 Centerline is valid? [True, True] Translation: X:113.32, Y:-6.19, Z:-1.59 [[ 9.99990968e-01 1.41920885e-03 4.00610396e-03 1.13324593e+02] [-1.41838919e-03 9.99998973e-01 -2.07435045e-04 -6.19317354e+00] [-4.00639424e-03 2.01750957e-04 9.99991954e-01 -1.58778858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.490371743 meters 0.03161022369473203 Centerline is valid? [True, True] Translation: X:113.36, Y:-6.19, Z:-1.59 [[ 9.99990579e-01 -2.27318290e-03 3.69794912e-03 1.13355956e+02] [ 2.27390648e-03 9.99997396e-01 -1.91479398e-04 -6.19420700e+00] [-3.69750423e-03 1.99886385e-04 9.99993144e-01 -1.58796814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520371743 meters 0.03199956572341516 Centerline is valid? [True, True] Translation: X:113.39, Y:-6.20, Z:-1.59 [[ 9.99986040e-01 -4.13481796e-03 3.28999236e-03 1.13387960e+02] [ 4.13539908e-03 9.99991435e-01 -1.69850272e-04 -6.19603820e+00] [-3.28926188e-03 1.83453333e-04 9.99994574e-01 -1.58878755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.550371743 meters 0.03616816534157008 Centerline is valid? [True, True] Translation: X:113.42, Y:-6.20, Z:-1.59 [[ 9.99973472e-01 -6.73922737e-03 2.76367263e-03 1.13417501e+02] [ 6.73964972e-03 9.99977278e-01 -1.43537402e-04 -6.20383685e+00] [-2.76264250e-03 1.62159779e-04 9.99996171e-01 -1.59101413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580371743 meters 0.03540953448578722 Centerline is valid? [True, True] Translation: X:113.45, Y:-6.20, Z:-1.59 [[ 9.99968955e-01 -7.48644997e-03 2.45810528e-03 1.13450103e+02] [ 7.48678434e-03 9.99971966e-01 -1.26854472e-04 -6.20410033e+00] [-2.45708668e-03 1.45253838e-04 9.99996971e-01 -1.59145009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.610371743 meters 0.033322664588221806 Centerline is valid? [True, True] Translation: X:113.48, Y:-6.20, Z:-1.59 [[ 9.99965010e-01 -8.19966901e-03 1.65641044e-03 1.13482465e+02] [ 8.19982142e-03 9.99966377e-01 -8.52436937e-05 -6.20170373e+00] [-1.65565577e-03 9.88229808e-05 9.99998625e-01 -1.59144397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640371743 meters 0.033322664588221806 Centerline is valid? [True, True] Translation: X:113.51, Y:-6.20, Z:-1.59 [[ 9.99965603e-01 -8.12700615e-03 1.65640415e-03 1.13514175e+02] [ 8.12715867e-03 9.99966970e-01 -8.53650361e-05 -6.20341466e+00] [-1.65565568e-03 9.88239592e-05 9.99998625e-01 -1.59188960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.670371743 meters 0.03674487123095892 Centerline is valid? [True, True] Translation: X:113.55, Y:-6.21, Z:-1.59 [[ 9.99965142e-01 -8.31079572e-03 8.02962152e-04 1.13545007e+02] [ 8.31083144e-03 9.99965464e-01 -4.11592284e-05 -6.20889036e+00] [-8.02592354e-04 4.78310767e-05 9.99999677e-01 -1.59396185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.700371743 meters 0.03663434194938931 Centerline is valid? [True, True] Translation: X:113.58, Y:-6.21, Z:-1.59 [[ 9.99967879e-01 -7.99502427e-03 5.66028722e-04 1.13577696e+02] [ 7.99504174e-03 9.99968039e-01 -2.86162998e-05 -6.20933003e+00] [-5.65781843e-04 3.31408039e-05 9.99999839e-01 -1.59443542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73037174299999 meters 0.03374036227463739 Centerline is valid? [True, True] Translation: X:113.61, Y:-6.21, Z:-1.59 [[ 9.99974405e-01 -7.15459391e-03 -1.47189053e-05 1.13610262e+02] [ 7.15459394e-03 9.99974406e-01 1.77696072e-06 -6.20565462e+00] [ 1.47058151e-05 -1.88222302e-06 1.00000000e+00 -1.59392344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760371743 meters 0.03334496252422024 Centerline is valid? [True, True] Translation: X:113.64, Y:-6.20, Z:-1.59 [[ 9.99988855e-01 -4.72105137e-03 2.57211932e-05 1.13641328e+02] [ 4.72105139e-03 9.99988856e-01 -8.46219797e-07 -6.20481749e+00] [-2.57169116e-05 9.67641445e-07 1.00000000e+00 -1.59463785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.790371743 meters 0.03356328548098668 Centerline is valid? [True, True] Translation: X:113.67, Y:-6.21, Z:-1.60 [[ 9.99995065e-01 -3.14159118e-03 -3.69304974e-05 1.13671546e+02] [ 3.14159127e-03 9.99995065e-01 2.18203670e-06 -6.20578538e+00] [ 3.69234599e-05 -2.29804645e-06 9.99999999e-01 -1.59549323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820371743 meters 0.031208649425076302 Centerline is valid? [True, True] Translation: X:113.70, Y:-6.20, Z:-1.60 [[ 9.99999822e-01 5.85578074e-04 -1.17886526e-04 1.13702982e+02] [-5.85577326e-04 9.99999829e-01 6.37599118e-06 -6.20088998e+00] [ 1.17890240e-04 -6.30695836e-06 9.99999993e-01 -1.59558373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.850371743 meters 0.03036594307416773 Centerline is valid? [True, True] Translation: X:113.73, Y:-6.20, Z:-1.60 [[ 9.99995755e-01 2.88704378e-03 3.94132102e-04 1.13733000e+02] [-2.88703576e-03 9.99995832e-01 -2.09032945e-05 -6.19987415e+00] [-3.94190808e-04 1.97653323e-05 9.99999922e-01 -1.59559150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880371743 meters 0.029007757668633095 Centerline is valid? [True, True] Translation: X:113.76, Y:-6.20, Z:-1.60 [[ 9.99971003e-01 7.61151238e-03 2.39498927e-04 1.13763658e+02] [-7.61150953e-03 9.99971032e-01 -1.27931709e-05 -6.19576740e+00] [-2.39589365e-04 1.09698516e-05 9.99999971e-01 -1.59524284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.910371743 meters 0.028472445660554287 Centerline is valid? [True, True] Translation: X:113.79, Y:-6.19, Z:-1.60 [[ 9.99951545e-01 9.81484754e-03 7.59592479e-04 1.13792539e+02] [-9.81481943e-03 9.99951833e-01 -4.07287919e-05 -6.19491430e+00] [-7.59955638e-04 3.32715553e-05 9.99999711e-01 -1.59544935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940371743 meters 0.027160677895540913 Centerline is valid? [True, True] Translation: X:113.82, Y:-6.19, Z:-1.60 [[ 9.99926629e-01 1.20709677e-02 1.01360685e-03 1.13821758e+02] [-1.20709192e-02 9.99927142e-01 -5.39595765e-05 -6.19283142e+00] [-1.01418434e-03 4.17204511e-05 9.99999485e-01 -1.59508821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.970371743 meters 0.026177702687876815 Centerline is valid? [True, True] Translation: X:113.85, Y:-6.19, Z:-1.59 [[ 9.99894511e-01 1.44350698e-02 1.61126211e-03 1.13850378e+02] [-1.44349514e-02 9.99895807e-01 -8.50703366e-05 -6.19177411e+00] [-1.61232222e-03 6.18028724e-05 9.99998698e-01 -1.59489331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000371743 meters 0.02558878911517321 Centerline is valid? [True, True] Translation: X:113.88, Y:-6.19, Z:-1.60 [[ 9.99821903e-01 1.87807017e-02 1.85683138e-03 1.13879302e+02] [-1.87805533e-02 9.99823625e-01 -9.73027917e-05 -6.19001691e+00] [-1.85833130e-03 6.24131416e-05 9.99998271e-01 -1.59517427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.030371743 meters 0.0243429250057575 Centerline is valid? [True, True] Translation: X:113.91, Y:-6.19, Z:-1.60 [[ 9.99744365e-01 2.25185200e-02 2.02999729e-03 1.13909139e+02] [-2.25183506e-02 9.99746424e-01 -1.06255351e-04 -6.18808309e+00] [-2.03187524e-03 6.05159975e-05 9.99997934e-01 -1.59572364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.060371743 meters 0.024327780993139574 Centerline is valid? [True, True] Translation: X:113.94, Y:-6.19, Z:-1.60 [[ 9.99709951e-01 2.40068911e-02 1.91918283e-03 1.13936677e+02] [-2.40067412e-02 9.99711792e-01 -1.01061779e-04 -6.18879993e+00] [-1.92105588e-03 5.49591402e-05 9.99998153e-01 -1.59657640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09037174299999 meters 0.024116734099492144 Centerline is valid? [True, True] Translation: X:113.97, Y:-6.19, Z:-1.60 [[ 9.99678285e-01 2.53249185e-02 1.40503896e-03 1.13965038e+02] [-2.53248395e-02 9.99679272e-01 -7.39631107e-05 -6.18961083e+00] [-1.40646143e-03 3.83569295e-05 9.99999010e-01 -1.59761093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12037174299999 meters 0.024001152977388217 Centerline is valid? [True, True] Translation: X:113.99, Y:-6.19, Z:-1.60 [[ 9.99650373e-01 2.64154372e-02 1.16506678e-03 1.13993734e+02] [-2.64153836e-02 9.99651051e-01 -6.14164489e-05 -6.19026891e+00] [-1.16628258e-03 3.06192901e-05 9.99999319e-01 -1.59822738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.150371743 meters 0.023803288358615768 Centerline is valid? [True, True] Translation: X:114.02, Y:-6.19, Z:-1.60 [[ 9.99591568e-01 2.85729168e-02 5.34411249e-04 1.14022352e+02] [-2.85729056e-02 9.99591711e-01 -2.86636231e-05 -6.19050288e+00] [-5.35012058e-04 1.33822338e-05 9.99999857e-01 -1.59907945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180371743 meters 0.023567466717413152 Centerline is valid? [True, True] Translation: X:114.05, Y:-6.19, Z:-1.60 [[ 9.99573499e-01 2.92013511e-02 3.18720802e-04 1.14051562e+02] [-2.92013463e-02 9.99573550e-01 -1.96583571e-05 -6.19110838e+00] [-3.19158934e-04 1.03428963e-05 9.99999949e-01 -1.59942337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.210371743 meters 0.02316399468670719 Centerline is valid? [True, True] Translation: X:114.08, Y:-6.19, Z:-1.60 [[ 9.99517826e-01 3.10110406e-02 1.55939898e-03 1.14080165e+02] [-3.10109515e-02 9.99519041e-01 -8.12789246e-05 -6.19213831e+00] [-1.56116952e-03 3.28812878e-05 9.99998781e-01 -1.59953599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240371743 meters 0.022980045647974866 Centerline is valid? [True, True] Translation: X:114.11, Y:-6.19, Z:-1.60 [[ 9.99510795e-01 3.12229883e-02 1.81540244e-03 1.14109000e+02] [-3.12228684e-02 9.99512443e-01 -9.43339772e-05 -6.19353461e+00] [-1.81746271e-03 3.76057572e-05 9.99998348e-01 -1.59917940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.270371743 meters 0.023170018880362176 Centerline is valid? [True, True] Translation: X:114.14, Y:-6.20, Z:-1.60 [[ 9.99514369e-01 3.10453652e-02 2.68550204e-03 1.14136748e+02] [-3.10451022e-02 9.99517975e-01 -1.39570883e-04 -6.19578168e+00] [-2.68854058e-03 5.61314182e-05 9.99996384e-01 -1.59932899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300371743 meters 0.02361921840252153 Centerline is valid? [True, True] Translation: X:114.16, Y:-6.20, Z:-1.60 [[ 9.99567735e-01 2.92422708e-02 3.03843618e-03 1.14164043e+02] [-2.92419292e-02 9.99572351e-01 -1.56786224e-04 -6.19952766e+00] [-3.04172158e-03 6.78687150e-05 9.99995372e-01 -1.59879363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.330371743 meters 0.02395347271190008 Centerline is valid? [True, True] Translation: X:114.19, Y:-6.20, Z:-1.60 [[ 9.99606911e-01 2.78175771e-02 3.49370971e-03 1.14192927e+02] [-2.78171192e-02 9.99613013e-01 -1.79602880e-04 -6.20266000e+00] [-3.49735381e-03 8.23473405e-05 9.99993881e-01 -1.59905560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360371743 meters 0.024352093248972428 Centerline is valid? [True, True] Translation: X:114.22, Y:-6.21, Z:-1.60 [[ 9.99656185e-01 2.59767467e-02 3.56662015e-03 1.14221392e+02] [-2.59762587e-02 9.99662543e-01 -1.83086245e-04 -6.20655216e+00] [-3.57017256e-03 9.03758498e-05 9.99993623e-01 -1.59941575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.390371743 meters 0.02529355124694136 Centerline is valid? [True, True] Translation: X:114.25, Y:-6.21, Z:-1.60 [[ 9.99753849e-01 2.18881963e-02 3.62604402e-03 1.14250319e+02] [-2.18876666e-02 9.99760419e-01 -1.85699395e-04 -6.21339552e+00] [-3.62923991e-03 1.06288043e-04 9.99993409e-01 -1.60069685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420371743 meters 0.02615645029035239 Centerline is valid? [True, True] Translation: X:114.28, Y:-6.22, Z:-1.60 [[ 9.99801916e-01 1.95306041e-02 3.83189098e-03 1.14277692e+02] [-1.95299949e-02 9.99809252e-01 -1.96345399e-04 -6.21798316e+00] [-3.83499480e-03 1.21469695e-04 9.99992639e-01 -1.60152304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.450371743 meters 0.028885688725957526 Centerline is valid? [True, True] Translation: X:114.31, Y:-6.23, Z:-1.60 [[ 9.99878431e-01 1.50083378e-02 4.22766254e-03 1.14305475e+02] [-1.50075593e-02 9.99887357e-01 -2.15809230e-04 -6.22762894e+00] [-4.23042526e-03 1.52336098e-04 9.99991040e-01 -1.60261747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48037174299999 meters 0.02894922852897143 Centerline is valid? [True, True] Translation: X:114.33, Y:-6.23, Z:-1.60 [[ 9.99908321e-01 1.28892799e-02 4.14932584e-03 1.14334760e+02] [-1.28885133e-02 9.99916917e-01 -2.11446768e-04 -6.22995866e+00] [-4.15170650e-03 1.57948741e-04 9.99991369e-01 -1.60237363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.510371743 meters 0.029907404361506282 Centerline is valid? [True, True] Translation: X:114.36, Y:-6.23, Z:-1.60 [[ 9.99931079e-01 1.08255515e-02 4.54367443e-03 1.14363838e+02] [-1.08246112e-02 9.99941385e-01 -2.31478537e-04 -6.23405371e+00] [-4.54591399e-03 1.82279074e-04 9.99989651e-01 -1.60242886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540371743 meters 0.03164130134540588 Centerline is valid? [True, True] Translation: X:114.39, Y:-6.24, Z:-1.60 [[ 9.99960566e-01 7.48946526e-03 4.77234207e-03 1.14392786e+02] [-7.48839354e-03 9.99971932e-01 -2.42397309e-04 -6.24058107e+00] [-4.77402355e-03 2.06650575e-04 9.99988583e-01 -1.60228320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.570371743 meters 0.032808428277290455 Centerline is valid? [True, True] Translation: X:114.42, Y:-6.24, Z:-1.60 [[ 9.99969967e-01 6.08752893e-03 4.79650047e-03 1.14422407e+02] [-6.08642860e-03 9.99981448e-01 -2.43965978e-04 -6.24463492e+00] [-4.79789664e-03 2.14765093e-04 9.99988467e-01 -1.60285299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600371743 meters 0.030637216428668106 Centerline is valid? [True, True] Translation: X:114.45, Y:-6.24, Z:-1.60 [[ 9.99979994e-01 3.98333362e-03 4.91376973e-03 1.14452918e+02] [-3.98215580e-03 9.99992040e-01 -2.49459491e-04 -6.24387620e+00] [-4.91472430e-03 2.29887103e-04 9.99987896e-01 -1.60295972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.630371743 meters 0.034755464881662715 Centerline is valid? [True, True] Translation: X:114.48, Y:-6.25, Z:-1.61 [[ 9.99985435e-01 3.30265404e-03 4.26867119e-03 1.14483072e+02] [-3.30175970e-03 9.99994526e-01 -2.16541941e-04 -6.25267959e+00] [-4.26936298e-03 2.02444661e-04 9.99990866e-01 -1.60525824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660371743 meters 0.03597211712379602 Centerline is valid? [True, True] Translation: X:114.51, Y:-6.26, Z:-1.61 [[ 9.99989599e-01 2.75544297e-03 3.63461296e-03 1.14513592e+02] [-2.75479450e-03 9.99996189e-01 -1.83410962e-04 -6.25693951e+00] [-3.63510449e-03 1.73396442e-04 9.99993378e-01 -1.60702505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.690371743 meters 0.03617839195772859 Centerline is valid? [True, True] Translation: X:114.55, Y:-6.26, Z:-1.61 [[ 9.99990598e-01 3.02172485e-03 3.11014188e-03 1.14545025e+02] [-3.02124818e-03 9.99995424e-01 -1.57950593e-04 -6.25958704e+00] [-3.11060493e-03 1.48552597e-04 9.99995151e-01 -1.60811081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720371743 meters 0.03640388561331103 Centerline is valid? [True, True] Translation: X:114.58, Y:-6.26, Z:-1.61 [[ 9.99990095e-01 3.51771226e-03 2.72684644e-03 1.14575439e+02] [-3.51734661e-03 9.99993804e-01 -1.38876043e-04 -6.26169976e+00] [-2.72731807e-03 1.29283404e-04 9.99996273e-01 -1.60911371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.750371743 meters 0.028401912488407875 Centerline is valid? [True, True] Translation: X:114.61, Y:-6.25, Z:-1.61 [[ 9.99985901e-01 4.72034485e-03 2.43227444e-03 1.14606379e+02] [-4.72005748e-03 9.99988853e-01 -1.23873734e-04 -6.25078445e+00] [-2.43283206e-03 1.12391512e-04 9.99997034e-01 -1.60718518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780371743 meters 0.035196115821911865 Centerline is valid? [True, True] Translation: X:114.64, Y:-6.26, Z:-1.61 [[ 9.99969573e-01 7.54921934e-03 1.96529531e-03 1.14635036e+02] [-7.54903633e-03 9.99971501e-01 -1.00523806e-04 -6.26315305e+00] [-1.96599818e-03 8.56846616e-05 9.99998064e-01 -1.61147745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.810371743 meters 0.027020551655810195 Centerline is valid? [True, True] Translation: X:114.67, Y:-6.25, Z:-1.61 [[ 9.99950687e-01 9.75559011e-03 1.85801087e-03 1.14665155e+02] [-9.75543001e-03 9.99952410e-01 -9.52154453e-05 -6.25045610e+00] [-1.85885133e-03 7.70850549e-05 9.99998269e-01 -1.60850278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84037174299999 meters 0.02547338106430034 Centerline is valid? [True, True] Translation: X:114.70, Y:-6.25, Z:-1.61 [[ 9.99870103e-01 1.59742043e-02 2.14537990e-03 1.14695422e+02] [-1.59740068e-02 9.99872401e-01 -1.09128377e-04 -6.24721647e+00] [-2.14684939e-03 7.48438884e-05 9.99997693e-01 -1.60828265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87037174299999 meters 0.024415359580920774 Centerline is valid? [True, True] Translation: X:114.72, Y:-6.24, Z:-1.61 [[ 9.99814643e-01 1.90840867e-02 2.54504196e-03 1.14724770e+02] [-1.90838157e-02 9.99817879e-01 -1.30710162e-04 -6.24479487e+00] [-2.54707294e-03 8.21168223e-05 9.99996753e-01 -1.60790348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900371743 meters 0.024016663292407512 Centerline is valid? [True, True] Translation: X:114.75, Y:-6.24, Z:-1.61 [[ 9.99746248e-01 2.23301289e-02 2.96715337e-03 1.14752682e+02] [-2.23297776e-02 9.99750648e-01 -1.51482819e-04 -6.24475432e+00] [-2.96979614e-03 8.51885050e-05 9.99995587e-01 -1.60808036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.930371743 meters 0.022699260138548106 Centerline is valid? [True, True] Translation: X:114.78, Y:-6.24, Z:-1.61 [[ 9.99596321e-01 2.82388919e-02 3.12411218e-03 1.14782491e+02] [-2.82385342e-02 9.99601201e-01 -1.58562120e-04 -6.24084204e+00] [-3.12734391e-03 7.02777635e-05 9.99995107e-01 -1.60791899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960371743 meters 0.022955126320961347 Centerline is valid? [True, True] Translation: X:114.81, Y:-6.24, Z:-1.61 [[ 9.99532603e-01 3.03893244e-02 3.32621255e-03 1.14810360e+02] [-3.03889295e-02 9.99538136e-01 -1.69238499e-04 -6.24238578e+00] [-3.32981933e-03 6.80793591e-05 9.99994454e-01 -1.60906407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.990371743 meters 0.021940082306325513 Centerline is valid? [True, True] Translation: X:114.84, Y:-6.24, Z:-1.61 [[ 9.99457255e-01 3.26842002e-02 4.11562535e-03 1.14839626e+02] [-3.26836184e-02 9.99465726e-01 -2.08554519e-04 -6.24166315e+00] [-4.12024292e-03 7.39277985e-05 9.99991509e-01 -1.60792312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020371743 meters 0.021920417142260916 Centerline is valid? [True, True] Translation: X:114.87, Y:-6.24, Z:-1.61 [[ 9.99444272e-01 3.29714112e-02 4.90229225e-03 1.14868038e+02] [-3.29705918e-02 9.99456292e-01 -2.47878182e-04 -6.24340043e+00] [-4.90779972e-03 8.61089524e-05 9.99987953e-01 -1.60798783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.050371743 meters 0.021927450862080436 Centerline is valid? [True, True] Translation: X:114.90, Y:-6.25, Z:-1.61 [[ 9.99450345e-01 3.27630026e-02 5.05897167e-03 1.14895183e+02] [-3.27621270e-02 9.99463145e-01 -2.55879938e-04 -6.24596292e+00] [-5.06463913e-03 8.99966197e-05 9.99987171e-01 -1.60878217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080371743 meters 0.021781055853928446 Centerline is valid? [True, True] Translation: X:114.92, Y:-6.25, Z:-1.61 [[ 9.99463689e-01 3.23551969e-02 5.04734647e-03 1.14923473e+02] [-3.23543257e-02 9.99476429e-01 -2.54197261e-04 -6.24793727e+00] [-5.05292843e-03 9.07574406e-05 9.99987230e-01 -1.60886637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.110371743 meters 0.022110996234190366 Centerline is valid? [True, True] Translation: X:114.95, Y:-6.25, Z:-1.61 [[ 9.99519819e-01 3.05815797e-02 4.98981814e-03 1.14951911e+02] [-3.05807078e-02 9.99532269e-01 -2.50962240e-04 -6.25173197e+00] [-4.99515907e-03 9.82495627e-05 9.99987519e-01 -1.60957141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140371743 meters 0.02211078334065541 Centerline is valid? [True, True] Translation: X:114.98, Y:-6.25, Z:-1.61 [[ 9.99561184e-01 2.92238566e-02 4.83797769e-03 1.14980229e+02] [-2.92230225e-02 9.99572887e-01 -2.43015887e-04 -6.25483375e+00] [-4.84301319e-03 1.01528917e-04 9.99988267e-01 -1.61000095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.170371743 meters 0.022628106505398708 Centerline is valid? [True, True] Translation: X:115.01, Y:-6.26, Z:-1.61 [[ 9.99647342e-01 2.60739876e-02 5.03367104e-03 1.15008455e+02] [-2.60730468e-02 9.99660008e-01 -2.52446188e-04 -6.26017341e+00] [-5.03854191e-03 1.21114021e-04 9.99987299e-01 -1.61085591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20037174299999 meters 0.023093643802645506 Centerline is valid? [True, True] Translation: X:115.04, Y:-6.26, Z:-1.61 [[ 9.99698371e-01 2.40215049e-02 5.11219044e-03 1.15037288e+02] [-2.40205096e-02 9.99711433e-01 -2.56014518e-04 -6.26323888e+00] [-5.11686508e-03 1.33139877e-04 9.99986900e-01 -1.61123157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23037174299999 meters 0.023714760560756356 Centerline is valid? [True, True] Translation: X:115.07, Y:-6.27, Z:-1.61 [[ 9.99752657e-01 2.17238173e-02 4.76451430e-03 1.15065761e+02] [-2.17229279e-02 9.99764001e-01 -2.38332131e-04 -6.26695209e+00] [-4.76856736e-03 1.34773980e-04 9.99988621e-01 -1.61194797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260371743 meters 0.025166836446551624 Centerline is valid? [True, True] Translation: X:115.09, Y:-6.27, Z:-1.61 [[ 9.99844417e-01 1.66964265e-02 5.68950724e-03 1.15094327e+02] [-1.66950804e-02 9.99860587e-01 -2.84017760e-04 -6.27450833e+00] [-5.69345613e-03 1.88986791e-04 9.99983774e-01 -1.61230968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.290371743 meters 0.02540125781180094 Centerline is valid? [True, True] Translation: X:115.12, Y:-6.28, Z:-1.61 [[ 9.99883291e-01 1.40559337e-02 5.98620864e-03 1.15123976e+02] [-1.40544008e-02 9.99901188e-01 -2.98063333e-04 -6.27779322e+00] [-5.98980669e-03 2.13895971e-04 9.99982038e-01 -1.61236690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320371743 meters 0.02769541089803197 Centerline is valid? [True, True] Translation: X:115.15, Y:-6.28, Z:-1.61 [[ 9.99917940e-01 1.11317806e-02 6.34012126e-03 1.15151927e+02] [-1.11300023e-02 9.99938010e-01 -3.15697800e-04 -6.28464958e+00] [-6.34324251e-03 2.45106329e-04 9.99979851e-01 -1.61291349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.350371743 meters 0.030847950482345628 Centerline is valid? [True, True] Translation: X:115.18, Y:-6.29, Z:-1.61 [[ 9.99956525e-01 5.80433779e-03 7.29777223e-03 1.15180735e+02] [-5.80184667e-03 9.99983103e-01 -3.62477932e-04 -6.29384122e+00] [-7.29975287e-03 3.20121618e-04 9.99973305e-01 -1.61264770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380371743 meters 0.03159385368693437 Centerline is valid? [True, True] Translation: X:115.21, Y:-6.30, Z:-1.61 [[ 9.99966341e-01 3.12913627e-03 7.58449615e-03 1.15211274e+02] [-3.12637334e-03 9.99995042e-01 -3.76115458e-04 -6.29787612e+00] [-7.58563547e-03 3.52390832e-04 9.99971167e-01 -1.61266869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.410371743 meters 0.03332524771571222 Centerline is valid? [True, True] Translation: X:115.24, Y:-6.30, Z:-1.61 [[ 9.99967799e-01 8.96605727e-04 7.97473932e-03 1.15241872e+02] [-8.93479950e-04 9.99999523e-01 -3.95513774e-04 -6.30327124e+00] [-7.97509013e-03 3.88375768e-04 9.99968123e-01 -1.61315548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440371743 meters 0.03539636763096092 Centerline is valid? [True, True] Translation: X:115.27, Y:-6.31, Z:-1.61 [[ 9.99967509e-01 -2.00596007e-03 7.80749012e-03 1.15271988e+02] [ 2.00904713e-03 9.99997907e-01 -3.87575556e-04 -6.30961388e+00] [-7.80669632e-03 4.03248579e-04 9.99969446e-01 -1.61421522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.470371743 meters 0.035576276106945935 Centerline is valid? [True, True] Translation: X:115.30, Y:-6.31, Z:-1.61 [[ 9.99965983e-01 -2.85122467e-03 7.73967733e-03 1.15304116e+02] [ 2.85428214e-03 9.99995853e-01 -3.84021609e-04 -6.31277430e+00] [-7.73855030e-03 4.06099769e-04 9.99969975e-01 -1.61484297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500371743 meters 0.03627885097066285 Centerline is valid? [True, True] Translation: X:115.34, Y:-6.32, Z:-1.62 [[ 9.99963013e-01 -3.54919371e-03 7.83421589e-03 1.15335863e+02] [ 3.55235187e-03 9.99993615e-01 -3.89245954e-04 -6.31604964e+00] [-7.83278436e-03 4.17061449e-04 9.99969236e-01 -1.61558672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.530371743 meters 0.030968861230459232 Centerline is valid? [True, True] Translation: X:115.37, Y:-6.31, Z:-1.62 [[ 9.99962653e-01 -3.90633213e-03 7.70924578e-03 1.15368125e+02] [ 3.90940447e-03 9.99992285e-01 -3.83497367e-04 -6.31123115e+00] [-7.70768823e-03 4.13621605e-04 9.99970210e-01 -1.61554163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.560371743 meters 0.03140512305362956 Centerline is valid? [True, True] Translation: X:115.40, Y:-6.31, Z:-1.62 [[ 9.99961003e-01 -3.68203390e-03 8.02710965e-03 1.15400212e+02] [ 3.68536260e-03 9.99993129e-01 -3.99930762e-04 -6.31445919e+00] [-8.02558194e-03 4.29497976e-04 9.99967702e-01 -1.61616725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59037174299999 meters 0.03140512305362956 Centerline is valid? [True, True] Translation: X:115.43, Y:-6.32, Z:-1.62 [[ 9.99961394e-01 -3.57451648e-03 8.02709203e-03 1.15432758e+02] [ 3.57784456e-03 9.99993519e-01 -4.00284136e-04 -6.31617725e+00] [-8.02560919e-03 4.28988370e-04 9.99967702e-01 -1.61662464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62037174299999 meters 0.029714626859349887 Centerline is valid? [True, True] Translation: X:115.47, Y:-6.32, Z:-1.62 [[ 9.99968199e-01 -2.35538009e-03 7.61925294e-03 1.15465218e+02] [ 2.35835067e-03 9.99997147e-01 -3.80916659e-04 -6.31635729e+00] [-7.61833400e-03 3.98873416e-04 9.99970901e-01 -1.61743747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.650371743 meters 0.028740559205222078 Centerline is valid? [True, True] Translation: X:115.50, Y:-6.32, Z:-1.62 [[ 9.99972280e-01 -1.21157078e-03 7.34657855e-03 1.15497611e+02] [ 1.21430537e-03 9.99999195e-01 -3.67778024e-04 -6.31665295e+00] [-7.34612705e-03 3.76688818e-04 9.99972946e-01 -1.61836367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680371743 meters 0.030278337246749366 Centerline is valid? [True, True] Translation: X:115.53, Y:-6.32, Z:-1.62 [[ 9.99973107e-01 6.80586662e-04 7.30218183e-03 1.15527770e+02] [-6.77933117e-04 9.99999703e-01 -3.65859809e-04 -6.32084674e+00] [-7.30242866e-03 3.60899579e-04 9.99973272e-01 -1.61954532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.710371743 meters 0.02714499264326693 Centerline is valid? [True, True] Translation: X:115.56, Y:-6.32, Z:-1.62 [[ 9.99963963e-01 6.03876706e-03 5.96705906e-03 1.15559160e+02] [-6.03708392e-03 9.99981732e-01 -3.00043699e-04 -6.31650747e+00] [-5.96876195e-03 2.64009250e-04 9.99982152e-01 -1.62063736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740371743 meters 0.026282617383065313 Centerline is valid? [True, True] Translation: X:115.59, Y:-6.32, Z:-1.62 [[ 9.99937643e-01 9.61738997e-03 5.67598731e-03 1.15589629e+02] [-9.61592326e-03 9.99953725e-01 -2.85640884e-04 -6.31568248e+00] [-5.67847177e-03 2.31043214e-04 9.99983851e-01 -1.62168008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.770371743 meters 0.025365546837924496 Centerline is valid? [True, True] Translation: X:115.62, Y:-6.31, Z:-1.62 [[ 9.99897237e-01 1.34003040e-02 5.09380591e-03 1.15619310e+02] [-1.33991701e-02 9.99910194e-01 -2.56660822e-04 -6.31468341e+00] [-5.09678779e-03 1.88381675e-04 9.99986994e-01 -1.62232259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800371743 meters 0.02356548331340563 Centerline is valid? [True, True] Translation: X:115.65, Y:-6.31, Z:-1.62 [[ 9.99762365e-01 2.10456359e-02 5.68292944e-03 1.15649910e+02] [-2.10443510e-02 9.99778502e-01 -2.85815582e-04 -6.31027763e+00] [-5.68768586e-03 1.66154100e-04 9.99983811e-01 -1.62212331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.830371743 meters 0.022966189526395137 Centerline is valid? [True, True] Translation: X:115.68, Y:-6.31, Z:-1.62 [[ 9.99679737e-01 2.44837649e-02 6.40073786e-03 1.15678214e+02] [-2.44822022e-02 9.99700214e-01 -3.22398173e-04 -6.30930710e+00] [-6.40671253e-03 1.65590762e-04 9.99979463e-01 -1.62197457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860371743 meters 0.021022617172316158 Centerline is valid? [True, True] Translation: X:115.71, Y:-6.31, Z:-1.62 [[ 9.99492512e-01 3.08714213e-02 7.85325205e-03 1.15708645e+02] [-3.08692731e-02 9.99523353e-01 -3.94634827e-04 -6.30533585e+00] [-7.86169176e-03 1.52010372e-04 9.99969085e-01 -1.62150102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.890371743 meters 0.020718368654413663 Centerline is valid? [True, True] Translation: X:115.74, Y:-6.30, Z:-1.62 [[ 9.99412632e-01 3.32645495e-02 8.23774455e-03 1.15737603e+02] [-3.32622691e-02 9.99446572e-01 -4.13710352e-04 -6.30447774e+00] [-8.24694744e-03 1.39461276e-04 9.99965984e-01 -1.62170196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920371743 meters 0.020675186876723435 Centerline is valid? [True, True] Translation: X:115.77, Y:-6.31, Z:-1.62 [[ 9.99341460e-01 3.52039134e-02 8.79379039e-03 1.15765314e+02] [-3.52013953e-02 9.99380142e-01 -4.41022111e-04 -6.30502582e+00] [-8.80386519e-03 1.31177989e-04 9.99961237e-01 -1.62207993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95037174299999 meters 0.020369906047844517 Centerline is valid? [True, True] Translation: X:115.79, Y:-6.31, Z:-1.62 [[ 9.99289864e-01 3.63765939e-02 9.82405070e-03 1.15793067e+02] [-3.63735180e-02 9.99338144e-01 -4.91644258e-04 -6.30649624e+00] [-9.83543293e-03 1.33959839e-04 9.99951622e-01 -1.62184509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98037174299999 meters 0.02041392491138064 Centerline is valid? [True, True] Translation: X:115.82, Y:-6.31, Z:-1.62 [[ 9.99298718e-01 3.57738907e-02 1.10589747e-02 1.15821541e+02] [-3.57699691e-02 9.99359897e-01 -5.52265039e-04 -6.30834557e+00] [-1.10716525e-02 1.56298563e-04 9.99938695e-01 -1.62108322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.010371743 meters 0.02028729520461899 Centerline is valid? [True, True] Translation: X:115.85, Y:-6.31, Z:-1.62 [[ 9.99351660e-01 3.41048824e-02 1.15375894e-02 1.15849821e+02] [-3.41005127e-02 9.99418243e-01 -5.75307417e-04 -6.31060447e+00] [-1.15504981e-02 1.81496709e-04 9.99933274e-01 -1.62126007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040371743 meters 0.021094093528890173 Centerline is valid? [True, True] Translation: X:115.88, Y:-6.32, Z:-1.62 [[ 9.99516310e-01 2.89490904e-02 1.13620865e-02 1.15878284e+02] [-2.89445294e-02 9.99580859e-01 -5.65695528e-04 -6.31790220e+00] [-1.13737006e-02 2.36551659e-04 9.99935289e-01 -1.62258180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.070371743 meters 0.021288665740906067 Centerline is valid? [True, True] Translation: X:115.91, Y:-6.32, Z:-1.62 [[ 9.99621847e-01 2.54607862e-02 1.03880001e-02 1.15906622e+02] [-2.54567899e-02 9.99675790e-01 -5.16768320e-04 -6.32197736e+00] [-1.03977895e-02 2.52127768e-04 9.99945910e-01 -1.62349853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100371743 meters 0.02203860748831081 Centerline is valid? [True, True] Translation: X:115.94, Y:-6.33, Z:-1.62 [[ 9.99706892e-01 2.19718206e-02 1.01670998e-02 1.15935884e+02] [-2.19678208e-02 9.99758551e-01 -5.04924838e-04 -6.32689540e+00] [-1.01757391e-02 2.81427813e-04 9.99948186e-01 -1.62459471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.130371743 meters 0.02453970849255204 Centerline is valid? [True, True] Translation: X:115.97, Y:-6.34, Z:-1.63 [[ 9.99847738e-01 1.40785510e-02 1.03099649e-02 1.15965132e+02] [-1.40740236e-02 9.99900825e-01 -5.11549127e-04 -6.33646068e+00] [-1.03161443e-02 3.66368548e-04 9.99946720e-01 -1.62515836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160371743 meters 0.02440053653630581 Centerline is valid? [True, True] Translation: X:116.00, Y:-6.34, Z:-1.62 [[ 9.99892177e-01 1.05369886e-02 1.02277622e-02 1.15995075e+02] [-1.05323490e-02 9.99944405e-01 -5.07378857e-04 -6.33945022e+00] [-1.02325398e-02 3.99601789e-04 9.99947566e-01 -1.62494973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.190371743 meters 0.02737956733004652 Centerline is valid? [True, True] Translation: X:116.02, Y:-6.35, Z:-1.63 [[ 9.99942269e-01 3.85428927e-03 1.00301586e-02 1.16024112e+02] [-3.84949364e-03 9.99992467e-01 -4.97383254e-04 -6.34875291e+00] [-1.00320001e-02 4.58743507e-04 9.99949573e-01 -1.62527958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220371743 meters 0.02895143207544862 Centerline is valid? [True, True] Translation: X:116.05, Y:-6.35, Z:-1.63 [[ 9.99953498e-01 9.85166781e-04 9.59333478e-03 1.16054155e+02] [-9.80650717e-04 9.99999406e-01 -4.75442785e-04 -6.35420008e+00] [-9.59379747e-03 4.66012965e-04 9.99953870e-01 -1.62565063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.250371743 meters 0.02898047778805151 Centerline is valid? [True, True] Translation: X:116.09, Y:-6.36, Z:-1.63 [[ 9.99952164e-01 -1.29258552e-03 9.69533002e-03 1.16086004e+02] [ 1.29729756e-03 9.99999043e-01 -4.79738258e-04 -6.35672111e+00] [-9.69470065e-03 4.92293037e-04 9.99952884e-01 -1.62609392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280371743 meters 0.030407203021941834 Centerline is valid? [True, True] Translation: X:116.12, Y:-6.36, Z:-1.63 [[ 9.99939444e-01 -5.12109868e-03 9.74081634e-03 1.16116507e+02] [ 5.12606749e-03 9.99986744e-01 -4.85203855e-04 -6.36181395e+00] [-9.73820244e-03 5.35106555e-04 9.99952439e-01 -1.62647479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.310371743 meters 0.031230904962070396 Centerline is valid? [True, True] Translation: X:116.15, Y:-6.37, Z:-1.63 [[ 9.99929445e-01 -6.16369709e-03 1.01545258e-02 1.16148115e+02] [ 6.16915110e-03 9.99980843e-01 -5.05865997e-04 -6.36529950e+00] [-1.01512133e-02 5.68475109e-04 9.99948314e-01 -1.62687313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34037174299999 meters 0.03084342244041351 Centerline is valid? [True, True] Translation: X:116.18, Y:-6.37, Z:-1.63 [[ 9.99920365e-01 -6.91819869e-03 1.05547550e-02 1.16179962e+02] [ 6.92413867e-03 9.99975889e-01 -5.26338561e-04 -6.36647546e+00] [-1.05508592e-02 5.99379233e-04 9.99944158e-01 -1.62739347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37037174299999 meters 0.03138013839210629 Centerline is valid? [True, True] Translation: X:116.21, Y:-6.37, Z:-1.63 [[ 9.99915306e-01 -7.58274302e-03 1.05774254e-02 1.16212440e+02] [ 7.58875376e-03 9.99971065e-01 -5.28240690e-04 -6.36934719e+00] [-1.05731139e-02 6.08465428e-04 9.99943918e-01 -1.62838951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400371743 meters 0.03177105007588046 Centerline is valid? [True, True] Translation: X:116.24, Y:-6.37, Z:-1.63 [[ 9.99915893e-01 -7.90045270e-03 1.02853854e-02 1.16244794e+02] [ 7.90616024e-03 9.99968614e-01 -5.14375609e-04 -6.37175084e+00] [-1.02809988e-02 5.95650252e-04 9.99946972e-01 -1.62895079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.430371743 meters 0.032950935885863564 Centerline is valid? [True, True] Translation: X:116.28, Y:-6.37, Z:-1.63 [[ 9.99900856e-01 -9.14132104e-03 1.07104755e-02 1.16276238e+02] [ 9.14759044e-03 9.99958016e-01 -5.36508522e-04 -6.37484825e+00] [-1.07051214e-02 6.34430374e-04 9.99942497e-01 -1.62930573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460371743 meters 0.03512172720251609 Centerline is valid? [True, True] Translation: X:116.31, Y:-6.38, Z:-1.63 [[ 9.99894608e-01 -9.76800324e-03 1.07405766e-02 1.16307535e+02] [ 9.77435017e-03 9.99952085e-01 -5.38595338e-04 -6.37899471e+00] [-1.07348010e-02 6.43520731e-04 9.99942173e-01 -1.63010684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.490371743 meters 0.03624665770595844 Centerline is valid? [True, True] Translation: X:116.34, Y:-6.38, Z:-1.63 [[ 9.99892292e-01 -1.04541867e-02 1.03011549e-02 1.16339069e+02] [ 1.04600666e-02 9.99945158e-01 -5.17082935e-04 -6.38187436e+00] [-1.02951843e-02 6.24778007e-04 9.99946808e-01 -1.63149050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520371743 meters 0.037006094676010966 Centerline is valid? [True, True] Translation: X:116.37, Y:-6.38, Z:-1.63 [[ 9.99889190e-01 -1.15706438e-02 9.36632924e-03 1.16369731e+02] [ 1.15755584e-02 9.99932890e-01 -4.70665363e-04 -6.38477382e+00] [-9.36025477e-03 5.79033699e-04 9.99956024e-01 -1.63337299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.550371743 meters 0.03596103050323713 Centerline is valid? [True, True] Translation: X:116.40, Y:-6.38, Z:-1.63 [[ 9.99889095e-01 -1.16648175e-02 9.25901093e-03 1.16402085e+02] [ 1.16696255e-02 9.99931799e-01 -4.65426196e-04 -6.38477898e+00] [-9.25295034e-03 5.73423769e-04 9.99957026e-01 -1.63421979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580371743 meters 0.03621575943998514 Centerline is valid? [True, True] Translation: X:116.43, Y:-6.38, Z:-1.64 [[ 9.99899132e-01 -1.15340586e-02 8.28802619e-03 1.16434672e+02] [ 1.15379089e-02 9.99933349e-01 -4.16892620e-04 -6.38480783e+00] [-8.28266533e-03 5.12477059e-04 9.99965567e-01 -1.63546738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.610371743 meters 0.036140828074310356 Centerline is valid? [True, True] Translation: X:116.47, Y:-6.39, Z:-1.64 [[ 9.99915683e-01 -1.03412754e-02 7.85403630e-03 1.16467297e+02] [ 1.03447030e-02 9.99946414e-01 -3.95916962e-04 -6.38507803e+00] [-7.84952115e-03 4.77131252e-04 9.99969078e-01 -1.63638335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640371743 meters 0.03549348822874525 Centerline is valid? [True, True] Translation: X:116.50, Y:-6.38, Z:-1.64 [[ 9.99930643e-01 -8.99231474e-03 7.60572635e-03 1.16499238e+02] [ 8.99549573e-03 9.99959466e-01 -3.84130084e-04 -6.38420009e+00] [-7.60196384e-03 4.52520721e-04 9.99971002e-01 -1.63736160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.670371743 meters 0.031911285660781545 Centerline is valid? [True, True] Translation: X:116.53, Y:-6.38, Z:-1.64 [[ 9.99956712e-01 -5.06696623e-03 7.80379839e-03 1.16530630e+02] [ 5.07020287e-03 9.99987068e-01 -3.95023875e-04 -6.37745512e+00] [-7.80169590e-03 4.34573616e-04 9.99969472e-01 -1.63785358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70037174299999 meters 0.031122063130763055 Centerline is valid? [True, True] Translation: X:116.56, Y:-6.38, Z:-1.64 [[ 9.99965965e-01 -2.71847372e-03 7.78963374e-03 1.16562421e+02] [ 2.72162600e-03 9.99996219e-01 -3.94104364e-04 -6.37615728e+00] [-7.78853292e-03 4.15291420e-04 9.99969583e-01 -1.63823245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73037174299999 meters 0.02988480518291929 Centerline is valid? [True, True] Translation: X:116.59, Y:-6.37, Z:-1.64 [[ 9.99968033e-01 -2.26720832e-04 7.99265584e-03 1.16594560e+02] [ 2.29965949e-04 9.99999892e-01 -4.05095635e-04 -6.37387121e+00] [-7.99256313e-03 4.06920723e-04 9.99967976e-01 -1.63797865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760371743 meters 0.028597614968401838 Centerline is valid? [True, True] Translation: X:116.63, Y:-6.37, Z:-1.64 [[ 9.99951136e-01 4.64932150e-03 8.72409499e-03 1.16625334e+02] [-4.64563315e-03 9.99989111e-01 -4.42994744e-04 -6.36867800e+00] [-8.72605961e-03 4.02444152e-04 9.99961846e-01 -1.63715473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.790371743 meters 0.02721268450658224 Centerline is valid? [True, True] Translation: X:116.66, Y:-6.37, Z:-1.64 [[ 9.99931043e-01 7.16234726e-03 9.30647303e-03 1.16656646e+02] [-7.15826034e-03 9.99974268e-01 -4.72384479e-04 -6.36563576e+00] [-9.30961694e-03 4.05733748e-04 9.99956582e-01 -1.63652341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820371743 meters 0.02588089034218493 Centerline is valid? [True, True] Translation: X:116.69, Y:-6.36, Z:-1.64 [[ 9.99893283e-01 1.11593399e-02 9.42828979e-03 1.16687175e+02] [-1.11553178e-02 9.99937663e-01 -4.79083967e-04 -6.36117575e+00] [-9.43304832e-03 3.73857271e-04 9.99955438e-01 -1.63648600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.850371743 meters 0.02590859771663201 Centerline is valid? [True, True] Translation: X:116.72, Y:-6.36, Z:-1.64 [[ 9.99877425e-01 1.24712000e-02 9.46594464e-03 1.16716276e+02] [-1.24672036e-02 9.99922166e-01 -4.81079125e-04 -6.36118354e+00] [-9.47120750e-03 3.63006297e-04 9.99955081e-01 -1.63731304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880371743 meters 0.02677864607876785 Centerline is valid? [True, True] Translation: X:116.75, Y:-6.36, Z:-1.64 [[ 9.99870658e-01 1.31570921e-02 9.24974450e-03 1.16746058e+02] [-1.31533070e-02 9.99913381e-01 -4.69930296e-04 -6.36294679e+00] [-9.25512622e-03 3.48204785e-04 9.99957110e-01 -1.63859493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.910371743 meters 0.025328910643948124 Centerline is valid? [True, True] Translation: X:116.78, Y:-6.36, Z:-1.64 [[ 9.99872033e-01 1.36261317e-02 8.38132046e-03 1.16775635e+02] [-1.36230407e-02 9.99907111e-01 -4.25789308e-04 -6.36011130e+00] [-8.38634379e-03 3.11555752e-04 9.99964785e-01 -1.63986342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940371743 meters 0.026057478473516547 Centerline is valid? [True, True] Translation: X:116.80, Y:-6.36, Z:-1.64 [[ 9.99873454e-01 1.35151734e-02 8.39142760e-03 1.16804463e+02] [-1.35120735e-02 9.99908617e-01 -4.26001488e-04 -6.36205875e+00] [-8.39641826e-03 3.12561993e-04 9.99964701e-01 -1.64082444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.970371743 meters 0.025981816875374986 Centerline is valid? [True, True] Translation: X:116.83, Y:-6.36, Z:-1.64 [[ 9.99884877e-01 1.23570689e-02 8.80547776e-03 1.16834550e+02] [-1.23536138e-02 9.99923591e-01 -4.46665846e-04 -6.36252595e+00] [-8.81032443e-03 3.37834952e-04 9.99961131e-01 -1.64103227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000371743 meters 0.026627689649770254 Centerline is valid? [True, True] Translation: X:116.86, Y:-6.36, Z:-1.64 [[ 9.99896375e-01 1.13475122e-02 8.85848161e-03 1.16863740e+02] [-1.13439786e-02 9.99935554e-01 -4.49033620e-04 -6.36477276e+00] [-8.86300614e-03 3.48496663e-04 9.99960662e-01 -1.64134119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.030371743 meters 0.027564546518924808 Centerline is valid? [True, True] Translation: X:116.89, Y:-6.37, Z:-1.64 [[ 9.99910236e-01 9.80829036e-03 9.12786005e-03 1.16893196e+02] [-9.80447851e-03 9.99951828e-01 -4.62261687e-04 -6.36749438e+00] [-9.13195434e-03 3.72726284e-04 9.99958233e-01 -1.64140800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.060371743 meters 0.027799663342207077 Centerline is valid? [True, True] Translation: X:116.92, Y:-6.37, Z:-1.64 [[ 9.99937234e-01 6.58182026e-03 9.06688121e-03 1.16923780e+02] [-6.57792900e-03 9.99978260e-01 -4.58927914e-04 -6.36946907e+00] [-9.06970468e-03 3.99257808e-04 9.99958790e-01 -1.64141707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09037174299999 meters 0.028134345521602638 Centerline is valid? [True, True] Translation: X:116.96, Y:-6.37, Z:-1.64 [[ 9.99946649e-01 5.03340506e-03 9.02021635e-03 1.16955578e+02] [-5.02950135e-03 9.99987248e-01 -4.55406193e-04 -6.37246821e+00] [-9.02239357e-03 4.10014706e-04 9.99959213e-01 -1.64201791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12037174299999 meters 0.03174600588591105 Centerline is valid? [True, True] Translation: X:116.99, Y:-6.38, Z:-1.64 [[ 9.99949955e-01 3.43099750e-03 9.39764890e-03 1.16985992e+02] [-3.42666322e-03 9.99994015e-01 -4.77271988e-04 -6.37997104e+00] [-9.39923018e-03 4.45045525e-04 9.99955727e-01 -1.64318226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.150371743 meters 0.030682149016338797 Centerline is valid? [True, True] Translation: X:117.02, Y:-6.38, Z:-1.64 [[ 9.99956671e-01 3.58230194e-04 9.30202465e-03 1.17017117e+02] [-3.53835761e-04 9.99999825e-01 -4.74058295e-04 -6.37957381e+00] [-9.30219285e-03 4.70746366e-04 9.99956623e-01 -1.64322108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180371743 meters 0.030267390060273965 Centerline is valid? [True, True] Translation: X:117.05, Y:-6.38, Z:-1.64 [[ 9.99952873e-01 -1.23531511e-03 9.62943670e-03 1.17049091e+02] [ 1.24009747e-03 9.99999111e-01 -4.90683821e-04 -6.38033074e+00] [-9.62882199e-03 5.02602136e-04 9.99953516e-01 -1.64327595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.210371743 meters 0.0321654974015089 Centerline is valid? [True, True] Translation: X:117.08, Y:-6.38, Z:-1.64 [[ 9.99947059e-01 -4.10212929e-03 9.43677076e-03 1.17078882e+02] [ 4.10685878e-03 9.99991451e-01 -4.81853368e-04 -6.38417971e+00] [-9.43471346e-03 5.20583343e-04 9.99955357e-01 -1.64395439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240371743 meters 0.03057923216190872 Centerline is valid? [True, True] Translation: X:117.11, Y:-6.38, Z:-1.64 [[ 9.99941227e-01 -5.18707320e-03 9.52034270e-03 1.17110972e+02] [ 5.19193272e-03 9.99986404e-01 -4.85791372e-04 -6.38364666e+00] [-9.51769343e-03 5.35191800e-04 9.99954563e-01 -1.64381425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.270371743 meters 0.03178680686934957 Centerline is valid? [True, True] Translation: X:117.14, Y:-6.39, Z:-1.64 [[ 9.99927593e-01 -6.45672387e-03 1.01548152e-02 1.17143385e+02] [ 6.46232624e-03 9.99978984e-01 -5.18978837e-04 -6.38694685e+00] [-1.01512509e-02 5.84564988e-04 9.99948304e-01 -1.64453870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300371743 meters 0.03290646713679232 Centerline is valid? [True, True] Translation: X:117.17, Y:-6.39, Z:-1.65 [[ 9.99917234e-01 -8.81926816e-03 9.36726293e-03 1.17174251e+02] [ 8.82414652e-03 9.99960951e-01 -4.79585006e-04 -6.39174883e+00] [-9.36266757e-03 5.62203413e-04 9.99956011e-01 -1.64596517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.330371743 meters 0.03379636213505759 Centerline is valid? [True, True] Translation: X:117.21, Y:-6.40, Z:-1.65 [[ 9.99913857e-01 -9.81233604e-03 8.71757592e-03 1.17206623e+02] [ 9.81659747e-03 9.99951717e-01 -4.46177047e-04 -6.39514447e+00] [-8.71277697e-03 5.31715546e-04 9.99961902e-01 -1.64719547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360371743 meters 0.0354789380928712 Centerline is valid? [True, True] Translation: X:117.24, Y:-6.40, Z:-1.65 [[ 9.99909748e-01 -1.10768492e-02 7.60257380e-03 1.17237575e+02] [ 1.10801307e-02 9.99938538e-01 -3.89643199e-04 -6.39945558e+00] [-7.59779051e-03 4.73845544e-04 9.99971024e-01 -1.64815249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.390371743 meters 0.03551669898806423 Centerline is valid? [True, True] Translation: X:117.27, Y:-6.40, Z:-1.65 [[ 9.99907731e-01 -1.14996386e-02 7.23102573e-03 1.17269560e+02] [ 1.15026199e-02 9.99933774e-01 -3.70828434e-04 -6.40122266e+00] [-7.22628246e-03 4.53969959e-04 9.99973787e-01 -1.64892028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420371743 meters 0.03436150621483339 Centerline is valid? [True, True] Translation: X:117.30, Y:-6.40, Z:-1.65 [[ 9.99908703e-01 -1.18332473e-02 6.52375064e-03 1.17301709e+02] [ 1.18356832e-02 9.99929900e-01 -3.34909851e-04 -6.40095540e+00] [-6.51933026e-03 4.12092321e-04 9.99978664e-01 -1.64961844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45037174299999 meters 0.03436150621483339 Centerline is valid? [True, True] Translation: X:117.33, Y:-6.40, Z:-1.65 [[ 9.99909997e-01 -1.17234358e-02 6.52374037e-03 1.17334274e+02] [ 1.17258707e-02 9.99931193e-01 -3.35110279e-04 -6.40272385e+00] [-6.51936285e-03 4.11576654e-04 9.99978664e-01 -1.65007610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48037174299999 meters 0.034460476995817516 Centerline is valid? [True, True] Translation: X:117.37, Y:-6.41, Z:-1.65 [[ 9.99907637e-01 -1.21788863e-02 6.03264587e-03 1.17365363e+02] [ 1.21809826e-02 9.99925761e-01 -3.10876241e-04 -6.40504598e+00] [-6.02841189e-03 3.84331082e-04 9.99981755e-01 -1.65140911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.510371743 meters 0.03564373997670337 Centerline is valid? [True, True] Translation: X:117.40, Y:-6.41, Z:-1.65 [[ 9.99906289e-01 -1.23829550e-02 5.83738906e-03 1.17397309e+02] [ 1.23849222e-02 9.99923259e-01 -3.00969969e-04 -6.40807508e+00] [-5.83321420e-03 3.73237374e-04 9.99982917e-01 -1.65239033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540371743 meters 0.03500230957124942 Centerline is valid? [True, True] Translation: X:117.43, Y:-6.41, Z:-1.65 [[ 9.99906681e-01 -1.25447685e-02 5.40915504e-03 1.17429304e+02] [ 1.25464616e-02 9.99921251e-01 -2.79195549e-04 -6.40815451e+00] [-5.40522663e-03 3.47035250e-04 9.99985331e-01 -1.65319485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.570371743 meters 0.03554887109404659 Centerline is valid? [True, True] Translation: X:117.46, Y:-6.41, Z:-1.65 [[ 9.99913488e-01 -1.20651489e-02 5.23917215e-03 1.17460159e+02] [ 1.20667293e-02 9.99927158e-01 -2.70146816e-04 -6.41033897e+00] [-5.23553115e-03 3.33343117e-04 9.99986239e-01 -1.65384864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600371743 meters 0.03655203566378003 Centerline is valid? [True, True] Translation: X:117.49, Y:-6.41, Z:-1.65 [[ 9.99918810e-01 -1.16801742e-02 5.09377123e-03 1.17490811e+02] [ 1.16816707e-02 9.99931732e-01 -2.64124477e-04 -6.41239029e+00] [-5.09033847e-03 3.23606791e-04 9.99986992e-01 -1.65490398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.630371743 meters 0.035632530049681324 Centerline is valid? [True, True] Translation: X:117.52, Y:-6.41, Z:-1.66 [[ 9.99924949e-01 -1.10768007e-02 5.23457044e-03 1.17523384e+02] [ 1.10783735e-02 9.99938596e-01 -2.71562639e-04 -6.41207131e+00] [-5.23124097e-03 3.29532784e-04 9.99986263e-01 -1.65543913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660371743 meters 0.035695391471997566 Centerline is valid? [True, True] Translation: X:117.56, Y:-6.41, Z:-1.66 [[ 9.99930226e-01 -1.06373659e-02 5.13712660e-03 1.17555867e+02] [ 1.06388767e-02 9.99943370e-01 -2.66856140e-04 -6.41305716e+00] [-5.13399704e-03 3.21490777e-04 9.99986769e-01 -1.65611645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.690371743 meters 0.03593713620815221 Centerline is valid? [True, True] Translation: X:117.59, Y:-6.41, Z:-1.66 [[ 9.99938650e-01 -9.65865752e-03 5.42283381e-03 1.17588324e+02] [ 9.66032912e-03 9.99953298e-01 -2.82141944e-04 -6.41365572e+00] [-5.41985544e-03 3.34510993e-04 9.99985257e-01 -1.65607559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720371743 meters 0.034791243050386875 Centerline is valid? [True, True] Translation: X:117.62, Y:-6.41, Z:-1.66 [[ 9.99943522e-01 -9.26004574e-03 5.21581122e-03 1.17620883e+02] [ 9.26158843e-03 9.99957074e-01 -2.71695022e-04 -6.41256185e+00] [-5.21307142e-03 3.19986374e-04 9.99986361e-01 -1.65556942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.750371743 meters 0.03549150854941473 Centerline is valid? [True, True] Translation: X:117.65, Y:-6.41, Z:-1.65 [[ 9.99945279e-01 -8.51496614e-03 6.07729249e-03 1.17652496e+02] [ 8.51705057e-03 9.99963679e-01 -3.17188067e-04 -6.41401615e+00] [-6.07437091e-03 3.68931318e-04 9.99981483e-01 -1.65481377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780371743 meters 0.03502739588935093 Centerline is valid? [True, True] Translation: X:117.68, Y:-6.41, Z:-1.65 [[ 9.99946533e-01 -8.36580201e-03 6.07813406e-03 1.17684344e+02] [ 8.36788692e-03 9.99964938e-01 -3.17667393e-04 -6.41466775e+00] [-6.07526341e-03 3.68511547e-04 9.99981478e-01 -1.65497838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.810371743 meters 0.03381399662057969 Centerline is valid? [True, True] Translation: X:117.72, Y:-6.41, Z:-1.66 [[ 9.99947773e-01 -8.23356224e-03 6.05471346e-03 1.17717138e+02] [ 8.23562953e-03 9.99966037e-01 -3.16580760e-04 -6.41498400e+00] [-6.05190123e-03 3.66428603e-04 9.99981620e-01 -1.65572016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84037174299999 meters 0.03594935552300928 Centerline is valid? [True, True] Translation: X:117.75, Y:-6.42, Z:-1.66 [[ 9.99953507e-01 -7.94506543e-03 5.46434781e-03 1.17748186e+02] [ 7.94674988e-03 9.99968383e-01 -2.86619821e-04 -6.42023167e+00] [-5.46189783e-03 3.30030301e-04 9.99985029e-01 -1.65837180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87037174299999 meters 0.03591752652399491 Centerline is valid? [True, True] Translation: X:117.78, Y:-6.42, Z:-1.66 [[ 9.99961661e-01 -7.35627410e-03 4.74984939e-03 1.17780687e+02] [ 7.35754026e-03 9.99972902e-01 -2.49150224e-04 -6.42160849e+00] [-4.74788786e-03 2.84087880e-04 9.99988688e-01 -1.65942605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900371743 meters 0.03672822142741604 Centerline is valid? [True, True] Translation: X:117.81, Y:-6.42, Z:-1.66 [[ 9.99971541e-01 -6.02705569e-03 4.53781513e-03 1.17812362e+02] [ 6.02819894e-03 9.99981802e-01 -2.38303865e-04 -6.42212828e+00] [-4.53629628e-03 2.65651936e-04 9.99989676e-01 -1.66035761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.930371743 meters 0.03646783171890826 Centerline is valid? [True, True] Translation: X:117.84, Y:-6.42, Z:-1.66 [[ 9.99978808e-01 -4.60047965e-03 4.60647478e-03 1.17844341e+02] [ 4.60164496e-03 9.99989383e-01 -2.42405789e-04 -6.42170891e+00] [-4.60531069e-03 2.63598013e-04 9.99989361e-01 -1.66053492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960371743 meters 0.03370984935929738 Centerline is valid? [True, True] Translation: X:117.88, Y:-6.42, Z:-1.66 [[ 9.99977809e-01 -3.73116689e-03 5.51909124e-03 1.17876401e+02] [ 3.73282795e-03 9.99992991e-01 -2.90695976e-04 -6.41880114e+00] [-5.51796792e-03 3.11291343e-04 9.99984727e-01 -1.65971312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.990371743 meters 0.03161636178560436 Centerline is valid? [True, True] Translation: X:117.91, Y:-6.41, Z:-1.66 [[ 9.99978931e-01 -1.47777848e-03 6.32089047e-03 1.17908523e+02] [ 1.47991686e-03 9.99998849e-01 -3.33638844e-04 -6.41488802e+00] [-6.32039015e-03 3.42986207e-04 9.99979967e-01 -1.65926976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020371743 meters 0.03076955878091485 Centerline is valid? [True, True] Translation: X:117.94, Y:-6.41, Z:-1.66 [[ 9.99978461e-01 -3.30796579e-04 6.55501549e-03 1.17940990e+02] [ 3.33073340e-04 9.99999885e-01 -3.46242434e-04 -6.41441607e+00] [-6.55490020e-03 3.48418278e-04 9.99978456e-01 -1.65931172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.050371743 meters 0.030400234406243707 Centerline is valid? [True, True] Translation: X:117.97, Y:-6.41, Z:-1.66 [[ 9.99974210e-01 7.58497895e-04 7.14177799e-03 1.17973122e+02] [-7.55818664e-04 9.99999643e-01 -3.77840474e-04 -6.41368813e+00] [-7.14206204e-03 3.72432840e-04 9.99974426e-01 -1.65968224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080371743 meters 0.030420449259532335 Centerline is valid? [True, True] Translation: X:118.01, Y:-6.41, Z:-1.66 [[ 9.99973578e-01 1.01203668e-03 7.19853851e-03 1.18005149e+02] [-1.00931742e-03 9.99999418e-01 -3.81373386e-04 -6.41477595e+00] [-7.19892029e-03 3.74097699e-04 9.99974017e-01 -1.65971514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.110371743 meters 0.030074107796112727 Centerline is valid? [True, True] Translation: X:118.04, Y:-6.42, Z:-1.66 [[ 9.99971820e-01 1.17168194e-03 7.41524396e-03 1.18037899e+02] [-1.16880725e-03 9.99999240e-01 -3.91994416e-04 -6.41535574e+00] [-7.41569762e-03 3.83316379e-04 9.99972430e-01 -1.65986642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140371743 meters 0.0309503759696811 Centerline is valid? [True, True] Translation: X:118.07, Y:-6.42, Z:-1.66 [[ 9.99974065e-01 1.55734697e-03 7.03167254e-03 1.18069654e+02] [-1.55474804e-03 9.99998721e-01 -3.75054386e-04 -6.41742915e+00] [-7.03224764e-03 3.64112179e-04 9.99975207e-01 -1.66081811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.170371743 meters 0.03060833052579633 Centerline is valid? [True, True] Translation: X:118.10, Y:-6.42, Z:-1.66 [[ 9.99976305e-01 1.94655654e-03 6.60311442e-03 1.18101925e+02] [-1.94427051e-03 9.99998048e-01 -3.52607437e-04 -6.41862198e+00] [-6.60378790e-03 3.39760842e-04 9.99978137e-01 -1.66207442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20037174299999 meters 0.03153586968621144 Centerline is valid? [True, True] Translation: X:118.13, Y:-6.42, Z:-1.66 [[ 9.99974904e-01 2.34695801e-03 6.68449147e-03 1.18133071e+02] [-2.34462002e-03 9.99997187e-01 -3.57579473e-04 -6.42194114e+00] [-6.68531190e-03 3.41897907e-04 9.99977595e-01 -1.66340045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23037174299999 meters 0.030570876023835628 Centerline is valid? [True, True] Translation: X:118.17, Y:-6.42, Z:-1.66 [[ 9.99970872e-01 3.62986565e-03 6.71410824e-03 1.18165051e+02] [-3.62753302e-03 9.99993356e-01 -3.59566773e-04 -6.42138368e+00] [-6.71536881e-03 3.35200650e-04 9.99977395e-01 -1.66425138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260371743 meters 0.0298609630496827 Centerline is valid? [True, True] Translation: X:118.20, Y:-6.42, Z:-1.66 [[ 9.99969795e-01 4.35957149e-03 6.43447205e-03 1.18196952e+02] [-4.35744270e-03 9.99990447e-01 -3.44824266e-04 -6.42123876e+00] [-6.43591387e-03 3.16776007e-04 9.99979239e-01 -1.66441725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.290371743 meters 0.030137375786216284 Centerline is valid? [True, True] Translation: X:118.23, Y:-6.42, Z:-1.67 [[ 9.99965076e-01 5.51763005e-03 6.27721965e-03 1.18227739e+02] [-5.51562392e-03 9.99984732e-01 -3.36855854e-04 -6.42260805e+00] [-6.27898246e-03 3.02221307e-04 9.99980241e-01 -1.66516080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320371743 meters 0.028136094642341396 Centerline is valid? [True, True] Translation: X:118.26, Y:-6.42, Z:-1.67 [[ 9.99949101e-01 8.06395055e-03 6.06372001e-03 1.18258224e+02] [-8.06212235e-03 9.99967447e-01 -3.25881553e-04 -6.41969374e+00] [-6.06615051e-03 2.76978513e-04 9.99981562e-01 -1.66564370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.350371743 meters 0.02853664278878301 Centerline is valid? [True, True] Translation: X:118.29, Y:-6.42, Z:-1.67 [[ 9.99936803e-01 9.83465220e-03 5.44701560e-03 1.18287320e+02] [-9.83320151e-03 9.99951610e-01 -2.93044307e-04 -6.42086294e+00] [-5.44963401e-03 2.39464185e-04 9.99985122e-01 -1.66660226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380371743 meters 0.02846870229622385 Centerline is valid? [True, True] Translation: X:118.32, Y:-6.42, Z:-1.67 [[ 9.99917439e-01 1.15308927e-02 5.67038557e-03 1.18316231e+02] [-1.15293483e-02 9.99933488e-01 -3.04980931e-04 -6.42151930e+00] [-5.67352513e-03 2.39579902e-04 9.99983877e-01 -1.66710992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.410371743 meters 0.02780827176403623 Centerline is valid? [True, True] Translation: X:118.35, Y:-6.42, Z:-1.67 [[ 9.99896566e-01 1.33519611e-02 5.34619610e-03 1.18345091e+02] [-1.33506147e-02 9.99910835e-01 -2.87457807e-04 -6.42098091e+00] [-5.34955754e-03 2.16053070e-04 9.99985668e-01 -1.66736233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440371743 meters 0.026592029237157096 Centerline is valid? [True, True] Translation: X:118.38, Y:-6.42, Z:-1.67 [[ 9.99824737e-01 1.75269826e-02 6.58023255e-03 1.18375582e+02] [-1.75250403e-02 9.99846362e-01 -3.52724976e-04 -6.42011739e+00] [-6.58540378e-03 2.37344316e-04 9.99978288e-01 -1.66766941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.470371743 meters 0.025404118745168496 Centerline is valid? [True, True] Translation: X:118.40, Y:-6.42, Z:-1.67 [[ 9.99788360e-01 1.94937595e-02 6.57480806e-03 1.18404430e+02] [-1.94918610e-02 9.99809953e-01 -3.52720538e-04 -6.41911667e+00] [-6.58043439e-03 2.24490644e-04 9.99978324e-01 -1.66767573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500371743 meters 0.024743582774114176 Centerline is valid? [True, True] Translation: X:118.43, Y:-6.42, Z:-1.67 [[ 9.99756265e-01 2.11672252e-02 6.27368666e-03 1.18433687e+02] [-2.11655329e-02 9.99775929e-01 -3.36031696e-04 -6.41932937e+00] [-6.27939377e-03 2.03163872e-04 9.99980264e-01 -1.66839455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.530371743 meters 0.024761171763287793 Centerline is valid? [True, True] Translation: X:118.46, Y:-6.42, Z:-1.67 [[ 9.99708751e-01 2.33540957e-02 6.08265265e-03 1.18461493e+02] [-2.33525454e-02 9.99727239e-01 -3.25776077e-04 -6.42241747e+00] [-6.08860175e-03 1.83635773e-04 9.99981447e-01 -1.66974199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.560371743 meters 0.02468017268211567 Centerline is valid? [True, True] Translation: X:118.49, Y:-6.42, Z:-1.67 [[ 9.99695287e-01 2.38808648e-02 6.24806969e-03 1.18490434e+02] [-2.38792440e-02 9.99714794e-01 -3.33887782e-04 -6.42456250e+00] [-6.25426124e-03 1.84586861e-04 9.99980425e-01 -1.67058812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59037174299999 meters 0.024213880202963185 Centerline is valid? [True, True] Translation: X:118.52, Y:-6.43, Z:-1.67 [[ 9.99704719e-01 2.34918753e-02 6.21338133e-03 1.18519541e+02] [-2.34902676e-02 9.99724011e-01 -3.31607207e-04 -6.42763785e+00] [-6.21945658e-03 1.85555300e-04 9.99980642e-01 -1.67076473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62037174299999 meters 0.02438392630252998 Centerline is valid? [True, True] Translation: X:118.55, Y:-6.43, Z:-1.67 [[ 9.99721827e-01 2.27449403e-02 6.23984152e-03 1.18547766e+02] [-2.27433072e-02 9.99741282e-01 -3.32574438e-04 -6.43070812e+00] [-6.24579154e-03 1.90567293e-04 9.99980477e-01 -1.67102899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.650371743 meters 0.02520263151599718 Centerline is valid? [True, True] Translation: X:118.58, Y:-6.44, Z:-1.67 [[ 9.99750743e-01 2.15239325e-02 5.93065162e-03 1.18575408e+02] [-2.15224371e-02 9.99768316e-01 -3.15863151e-04 -6.43519173e+00] [-5.93607620e-03 1.88142344e-04 9.99982364e-01 -1.67188757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680371743 meters 0.024731295991723124 Centerline is valid? [True, True] Translation: X:118.61, Y:-6.44, Z:-1.67 [[ 9.99824538e-01 1.80810834e-02 4.89575210e-03 1.18605079e+02] [-1.80800264e-02 9.99836509e-01 -2.60060740e-04 -6.43903402e+00] [-4.89965387e-03 1.71499782e-04 9.99987982e-01 -1.67234948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.710371743 meters 0.025553523377838904 Centerline is valid? [True, True] Translation: X:118.63, Y:-6.44, Z:-1.67 [[ 9.99864735e-01 1.57674164e-02 4.67968603e-03 1.18633054e+02] [-1.57664245e-02 9.99875671e-01 -2.48768366e-04 -6.44426598e+00] [-4.68302664e-03 1.74952800e-04 9.99989019e-01 -1.67317937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740371743 meters 0.02905477739288963 Centerline is valid? [True, True] Translation: X:118.66, Y:-6.45, Z:-1.68 [[ 9.99902903e-01 1.32133793e-02 4.42629806e-03 1.18661296e+02] [-1.32124689e-02 9.99912684e-01 -2.34857250e-04 -6.45404601e+00] [-4.42901483e-03 1.76352121e-04 9.99990176e-01 -1.67525313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.770371743 meters 0.031502467097076416 Centerline is valid? [True, True] Translation: X:118.69, Y:-6.46, Z:-1.68 [[ 9.99957486e-01 8.10819469e-03 4.39136585e-03 1.18689446e+02] [-8.10725131e-03 9.99967109e-01 -2.32585836e-04 -6.46405501e+00] [-4.39310726e-03 1.96974042e-04 9.99990331e-01 -1.67695846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800371743 meters 0.028154062923414932 Centerline is valid? [True, True] Translation: X:118.72, Y:-6.46, Z:-1.68 [[ 9.99974948e-01 5.53873974e-03 4.40752337e-03 1.18719491e+02] [-5.53776504e-03 9.99984639e-01 -2.33317407e-04 -6.46212389e+00] [-4.40874795e-03 2.08903733e-04 9.99990260e-01 -1.67619945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.830371743 meters 0.02967383538254504 Centerline is valid? [True, True] Translation: X:118.75, Y:-6.47, Z:-1.68 [[ 9.99989079e-01 1.29467069e-03 4.49059884e-03 1.18748937e+02] [-1.29361776e-03 9.99999135e-01 -2.37370864e-04 -6.46980092e+00] [-4.49090228e-03 2.31559153e-04 9.99989889e-01 -1.67651522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860371743 meters 0.03098584653460675 Centerline is valid? [True, True] Translation: X:118.78, Y:-6.47, Z:-1.68 [[ 9.99988632e-01 -7.84378124e-04 4.70315510e-03 1.18779968e+02] [ 7.85549576e-04 9.99999661e-01 -2.47235882e-04 -6.47473694e+00] [-4.70295958e-03 2.50927633e-04 9.99988910e-01 -1.67649993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.890371743 meters 0.032376206139391475 Centerline is valid? [True, True] Translation: X:118.81, Y:-6.48, Z:-1.68 [[ 9.99984530e-01 -2.28648246e-03 5.07069955e-03 1.18810457e+02] [ 2.28787091e-03 9.99997347e-01 -2.68033280e-04 -6.48008563e+00] [-5.07007325e-03 2.79630239e-04 9.99987108e-01 -1.67664915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920371743 meters 0.03467958759585733 Centerline is valid? [True, True] Translation: X:118.84, Y:-6.49, Z:-1.68 [[ 9.99968277e-01 -5.42067442e-03 5.83617460e-03 1.18840156e+02] [ 5.42257028e-03 9.99985250e-01 -3.09071216e-04 -6.48817286e+00] [-5.83441314e-03 3.40708479e-04 9.99982922e-01 -1.67613536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95037174299999 meters 0.033457337030322415 Centerline is valid? [True, True] Translation: X:118.87, Y:-6.49, Z:-1.68 [[ 9.99957460e-01 -6.58856014e-03 6.45519083e-03 1.18871787e+02] [ 6.59090113e-03 9.99978221e-01 -3.41445909e-04 -6.49002805e+00] [-6.45280060e-03 3.83976908e-04 9.99979107e-01 -1.67621481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98037174299999 meters 0.03411310449408573 Centerline is valid? [True, True] Translation: X:118.90, Y:-6.49, Z:-1.68 [[ 9.99944244e-01 -7.82658598e-03 7.08892903e-03 1.18903178e+02] [ 7.82944345e-03 9.99969279e-01 -3.75426041e-04 -6.49489291e+00] [-7.08577294e-03 4.30907478e-04 9.99974803e-01 -1.67679097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.010371743 meters 0.03526925705845441 Centerline is valid? [True, True] Translation: X:118.93, Y:-6.50, Z:-1.68 [[ 9.99929541e-01 -9.76635773e-03 6.74763854e-03 1.18933744e+02] [ 9.76899459e-03 9.99952218e-01 -3.57934223e-04 -6.50034066e+00] [-6.74382041e-03 4.23826648e-04 9.99977170e-01 -1.67768003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040371743 meters 0.035724957638834834 Centerline is valid? [True, True] Translation: X:118.97, Y:-6.50, Z:-1.68 [[ 9.99927787e-01 -1.02323595e-02 6.30242662e-03 1.18966069e+02] [ 1.02346671e-02 9.99947569e-01 -3.34002004e-04 -6.50353208e+00] [-6.29867855e-03 3.98481122e-04 9.99980084e-01 -1.67866651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.070371743 meters 0.0376676915225579 Centerline is valid? [True, True] Translation: X:119.00, Y:-6.51, Z:-1.68 [[ 9.99930759e-01 -1.02602692e-02 5.76237268e-03 1.18996958e+02] [ 1.02622015e-02 9.99947295e-01 -3.05854579e-04 -6.50871127e+00] [-5.75893082e-03 3.64968030e-04 9.99983351e-01 -1.67960664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100371743 meters 0.036639189986583054 Centerline is valid? [True, True] Translation: X:119.03, Y:-6.51, Z:-1.68 [[ 9.99944273e-01 -9.49365377e-03 4.61744009e-03 1.19028914e+02] [ 9.49488603e-03 9.99954893e-01 -2.45021925e-04 -6.50991202e+00] [-4.61490566e-03 2.88850338e-04 9.99989310e-01 -1.68053081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.130371743 meters 0.036100371093245515 Centerline is valid? [True, True] Translation: X:119.06, Y:-6.51, Z:-1.68 [[ 9.99956203e-01 -8.62278939e-03 3.63868138e-03 1.19060729e+02] [ 8.62354903e-03 9.99962798e-01 -1.93128700e-04 -6.51115894e+00] [-3.63688070e-03 2.24498588e-04 9.99993361e-01 -1.68152103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160371743 meters 0.035592561333971345 Centerline is valid? [True, True] Translation: X:119.09, Y:-6.51, Z:-1.68 [[ 9.99979710e-01 -6.03399773e-03 2.04209584e-03 1.19091189e+02] [ 6.03423230e-03 9.99981788e-01 -1.08726088e-04 -6.51285125e+00] [-2.04140260e-03 1.21046363e-04 9.99997909e-01 -1.68373467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.190371743 meters 0.03698724222290448 Centerline is valid? [True, True] Translation: X:119.12, Y:-6.52, Z:-1.69 [[ 9.99991234e-01 -3.96272881e-03 1.35249740e-03 1.19121388e+02] [ 3.96282974e-03 9.99992145e-01 -7.19531570e-05 -6.51644593e+00] [-1.35220165e-03 7.73122432e-05 9.99999083e-01 -1.68540347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220371743 meters 0.034212864440132655 Centerline is valid? [True, True] Translation: X:119.15, Y:-6.51, Z:-1.68 [[ 9.99998244e-01 -1.37484225e-03 1.27363245e-03 1.19153119e+02] [ 1.37492940e-03 9.99999053e-01 -6.75501933e-05 -6.51313046e+00] [-1.27353837e-03 6.93012293e-05 9.99999187e-01 -1.68498763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.250371743 meters 0.033336117889714606 Centerline is valid? [True, True] Translation: X:119.18, Y:-6.51, Z:-1.68 [[ 9.99998127e-01 1.44888337e-03 1.28323252e-03 1.19184424e+02] [-1.44879669e-03 9.99998948e-01 -6.84769370e-05 -6.51213748e+00] [-1.28333039e-03 6.66176657e-05 9.99999174e-01 -1.68489874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280371743 meters 0.03303496529090962 Centerline is valid? [True, True] Translation: X:119.21, Y:-6.51, Z:-1.68 [[ 9.99985438e-01 4.88725321e-03 2.28881626e-03 1.19214648e+02] [-4.88698612e-03 9.99988051e-01 -1.22268824e-04 -6.51236426e+00] [-2.28938647e-03 1.11081630e-04 9.99997373e-01 -1.68470666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.310371743 meters 0.026354627432896793 Centerline is valid? [True, True] Translation: X:119.25, Y:-6.50, Z:-1.68 [[ 9.99907590e-01 1.30348026e-02 3.86080434e-03 1.19245341e+02] [-1.30341021e-02 9.99915031e-01 -2.06534352e-04 -6.49972737e+00] [-3.86316843e-03 1.56193148e-04 9.99992526e-01 -1.68112890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34037174299999 meters 0.025018672432701453 Centerline is valid? [True, True] Translation: X:119.27, Y:-6.50, Z:-1.68 [[ 9.99853452e-01 1.63423684e-02 5.09915178e-03 1.19274158e+02] [-1.63411897e-02 9.99866437e-01 -2.72733734e-04 -6.49893351e+00] [-5.10292784e-03 1.89367559e-04 9.99986962e-01 -1.68062796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37037174299999 meters 0.025018672432701453 Centerline is valid? [True, True] Translation: X:119.30, Y:-6.50, Z:-1.68 [[ 9.99854623e-01 1.62705679e-02 5.09915790e-03 1.19302440e+02] [-1.62693889e-02 9.99867608e-01 -2.72619600e-04 -6.50038268e+00] [-5.10291848e-03 1.89619785e-04 9.99986962e-01 -1.68102601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400371743 meters 0.02367190890335607 Centerline is valid? [True, True] Translation: X:119.33, Y:-6.50, Z:-1.68 [[ 9.99688137e-01 2.39107920e-02 7.20441220e-03 1.19332143e+02] [-2.39086458e-02 9.99714074e-01 -3.83893601e-04 -6.49804844e+00] [-7.21153147e-03 2.11526139e-04 9.99973974e-01 -1.68039766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.430371743 meters 0.023320175856050892 Centerline is valid? [True, True] Translation: X:119.36, Y:-6.50, Z:-1.68 [[ 9.99611603e-01 2.68042722e-02 7.62719004e-03 1.19359657e+02] [-2.68019490e-02 9.99640681e-01 -4.06669212e-04 -6.49810441e+00] [-7.63534991e-03 2.02087705e-04 9.99970830e-01 -1.68040355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460371743 meters 0.022119365797473724 Centerline is valid? [True, True] Translation: X:119.39, Y:-6.50, Z:-1.68 [[ 9.99454586e-01 3.20323787e-02 8.02857633e-03 1.19389657e+02] [-3.20299810e-02 9.99486817e-01 -4.27075585e-04 -6.49684208e+00] [-8.03813645e-03 1.69687504e-04 9.99967679e-01 -1.68055851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.490371743 meters 0.02157324360873114 Centerline is valid? [True, True] Translation: X:119.42, Y:-6.50, Z:-1.68 [[ 9.99385261e-01 3.42172210e-02 7.63432283e-03 1.19418099e+02] [-3.42151185e-02 9.99414409e-01 -4.05867919e-04 -6.49705288e+00] [-7.64373991e-03 1.44409155e-04 9.99970776e-01 -1.68083659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520371743 meters 0.02150699415581225 Centerline is valid? [True, True] Translation: X:119.45, Y:-6.50, Z:-1.68 [[ 9.99329955e-01 3.58826424e-02 7.21649813e-03 1.19446433e+02] [-3.58808106e-02 9.99356003e-01 -3.83193814e-04 -6.49800176e+00] [-7.22560074e-03 1.24003255e-04 9.99973887e-01 -1.68120992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.550371743 meters 0.02121689628548297 Centerline is valid? [True, True] Translation: X:119.47, Y:-6.50, Z:-1.68 [[ 9.99278545e-01 3.74652486e-02 6.22458179e-03 1.19474412e+02] [-3.74639175e-02 9.99297926e-01 -3.30347744e-04 -6.50119275e+00] [-6.23258824e-03 9.69121941e-05 9.99980573e-01 -1.68268995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580371743 meters 0.02115524587101639 Centerline is valid? [True, True] Translation: X:119.50, Y:-6.50, Z:-1.68 [[ 9.99260998e-01 3.79691618e-02 5.98332561e-03 1.19502859e+02] [-3.79679447e-02 9.99278907e-01 -3.16923230e-04 -6.50395979e+00] [-5.99104438e-03 8.95144474e-05 9.99982050e-01 -1.68355621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.610371743 meters 0.02105958154616267 Centerline is valid? [True, True] Translation: X:119.53, Y:-6.51, Z:-1.68 [[ 9.99269447e-01 3.78804745e-02 5.06384642e-03 1.19531480e+02] [-3.78796026e-02 9.99282274e-01 -2.68010685e-04 -6.50712868e+00] [-5.07036434e-03 7.59983992e-05 9.99987143e-01 -1.68463121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640371743 meters 0.02114967392947805 Centerline is valid? [True, True] Translation: X:119.56, Y:-6.51, Z:-1.69 [[ 9.99300285e-01 3.70583473e-02 5.06153536e-03 1.19560348e+02] [-3.70574675e-02 9.99313100e-01 -2.67528395e-04 -6.51072965e+00] [-5.06797275e-03 7.97735197e-05 9.99987155e-01 -1.68537468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.670371743 meters 0.021608173068808766 Centerline is valid? [True, True] Translation: X:119.59, Y:-6.52, Z:-1.69 [[ 9.99396968e-01 3.43977833e-02 4.74260403e-03 1.19587891e+02] [-3.43969815e-02 9.99408217e-01 -2.50555167e-04 -6.51812365e+00] [-4.74841598e-03 8.72728113e-05 9.99988722e-01 -1.68576173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70037174299999 meters 0.022103857183802738 Centerline is valid? [True, True] Translation: X:119.62, Y:-6.52, Z:-1.69 [[ 9.99441545e-01 3.29368104e-02 5.63606403e-03 1.19616409e+02] [-3.29356598e-02 9.99457430e-01 -2.96873248e-04 -6.52283446e+00] [-5.64278413e-03 1.11079970e-04 9.99984073e-01 -1.68548620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73037174299999 meters 0.022663052815319537 Centerline is valid? [True, True] Translation: X:119.64, Y:-6.53, Z:-1.69 [[ 9.99500755e-01 3.09537134e-02 6.33309573e-03 1.19643847e+02] [-3.09522235e-02 9.99520810e-01 -3.33156860e-04 -6.52790723e+00] [-6.34037341e-03 1.36967139e-04 9.99979890e-01 -1.68536528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760371743 meters 0.02290752791938573 Centerline is valid? [True, True] Translation: X:119.67, Y:-6.53, Z:-1.68 [[ 9.99560907e-01 2.87311507e-02 7.24671633e-03 1.19671996e+02] [-2.87291458e-02 9.99587160e-01 -3.80628337e-04 -6.53287605e+00] [-7.25466049e-03 1.72269235e-04 9.99973670e-01 -1.68483775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.790371743 meters 0.024193650899903503 Centerline is valid? [True, True] Translation: X:119.70, Y:-6.54, Z:-1.68 [[ 9.99685591e-01 2.37428687e-02 8.06199429e-03 1.19699618e+02] [-2.37402365e-02 9.99718072e-01 -4.22043517e-04 -6.54212672e+00] [-8.06974191e-03 2.30517171e-04 9.99967413e-01 -1.68420416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820371743 meters 0.025194167497830513 Centerline is valid? [True, True] Translation: X:119.73, Y:-6.55, Z:-1.68 [[ 9.99749853e-01 2.08742809e-02 8.03090338e-03 1.19727700e+02] [-2.08715817e-02 9.99782077e-01 -4.19765766e-04 -6.54823946e+00] [-8.03791557e-03 2.52043106e-04 9.99967664e-01 -1.68466695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.850371743 meters 0.026560213379542005 Centerline is valid? [True, True] Translation: X:119.76, Y:-6.55, Z:-1.69 [[ 9.99815004e-01 1.75388969e-02 7.89589110e-03 1.19756655e+02] [-1.75361870e-02 9.99846144e-01 -4.12314989e-04 -6.55445481e+00] [-7.90190782e-03 2.73774889e-04 9.99968742e-01 -1.68517233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880371743 meters 0.02634447444043073 Centerline is valid? [True, True] Translation: X:119.79, Y:-6.56, Z:-1.69 [[ 9.99916336e-01 1.03272302e-02 7.78902797e-03 1.19786856e+02] [-1.03243800e-02 9.99946620e-01 -4.06053704e-04 -6.56170242e+00] [-7.79280560e-03 3.25602848e-04 9.99969583e-01 -1.68559925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.910371743 meters 0.029470443907316013 Centerline is valid? [True, True] Translation: X:119.82, Y:-6.57, Z:-1.69 [[ 9.99949522e-01 6.47761259e-03 7.68077989e-03 1.19816070e+02] [-6.47472795e-03 9.99978959e-01 -4.00373314e-04 -6.57173495e+00] [-7.68321174e-03 3.50622143e-04 9.99970422e-01 -1.68680480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940371743 meters 0.033442017347561456 Centerline is valid? [True, True] Translation: X:119.85, Y:-6.58, Z:-1.69 [[ 9.99967702e-01 2.63065124e-03 7.59434839e-03 1.19845817e+02] [-2.62772251e-03 9.99996469e-01 -3.95597453e-04 -6.58252557e+00] [-7.59536226e-03 3.75628836e-04 9.99971084e-01 -1.68812459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.970371743 meters 0.031396311703750346 Centerline is valid? [True, True] Translation: X:119.88, Y:-6.59, Z:-1.69 [[ 9.99964367e-01 -5.00794938e-03 6.79602127e-03 1.19876585e+02] [ 5.01047362e-03 9.99987385e-01 -3.54453453e-04 -6.58622204e+00] [-6.79416045e-03 3.88492108e-04 9.99976844e-01 -1.68878347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000371743 meters 0.03302672689382478 Centerline is valid? [True, True] Translation: X:119.91, Y:-6.59, Z:-1.69 [[ 9.99948877e-01 -8.01414543e-03 6.16574413e-03 1.19905882e+02] [ 8.01628105e-03 9.99967817e-01 -3.21732466e-04 -6.59268530e+00] [-6.16296729e-03 3.71142356e-04 9.99980940e-01 -1.68981833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.030371743 meters 0.03638551884564023 Centerline is valid? [True, True] Translation: X:119.93, Y:-6.60, Z:-1.69 [[ 9.99900007e-01 -1.31927584e-02 5.09196114e-03 1.19934891e+02] [ 1.31942816e-02 9.99912916e-01 -2.65661616e-04 -6.60228637e+00] [-5.08801290e-03 3.32819820e-04 9.99987001e-01 -1.69194576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.060371743 meters 0.035840919246725084 Centerline is valid? [True, True] Translation: X:119.97, Y:-6.60, Z:-1.69 [[ 9.99876400e-01 -1.49888486e-02 4.74549533e-03 1.19966053e+02] [ 1.49901905e-02 9.99887610e-01 -2.47312191e-04 -6.60472386e+00] [-4.74125506e-03 3.18417502e-04 9.99988709e-01 -1.69260994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09037174299999 meters 0.03793205179894095 Centerline is valid? [True, True] Translation: X:120.00, Y:-6.61, Z:-1.69 [[ 9.99856872e-01 -1.63332693e-02 4.41128095e-03 1.19996601e+02] [ 1.63344423e-02 9.99866558e-01 -2.30017056e-04 -6.61078143e+00] [-4.40693536e-03 3.02039948e-04 9.99990244e-01 -1.69412695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12037174299999 meters 0.03856760829833998 Centerline is valid? [True, True] Translation: X:120.03, Y:-6.61, Z:-1.70 [[ 9.99828233e-01 -1.82054893e-02 3.47329389e-03 1.20027489e+02] [ 1.82062285e-02 9.99834236e-01 -1.81316870e-04 -6.61478524e+00] [-3.46941719e-03 2.44521308e-04 9.99993952e-01 -1.69536674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.150371743 meters 0.03847250523148982 Centerline is valid? [True, True] Translation: X:120.06, Y:-6.62, Z:-1.70 [[ 9.99827451e-01 -1.83159188e-02 3.09769959e-03 1.20059781e+02] [ 1.83165056e-02 9.99832226e-01 -1.61155329e-04 -6.61639186e+00] [-3.09422817e-03 2.17866554e-04 9.99995189e-01 -1.69624167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180371743 meters 0.03868030024543323 Centerline is valid? [True, True] Translation: X:120.09, Y:-6.62, Z:-1.70 [[ 9.99835612e-01 -1.79549981e-02 2.52327652e-03 1.20092228e+02] [ 1.79553863e-02 9.99838780e-01 -1.31271427e-04 -6.61833679e+00] [-2.52051274e-03 1.76556252e-04 9.99996808e-01 -1.69705494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.210371743 meters 0.03902967697893349 Centerline is valid? [True, True] Translation: X:120.12, Y:-6.62, Z:-1.70 [[ 9.99845409e-01 -1.74317710e-02 2.30019143e-03 1.20124420e+02] [ 1.74320924e-02 9.99848042e-01 -1.19746815e-04 -6.62001074e+00] [-2.29775450e-03 1.59825453e-04 9.99997347e-01 -1.69785708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240371743 meters 0.03882583301544797 Centerline is valid? [True, True] Translation: X:120.15, Y:-6.62, Z:-1.70 [[ 9.99878344e-01 -1.54797307e-02 1.91686676e-03 1.20154843e+02] [ 1.54799514e-02 9.99880173e-01 -1.00395689e-04 -6.61937458e+00] [-1.91508297e-03 1.30056480e-04 9.99998158e-01 -1.69904904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.270371743 meters 0.03860155619158192 Centerline is valid? [True, True] Translation: X:120.19, Y:-6.62, Z:-1.70 [[ 9.99899378e-01 -1.41211287e-02 1.35198755e-03 1.20186013e+02] [ 1.41212369e-02 9.99900288e-01 -7.05443418e-05 -6.61936647e+00] [-1.35085657e-03 8.96289800e-05 9.99999084e-01 -1.69980723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300371743 meters 0.03686615805901719 Centerline is valid? [True, True] Translation: X:120.22, Y:-6.62, Z:-1.70 [[ 9.99931096e-01 -1.16811237e-02 1.16391379e-03 1.20218020e+02] [ 1.16812019e-02 9.99931771e-01 -6.04814913e-05 -6.61613117e+00] [-1.16312788e-03 7.40732359e-05 9.99999321e-01 -1.70016543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.330371743 meters 0.03867773810107223 Centerline is valid? [True, True] Translation: X:120.25, Y:-6.62, Z:-1.70 [[ 9.99947387e-01 -1.01691196e-02 1.34610705e-03 1.20248470e+02] [ 1.01692238e-02 9.99948290e-01 -7.05734508e-05 -6.61902817e+00] [-1.34531977e-03 8.42586016e-05 9.99999092e-01 -1.70099439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360371743 meters 0.03353074265543487 Centerline is valid? [True, True] Translation: X:120.28, Y:-6.61, Z:-1.70 [[ 9.99955819e-01 -9.25636239e-03 1.63715909e-03 1.20280953e+02] [ 9.25651430e-03 9.99957154e-01 -8.52390787e-05 -6.61220755e+00] [-1.63629994e-03 1.00389699e-04 9.99998656e-01 -1.69950415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.390371743 meters 0.03167134089131182 Centerline is valid? [True, True] Translation: X:120.31, Y:-6.61, Z:-1.70 [[ 9.99969647e-01 -7.49550950e-03 2.12662330e-03 1.20313159e+02] [ 7.49576312e-03 9.99971900e-01 -1.11311980e-04 -6.60858966e+00] [-2.12572921e-03 1.27249266e-04 9.99997733e-01 -1.69902105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420371743 meters 0.030779353364062706 Centerline is valid? [True, True] Translation: X:120.35, Y:-6.61, Z:-1.70 [[ 9.99971496e-01 -7.15904416e-03 2.39896719e-03 1.20345360e+02] [ 7.15936615e-03 9.99974364e-01 -1.25660364e-04 -6.60861963e+00] [-2.39800608e-03 1.42831867e-04 9.99997115e-01 -1.69938308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45037174299999 meters 0.03132259754819148 Centerline is valid? [True, True] Translation: X:120.38, Y:-6.61, Z:-1.70 [[ 9.99974804e-01 -6.68066113e-03 2.39986444e-03 1.20376648e+02] [ 6.68098294e-03 9.99977674e-01 -1.26101736e-04 -6.61008030e+00] [-2.39896842e-03 1.42132012e-04 9.99997112e-01 -1.69987463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48037174299999 meters 0.03162633177716225 Centerline is valid? [True, True] Translation: X:120.41, Y:-6.61, Z:-1.70 [[ 9.99978754e-01 -6.04394552e-03 2.44186981e-03 1.20409023e+02] [ 6.04427667e-03 9.99981725e-01 -1.28257541e-04 -6.61115605e+00] [-2.44105000e-03 1.43014153e-04 9.99997010e-01 -1.70044403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.510371743 meters 0.030114336006646272 Centerline is valid? [True, True] Translation: X:120.44, Y:-6.61, Z:-1.70 [[ 9.99990245e-01 -3.84979875e-03 2.16548060e-03 1.20440915e+02] [ 3.85005451e-03 9.99992582e-01 -1.13950741e-04 -6.60767336e+00] [-2.16502585e-03 1.22286848e-04 9.99997649e-01 -1.70005408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540371743 meters 0.030046595105870728 Centerline is valid? [True, True] Translation: X:120.47, Y:-6.61, Z:-1.70 [[ 9.99995280e-01 -2.37985859e-03 1.94345248e-03 1.20472477e+02] [ 2.38006239e-03 9.99997162e-01 -1.02559553e-04 -6.60778467e+00] [-1.94320288e-03 1.07184607e-04 9.99998106e-01 -1.70044353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.570371743 meters 0.02963751044989707 Centerline is valid? [True, True] Translation: X:120.50, Y:-6.61, Z:-1.70 [[ 9.99996878e-01 -7.56224592e-04 2.38168062e-03 1.20503587e+02] [ 7.56526560e-04 9.99999706e-01 -1.25889245e-04 -6.60745794e+00] [-2.38158472e-03 1.27690657e-04 9.99997156e-01 -1.70039064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600371743 meters 0.030355737922125613 Centerline is valid? [True, True] Translation: X:120.53, Y:-6.61, Z:-1.70 [[ 9.99988672e-01 3.71485743e-03 2.97571203e-03 1.20533279e+02] [-3.71440388e-03 9.99993089e-01 -1.57928412e-04 -6.60632775e+00] [-2.97627815e-03 1.46873626e-04 9.99995560e-01 -1.70015490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.630371743 meters 0.027717393864220324 Centerline is valid? [True, True] Translation: X:120.56, Y:-6.60, Z:-1.70 [[ 9.99980474e-01 5.26736774e-03 3.36259734e-03 1.20564542e+02] [-5.26679802e-03 9.99986114e-01 -1.78261752e-04 -6.60335242e+00] [-3.36348962e-03 1.60548151e-04 9.99994331e-01 -1.69911216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660371743 meters 0.027526988192150523 Centerline is valid? [True, True] Translation: X:120.59, Y:-6.60, Z:-1.70 [[ 9.99965395e-01 7.35937780e-03 3.87920886e-03 1.20594832e+02] [-7.35863343e-03 9.99972904e-01 -2.06125858e-04 -6.60297927e+00] [-3.88062071e-03 1.77573049e-04 9.99992455e-01 -1.69917100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.690371743 meters 0.027123329333475443 Centerline is valid? [True, True] Translation: X:120.62, Y:-6.60, Z:-1.70 [[ 9.99924778e-01 1.14686019e-02 4.34862166e-03 1.20624002e+02] [-1.14677050e-02 9.99934217e-01 -2.31133102e-04 -6.60077768e+00] [-4.35098637e-03 1.81247005e-04 9.99990518e-01 -1.69918020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720371743 meters 0.02559675056274559 Centerline is valid? [True, True] Translation: X:120.65, Y:-6.60, Z:-1.70 [[ 9.99903454e-01 1.31415431e-02 4.51480376e-03 1.20653410e+02] [-1.31405933e-02 9.99913630e-01 -2.39959100e-04 -6.59836632e+00] [-4.51756724e-03 1.80608733e-04 9.99989779e-01 -1.69894973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.750371743 meters 0.02547533214182674 Centerline is valid? [True, True] Translation: X:120.68, Y:-6.60, Z:-1.70 [[ 9.99848949e-01 1.65543271e-02 5.29462975e-03 1.20682144e+02] [-1.65530710e-02 9.99862949e-01 -2.80982473e-04 -6.59910323e+00] [-5.29855559e-03 1.93297649e-04 9.99985944e-01 -1.70002962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780371743 meters 0.02464558501577643 Centerline is valid? [True, True] Translation: X:120.71, Y:-6.60, Z:-1.70 [[ 9.99812739e-01 1.84514959e-02 5.83349486e-03 1.20711338e+02] [-1.84500048e-02 9.99829736e-01 -3.09329200e-04 -6.59836936e+00] [-5.83820922e-03 2.01643266e-04 9.99982937e-01 -1.70009151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.810371743 meters 0.024249304255496842 Centerline is valid? [True, True] Translation: X:120.74, Y:-6.60, Z:-1.70 [[ 9.99772277e-01 2.03155796e-02 6.53235813e-03 1.20740535e+02] [-2.03137533e-02 9.99793595e-01 -3.45802898e-04 -6.59789476e+00] [-6.53803501e-03 2.13027439e-04 9.99978604e-01 -1.70009725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84037174299999 meters 0.023036595950354493 Centerline is valid? [True, True] Translation: X:120.77, Y:-6.60, Z:-1.70 [[ 9.99673704e-01 2.45047362e-02 7.21130542e-03 1.20770960e+02] [-2.45026266e-02 9.99699693e-01 -3.80764582e-04 -6.59582966e+00] [-7.21847036e-03 2.03944416e-04 9.99973926e-01 -1.70010059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87037174299999 meters 0.02251057116568096 Centerline is valid? [True, True] Translation: X:120.80, Y:-6.60, Z:-1.70 [[ 9.99628647e-01 2.63306217e-02 7.01905833e-03 1.20799852e+02] [-2.63286661e-02 9.99653272e-01 -3.70876444e-04 -6.59528009e+00] [-7.02639003e-03 1.85936274e-04 9.99975297e-01 -1.70037343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900371743 meters 0.022603503252614 Centerline is valid? [True, True] Translation: X:120.83, Y:-6.60, Z:-1.70 [[ 9.99583301e-01 2.80079777e-02 6.98415823e-03 1.20827900e+02] [-2.80060851e-02 9.99607685e-01 -3.68653490e-04 -6.59629149e+00] [-6.99174348e-03 1.72900942e-04 9.99975543e-01 -1.70081009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.930371743 meters 0.021564708081809405 Centerline is valid? [True, True] Translation: X:120.86, Y:-6.60, Z:-1.70 [[ 9.99495974e-01 3.08729159e-02 7.39333515e-03 1.20857197e+02] [-3.08708806e-02 9.99523305e-01 -3.89276425e-04 -6.59607601e+00] [-7.40182888e-03 1.60841452e-04 9.99972593e-01 -1.70106366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960371743 meters 0.0218485483161934 Centerline is valid? [True, True] Translation: X:120.89, Y:-6.60, Z:-1.70 [[ 9.99481589e-01 3.14208641e-02 7.02013997e-03 1.20885356e+02] [-3.14190433e-02 9.99506232e-01 -3.69533436e-04 -6.59784340e+00] [-7.02828471e-03 1.48775784e-04 9.99975290e-01 -1.70182034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.990371743 meters 0.02145166488010064 Centerline is valid? [True, True] Translation: X:120.91, Y:-6.60, Z:-1.70 [[ 9.99467003e-01 3.18179670e-02 7.30251007e-03 1.20914485e+02] [-3.18160133e-02 9.99493669e-01 -3.83575023e-04 -6.59964376e+00] [-7.31101716e-03 1.51033821e-04 9.99973263e-01 -1.70243676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020371743 meters 0.021953122010471247 Centerline is valid? [True, True] Translation: X:120.94, Y:-6.60, Z:-1.70 [[ 9.99498927e-01 3.08496473e-02 7.08475025e-03 1.20943106e+02] [-3.08477875e-02 9.99524025e-01 -3.71656962e-04 -6.60318959e+00] [-7.09284357e-03 1.52921865e-04 9.99974834e-01 -1.70348274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.050371743 meters 0.02211544019899833 Centerline is valid? [True, True] Translation: X:120.97, Y:-6.61, Z:-1.70 [[ 9.99536952e-01 2.95982682e-02 7.05860724e-03 1.20971592e+02] [-2.95963945e-02 9.99561862e-01 -3.69789245e-04 -6.60631459e+00] [-7.06645972e-03 1.60708690e-04 9.99975019e-01 -1.70441794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080371743 meters 0.022228549495585694 Centerline is valid? [True, True] Translation: X:121.00, Y:-6.61, Z:-1.71 [[ 9.99589357e-01 2.78258664e-02 6.84383115e-03 1.20999800e+02] [-2.78240657e-02 9.99612772e-01 -3.58211665e-04 -6.60988830e+00] [-6.85114857e-03 1.67641360e-04 9.99976517e-01 -1.70522331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.110371743 meters 0.022952128566968412 Centerline is valid? [True, True] Translation: X:121.03, Y:-6.62, Z:-1.71 [[ 9.99699302e-01 2.34204959e-02 7.26535721e-03 1.21028496e+02] [-2.34183563e-02 9.99725681e-01 -3.79450105e-04 -6.61686764e+00] [-7.27225109e-03 2.09193282e-04 9.99973535e-01 -1.70645296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140371743 meters 0.023311021886945005 Centerline is valid? [True, True] Translation: X:121.06, Y:-6.62, Z:-1.71 [[ 9.99761522e-01 2.05194099e-02 7.47343955e-03 1.21057060e+02] [-2.05170693e-02 9.99789427e-01 -3.89730913e-04 -6.62075755e+00] [-7.47986289e-03 2.36304893e-04 9.99971998e-01 -1.70656595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.170371743 meters 0.02494448705143292 Centerline is valid? [True, True] Translation: X:121.09, Y:-6.63, Z:-1.71 [[ 9.99820739e-01 1.72542458e-02 7.79622227e-03 1.21085053e+02] [-1.72516042e-02 9.99851098e-01 -4.05958786e-04 -6.62776668e+00] [-7.80206591e-03 2.71388673e-04 9.99969527e-01 -1.70730566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20037174299999 meters 0.02551900053962722 Centerline is valid? [True, True] Translation: X:121.11, Y:-6.63, Z:-1.71 [[ 9.99909931e-01 1.06823690e-02 8.12502911e-03 1.21114652e+02] [-1.06792911e-02 9.99942886e-01 -4.22109803e-04 -6.63371052e+00] [-8.12907419e-03 3.35302233e-04 9.99966902e-01 -1.70714672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23037174299999 meters 0.02698527131505873 Centerline is valid? [True, True] Translation: X:121.14, Y:-6.64, Z:-1.71 [[ 9.99946253e-01 6.82751853e-03 7.80227077e-03 1.21144830e+02] [-6.82456475e-03 9.99976630e-01 -4.05142028e-04 -6.63947298e+00] [-7.80485455e-03 3.51873151e-04 9.99969480e-01 -1.70813548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260371743 meters 0.02698527131505873 Centerline is valid? [True, True] Translation: X:121.18, Y:-6.64, Z:-1.71 [[ 9.99946007e-01 6.86345225e-03 7.80228239e-03 1.21175663e+02] [-6.86050130e-03 9.99976385e-01 -4.04918379e-04 -6.64110387e+00] [-7.80487727e-03 3.51368948e-04 9.99969480e-01 -1.70856915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.290371743 meters 0.028358499862353236 Centerline is valid? [True, True] Translation: X:121.21, Y:-6.65, Z:-1.71 [[ 9.99967027e-01 3.13207626e-03 7.49237894e-03 1.21206403e+02] [-3.12924780e-03 9.99995028e-01 -3.89203548e-04 -6.64782023e+00] [-7.49356070e-03 3.65745204e-04 9.99971856e-01 -1.70950981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320371743 meters 0.029350810511346657 Centerline is valid? [True, True] Translation: X:121.24, Y:-6.65, Z:-1.71 [[ 9.99967834e-01 -3.90941060e-03 7.00341391e-03 1.21236599e+02] [ 3.91205531e-03 9.99992282e-01 -3.63973138e-04 -6.65472771e+00] [-7.00193694e-03 3.91359173e-04 9.99975410e-01 -1.71022755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.350371743 meters 0.03059114330270681 Centerline is valid? [True, True] Translation: X:121.27, Y:-6.66, Z:-1.71 [[ 9.99958104e-01 -6.26608572e-03 6.67279808e-03 1.21267300e+02] [ 6.26853886e-03 9.99980292e-01 -3.46781000e-04 -6.65962849e+00] [-6.67049362e-03 3.88595165e-04 9.99977677e-01 -1.71093816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380371743 meters 0.03183642301562008 Centerline is valid? [True, True] Translation: X:121.30, Y:-6.67, Z:-1.71 [[ 9.99945528e-01 -8.61871186e-03 5.88719934e-03 1.21298653e+02] [ 8.62066159e-03 9.99962795e-01 -3.05885088e-04 -6.66523564e+00] [-5.88434397e-03 3.56619979e-04 9.99982624e-01 -1.71168497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.410371743 meters 0.032635492546950105 Centerline is valid? [True, True] Translation: X:121.33, Y:-6.67, Z:-1.71 [[ 9.99946080e-01 -8.78783942e-03 5.53269610e-03 1.21330658e+02] [ 8.78956323e-03 9.99961330e-01 -2.87329251e-04 -6.66834002e+00] [-5.52995714e-03 3.35943740e-04 9.99984653e-01 -1.71264209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440371743 meters 0.034666765313123064 Centerline is valid? [True, True] Translation: X:121.36, Y:-6.67, Z:-1.71 [[ 9.99952028e-01 -8.54750398e-03 4.78354991e-03 1.21361699e+02] [ 8.54879163e-03 9.99963427e-01 -2.48801653e-04 -6.67360887e+00] [-4.78124833e-03 2.89683289e-04 9.99988528e-01 -1.71413762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.470371743 meters 0.03349676771112341 Centerline is valid? [True, True] Translation: X:121.39, Y:-6.67, Z:-1.72 [[ 9.99963860e-01 -7.53271863e-03 3.94174587e-03 1.21394444e+02] [ 7.53358404e-03 9.99971601e-01 -2.04747337e-04 -6.67406626e+00] [-3.94009163e-03 2.34435411e-04 9.99992210e-01 -1.71500952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500371743 meters 0.030932102675192006 Centerline is valid? [True, True] Translation: X:121.43, Y:-6.67, Z:-1.72 [[ 9.99979279e-01 -4.78773681e-03 4.30346088e-03 1.21426530e+02] [ 4.78874656e-03 9.99988509e-01 -2.24364028e-04 -6.67212061e+00] [-4.30233723e-03 2.44967563e-04 9.99990715e-01 -1.71515615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.530371743 meters 0.03179804038537714 Centerline is valid? [True, True] Translation: X:121.46, Y:-6.67, Z:-1.72 [[ 9.99985435e-01 -2.89708563e-03 4.55367767e-03 1.21456838e+02] [ 2.89819956e-03 9.99995772e-01 -2.38041175e-04 -6.67458095e+00] [-4.55296880e-03 2.51235175e-04 9.99989604e-01 -1.71588112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.560371743 meters 0.02925504106795915 Centerline is valid? [True, True] Translation: X:121.49, Y:-6.67, Z:-1.72 [[ 9.99986290e-01 2.13274145e-03 4.78233503e-03 1.21487362e+02] [-2.13156919e-03 9.99997697e-01 -2.50206421e-04 -6.67075852e+00] [-4.78285764e-03 2.40009113e-04 9.99988533e-01 -1.71573375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59037174299999 meters 0.02789158234974915 Centerline is valid? [True, True] Translation: X:121.52, Y:-6.67, Z:-1.72 [[ 9.99976804e-01 4.79368368e-03 4.83864577e-03 1.21519320e+02] [-4.79251671e-03 9.99988484e-01 -2.52743229e-04 -6.66922566e+00] [-4.83980162e-03 2.29548075e-04 9.99988262e-01 -1.71580794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62037174299999 meters 0.02635038579105622 Centerline is valid? [True, True] Translation: X:121.55, Y:-6.67, Z:-1.72 [[ 9.99926487e-01 1.10031632e-02 5.09412371e-03 1.21549240e+02] [-1.10019454e-02 9.99939441e-01 -2.67023971e-04 -6.66626515e+00] [-5.09675333e-03 2.10959070e-04 9.99986989e-01 -1.71587759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.650371743 meters 0.025663703964732915 Centerline is valid? [True, True] Translation: X:121.58, Y:-6.67, Z:-1.72 [[ 9.99890249e-01 1.39084437e-02 5.10344470e-03 1.21578939e+02] [-1.39072587e-02 9.99903254e-01 -2.67606823e-04 -6.66546442e+00] [-5.10667295e-03 1.96602527e-04 9.99986942e-01 -1.71604496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680371743 meters 0.025223841719013002 Centerline is valid? [True, True] Translation: X:121.61, Y:-6.66, Z:-1.72 [[ 9.99856237e-01 1.62468309e-02 4.85243601e-03 1.21606639e+02] [-1.62457855e-02 9.99867996e-01 -2.54775879e-04 -6.66486249e+00] [-4.85593477e-03 1.75907617e-04 9.99988194e-01 -1.71632426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.710371743 meters 0.023116150081662817 Centerline is valid? [True, True] Translation: X:121.64, Y:-6.66, Z:-1.72 [[ 9.99784086e-01 2.03150422e-02 4.36814974e-03 1.21636304e+02] [-2.03142372e-02 9.99793618e-01 -2.28595240e-04 -6.66021556e+00] [-4.37189216e-03 1.39810253e-04 9.99990433e-01 -1.71659741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740371743 meters 0.022474566333602636 Centerline is valid? [True, True] Translation: X:121.67, Y:-6.66, Z:-1.72 [[ 9.99752039e-01 2.19419653e-02 3.79619554e-03 1.21665186e+02] [-2.19413678e-02 9.99759239e-01 -1.98967031e-04 -6.65976525e+00] [-3.79964729e-03 1.15623972e-04 9.99992775e-01 -1.71730923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.770371743 meters 0.022297636594504615 Centerline is valid? [True, True] Translation: X:121.69, Y:-6.66, Z:-1.72 [[ 9.99721928e-01 2.33297556e-02 3.43362686e-03 1.21693683e+02] [-2.33292755e-02 9.99727819e-01 -1.79809020e-04 -6.66013414e+00] [-3.43688720e-03 9.96549924e-05 9.99994089e-01 -1.71800258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800371743 meters 0.022071668070321602 Centerline is valid? [True, True] Translation: X:121.72, Y:-6.66, Z:-1.72 [[ 9.99686148e-01 2.48060473e-02 3.50222794e-03 1.21722991e+02] [-2.48055558e-02 9.99692278e-01 -1.83697352e-04 -6.66057532e+00] [-3.50570703e-03 9.67649872e-05 9.99993850e-01 -1.71852725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.830371743 meters 0.02191128453036776 Centerline is valid? [True, True] Translation: X:121.75, Y:-6.66, Z:-1.72 [[ 9.99611018e-01 2.75618207e-02 4.26137381e-03 1.21750840e+02] [-2.75611227e-02 9.99620095e-01 -2.22447021e-04 -6.66083301e+00] [-4.26588594e-03 1.04912246e-04 9.99990896e-01 -1.71873846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860371743 meters 0.021889859618923622 Centerline is valid? [True, True] Translation: X:121.78, Y:-6.66, Z:-1.72 [[ 9.99576978e-01 2.87097114e-02 4.64942525e-03 1.21779936e+02] [-2.87088978e-02 9.99587785e-01 -2.41661505e-04 -6.66099250e+00] [-4.65444672e-03 1.08079402e-04 9.99989162e-01 -1.71916903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.890371743 meters 0.02149158390801813 Centerline is valid? [True, True] Translation: X:121.81, Y:-6.66, Z:-1.72 [[ 9.99512062e-01 3.08716919e-02 4.75148343e-03 1.21807895e+02] [-3.08708675e-02 9.99523351e-01 -2.46764288e-04 -6.66139077e+00] [-4.75683667e-03 9.99614673e-05 9.99988681e-01 -1.71908157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920371743 meters 0.02115161233884121 Centerline is valid? [True, True] Translation: X:121.84, Y:-6.66, Z:-1.72 [[ 9.99499242e-01 3.12329176e-02 5.07634511e-03 1.21836560e+02] [-3.12319847e-02 9.99512128e-01 -2.62954892e-04 -6.66088586e+00] [-5.08208135e-03 1.04278883e-04 9.99987081e-01 -1.71874307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95037174299999 meters 0.021360729609547404 Centerline is valid? [True, True] Translation: X:121.86, Y:-6.66, Z:-1.72 [[ 9.99491731e-01 3.14713293e-02 5.08273496e-03 1.21864289e+02] [-3.14703967e-02 9.99504650e-01 -2.63380455e-04 -6.66251206e+00] [-5.08850615e-03 1.03290902e-04 9.99987048e-01 -1.71930518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98037174299999 meters 0.021658405815630888 Centerline is valid? [True, True] Translation: X:121.89, Y:-6.67, Z:-1.72 [[ 9.99538008e-01 2.98923285e-02 5.49723440e-03 1.21891791e+02] [-2.98912199e-02 9.99553117e-01 -2.83736654e-04 -6.66523794e+00] [-5.50325934e-03 1.19286527e-04 9.99984850e-01 -1.71921687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.010371743 meters 0.022308707185639123 Centerline is valid? [True, True] Translation: X:121.92, Y:-6.67, Z:-1.72 [[ 9.99573599e-01 2.86241229e-02 5.76880258e-03 1.21919615e+02] [-2.86228842e-02 9.99590237e-01 -2.97177082e-04 -6.66888923e+00] [-5.77494517e-03 1.31930597e-04 9.99983316e-01 -1.71973602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040371743 meters 0.022615482962485684 Centerline is valid? [True, True] Translation: X:121.95, Y:-6.67, Z:-1.72 [[ 9.99628970e-01 2.65780630e-02 5.96058276e-03 1.21947868e+02] [-2.65767068e-02 9.99646730e-01 -3.06628164e-04 -6.67218715e+00] [-5.96662665e-03 1.48101735e-04 9.99982189e-01 -1.71976946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.070371743 meters 0.021802255896557637 Centerline is valid? [True, True] Translation: X:121.98, Y:-6.67, Z:-1.72 [[ 9.99678389e-01 2.45354101e-02 6.41345024e-03 1.21976476e+02] [-2.45338045e-02 9.99698947e-01 -3.28924797e-04 -6.67253641e+00] [-6.41958976e-03 1.71472677e-04 9.99979380e-01 -1.71955679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100371743 meters 0.02284556768418666 Centerline is valid? [True, True] Translation: X:122.01, Y:-6.68, Z:-1.72 [[ 9.99769539e-01 2.01556006e-02 7.39052732e-03 1.22006038e+02] [-2.01533557e-02 9.99796829e-01 -3.78110880e-04 -6.67830083e+00] [-7.39664683e-03 2.29079814e-04 9.99972618e-01 -1.71942248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.130371743 meters 0.022999093554842247 Centerline is valid? [True, True] Translation: X:122.03, Y:-6.68, Z:-1.72 [[ 9.99804323e-01 1.80445253e-02 8.10621514e-03 1.22034828e+02] [-1.80417562e-02 9.99837148e-01 -4.14603191e-04 -6.68108399e+00] [-8.11237635e-03 2.68271706e-04 9.99967058e-01 -1.71907948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160371743 meters 0.024517897862205814 Centerline is valid? [True, True] Translation: X:122.06, Y:-6.69, Z:-1.72 [[ 9.99849909e-01 1.47445903e-02 9.09707978e-03 1.22062627e+02] [-1.47409736e-02 9.99891238e-01 -4.64495945e-04 -6.68770753e+00] [-9.10293917e-03 3.30326416e-04 9.99958513e-01 -1.71956231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.190371743 meters 0.02533639105732923 Centerline is valid? [True, True] Translation: X:122.09, Y:-6.69, Z:-1.72 [[ 9.99874027e-01 1.30494510e-02 9.03564623e-03 1.22091250e+02] [-1.30458206e-02 9.99914794e-01 -4.60620109e-04 -6.69207140e+00] [-9.04088718e-03 3.42684664e-04 9.99959072e-01 -1.72024460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220371743 meters 0.02571009461723029 Centerline is valid? [True, True] Translation: X:122.12, Y:-6.70, Z:-1.72 [[ 9.99918268e-01 9.75869475e-03 8.25986876e-03 1.22121425e+02] [-9.75555445e-03 9.99952325e-01 -4.20393950e-04 -6.69652228e+00] [-8.26357747e-03 3.39779991e-04 9.99965798e-01 -1.72101874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.250371743 meters 0.02654989991058181 Centerline is valid? [True, True] Translation: X:122.15, Y:-6.70, Z:-1.72 [[ 9.99939929e-01 7.76356149e-03 7.73728449e-03 1.22151837e+02] [-7.76074637e-03 9.99969807e-01 -3.93796522e-04 -6.70043075e+00] [-7.74010814e-03 3.33725764e-04 9.99969989e-01 -1.72210861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280371743 meters 0.026888409338176412 Centerline is valid? [True, True] Translation: X:122.18, Y:-6.70, Z:-1.72 [[ 9.99957507e-01 6.15071640e-03 6.86678754e-03 1.22182996e+02] [-6.14846290e-03 9.99981037e-01 -3.49236212e-04 -6.70397789e+00] [-6.86880538e-03 3.07001183e-04 9.99976362e-01 -1.72319714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.310371743 meters 0.029147103091102418 Centerline is valid? [True, True] Translation: X:122.21, Y:-6.71, Z:-1.72 [[ 9.99968334e-01 4.44754837e-03 6.59922682e-03 1.22213456e+02] [-4.44543295e-03 9.99990063e-01 -3.35188880e-04 -6.71017883e+00] [-6.60065201e-03 3.05841845e-04 9.99978169e-01 -1.72451755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34037174299999 meters 0.031068736830797306 Centerline is valid? [True, True] Translation: X:122.24, Y:-6.72, Z:-1.73 [[ 9.99984390e-01 1.58203643e-03 5.35876924e-03 1.22242986e+02] [-1.58059293e-03 9.99998713e-01 -2.73595344e-04 -6.71720538e+00] [-5.35919518e-03 2.65121040e-04 9.99985604e-01 -1.72619376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37037174299999 meters 0.028408455907824644 Centerline is valid? [True, True] Translation: X:122.28, Y:-6.72, Z:-1.73 [[ 9.99986862e-01 1.32569533e-03 4.95154629e-03 1.22275499e+02] [-1.32447104e-03 9.99999092e-01 -2.50524950e-04 -6.71572734e+00] [-4.95187392e-03 2.43963479e-04 9.99987710e-01 -1.72603474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400371743 meters 0.029973326330274053 Centerline is valid? [True, True] Translation: X:122.31, Y:-6.72, Z:-1.73 [[ 9.99989276e-01 1.16117943e-03 4.48327464e-03 1.22306164e+02] [-1.16016565e-03 9.99999301e-01 -2.28719069e-04 -6.71990722e+00] [-4.48353709e-03 2.23515275e-04 9.99989924e-01 -1.72704011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.430371743 meters 0.028931044664911847 Centerline is valid? [True, True] Translation: X:122.34, Y:-6.72, Z:-1.73 [[ 9.99988379e-01 1.93359113e-03 4.41620418e-03 1.22338583e+02] [-1.93260965e-03 9.99998107e-01 -2.26501824e-04 -6.72008503e+00] [-4.41663378e-03 2.17964393e-04 9.99990223e-01 -1.72683041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460371743 meters 0.026819031613719558 Centerline is valid? [True, True] Translation: X:122.37, Y:-6.72, Z:-1.73 [[ 9.99977702e-01 5.26235966e-03 4.11124362e-03 1.22369898e+02] [-5.26153468e-03 9.99986136e-01 -2.11454779e-04 -6.71779011e+00] [-4.11229937e-03 1.89818614e-04 9.99991526e-01 -1.72633737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.490371743 meters 0.02636129131788584 Centerline is valid? [True, True] Translation: X:122.40, Y:-6.72, Z:-1.73 [[ 9.99960089e-01 7.92119737e-03 4.13216376e-03 1.22400240e+02] [-7.92038466e-03 9.99968611e-01 -2.13005768e-04 -6.71783353e+00] [-4.13372132e-03 1.80268940e-04 9.99991440e-01 -1.72658050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520371743 meters 0.024821827270176098 Centerline is valid? [True, True] Translation: X:122.43, Y:-6.72, Z:-1.73 [[ 9.99892380e-01 1.43107369e-02 3.22972474e-03 1.22429813e+02] [-1.43102729e-02 9.99897589e-01 -1.66728177e-04 -6.71543884e+00] [-3.23177999e-03 1.20491991e-04 9.99994771e-01 -1.72667871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.550371743 meters 0.023238165561266094 Centerline is valid? [True, True] Translation: X:122.46, Y:-6.71, Z:-1.73 [[ 9.99841306e-01 1.76174057e-02 2.64378198e-03 1.22459140e+02] [-1.76171054e-02 9.99844797e-01 -1.36835667e-04 -6.71330454e+00] [-2.64578235e-03 9.02381660e-05 9.99996496e-01 -1.72676903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580371743 meters 0.022605670854736255 Centerline is valid? [True, True] Translation: X:122.49, Y:-6.71, Z:-1.73 [[ 9.99781456e-01 2.07640273e-02 2.42816821e-03 1.22487411e+02] [-2.07637829e-02 9.99784402e-01 -1.25810590e-04 -6.71290702e+00] [-2.43025704e-03 7.53651370e-05 9.99997044e-01 -1.72714662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.610371743 meters 0.02139079987305834 Centerline is valid? [True, True] Translation: X:122.52, Y:-6.71, Z:-1.73 [[ 9.99645796e-01 2.65266761e-02 2.14883030e-03 1.22517325e+02] [-2.65264990e-02 9.99648104e-01 -1.10871148e-04 -6.71052078e+00] [-2.15101518e-03 5.38309325e-05 9.99997685e-01 -1.72804099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640371743 meters 0.02109656365381161 Centerline is valid? [True, True] Translation: X:122.54, Y:-6.71, Z:-1.73 [[ 9.99570464e-01 2.92524051e-02 1.78434074e-03 1.22544947e+02] [-2.92522855e-02 9.99572056e-01 -9.30939529e-05 -6.71059490e+00] [-1.78630037e-03 4.08579208e-05 9.99998404e-01 -1.72850168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.670371743 meters 0.020514296897340294 Centerline is valid? [True, True] Translation: X:122.57, Y:-6.71, Z:-1.73 [[ 9.99496001e-01 3.17100411e-02 1.48890103e-03 1.22573475e+02] [-3.17099613e-02 9.99497110e-01 -7.71768631e-05 -6.71053267e+00] [-1.49059956e-03 2.99249719e-05 9.99998889e-01 -1.72960228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70037174299999 meters 0.019866568650725093 Centerline is valid? [True, True] Translation: X:122.60, Y:-6.71, Z:-1.73 [[ 9.99372226e-01 3.54120362e-02 1.06857290e-03 1.22601313e+02] [-3.54119967e-02 9.99372797e-01 -5.58102766e-05 -6.70951369e+00] [-1.06987904e-03 1.79349404e-05 9.99999428e-01 -1.73028242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73037174299999 meters 0.019739165760065035 Centerline is valid? [True, True] Translation: X:122.63, Y:-6.71, Z:-1.73 [[ 9.99342736e-01 3.62223353e-02 1.42739829e-03 1.22630354e+02] [-3.62222668e-02 9.99343756e-01 -7.38036725e-05 -6.70987926e+00] [-1.42913491e-03 2.20515623e-05 9.99998979e-01 -1.73039606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760371743 meters 0.020038861435425194 Centerline is valid? [True, True] Translation: X:122.66, Y:-6.71, Z:-1.73 [[ 9.99341508e-01 3.62499355e-02 1.57864147e-03 1.22656989e+02] [-3.62498512e-02 9.99342755e-01 -8.20483006e-05 -6.71177748e+00] [-1.58057816e-03 2.47687541e-05 9.99998751e-01 -1.73116685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.790371743 meters 0.020242783412856357 Centerline is valid? [True, True] Translation: X:122.69, Y:-6.71, Z:-1.73 [[ 9.99355795e-01 3.58507057e-02 1.64954744e-03 1.22685313e+02] [-3.58506146e-02 9.99357157e-01 -8.48032739e-05 -6.71363491e+00] [-1.65152730e-03 2.56113538e-05 9.99998636e-01 -1.73131052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820371743 meters 0.019619913777971034 Centerline is valid? [True, True] Translation: X:122.71, Y:-6.72, Z:-1.73 [[ 9.99419586e-01 3.40019221e-02 2.08822767e-03 1.22714336e+02] [-3.40017728e-02 9.99421767e-01 -1.06991809e-04 -6.71604910e+00] [-2.09065812e-03 3.59262671e-05 9.99997814e-01 -1.73025019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.850371743 meters 0.02029111747321526 Centerline is valid? [True, True] Translation: X:122.74, Y:-6.72, Z:-1.73 [[ 9.99464150e-01 3.26569660e-02 2.22166980e-03 1.22742231e+02] [-3.26567937e-02 9.99466618e-01 -1.13809656e-04 -6.71936250e+00] [-2.22420148e-03 4.11960593e-05 9.99997526e-01 -1.73095237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880371743 meters 0.02036554847048146 Centerline is valid? [True, True] Translation: X:122.77, Y:-6.72, Z:-1.73 [[ 9.99502671e-01 3.14777034e-02 1.88789792e-03 1.22770665e+02] [-3.14775773e-02 9.99504454e-01 -9.65175350e-05 -6.72252753e+00] [-1.89000053e-03 3.70430814e-05 9.99998213e-01 -1.73104947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.910371743 meters 0.020504926377120127 Centerline is valid? [True, True] Translation: X:122.80, Y:-6.73, Z:-1.73 [[ 9.99577305e-01 2.90201012e-02 1.74510848e-03 1.22799394e+02] [-2.90199897e-02 9.99578827e-01 -8.91833436e-05 -6.72630162e+00] [-1.74696160e-03 3.85026159e-05 9.99998473e-01 -1.73020637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940371743 meters 0.020433123784719558 Centerline is valid? [True, True] Translation: X:122.83, Y:-6.73, Z:-1.73 [[ 9.99600738e-01 2.82109446e-02 1.58357940e-03 1.22828177e+02] [-2.82108518e-02 9.99601991e-01 -8.09053327e-05 -6.72915491e+00] [-1.58523154e-03 3.61989064e-05 9.99998743e-01 -1.73021445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.970371743 meters 0.020625899600793397 Centerline is valid? [True, True] Translation: X:122.86, Y:-6.73, Z:-1.73 [[ 9.99614154e-01 2.77554781e-02 1.08483660e-03 1.22856903e+02] [-2.77554340e-02 9.99614742e-01 -5.56566156e-05 -6.73194525e+00] [-1.08596344e-03 2.55250299e-05 9.99999410e-01 -1.73050718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000371743 meters 0.0202584684456168 Centerline is valid? [True, True] Translation: X:122.89, Y:-6.74, Z:-1.73 [[ 9.99597915e-01 2.83518806e-02 4.22325613e-04 1.22885741e+02] [-2.83518738e-02 9.99598005e-01 -2.22527238e-05 -6.73505049e+00] [-4.22786747e-04 1.02700539e-05 9.99999911e-01 -1.73076545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.030371743 meters 0.02007504196902307 Centerline is valid? [True, True] Translation: X:122.91, Y:-6.74, Z:-1.73 [[ 9.99564504e-01 2.95021536e-02 6.52793726e-04 1.22914847e+02] [-2.95021378e-02 9.99564717e-01 -3.37976127e-05 -6.73709776e+00] [-6.53506678e-04 1.45240835e-05 9.99999786e-01 -1.73108819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.060371743 meters 0.019685879462023735 Centerline is valid? [True, True] Translation: X:122.94, Y:-6.74, Z:-1.73 [[ 9.99518484e-01 3.10067520e-02 1.17519587e-03 1.22943745e+02] [-3.10067029e-02 9.99519175e-01 -5.99779084e-05 -6.73811206e+00] [-1.17649053e-03 2.35100788e-05 9.99999308e-01 -1.73081704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09037174299999 meters 0.019302524700916535 Centerline is valid? [True, True] Translation: X:122.97, Y:-6.74, Z:-1.73 [[ 9.99388585e-01 3.49251346e-02 1.64034118e-03 1.22971308e+02] [-3.49250447e-02 9.99389931e-01 -8.34144479e-05 -6.73992334e+00] [-1.64225372e-03 2.60744579e-05 9.99998651e-01 -1.73022135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12037174299999 meters 0.018920003167999015 Centerline is valid? [True, True] Translation: X:123.00, Y:-6.74, Z:-1.73 [[ 9.99322439e-01 3.67357913e-02 2.26821880e-03 1.23000002e+02] [-3.67356261e-02 9.99325013e-01 -1.14451548e-04 -6.74162347e+00] [-2.27089225e-03 3.10495623e-05 9.99997421e-01 -1.73056563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.150371743 meters 0.018842557906941275 Centerline is valid? [True, True] Translation: X:123.03, Y:-6.74, Z:-1.73 [[ 9.99248821e-01 3.86771864e-02 2.42271359e-03 1.23027793e+02] [-3.86770037e-02 9.99251757e-01 -1.22205758e-04 -6.74387026e+00] [-2.42562739e-03 2.84106567e-05 9.99997058e-01 -1.73140100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180371743 meters 0.018842557906941275 Centerline is valid? [True, True] Translation: X:123.06, Y:-6.75, Z:-1.73 [[ 9.99252830e-01 3.85734735e-02 2.42271526e-03 1.23055223e+02] [-3.85732907e-02 9.99255766e-01 -1.22173497e-04 -6.74514818e+00] [-2.42562485e-03 2.86301125e-05 9.99997058e-01 -1.73178710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.210371743 meters 0.01863032092213323 Centerline is valid? [True, True] Translation: X:123.08, Y:-6.75, Z:-1.73 [[ 9.99176915e-01 4.05174982e-02 1.95581089e-03 1.23084111e+02] [-4.05173834e-02 9.99178829e-01 -9.82932794e-05 -6.74872609e+00] [-1.95818743e-03 1.89680359e-05 9.99998083e-01 -1.73316269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240371743 meters 0.018784668706645018 Centerline is valid? [True, True] Translation: X:123.11, Y:-6.75, Z:-1.73 [[ 9.99155082e-01 4.10804426e-02 1.23249585e-03 1.23112419e+02] [-4.10803971e-02 9.99155842e-01 -6.22127383e-05 -6.75203390e+00] [-1.23401116e-03 1.15287548e-05 9.99999239e-01 -1.73450748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.270371743 meters 0.01855908753206547 Centerline is valid? [True, True] Translation: X:123.14, Y:-6.75, Z:-1.73 [[ 9.99152607e-01 4.11569970e-02 4.12786256e-04 1.23140735e+02] [-4.11569916e-02 9.99152692e-01 -2.14855185e-05 -6.75499455e+00] [-4.13320779e-04 4.47827135e-06 9.99999915e-01 -1.73457600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300371743 meters 0.018667994220608556 Centerline is valid? [True, True] Translation: X:123.17, Y:-6.76, Z:-1.74 [[ 9.99190532e-01 4.02201280e-02 -7.88722662e-04 1.23168214e+02] [-4.02201106e-02 9.99190843e-01 3.78171987e-05 -6.76063005e+00] [ 7.89605474e-04 -6.06407415e-06 9.99999688e-01 -1.73610734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.330371743 meters 0.019094339774826257 Centerline is valid? [True, True] Translation: X:123.20, Y:-6.76, Z:-1.74 [[ 9.99204543e-01 3.98440720e-02 -1.65277737e-03 1.23196786e+02] [-3.98439929e-02 9.99205910e-01 8.07472622e-05 -6.76436165e+00] [ 1.65468221e-03 -1.48297815e-05 9.99998631e-01 -1.73635753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360371743 meters 0.018925246833287068 Centerline is valid? [True, True] Translation: X:123.23, Y:-6.77, Z:-1.74 [[ 9.99214927e-01 3.95801630e-02 -1.71445757e-03 1.23225493e+02] [-3.95800777e-02 9.99216398e-01 8.36715994e-05 -6.76797552e+00] [ 1.71642585e-03 -1.57475473e-05 9.99998527e-01 -1.73677535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.390371743 meters 0.01873641883422786 Centerline is valid? [True, True] Translation: X:123.25, Y:-6.77, Z:-1.74 [[ 9.99220538e-01 3.94593494e-02 -1.12995404e-03 1.23253702e+02] [-3.94593128e-02 9.99221177e-01 5.47106153e-05 -6.77281219e+00] [ 1.13123285e-03 -1.00807607e-05 9.99999360e-01 -1.73596157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420371743 meters 0.018740435820150628 Centerline is valid? [True, True] Translation: X:123.28, Y:-6.78, Z:-1.74 [[ 9.99193185e-01 4.01458497e-02 -1.13559441e-03 1.23281963e+02] [-4.01458132e-02 9.99193830e-01 5.49000051e-05 -6.77545919e+00] [ 1.13688294e-03 -9.26634971e-06 9.99999354e-01 -1.73541859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45037174299999 meters 0.01884870219776969 Centerline is valid? [True, True] Translation: X:123.31, Y:-6.78, Z:-1.74 [[ 9.99145997e-01 4.13186780e-02 -2.10476599e-04 1.23309432e+02] [-4.13186770e-02 9.99146019e-01 9.08449722e-06 -6.77860276e+00] [ 2.10672216e-04 -3.80124415e-07 9.99999978e-01 -1.73626035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48037174299999 meters 0.01877934830424277 Centerline is valid? [True, True] Translation: X:123.34, Y:-6.78, Z:-1.74 [[ 9.99108608e-01 4.22128746e-02 -2.49312786e-04 1.23338679e+02] [-4.22128731e-02 9.99108639e-01 1.14924623e-05 -6.78095343e+00] [ 2.49575688e-04 -9.58009059e-07 9.99999969e-01 -1.73574845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.510371743 meters 0.018495834483163182 Centerline is valid? [True, True] Translation: X:123.37, Y:-6.79, Z:-1.74 [[ 9.99041013e-01 4.37779214e-02 7.39934014e-04 1.23367132e+02] [-4.37779058e-02 9.99041287e-01 -3.72688976e-05 -6.78519018e+00] [-7.40856185e-04 4.84039566e-06 9.99999726e-01 -1.73566060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540371743 meters 0.018686042652420874 Centerline is valid? [True, True] Translation: X:123.40, Y:-6.79, Z:-1.74 [[ 9.99001907e-01 4.46593081e-02 8.57501696e-04 1.23396116e+02] [-4.46592877e-02 9.99002275e-01 -4.29887957e-05 -6.78785738e+00] [-8.58565996e-04 4.65047393e-06 9.99999631e-01 -1.73546317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.570371743 meters 0.018825334421942952 Centerline is valid? [True, True] Translation: X:123.42, Y:-6.79, Z:-1.74 [[ 9.98943196e-01 4.59608370e-02 3.05929526e-04 1.23423681e+02] [-4.59608341e-02 9.98943242e-01 -1.64890825e-05 -6.79082280e+00] [-3.06364085e-04 2.41088064e-06 9.99999953e-01 -1.73560101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600371743 meters 0.019052980097630137 Centerline is valid? [True, True] Translation: X:123.45, Y:-6.79, Z:-1.74 [[ 9.98923684e-01 4.63838308e-02 -1.13199994e-04 1.23450966e+02] [-4.63838306e-02 9.98923691e-01 4.24072622e-06 -6.79361241e+00] [ 1.13274857e-04 1.01448748e-06 9.99999994e-01 -1.73725437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.630371743 meters 0.0188058373427978 Centerline is valid? [True, True] Translation: X:123.48, Y:-6.80, Z:-1.74 [[ 9.98920584e-01 4.64443395e-02 -7.68416753e-04 1.23479391e+02] [-4.64443253e-02 9.98920879e-01 3.64120664e-05 -6.79669972e+00] [ 7.69278673e-04 -6.84165005e-07 9.99999704e-01 -1.73769056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660371743 meters 0.018900050013703675 Centerline is valid? [True, True] Translation: X:123.51, Y:-6.80, Z:-1.74 [[ 9.98925630e-01 4.63419996e-02 -6.24837878e-05 1.23508366e+02] [-4.63419995e-02 9.98925632e-01 2.02948766e-06 -6.80224256e+00] [ 6.25107076e-05 8.68316426e-07 9.99999998e-01 -1.73830988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.690371743 meters 0.019847761458388406 Centerline is valid? [True, True] Translation: X:123.54, Y:-6.81, Z:-1.74 [[ 9.98915770e-01 4.65523543e-02 -4.04124519e-04 1.23535927e+02] [-4.65523507e-02 9.98915851e-01 1.83592980e-05 -6.80563318e+00] [ 4.04541057e-04 4.73554092e-07 9.99999918e-01 -1.73843871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720371743 meters 0.018654842132617824 Centerline is valid? [True, True] Translation: X:123.56, Y:-6.81, Z:-1.74 [[ 9.98948616e-01 4.58411400e-02 5.01632387e-04 1.23564980e+02] [-4.58411331e-02 9.98948742e-01 -2.53180120e-05 -6.80849580e+00] [-5.02265648e-04 2.29599608e-06 9.99999874e-01 -1.73856620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.750371743 meters 0.01888357301907549 Centerline is valid? [True, True] Translation: X:123.59, Y:-6.81, Z:-1.74 [[ 9.98970509e-01 4.53540405e-02 9.65616935e-04 1.23591913e+02] [-4.53540140e-02 9.98970976e-01 -4.92745946e-05 -6.81160257e+00] [-9.66858095e-04 5.42926285e-06 9.99999533e-01 -1.73919324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780371743 meters 0.01872052642899856 Centerline is valid? [True, True] Translation: X:123.62, Y:-6.82, Z:-1.74 [[ 9.98992596e-01 4.48358881e-02 1.88036679e-03 1.23619198e+02] [-4.48357947e-02 9.98994366e-01 -9.18184863e-05 -6.81678936e+00] [-1.88259259e-03 7.41824854e-06 9.99998228e-01 -1.73999034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.810371743 meters 0.01978688128222804 Centerline is valid? [True, True] Translation: X:123.65, Y:-6.82, Z:-1.74 [[ 9.99008366e-01 4.44897893e-02 1.71539801e-03 1.23648351e+02] [-4.44897115e-02 9.99009839e-01 -8.35294362e-05 -6.82027001e+00] [-1.71741569e-03 7.12904320e-06 9.99998525e-01 -1.73926982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84037174299999 meters 0.019155725632087506 Centerline is valid? [True, True] Translation: X:123.67, Y:-6.83, Z:-1.74 [[ 9.99131940e-01 4.15685941e-02 2.72371618e-03 1.23674746e+02] [-4.15683856e-02 9.99135652e-01 -1.33145260e-04 -6.82696537e+00] [-2.72689660e-03 1.98091973e-05 9.99996282e-01 -1.74048925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87037174299999 meters 0.01927833502591543 Centerline is valid? [True, True] Translation: X:123.70, Y:-6.83, Z:-1.74 [[ 9.99196641e-01 3.99606487e-02 3.03620001e-03 1.23703011e+02] [-3.99603888e-02 9.99201254e-01 -1.46252239e-04 -6.83099424e+00] [-3.03961919e-03 2.48070131e-05 9.99995380e-01 -1.74018103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900371743 meters 0.019273030598542983 Centerline is valid? [True, True] Translation: X:123.73, Y:-6.84, Z:-1.74 [[ 9.99246095e-01 3.86961740e-02 3.13822331e-03 1.23731718e+02] [-3.86958909e-02 9.99251022e-01 -1.50897569e-04 -6.83533868e+00] [-3.14171201e-03 2.93474594e-05 9.99995064e-01 -1.74029360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.930371743 meters 0.01960732978990809 Centerline is valid? [True, True] Translation: X:123.76, Y:-6.84, Z:-1.74 [[ 9.99294337e-01 3.73726095e-02 3.75722889e-03 1.23759331e+02] [-3.73721955e-02 9.99301399e-01 -1.80368164e-04 -6.83953093e+00] [-3.76134491e-03 3.98249920e-05 9.99992925e-01 -1.74104824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960371743 meters 0.01961586408730753 Centerline is valid? [True, True] Translation: X:123.79, Y:-6.84, Z:-1.74 [[ 9.99345893e-01 3.59752499e-02 3.68351908e-03 1.23786630e+02] [-3.59748436e-02 9.99352680e-01 -1.76513729e-04 -6.84360772e+00] [-3.68748479e-03 4.38842471e-05 9.99993200e-01 -1.74143988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.990371743 meters 0.019981231433155586 Centerline is valid? [True, True] Translation: X:123.81, Y:-6.85, Z:-1.74 [[ 9.99400646e-01 3.44233481e-02 3.65808902e-03 1.23814894e+02] [-3.44229389e-02 9.99407340e-01 -1.74794177e-04 -6.84917433e+00] [-3.66193802e-03 4.87672390e-05 9.99993294e-01 -1.74135186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020371743 meters 0.019840295929720142 Centerline is valid? [True, True] Translation: X:123.84, Y:-6.85, Z:-1.74 [[ 9.99430365e-01 3.35390341e-02 3.75202984e-03 1.23843207e+02] [-3.35385984e-02 9.99437407e-01 -1.79001732e-04 -6.85258170e+00] [-3.75592252e-03 5.30619447e-05 9.99992945e-01 -1.74153546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.050371743 meters 0.02024170698082409 Centerline is valid? [True, True] Translation: X:123.87, Y:-6.86, Z:-1.74 [[ 9.99453330e-01 3.28774997e-02 3.48024644e-03 1.23872230e+02] [-3.28771214e-02 9.99459388e-01 -1.65872828e-04 -6.85620732e+00] [-3.48381846e-03 5.13616648e-05 9.99993930e-01 -1.74211008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080371743 meters 0.02027683459455738 Centerline is valid? [True, True] Translation: X:123.90, Y:-6.86, Z:-1.74 [[ 9.99498722e-01 3.14498516e-02 3.63486144e-03 1.23900722e+02] [-3.14494306e-02 9.99505329e-01 -1.72930583e-04 -6.86324326e+00] [-3.63850202e-03 5.85295745e-05 9.99993379e-01 -1.74333934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.110371743 meters 0.020151381229817848 Centerline is valid? [True, True] Translation: X:123.93, Y:-6.87, Z:-1.74 [[ 9.99513259e-01 3.09701448e-02 3.75446599e-03 1.23929243e+02] [-3.09696935e-02 9.99520308e-01 -1.78316971e-04 -6.86704294e+00] [-3.75818750e-03 6.19555160e-05 9.99992936e-01 -1.74330549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140371743 meters 0.020325828572971816 Centerline is valid? [True, True] Translation: X:123.96, Y:-6.87, Z:-1.74 [[ 9.99512490e-01 3.09418176e-02 4.16971887e-03 1.23956863e+02] [-3.09412616e-02 9.99521185e-01 -1.97794016e-04 -6.87086484e+00] [-4.17384245e-03 6.86812275e-05 9.99991287e-01 -1.74379597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.170371743 meters 0.020261367353010717 Centerline is valid? [True, True] Translation: X:123.99, Y:-6.88, Z:-1.74 [[ 9.99467067e-01 3.21572687e-02 5.61173008e-03 1.23985330e+02] [-3.21562870e-02 9.99482818e-01 -2.65099810e-04 -6.87530803e+00] [-5.61735267e-03 8.45061268e-05 9.99984219e-01 -1.74313461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20037174299999 meters 0.020511689761159007 Centerline is valid? [True, True] Translation: X:124.01, Y:-6.88, Z:-1.74 [[ 9.99426610e-01 3.33525716e-02 5.83591319e-03 1.24012651e+02] [-3.33515321e-02 9.99443645e-01 -2.75364686e-04 -6.87921246e+00] [-5.84185048e-03 8.05701479e-05 9.99982933e-01 -1.74381360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23037174299999 meters 0.020301971628317324 Centerline is valid? [True, True] Translation: X:124.04, Y:-6.88, Z:-1.74 [[ 9.99386674e-01 3.44808738e-02 6.11106223e-03 1.24041946e+02] [-3.44797607e-02 9.99405355e-01 -2.87438488e-04 -6.88077238e+00] [-6.11733945e-03 7.65542311e-05 9.99981286e-01 -1.74365862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260371743 meters 0.020329523246552118 Centerline is valid? [True, True] Translation: X:124.07, Y:-6.89, Z:-1.74 [[ 9.99318220e-01 3.64602652e-02 5.80904806e-03 1.24070315e+02] [-3.64592936e-02 9.99335102e-01 -2.73100374e-04 -6.88603378e+00] [-5.81514294e-03 6.11203915e-05 9.99983090e-01 -1.74438372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.290371743 meters 0.020133104137758727 Centerline is valid? [True, True] Translation: X:124.10, Y:-6.89, Z:-1.75 [[ 9.99293545e-01 3.71333360e-02 5.79022581e-03 1.24099145e+02] [-3.71323844e-02 9.99310318e-01 -2.71799789e-04 -6.88962337e+00] [-5.79632523e-03 5.66028842e-05 9.99983200e-01 -1.74507966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320371743 meters 0.021421774193697105 Centerline is valid? [True, True] Translation: X:124.13, Y:-6.89, Z:-1.74 [[ 9.99243996e-01 3.85916845e-02 4.70301218e-03 1.24128188e+02] [-3.85910735e-02 9.99255063e-01 -2.20624963e-04 -6.89339961e+00] [-4.70802302e-03 3.89638805e-05 9.99988916e-01 -1.74475199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.350371743 meters 0.020449117224171597 Centerline is valid? [True, True] Translation: X:124.16, Y:-6.90, Z:-1.75 [[ 9.99277414e-01 3.75512080e-02 5.87849272e-03 1.24156021e+02] [-3.75502377e-02 9.99294703e-01 -2.75375657e-04 -6.90002749e+00] [-5.88468732e-03 5.44378761e-05 9.99982684e-01 -1.74562009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380371743 meters 0.02042733186705697 Centerline is valid? [True, True] Translation: X:124.18, Y:-6.90, Z:-1.75 [[ 9.99295030e-01 3.69773003e-02 6.49016953e-03 1.24183801e+02] [-3.69761110e-02 9.99316104e-01 -3.03172384e-04 -6.90404041e+00] [-6.49694142e-03 6.29774274e-05 9.99978893e-01 -1.74542341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.410371743 meters 0.020894711105620016 Centerline is valid? [True, True] Translation: X:124.21, Y:-6.91, Z:-1.75 [[ 9.99324126e-01 3.61300796e-02 6.77554217e-03 1.24211553e+02] [-3.61287701e-02 9.99347093e-01 -3.15614333e-04 -6.90861442e+00] [-6.78252154e-03 7.06090121e-05 9.99976996e-01 -1.74517309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440371743 meters 0.02122617306298064 Centerline is valid? [True, True] Translation: X:124.24, Y:-6.92, Z:-1.74 [[ 9.99377931e-01 3.42143928e-02 8.55136632e-03 1.24239846e+02] [-3.42122482e-02 9.99414511e-01 -3.96991070e-04 -6.91661250e+00] [-8.55994239e-03 1.04182647e-04 9.99963358e-01 -1.74473824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.470371743 meters 0.02092619672847948 Centerline is valid? [True, True] Translation: X:124.27, Y:-6.92, Z:-1.74 [[ 9.99422220e-01 3.27826213e-02 8.97367004e-03 1.24267975e+02] [-3.27802073e-02 9.99462498e-01 -4.16000686e-04 -6.92160472e+00] [-8.98248427e-03 1.21601565e-04 9.99959649e-01 -1.74494884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500371743 meters 0.02155890009923812 Centerline is valid? [True, True] Translation: X:124.30, Y:-6.93, Z:-1.75 [[ 9.99459598e-01 3.14779466e-02 9.46842707e-03 1.24295765e+02] [-3.14752095e-02 9.99504437e-01 -4.37994800e-04 -6.92772097e+00] [-9.47752204e-03 1.39737381e-04 9.99955078e-01 -1.74627891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.530371743 meters 0.02148699726219825 Centerline is valid? [True, True] Translation: X:124.32, Y:-6.93, Z:-1.75 [[ 9.99494704e-01 3.04267058e-02 9.19518423e-03 1.24324621e+02] [-3.04240880e-02 9.99536990e-01 -4.24471196e-04 -6.93218370e+00] [-9.20384203e-03 1.44501618e-04 9.99957633e-01 -1.74654582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.560371743 meters 0.022192725541849572 Centerline is valid? [True, True] Translation: X:124.35, Y:-6.94, Z:-1.75 [[ 9.99566680e-01 2.82364820e-02 8.31586223e-03 1.24353309e+02] [-2.82342694e-02 9.99601260e-01 -3.83368243e-04 -6.94110776e+00] [-8.32337133e-03 1.48409827e-04 9.99965349e-01 -1.74824566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59037174299999 meters 0.022265092450998333 Centerline is valid? [True, True] Translation: X:124.38, Y:-6.95, Z:-1.75 [[ 9.99596136e-01 2.74052302e-02 7.51792429e-03 1.24381648e+02] [-2.74034026e-02 9.99624396e-01 -3.46013402e-04 -6.94615682e+00] [-7.52458311e-03 1.39856953e-04 9.99971680e-01 -1.74912964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62037174299999 meters 0.022409658120696636 Centerline is valid? [True, True] Translation: X:124.41, Y:-6.95, Z:-1.75 [[ 9.99609008e-01 2.69826568e-02 7.33259807e-03 1.24409767e+02] [-2.69809088e-02 9.99635892e-01 -3.37219463e-04 -6.95338181e+00] [-7.33902729e-03 1.39247453e-04 9.99973059e-01 -1.74907589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.650371743 meters 0.022338680705258476 Centerline is valid? [True, True] Translation: X:124.44, Y:-6.96, Z:-1.75 [[ 9.99599213e-01 2.72266256e-02 7.75400627e-03 1.24438946e+02] [-2.72246830e-02 9.99629276e-01 -3.55991983e-04 -6.95685466e+00] [-7.76082414e-03 1.44748943e-04 9.99969874e-01 -1.74838704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680371743 meters 0.02278892036939206 Centerline is valid? [True, True] Translation: X:124.47, Y:-6.96, Z:-1.75 [[ 9.99616234e-01 2.61733848e-02 9.07410983e-03 1.24467273e+02] [-2.61706894e-02 9.99657402e-01 -4.15678515e-04 -6.96426555e+00] [-9.08188078e-03 1.78043282e-04 9.99958743e-01 -1.74787185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.710371743 meters 0.022919478077727897 Centerline is valid? [True, True] Translation: X:124.50, Y:-6.97, Z:-1.75 [[ 9.99653915e-01 2.45099659e-02 9.55574509e-03 1.24496449e+02] [-2.45069068e-02 9.99699565e-01 -4.37110124e-04 -6.96848742e+00] [-9.56358776e-03 2.02777092e-04 9.99954247e-01 -1.74763451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740371743 meters 0.023268542955347984 Centerline is valid? [True, True] Translation: X:124.53, Y:-6.97, Z:-1.75 [[ 9.99686529e-01 2.30480657e-02 9.77906557e-03 1.24526451e+02] [-2.30447972e-02 9.99734334e-01 -4.46801929e-04 -6.97408506e+00] [-9.78676552e-03 2.21305287e-04 9.99952084e-01 -1.74772092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.770371743 meters 0.023452025561913545 Centerline is valid? [True, True] Translation: X:124.56, Y:-6.98, Z:-1.75 [[ 9.99727154e-01 2.10561053e-02 1.01122209e-02 1.24556877e+02] [-2.10525092e-02 9.99778265e-01 -4.61953244e-04 -6.98016147e+00] [-1.01197056e-02 2.48939578e-04 9.99948763e-01 -1.74806331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800371743 meters 0.02522387230992504 Centerline is valid? [True, True] Translation: X:124.59, Y:-6.99, Z:-1.75 [[ 9.99803160e-01 1.67705767e-02 1.06013226e-02 1.24586901e+02] [-1.67663819e-02 9.99859317e-01 -4.84441672e-04 -6.99139263e+00] [-1.06079555e-02 3.06600492e-04 9.99943687e-01 -1.74850092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.830371743 meters 0.024931445793081736 Centerline is valid? [True, True] Translation: X:124.62, Y:-6.99, Z:-1.75 [[ 9.99833114e-01 1.48103084e-02 1.06957421e-02 1.24619309e+02] [-1.48059303e-02 9.99890267e-01 -4.88403883e-04 -6.99486806e+00] [-1.07018018e-02 3.29961963e-04 9.99942680e-01 -1.74835830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860371743 meters 0.026299229642698405 Centerline is valid? [True, True] Translation: X:124.65, Y:-7.00, Z:-1.75 [[ 9.99853381e-01 1.32360641e-02 1.08638247e-02 1.24650566e+02] [-1.32314232e-02 9.99912336e-01 -4.98954768e-04 -7.00137849e+00] [-1.08694765e-02 3.55137751e-04 9.99940862e-01 -1.74882309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.890371743 meters 0.02619317542891827 Centerline is valid? [True, True] Translation: X:124.68, Y:-7.01, Z:-1.75 [[ 9.99880678e-01 9.39374324e-03 1.22632469e-02 1.24681830e+02] [-9.38749632e-03 9.99955776e-01 -5.66866089e-04 -7.00773116e+00] [-1.22680296e-02 4.51677264e-04 9.99924643e-01 -1.74803484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920371743 meters 0.02686983664956997 Centerline is valid? [True, True] Translation: X:124.71, Y:-7.01, Z:-1.75 [[ 9.99883903e-01 8.43539260e-03 1.26895663e-02 1.24714245e+02] [-8.42862432e-03 9.99964306e-01 -5.86760593e-04 -7.01246780e+00] [-1.26940630e-02 4.79736884e-04 9.99919312e-01 -1.74798380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95037174299999 meters 0.029287046635259852 Centerline is valid? [True, True] Translation: X:124.74, Y:-7.02, Z:-1.75 [[ 9.99904684e-01 6.53020831e-03 1.21647029e-02 1.24744885e+02] [-6.52381149e-03 9.99978560e-01 -5.65458311e-04 -7.02198931e+00] [-1.21681346e-02 4.86044185e-04 9.99925847e-01 -1.74863492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98037174299999 meters 0.027726098291580157 Centerline is valid? [True, True] Translation: X:124.78, Y:-7.02, Z:-1.75 [[ 9.99913788e-01 5.45001431e-03 1.19462953e-02 1.24776676e+02] [-5.44373567e-03 9.99985027e-01 -5.58026803e-04 -7.02182093e+00] [-1.19491577e-02 4.92946220e-04 9.99928485e-01 -1.74905711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.010371743 meters 0.028175270413153597 Centerline is valid? [True, True] Translation: X:124.81, Y:-7.03, Z:-1.75 [[ 9.99922872e-01 4.81521592e-03 1.14483424e-02 1.24808775e+02] [-4.80937950e-03 9.99988291e-01 -5.37280938e-04 -7.02522497e+00] [-1.14507954e-02 4.82180075e-04 9.99934321e-01 -1.74975805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040371743 meters 0.03003055520114848 Centerline is valid? [True, True] Translation: X:124.84, Y:-7.03, Z:-1.75 [[ 9.99931995e-01 3.03136293e-03 1.12613124e-02 1.24839722e+02] [-3.02556743e-03 9.99995282e-01 -5.31639279e-04 -7.03065835e+00] [-1.12628709e-02 4.97531265e-04 9.99936448e-01 -1.75040624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.070371743 meters 0.03003055520114848 Centerline is valid? [True, True] Translation: X:124.87, Y:-7.03, Z:-1.75 [[ 9.99931105e-01 3.31198844e-03 1.12612664e-02 1.24872268e+02] [-3.30619975e-03 9.99994393e-01 -5.32612810e-04 -7.03228197e+00] [-1.12629673e-02 4.95344119e-04 9.99936448e-01 -1.75086368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100371743 meters 0.030805314688916764 Centerline is valid? [True, True] Translation: X:124.90, Y:-7.04, Z:-1.75 [[ 9.99928119e-01 2.70337694e-03 1.16811181e-02 1.24903409e+02] [-2.69706290e-03 9.99996208e-01 -5.56253723e-04 -7.03578594e+00] [-1.16825776e-02 5.24709029e-04 9.99931619e-01 -1.75128772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.130371743 meters 0.029453677482135173 Centerline is valid? [True, True] Translation: X:124.94, Y:-7.04, Z:-1.75 [[ 9.99928951e-01 2.32732203e-03 1.16908656e-02 1.24935385e+02] [-2.32095696e-03 9.99997151e-01 -5.57986313e-04 -7.03589342e+00] [-1.16921309e-02 5.30812673e-04 9.99931504e-01 -1.75137768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160371743 meters 0.03045382877856741 Centerline is valid? [True, True] Translation: X:124.97, Y:-7.04, Z:-1.75 [[ 9.99929762e-01 2.07671011e-03 1.16686803e-02 1.24966077e+02] [-2.07031511e-03 9.99997700e-01 -5.60100759e-04 -7.03935430e+00] [-1.16698167e-02 5.35903574e-04 9.99931762e-01 -1.75219245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.190371743 meters 0.029650364574296036 Centerline is valid? [True, True] Translation: X:125.00, Y:-7.04, Z:-1.75 [[ 9.99944805e-01 1.30696818e-03 1.04249218e-02 1.24998012e+02] [-1.30181386e-03 9.99999027e-01 -5.01193173e-04 -7.03968900e+00] [-1.04255667e-02 4.87594202e-04 9.99945533e-01 -1.75381346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220371743 meters 0.02841425125677835 Centerline is valid? [True, True] Translation: X:125.03, Y:-7.04, Z:-1.75 [[ 9.99956581e-01 5.55606352e-05 9.31843835e-03 1.25030079e+02] [-5.13699687e-05 9.99999897e-01 -4.49956434e-04 -7.03896633e+00] [-9.31846240e-03 4.49458209e-04 9.99956481e-01 -1.75462835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.250371743 meters 0.03241105264658392 Centerline is valid? [True, True] Translation: X:125.06, Y:-7.04, Z:-1.76 [[ 9.99969725e-01 8.43611600e-06 7.78126642e-03 1.25060716e+02] [-5.50091100e-06 9.99999929e-01 -3.77235630e-04 -7.04406097e+00] [-7.78126905e-03 3.77181405e-04 9.99969654e-01 -1.75526951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280371743 meters 0.03078774717907531 Centerline is valid? [True, True] Translation: X:125.09, Y:-7.04, Z:-1.76 [[ 9.99958502e-01 -2.29491769e-03 8.81637264e-03 1.25092882e+02] [ 2.29880531e-03 9.99997265e-01 -4.30846374e-04 -7.04494124e+00] [-8.81535977e-03 4.51095619e-04 9.99961042e-01 -1.75645679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.310371743 meters 0.031109569061380234 Centerline is valid? [True, True] Translation: X:125.12, Y:-7.05, Z:-1.76 [[ 9.99953187e-01 -3.98604444e-03 8.81672858e-03 1.25124562e+02] [ 3.98999609e-03 9.99991947e-01 -4.30654601e-04 -7.04712632e+00] [-8.81494097e-03 4.65813153e-04 9.99961039e-01 -1.75639341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34037174299999 meters 0.03384729825359518 Centerline is valid? [True, True] Translation: X:125.15, Y:-7.05, Z:-1.76 [[ 9.99917411e-01 -8.44444205e-03 9.68823732e-03 1.25154288e+02] [ 8.44945808e-03 9.99964189e-01 -4.76929201e-04 -7.05270196e+00] [-9.68386297e-03 5.58750167e-04 9.99952954e-01 -1.75657840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37037174299999 meters 0.033100319427154246 Centerline is valid? [True, True] Translation: X:125.19, Y:-7.05, Z:-1.76 [[ 9.99892876e-01 -1.08690104e-02 9.80309188e-03 1.25185272e+02] [ 1.08742596e-02 9.99940757e-01 -4.82317970e-04 -7.05285085e+00] [-9.79726880e-03 5.88867669e-04 9.99951832e-01 -1.75629855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400371743 meters 0.0426027994884857 Centerline is valid? [True, True] Translation: X:125.21, Y:-7.07, Z:-1.76 [[ 9.99869438e-01 -1.29280753e-02 9.69394321e-03 1.25214606e+02] [ 1.29333033e-02 9.99916248e-01 -4.76809670e-04 -7.06781847e+00] [-9.68696709e-03 6.02122124e-04 9.99952899e-01 -1.75738313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.430371743 meters 0.04581028367698309 Centerline is valid? [True, True] Translation: X:125.24, Y:-7.07, Z:-1.76 [[ 9.99811406e-01 -1.67915691e-02 9.75680895e-03 1.25244548e+02] [ 1.67970601e-02 9.99858804e-01 -4.81110576e-04 -7.07153080e+00] [-9.74735272e-03 6.44905548e-04 9.99952285e-01 -1.75773901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460371743 meters 0.04725518638024068 Centerline is valid? [True, True] Translation: X:125.28, Y:-7.07, Z:-1.76 [[ 9.99772021e-01 -1.88823463e-02 9.96809509e-03 1.25275611e+02] [ 1.88881829e-02 9.99821481e-01 -4.91703472e-04 -7.07419675e+00] [-9.95703109e-03 6.79870578e-04 9.99950196e-01 -1.75805650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.490371743 meters 0.048437381808730855 Centerline is valid? [True, True] Translation: X:125.31, Y:-7.08, Z:-1.76 [[ 9.99750609e-01 -2.01778440e-02 9.56948229e-03 1.25307907e+02] [ 2.01832815e-02 9.99796185e-01 -4.71970776e-04 -7.07638143e+00] [-9.55800854e-03 6.64996625e-04 9.99954100e-01 -1.75898020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520371743 meters 0.051541540225940166 Centerline is valid? [True, True] Translation: X:125.34, Y:-7.08, Z:-1.76 [[ 9.99698531e-01 -2.30673126e-02 8.41112369e-03 1.25337131e+02] [ 2.30716223e-02 9.99733728e-01 -4.15697858e-04 -7.07857041e+00] [-8.39929502e-03 6.09630807e-04 9.99964539e-01 -1.76074377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.550371743 meters 0.052515240724238514 Centerline is valid? [True, True] Translation: X:125.37, Y:-7.08, Z:-1.76 [[ 9.99675514e-01 -2.43561152e-02 7.45962254e-03 1.25369298e+02] [ 2.43595365e-02 9.99703195e-01 -3.68125448e-04 -7.07961373e+00] [-7.44844238e-03 5.49718945e-04 9.99972109e-01 -1.76190782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580371743 meters 0.05331273601181878 Centerline is valid? [True, True] Translation: X:125.40, Y:-7.08, Z:-1.76 [[ 9.99668648e-01 -2.48070037e-02 6.87075790e-03 1.25401396e+02] [ 2.48099193e-02 9.99692129e-01 -3.39428830e-04 -7.08070886e+00] [-6.86022238e-03 5.09779309e-04 9.99976338e-01 -1.76299028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.610371743 meters 0.05452299095573465 Centerline is valid? [True, True] Translation: X:125.43, Y:-7.08, Z:-1.76 [[ 9.99664778e-01 -2.49211444e-02 7.01913536e-03 1.25432307e+02] [ 2.49241918e-02 9.99689284e-01 -3.47001498e-04 -7.08214724e+00] [-7.00830673e-03 5.21831451e-04 9.99975305e-01 -1.76389432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640371743 meters 0.055139297323367614 Centerline is valid? [True, True] Translation: X:125.46, Y:-7.08, Z:-1.76 [[ 9.99686317e-01 -2.41085818e-02 6.78557229e-03 1.25463557e+02] [ 2.41114141e-02 9.99709221e-01 -3.35893213e-04 -7.08021068e+00] [-6.77550128e-03 4.99397592e-04 9.99976921e-01 -1.76367298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.670371743 meters 0.05536204118712371 Centerline is valid? [True, True] Translation: X:125.50, Y:-7.08, Z:-1.76 [[ 9.99708746e-01 -2.31591173e-02 6.78805921e-03 1.25495782e+02] [ 2.31619382e-02 9.99731669e-01 -3.37232875e-04 -7.07992514e+00] [-6.77842775e-03 4.94359263e-04 9.99976904e-01 -1.76391144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70037174299999 meters 0.055130802299999365 Centerline is valid? [True, True] Translation: X:125.53, Y:-7.08, Z:-1.76 [[ 9.99734240e-01 -2.18683466e-02 7.29557437e-03 1.25527638e+02] [ 2.18715755e-02 9.99760723e-01 -3.63072489e-04 -7.07891602e+00] [-7.28588891e-03 5.22541704e-04 9.99973321e-01 -1.76390685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73037174299999 meters 0.0538642181404555 Centerline is valid? [True, True] Translation: X:125.56, Y:-7.07, Z:-1.76 [[ 9.99786632e-01 -1.87186554e-02 8.73507629e-03 1.25557220e+02] [ 1.87231719e-02 9.99824611e-01 -4.35557040e-04 -7.07430516e+00] [-8.72539121e-03 5.99012441e-04 9.99961754e-01 -1.76286183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760371743 meters 0.052867531556855925 Centerline is valid? [True, True] Translation: X:125.59, Y:-7.07, Z:-1.76 [[ 9.99816206e-01 -1.69668845e-02 8.92632248e-03 1.25589379e+02] [ 1.69715278e-02 9.99855874e-01 -4.44682465e-04 -7.07242186e+00] [-8.91749109e-03 5.96094065e-04 9.99960061e-01 -1.76310955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.790371743 meters 0.03442070584498491 Centerline is valid? [True, True] Translation: X:125.62, Y:-7.05, Z:-1.76 [[ 9.99839527e-01 -1.52343763e-02 9.42514362e-03 1.25622246e+02] [ 1.52394812e-02 9.99883762e-01 -4.70042068e-04 -7.04604687e+00] [-9.41688727e-03 6.13600938e-04 9.99955472e-01 -1.76149227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820371743 meters 0.033769415057949066 Centerline is valid? [True, True] Translation: X:125.65, Y:-7.04, Z:-1.76 [[ 9.99884751e-01 -1.22345873e-02 8.98883992e-03 1.25653058e+02] [ 1.22391143e-02 9.99924999e-01 -4.48780239e-04 -7.04141467e+00] [-8.98267510e-03 5.58743957e-04 9.99959499e-01 -1.76227611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.850371743 meters 0.03402800635822066 Centerline is valid? [True, True] Translation: X:125.69, Y:-7.04, Z:-1.76 [[ 9.99902405e-01 -1.11784774e-02 8.37992001e-03 1.25685608e+02] [ 1.11823714e-02 9.99937388e-01 -4.17967006e-04 -7.04084807e+00] [-8.37472309e-03 5.11633592e-04 9.99964801e-01 -1.76297795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880371743 meters 0.03424149641884704 Centerline is valid? [True, True] Translation: X:125.72, Y:-7.04, Z:-1.76 [[ 9.99916460e-01 -1.00187128e-02 8.16687512e-03 1.25717044e+02] [ 1.00223740e-02 9.99949692e-01 -4.07503183e-04 -7.04084485e+00] [-8.16238160e-03 4.89320617e-04 9.99966567e-01 -1.76313425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.910371743 meters 0.034814001862027086 Centerline is valid? [True, True] Translation: X:125.75, Y:-7.04, Z:-1.76 [[ 9.99930321e-01 -8.75584597e-03 7.91757155e-03 1.25748350e+02] [ 8.75925607e-03 9.99961559e-01 -3.96125952e-04 -7.03870787e+00] [-7.91379876e-03 4.65450387e-04 9.99968577e-01 -1.76390128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940371743 meters 0.0511650385133049 Centerline is valid? [True, True] Translation: X:125.78, Y:-7.06, Z:-1.77 [[ 9.99938296e-01 -8.04069758e-03 7.66495291e-03 1.25778805e+02] [ 8.04388494e-03 9.99967573e-01 -3.85097544e-04 -7.06077497e+00] [-7.66160791e-03 4.46729781e-04 9.99970550e-01 -1.76677815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.970371743 meters 0.035090069106429256 Centerline is valid? [True, True] Translation: X:125.81, Y:-7.04, Z:-1.76 [[ 9.99931586e-01 -7.79942542e-03 8.71740653e-03 1.25812191e+02] [ 7.80354319e-03 9.99969456e-01 -4.38446655e-04 -7.03790180e+00] [-8.71372063e-03 5.06443317e-04 9.99961907e-01 -1.76365906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000371743 meters 0.03590277243361695 Centerline is valid? [True, True] Translation: X:125.84, Y:-7.04, Z:-1.76 [[ 9.99933371e-01 -6.88395977e-03 9.26630073e-03 1.25843085e+02] [ 6.88858068e-03 9.99976164e-01 -4.66854246e-04 -7.03661054e+00] [-9.26286606e-03 5.30654800e-04 9.99956958e-01 -1.76297926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.030371743 meters 0.03626195363878257 Centerline is valid? [True, True] Translation: X:125.88, Y:-7.04, Z:-1.76 [[ 9.99930017e-01 -6.76722350e-03 9.70390457e-03 1.25876078e+02] [ 6.77228883e-03 9.99976948e-01 -4.89224136e-04 -7.03664568e+00] [-9.70037019e-03 5.54907543e-04 9.99952796e-01 -1.76360735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.060371743 meters 0.036525600789023754 Centerline is valid? [True, True] Translation: X:125.91, Y:-7.04, Z:-1.76 [[ 9.99933305e-01 -6.12230865e-03 9.79300830e-03 1.25907722e+02] [ 6.12744886e-03 9.99981105e-01 -4.94968006e-04 -7.03596288e+00] [-9.78979291e-03 5.54941152e-04 9.99951925e-01 -1.76414094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09037174299999 meters 0.036654995654250226 Centerline is valid? [True, True] Translation: X:125.94, Y:-7.04, Z:-1.76 [[ 9.99939449e-01 -5.73663439e-03 9.39096719e-03 1.25939942e+02] [ 5.74134778e-03 9.99983406e-01 -4.75024454e-04 -7.03653344e+00] [-9.38808631e-03 5.28912499e-04 9.99955791e-01 -1.76488364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12037174299999 meters 0.030194305087439147 Centerline is valid? [True, True] Translation: X:125.97, Y:-7.03, Z:-1.77 [[ 9.99948269e-01 -5.28452588e-03 8.69098468e-03 1.25972585e+02] [ 5.28854996e-03 9.99985919e-01 -4.40100761e-04 -7.02660832e+00] [-8.68853658e-03 4.86040701e-04 9.99962136e-01 -1.76502393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.150371743 meters 0.03147768646595229 Centerline is valid? [True, True] Translation: X:126.00, Y:-7.03, Z:-1.77 [[ 9.99960050e-01 -4.17186868e-03 7.90531125e-03 1.26003678e+02] [ 4.17516465e-03 9.99991204e-01 -4.00473733e-04 -7.02735595e+00] [-7.90357099e-03 4.33463710e-04 9.99968672e-01 -1.76608202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180371743 meters 0.030331718551063456 Centerline is valid? [True, True] Translation: X:126.04, Y:-7.03, Z:-1.77 [[ 9.99968083e-01 -3.42763706e-03 7.21697215e-03 1.26036492e+02] [ 3.43037215e-03 9.99994049e-01 -3.66635240e-04 -7.02561639e+00] [-7.21567251e-03 3.91380439e-04 9.99973890e-01 -1.76605166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.210371743 meters 0.030908203384144597 Centerline is valid? [True, True] Translation: X:126.07, Y:-7.03, Z:-1.77 [[ 9.99969404e-01 -3.13680819e-03 7.16596610e-03 1.26067459e+02] [ 3.13950383e-03 9.99995005e-01 -3.64953557e-04 -7.02695517e+00] [-7.16478552e-03 3.87439969e-04 9.99974258e-01 -1.76664919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240371743 meters 0.030813419867861104 Centerline is valid? [True, True] Translation: X:126.10, Y:-7.03, Z:-1.77 [[ 9.99970003e-01 -3.32944980e-03 6.99343219e-03 1.26100240e+02] [ 3.33202356e-03 9.99994385e-01 -3.56406928e-04 -7.02520678e+00] [-6.99220629e-03 3.79698517e-04 9.99975482e-01 -1.76621962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.270371743 meters 0.031398815140226084 Centerline is valid? [True, True] Translation: X:126.13, Y:-7.03, Z:-1.77 [[ 9.99968411e-01 -3.62617317e-03 7.07304355e-03 1.26131026e+02] [ 3.62881793e-03 9.99993351e-01 -3.61124046e-04 -7.02745935e+00] [-7.07168703e-03 3.86779425e-04 9.99974921e-01 -1.76629673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300371743 meters 0.03241031004903675 Centerline is valid? [True, True] Translation: X:126.16, Y:-7.03, Z:-1.77 [[ 9.99964245e-01 -4.52907895e-03 7.14111747e-03 1.26161626e+02] [ 4.53180156e-03 9.99989665e-01 -3.65122914e-04 -7.02962154e+00] [-7.13938999e-03 3.97471986e-04 9.99974435e-01 -1.76706267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.330371743 meters 0.031118461169821317 Centerline is valid? [True, True] Translation: X:126.19, Y:-7.03, Z:-1.77 [[ 9.99959403e-01 -5.93879959e-03 6.77659886e-03 1.26193573e+02] [ 5.94128414e-03 9.99982290e-01 -3.46564104e-04 -7.02703978e+00] [-6.77442067e-03 3.86811734e-04 9.99976979e-01 -1.76719549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360371743 meters 0.03022913357069697 Centerline is valid? [True, True] Translation: X:126.23, Y:-7.03, Z:-1.77 [[ 9.99955208e-01 -6.55325703e-03 6.82907593e-03 1.26225786e+02] [ 6.55579615e-03 9.99978449e-01 -3.49489876e-04 -7.02563377e+00] [-6.82663846e-03 3.94244251e-04 9.99976621e-01 -1.76738224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.390371743 meters 0.03513443661002728 Centerline is valid? [True, True] Translation: X:126.26, Y:-7.03, Z:-1.77 [[ 9.99958235e-01 -6.46560496e-03 6.45942933e-03 1.26257802e+02] [ 6.46787665e-03 9.99979028e-01 -3.30857953e-04 -7.03085060e+00] [-6.45715467e-03 3.72622927e-04 9.99979083e-01 -1.76802112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420371743 meters 0.03239341067088132 Centerline is valid? [True, True] Translation: X:126.29, Y:-7.03, Z:-1.77 [[ 9.99955398e-01 -6.48035228e-03 6.87072910e-03 1.26290452e+02] [ 6.48292882e-03 9.99978923e-01 -3.52797481e-04 -7.02706499e+00] [-6.86829804e-03 3.97324193e-04 9.99976334e-01 -1.76811495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45037174299999 meters 0.032847555771404004 Centerline is valid? [True, True] Translation: X:126.32, Y:-7.03, Z:-1.77 [[ 9.99958873e-01 -5.85223032e-03 6.92844988e-03 1.26322025e+02] [ 5.85483973e-03 9.99982797e-01 -3.56398721e-04 -7.02796767e+00] [-6.92624496e-03 3.96949027e-04 9.99975934e-01 -1.76817266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48037174299999 meters 0.031566080990575084 Centerline is valid? [True, True] Translation: X:126.35, Y:-7.03, Z:-1.77 [[ 9.99961251e-01 -5.63649065e-03 6.76219718e-03 1.26354264e+02] [ 5.63897279e-03 9.99984040e-01 -3.48051491e-04 -7.02545289e+00] [-6.76012747e-03 3.86169850e-04 9.99977076e-01 -1.76859897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.510371743 meters 0.032742548792949175 Centerline is valid? [True, True] Translation: X:126.39, Y:-7.03, Z:-1.77 [[ 9.99967220e-01 -4.74957417e-03 6.55744397e-03 1.26385429e+02] [ 4.75189311e-03 9.99988653e-01 -3.38099280e-04 -7.02628494e+00] [-6.55576373e-03 3.69248470e-04 9.99978443e-01 -1.76955589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540371743 meters 0.03125477143518063 Centerline is valid? [True, True] Translation: X:126.42, Y:-7.02, Z:-1.77 [[ 9.99970845e-01 -4.57204483e-03 6.11593803e-03 1.26417926e+02] [ 4.57405955e-03 9.99989489e-01 -3.15473591e-04 -7.02437868e+00] [-6.11443138e-03 3.43439058e-04 9.99981248e-01 -1.76976963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.570371743 meters 0.0325100855536749 Centerline is valid? [True, True] Translation: X:126.45, Y:-7.02, Z:-1.77 [[ 9.99970802e-01 -4.70089988e-03 6.02470773e-03 1.26449321e+02] [ 4.70286069e-03 9.99988893e-01 -3.11336000e-04 -7.02446202e+00] [-6.02317726e-03 3.39660270e-04 9.99981803e-01 -1.76983283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600371743 meters 0.03343527927407616 Centerline is valid? [True, True] Translation: X:126.48, Y:-7.03, Z:-1.77 [[ 9.99968843e-01 -5.14110314e-03 5.99010227e-03 1.26480846e+02] [ 5.14305131e-03 9.99986726e-01 -3.09871896e-04 -7.02634309e+00] [-5.98842967e-03 3.40669645e-04 9.99982011e-01 -1.77045126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.630371743 meters 0.03510796758288951 Centerline is valid? [True, True] Translation: X:126.51, Y:-7.03, Z:-1.77 [[ 9.99976392e-01 -4.43014422e-03 5.25248043e-03 1.26511899e+02] [ 4.43163004e-03 9.99990143e-01 -2.71275119e-04 -7.02840036e+00] [-5.25122688e-03 2.94545765e-04 9.99986169e-01 -1.77121819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660371743 meters 0.0351586227499193 Centerline is valid? [True, True] Translation: X:126.54, Y:-7.03, Z:-1.77 [[ 9.99977911e-01 -5.39400082e-03 3.88352156e-03 1.26542659e+02] [ 5.39482395e-03 9.99985428e-01 -2.01510095e-04 -7.02903853e+00] [-3.88237803e-03 2.22456559e-04 9.99992439e-01 -1.77349850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.690371743 meters 0.03228168892401179 Centerline is valid? [True, True] Translation: X:126.58, Y:-7.03, Z:-1.77 [[ 9.99980155e-01 -5.07164750e-03 3.73749634e-03 1.26575005e+02] [ 5.07240666e-03 9.99987117e-01 -1.93667737e-04 -7.02517592e+00] [-3.73646598e-03 2.12621995e-04 9.99992997e-01 -1.77309700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720371743 meters 0.034439554945755076 Centerline is valid? [True, True] Translation: X:126.61, Y:-7.03, Z:-1.77 [[ 9.99981936e-01 -4.65349181e-03 3.80432127e-03 1.26605947e+02] [ 4.65427714e-03 9.99989149e-01 -1.97605669e-04 -7.02844322e+00] [-3.80336043e-03 2.15308465e-04 9.99992744e-01 -1.77401182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.750371743 meters 0.0328551688869044 Centerline is valid? [True, True] Translation: X:126.64, Y:-7.03, Z:-1.77 [[ 9.99980587e-01 -4.45800189e-03 4.35345326e-03 1.26638052e+02] [ 4.45902920e-03 9.99990033e-01 -2.26298315e-04 -7.02566584e+00] [-4.35240103e-03 2.45706097e-04 9.99990498e-01 -1.77341408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780371743 meters 0.03126804936383746 Centerline is valid? [True, True] Translation: X:126.67, Y:-7.02, Z:-1.77 [[ 9.99982111e-01 -3.66344893e-03 4.72836379e-03 1.26670482e+02] [ 3.66465387e-03 9.99993255e-01 -2.46194631e-04 -7.02103826e+00] [-4.72742998e-03 2.63518043e-04 9.99988791e-01 -1.77254929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.810371743 meters 0.029593666970064395 Centerline is valid? [True, True] Translation: X:126.70, Y:-7.02, Z:-1.77 [[ 9.99986160e-01 -3.25068348e-03 4.13684956e-03 1.26702538e+02] [ 3.25160293e-03 9.99994690e-01 -2.15551192e-04 -7.01817470e+00] [-4.13612691e-03 2.28999601e-04 9.99991420e-01 -1.77257062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84037174299999 meters 0.02995742116898613 Centerline is valid? [True, True] Translation: X:126.73, Y:-7.02, Z:-1.77 [[ 9.99991288e-01 -2.60793331e-03 3.25912692e-03 1.26733820e+02] [ 2.60850130e-03 9.99996583e-01 -1.70040235e-04 -7.01655777e+00] [-3.25867233e-03 1.78540190e-04 9.99994675e-01 -1.77288736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87037174299999 meters 0.02995460903313389 Centerline is valid? [True, True] Translation: X:126.77, Y:-7.02, Z:-1.77 [[ 9.99991731e-01 -2.21947300e-03 3.40748648e-03 1.26765730e+02] [ 2.22009175e-03 9.99997520e-01 -1.77815059e-04 -7.01649369e+00] [-3.40708338e-03 1.85378522e-04 9.99994179e-01 -1.77249949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900371743 meters 0.02951556962789928 Centerline is valid? [True, True] Translation: X:126.80, Y:-7.02, Z:-1.77 [[ 9.99991354e-01 -1.90495134e-03 3.69642108e-03 1.26798118e+02] [ 1.90567863e-03 9.99998166e-01 -1.93243945e-04 -7.01545995e+00] [-3.69604618e-03 2.00286465e-04 9.99993150e-01 -1.77195415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.930371743 meters 0.030264935577259434 Centerline is valid? [True, True] Translation: X:126.83, Y:-7.01, Z:-1.77 [[ 9.99986228e-01 -7.19660033e-05 5.24777566e-03 1.26828784e+02] [ 7.34135063e-05 9.99999959e-01 -2.75639618e-04 -7.01343629e+00] [-5.24775561e-03 2.76021080e-04 9.99986192e-01 -1.77073729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960371743 meters 0.028404502580633758 Centerline is valid? [True, True] Translation: X:126.86, Y:-7.01, Z:-1.77 [[ 9.99983051e-01 1.29290514e-03 5.67675488e-03 1.26861095e+02] [-1.29123512e-03 9.99999122e-01 -2.97840813e-04 -7.01048727e+00] [-5.67713498e-03 2.90505739e-04 9.99983843e-01 -1.77005956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.990371743 meters 0.028404502580633758 Centerline is valid? [True, True] Translation: X:126.89, Y:-7.01, Z:-1.77 [[ 9.99982690e-01 1.54677797e-03 5.67681299e-03 1.26892839e+02] [-1.54511825e-03 9.99998762e-01 -2.96742271e-04 -7.01219829e+00] [-5.67726496e-03 2.87965787e-04 9.99983843e-01 -1.77050578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020371743 meters 0.02797330335615197 Centerline is valid? [True, True] Translation: X:126.92, Y:-7.01, Z:-1.77 [[ 9.99966635e-01 3.75401345e-03 7.25511455e-03 1.26924093e+02] [-3.75132914e-03 9.99992890e-01 -3.83560539e-04 -7.00969538e+00] [-7.25650286e-03 3.56331419e-04 9.99973608e-01 -1.77046732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.050371743 meters 0.028040977417700723 Centerline is valid? [True, True] Translation: X:126.96, Y:-7.01, Z:-1.77 [[ 9.99959011e-01 5.31591157e-03 7.32915189e-03 1.26955601e+02] [-5.31321292e-03 9.99985810e-01 -3.87629436e-04 -7.00976758e+00] [-7.33110849e-03 3.48672203e-04 9.99973066e-01 -1.77066530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080371743 meters 0.026463239288545482 Centerline is valid? [True, True] Translation: X:126.99, Y:-7.01, Z:-1.77 [[ 9.99946116e-01 7.17964207e-03 7.49780024e-03 1.26987736e+02] [-7.17686693e-03 9.99974167e-01 -3.96967781e-04 -7.00718848e+00] [-7.50045664e-03 3.43135676e-04 9.99971812e-01 -1.77125013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.110371743 meters 0.025493293413045248 Centerline is valid? [True, True] Translation: X:127.02, Y:-7.00, Z:-1.77 [[ 9.99919409e-01 1.03866445e-02 7.30023936e-03 1.27019108e+02] [-1.03840953e-02 9.99946009e-01 -3.87011788e-04 -7.00414772e+00] [-7.30386497e-03 3.11174217e-04 9.99973278e-01 -1.77265692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140371743 meters 0.025420050684972606 Centerline is valid? [True, True] Translation: X:127.05, Y:-7.00, Z:-1.77 [[ 9.99907571e-01 1.16746381e-02 6.96794447e-03 1.27049956e+02] [-1.16723435e-02 9.99931807e-01 -3.69887659e-04 -7.00431391e+00] [-6.97178761e-03 2.88521230e-04 9.99975655e-01 -1.77336066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.170371743 meters 0.024718237269198574 Centerline is valid? [True, True] Translation: X:127.08, Y:-7.00, Z:-1.77 [[ 9.99875248e-01 1.46343910e-02 5.94325678e-03 1.27080477e+02] [-1.46327739e-02 9.99892885e-01 -3.15492948e-04 -7.00237380e+00] [-5.94723721e-03 2.28487257e-04 9.99982289e-01 -1.77415495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20037174299999 meters 0.024788986759348923 Centerline is valid? [True, True] Translation: X:127.11, Y:-7.00, Z:-1.77 [[ 9.99859758e-01 1.58249852e-02 5.48029485e-03 1.27108715e+02] [-1.58236247e-02 9.99874756e-01 -2.91528894e-04 -7.00278351e+00] [-5.48422191e-03 2.04769881e-04 9.99984941e-01 -1.77480935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23037174299999 meters 0.0245683923927126 Centerline is valid? [True, True] Translation: X:127.14, Y:-7.00, Z:-1.77 [[ 9.99833382e-01 1.73507658e-02 5.67093475e-03 1.27137171e+02] [-1.73493360e-02 9.99849444e-01 -3.01222392e-04 -7.00290543e+00] [-5.67530740e-03 2.02785251e-04 9.99983875e-01 -1.77492935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260371743 meters 0.023961746548248716 Centerline is valid? [True, True] Translation: X:127.17, Y:-7.00, Z:-1.77 [[ 9.99794373e-01 1.94451137e-02 5.75323591e-03 1.27165855e+02] [-1.94436791e-02 9.99810907e-01 -3.05183544e-04 -7.00140636e+00] [-5.75808234e-03 1.93256717e-04 9.99983403e-01 -1.77478972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.290371743 meters 0.023634360277709356 Centerline is valid? [True, True] Translation: X:127.19, Y:-7.00, Z:-1.77 [[ 9.99694153e-01 2.41500637e-02 5.32684036e-03 1.27194351e+02] [-2.41489032e-02 9.99708333e-01 -2.82094506e-04 -7.00073655e+00] [-5.33209929e-03 1.53370876e-04 9.99985772e-01 -1.77496770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320371743 meters 0.021991377061920628 Centerline is valid? [True, True] Translation: X:127.22, Y:-7.00, Z:-1.78 [[ 9.99639447e-01 2.63826839e-02 4.99306865e-03 1.27223223e+02] [-2.63816924e-02 9.99651908e-01 -2.64344930e-04 -6.99962486e+00] [-4.99830472e-03 1.32524019e-04 9.99987500e-01 -1.77558249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.350371743 meters 0.021700245882230587 Centerline is valid? [True, True] Translation: X:127.25, Y:-7.00, Z:-1.78 [[ 9.99569486e-01 2.90276632e-02 4.27054910e-03 1.27252211e+02] [-2.90269627e-02 9.99578603e-01 -2.25931066e-04 -6.99933088e+00] [-4.27530776e-03 1.01872730e-04 9.99990856e-01 -1.77618227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380371743 meters 0.020553504968019894 Centerline is valid? [True, True] Translation: X:127.28, Y:-7.00, Z:-1.78 [[ 9.99484823e-01 3.18474461e-02 3.97848231e-03 1.27281627e+02] [-3.18468590e-02 9.99492738e-01 -2.10862092e-04 -6.99731369e+00] [-3.98317960e-03 8.40512954e-05 9.99992064e-01 -1.77629592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.410371743 meters 0.020116980631312103 Centerline is valid? [True, True] Translation: X:127.31, Y:-7.00, Z:-1.78 [[ 9.99282845e-01 3.76106508e-02 4.38572024e-03 1.27309447e+02] [-3.76099977e-02 9.99292467e-01 -2.31322701e-04 -6.99596675e+00] [-4.39131739e-03 6.62098782e-05 9.99990356e-01 -1.77676461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440371743 meters 0.019609756326772244 Centerline is valid? [True, True] Translation: X:127.34, Y:-7.00, Z:-1.78 [[ 9.99172783e-01 4.03197181e-02 5.29807176e-03 1.27338709e+02] [-4.03188078e-02 9.99186827e-01 -2.78548170e-04 -6.99532625e+00] [-5.30499450e-03 6.47058132e-05 9.99985926e-01 -1.77634807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.470371743 meters 0.019063248751296294 Centerline is valid? [True, True] Translation: X:127.37, Y:-7.00, Z:-1.78 [[ 9.98966366e-01 4.50408950e-02 6.12511573e-03 1.27366877e+02] [-4.50397699e-02 9.98985143e-01 -3.21575212e-04 -6.99561983e+00] [-6.13338365e-03 4.53690188e-05 9.99981190e-01 -1.77643255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500371743 meters 0.019190467908976494 Centerline is valid? [True, True] Translation: X:127.39, Y:-7.00, Z:-1.78 [[ 9.98898355e-01 4.64637588e-02 6.57227989e-03 1.27394740e+02] [-4.64624986e-02 9.98919976e-01 -3.44375476e-04 -6.99755729e+00] [-6.58118265e-03 3.86315510e-05 9.99978343e-01 -1.77725012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.530371743 meters 0.01965925710732792 Centerline is valid? [True, True] Translation: X:127.42, Y:-7.00, Z:-1.78 [[ 9.98817228e-01 4.81743135e-02 6.58643709e-03 1.27423693e+02] [-4.81730899e-02 9.98838943e-01 -3.44392601e-04 -6.99944966e+00] [-6.59538074e-03 2.66962372e-05 9.99978250e-01 -1.77767843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.560371743 meters 0.019230687046169048 Centerline is valid? [True, True] Translation: X:127.45, Y:-7.00, Z:-1.78 [[ 9.98765854e-01 4.90347764e-02 7.89683556e-03 1.27451241e+02] [-4.90330491e-02 9.98797072e-01 -4.12297442e-04 -7.00381284e+00] [-7.90755314e-03 2.45826806e-05 9.99968735e-01 -1.77753613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59037174299999 meters 0.018738708766974352 Centerline is valid? [True, True] Translation: X:127.48, Y:-7.01, Z:-1.78 [[ 9.98793682e-01 4.83011779e-02 8.84178194e-03 1.27479228e+02] [-4.82989903e-02 9.98832816e-01 -4.60900703e-04 -7.00680510e+00] [-8.85372400e-03 3.32955693e-05 9.99960804e-01 -1.77660070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62037174299999 meters 0.018894391626148668 Centerline is valid? [True, True] Translation: X:127.51, Y:-7.01, Z:-1.78 [[ 9.98821600e-01 4.75935915e-02 9.50062665e-03 1.27506724e+02] [-4.75910446e-02 9.98866782e-01 -4.94093264e-04 -7.01082690e+00] [-9.51337604e-03 4.13662777e-05 9.99954746e-01 -1.77688092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.650371743 meters 0.019419210991127336 Centerline is valid? [True, True] Translation: X:127.54, Y:-7.02, Z:-1.78 [[ 9.98906894e-01 4.56010121e-02 1.02744270e-02 1.27535637e+02] [-4.55979422e-02 9.98959731e-01 -5.32966276e-04 -7.01878933e+00] [-1.02880427e-02 6.38909571e-05 9.99947075e-01 -1.77712072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680371743 meters 0.019075479704590847 Centerline is valid? [True, True] Translation: X:127.56, Y:-7.02, Z:-1.78 [[ 9.98960021e-01 4.42285299e-02 1.10776194e-02 1.27562735e+02] [-4.42248861e-02 9.99021436e-01 -5.73796775e-04 -7.02390424e+00] [-1.10921574e-02 8.32935809e-05 9.99938477e-01 -1.77812429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.710371743 meters 0.01954380026971663 Centerline is valid? [True, True] Translation: X:127.59, Y:-7.03, Z:-1.78 [[ 9.99084440e-01 4.12673716e-02 1.12821181e-02 1.27591458e+02] [-4.12634156e-02 9.99148132e-01 -5.83298146e-04 -7.03232049e+00] [-1.12965784e-02 1.17225374e-04 9.99936185e-01 -1.77871150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740371743 meters 0.019981494103024217 Centerline is valid? [True, True] Translation: X:127.62, Y:-7.04, Z:-1.78 [[ 9.99176752e-01 3.89901838e-02 1.12064444e-02 1.27620237e+02] [-3.89861464e-02 9.99239584e-01 -5.78587473e-04 -7.03697622e+00] [-1.12204821e-02 1.41215070e-04 9.99937038e-01 -1.77957308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.770371743 meters 0.020388841862012945 Centerline is valid? [True, True] Translation: X:127.65, Y:-7.04, Z:-1.78 [[ 9.99270679e-01 3.66575326e-02 1.06927644e-02 1.27648812e+02] [-3.66537312e-02 9.99327874e-01 -5.51333841e-04 -7.04236230e+00] [-1.07057881e-02 1.59002029e-04 9.99942679e-01 -1.78058612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800371743 meters 0.02169857632202292 Centerline is valid? [True, True] Translation: X:127.68, Y:-7.05, Z:-1.78 [[ 9.99499731e-01 3.03889573e-02 8.76350786e-03 1.27676715e+02] [-3.03861678e-02 9.99538132e-01 -4.51311528e-04 -7.05417033e+00] [-8.77317516e-03 1.84796331e-04 9.99961498e-01 -1.78354163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.830371743 meters 0.022032795215563793 Centerline is valid? [True, True] Translation: X:127.71, Y:-7.06, Z:-1.78 [[ 9.99608376e-01 2.68536054e-02 7.87270421e-03 1.27706177e+02] [-2.68512482e-02 9.99639358e-01 -4.04980801e-04 -7.06004039e+00] [-7.88074018e-03 1.93430266e-04 9.99968928e-01 -1.78454063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860371743 meters 0.02354673425158716 Centerline is valid? [True, True] Translation: X:127.73, Y:-7.07, Z:-1.79 [[ 9.99702922e-01 2.31791984e-02 7.53606753e-03 1.27734626e+02] [-2.31769352e-02 9.99731304e-01 -3.87527712e-04 -7.06773736e+00] [-7.54302520e-03 2.12749637e-04 9.99971528e-01 -1.78586960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.890371743 meters 0.025670259554099593 Centerline is valid? [True, True] Translation: X:127.76, Y:-7.08, Z:-1.79 [[ 9.99834387e-01 1.65269040e-02 7.61966353e-03 1.27763969e+02] [-1.65244022e-02 9.99863386e-01 -3.91177359e-04 -7.07893018e+00] [-7.62508753e-03 2.65202191e-04 9.99970893e-01 -1.78620679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920371743 meters 0.02670649711017453 Centerline is valid? [True, True] Translation: X:127.79, Y:-7.08, Z:-1.79 [[ 9.99875188e-01 1.35744404e-02 8.08350459e-03 1.27793653e+02] [-1.35715289e-02 9.99907816e-01 -4.14936433e-04 -7.08488015e+00] [-8.08839196e-03 3.05179128e-04 9.99967242e-01 -1.78589280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95037174299999 meters 0.0268419955843675 Centerline is valid? [True, True] Translation: X:127.82, Y:-7.09, Z:-1.79 [[ 9.99922674e-01 9.21540939e-03 8.35002694e-03 1.27823992e+02] [-9.21215512e-03 9.99957476e-01 -4.28110565e-04 -7.08983420e+00] [-8.35361707e-03 3.51155718e-04 9.99965046e-01 -1.78519727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98037174299999 meters 0.0268419955843675 Centerline is valid? [True, True] Translation: X:127.85, Y:-7.09, Z:-1.79 [[ 9.99922340e-01 9.25157535e-03 8.35003747e-03 1.27854819e+02] [-9.24832404e-03 9.99957142e-01 -4.27905263e-04 -7.09144425e+00] [-8.35363840e-03 3.50648180e-04 9.99965046e-01 -1.78563083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01037174299998 meters 0.027178308215341104 Centerline is valid? [True, True] Translation: X:127.89, Y:-7.10, Z:-1.79 [[ 9.99933310e-01 7.20565424e-03 9.02517227e-03 1.27886255e+02] [-7.20177852e-03 9.99973960e-01 -4.61860423e-04 -7.09692189e+00] [-9.02826527e-03 3.96832330e-04 9.99959166e-01 -1.78519401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04037174299998 meters 0.027922700622719 Centerline is valid? [True, True] Translation: X:127.92, Y:-7.10, Z:-1.79 [[ 9.99930219e-01 6.57703972e-03 9.81323255e-03 1.27918318e+02] [-6.57240220e-03 9.99978274e-01 -5.04752052e-04 -7.10094000e+00] [-9.81633913e-03 4.40220319e-04 9.99951722e-01 -1.78555938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07037174299998 meters 0.028110134645636616 Centerline is valid? [True, True] Translation: X:127.95, Y:-7.11, Z:-1.79 [[ 9.99916404e-01 7.06871148e-03 1.08267473e-02 1.27948932e+02] [-7.06305753e-03 9.99974899e-01 -5.60367572e-04 -7.10588648e+00] [-1.08304366e-02 4.83850789e-04 9.99941232e-01 -1.78533060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10037174299998 meters 0.02723182819693659 Centerline is valid? [True, True] Translation: X:127.98, Y:-7.11, Z:-1.79 [[ 9.99911836e-01 7.89732197e-03 1.06748773e-02 1.27981159e+02] [-7.89186058e-03 9.99968706e-01 -5.53639069e-04 -7.10599369e+00] [-1.06789155e-02 4.69345614e-04 9.99942869e-01 -1.78608987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13037174299998 meters 0.02761371560033742 Centerline is valid? [True, True] Translation: X:128.01, Y:-7.11, Z:-1.79 [[ 9.99901031e-01 9.58672552e-03 1.02967291e-02 1.28012621e+02] [-9.58170674e-03 9.99953950e-01 -5.36636389e-04 -7.10893845e+00] [-1.03013995e-02 4.37923040e-04 9.99946843e-01 -1.78670974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16037174299998 meters 0.026885743976401446 Centerline is valid? [True, True] Translation: X:128.05, Y:-7.11, Z:-1.79 [[ 9.99892551e-01 1.08512635e-02 9.85578983e-03 1.28045023e+02] [-1.08467057e-02 9.99941040e-01 -5.15791159e-04 -7.10933616e+00] [-9.86080572e-03 4.08832886e-04 9.99951297e-01 -1.78729527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.190371743 meters 0.027057912974083265 Centerline is valid? [True, True] Translation: X:128.08, Y:-7.11, Z:-1.79 [[ 9.99882772e-01 1.20858815e-02 9.40073056e-03 1.28076499e+02] [-1.20817674e-02 9.99926891e-01 -4.94307263e-04 -7.11117948e+00] [-9.40601741e-03 3.80671877e-04 9.99955690e-01 -1.78791721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220371743 meters 0.027391662643727378 Centerline is valid? [True, True] Translation: X:128.11, Y:-7.11, Z:-1.79 [[ 9.99873577e-01 1.29984089e-02 9.15810278e-03 1.28107669e+02] [-1.29945195e-02 9.99915451e-01 -4.84063615e-04 -7.11385006e+00] [-9.16362053e-03 3.64997273e-04 9.99957947e-01 -1.78877745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.250371743 meters 0.027226945082662404 Centerline is valid? [True, True] Translation: X:128.14, Y:-7.11, Z:-1.79 [[ 9.99861753e-01 1.46539482e-02 7.85721233e-03 1.28138674e+02] [-1.46511237e-02 9.99892580e-01 -4.16919352e-04 -7.11371417e+00] [-7.86247782e-03 3.01744724e-04 9.99969045e-01 -1.78917006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280371743 meters 0.0271068346166156 Centerline is valid? [True, True] Translation: X:128.17, Y:-7.12, Z:-1.79 [[ 9.99867529e-01 1.42075540e-02 7.94163502e-03 1.28167900e+02] [-1.42046514e-02 9.99899020e-01 -4.21769285e-04 -7.11705833e+00] [-7.94682539e-03 3.08905256e-04 9.99968376e-01 -1.79030568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.310371743 meters 0.025869353275467147 Centerline is valid? [True, True] Translation: X:128.20, Y:-7.12, Z:-1.79 [[ 9.99866513e-01 1.50397022e-02 6.38459764e-03 1.28198913e+02] [-1.50378445e-02 9.99886868e-01 -3.38872019e-04 -7.11572196e+00] [-6.38897187e-03 2.42816197e-04 9.99979561e-01 -1.79039584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340371743 meters 0.025130662331488727 Centerline is valid? [True, True] Translation: X:128.23, Y:-7.11, Z:-1.79 [[ 9.99857210e-01 1.56926181e-02 6.26906395e-03 1.28228682e+02] [-1.56908381e-02 9.99876836e-01 -3.33029187e-04 -7.11445243e+00] [-6.27351793e-03 2.34614766e-04 9.99980294e-01 -1.79053058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.370371743 meters 0.02523154353243583 Centerline is valid? [True, True] Translation: X:128.26, Y:-7.11, Z:-1.79 [[ 9.99838507e-01 1.71371457e-02 5.41095482e-03 1.28258417e+02] [-1.71358414e-02 9.99853129e-01 -2.87313324e-04 -7.11486080e+00] [-5.41508384e-03 1.94545661e-04 9.99985319e-01 -1.79038424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400371743 meters 0.025107688310221258 Centerline is valid? [True, True] Translation: X:128.29, Y:-7.12, Z:-1.79 [[ 9.99824208e-01 1.80842403e-02 4.95105260e-03 1.28287453e+02] [-1.80831598e-02 9.99836452e-01 -2.62917934e-04 -7.11564920e+00] [-4.95499754e-03 1.73341040e-04 9.99987709e-01 -1.79124609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.430371743 meters 0.024424172611256047 Centerline is valid? [True, True] Translation: X:128.32, Y:-7.11, Z:-1.79 [[ 9.99779250e-01 2.07322050e-02 3.40974213e-03 1.28316584e+02] [-2.07317071e-02 9.99785059e-01 -1.81309842e-04 -7.11267117e+00] [-3.41276819e-03 1.10580042e-04 9.99994170e-01 -1.79175738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460371743 meters 0.024286554407658714 Centerline is valid? [True, True] Translation: X:128.34, Y:-7.11, Z:-1.79 [[ 9.99767996e-01 2.13730660e-02 2.67305851e-03 1.28344948e+02] [-2.13727622e-02 9.99771566e-01 -1.42159288e-04 -7.11269178e+00] [-2.67548627e-03 8.49956631e-05 9.99996417e-01 -1.79256191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.490371743 meters 0.024306576736643954 Centerline is valid? [True, True] Translation: X:128.37, Y:-7.11, Z:-1.79 [[ 9.99765914e-01 2.15366470e-02 2.07141987e-03 1.28372715e+02] [-2.15364644e-02 9.99768057e-01 -1.10451457e-04 -7.11246858e+00] [-2.07331817e-03 6.58145421e-05 9.99997849e-01 -1.79337715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52037174299997 meters 0.025029185334988106 Centerline is valid? [True, True] Translation: X:128.40, Y:-7.11, Z:-1.79 [[ 9.99785676e-01 2.05742298e-02 2.30296231e-03 1.28400196e+02] [-2.05740020e-02 9.99788325e-01 -1.22568941e-04 -7.11351717e+00] [-2.30499660e-03 7.51615203e-05 9.99997341e-01 -1.79402311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55037174299997 meters 0.0254366432082555 Centerline is valid? [True, True] Translation: X:128.43, Y:-7.12, Z:-1.79 [[ 9.99813187e-01 1.91917988e-02 2.29483041e-03 1.28429074e+02] [-1.91915703e-02 9.99815817e-01 -1.21558167e-04 -7.11518568e+00] [-2.29674066e-03 7.74940595e-05 9.99997359e-01 -1.79410914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58037174299997 meters 0.025952239123806686 Centerline is valid? [True, True] Translation: X:128.46, Y:-7.12, Z:-1.79 [[ 9.99846288e-01 1.73362843e-02 2.61791189e-03 1.28458076e+02] [-1.73359821e-02 9.99849711e-01 -1.38076276e-04 -7.11767403e+00] [-2.61991218e-03 9.26709784e-05 9.99996564e-01 -1.79389162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61037174299997 meters 0.026330596962344615 Centerline is valid? [True, True] Translation: X:128.49, Y:-7.12, Z:-1.79 [[ 9.99917835e-01 1.25668702e-02 2.52939078e-03 1.28488730e+02] [-1.25665745e-02 9.99921029e-01 -1.32774466e-04 -7.11861112e+00] [-2.53085959e-03 1.00977778e-04 9.99996792e-01 -1.79325604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64037174299997 meters 0.027528181472130493 Centerline is valid? [True, True] Translation: X:128.52, Y:-7.12, Z:-1.79 [[ 9.99948525e-01 9.80002940e-03 2.62825189e-03 1.28517484e+02] [-9.79969888e-03 9.99951972e-01 -1.38604512e-04 -7.12260743e+00] [-2.62948399e-03 1.12841300e-04 9.99996537e-01 -1.79337946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67037174299998 meters 0.03124883251243559 Centerline is valid? [True, True] Translation: X:128.55, Y:-7.13, Z:-1.79 [[ 9.99989547e-01 3.62517376e-03 2.78641112e-03 1.28546527e+02] [-3.62478006e-03 9.99993420e-01 -1.46330877e-04 -7.13039504e+00] [-2.78692326e-03 1.36229220e-04 9.99996107e-01 -1.79356540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70037174299998 meters 0.02924735353508708 Centerline is valid? [True, True] Translation: X:128.58, Y:-7.13, Z:-1.79 [[ 9.99996616e-01 6.15282796e-04 2.52773346e-03 1.28577513e+02] [-6.14950374e-04 9.99999802e-01 -1.32285080e-04 -7.12869511e+00] [-2.52781435e-03 1.30730202e-04 9.99996797e-01 -1.79231041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73037174299998 meters 0.030448124913478987 Centerline is valid? [True, True] Translation: X:128.61, Y:-7.13, Z:-1.79 [[ 9.99993722e-01 -2.26106866e-03 2.72824495e-03 1.28608029e+02] [ 2.26146678e-03 9.99997433e-01 -1.42849644e-04 -7.13207397e+00] [-2.72791495e-03 1.49018583e-04 9.99996268e-01 -1.79275194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76037174299998 meters 0.030018649570323516 Centerline is valid? [True, True] Translation: X:128.64, Y:-7.13, Z:-1.79 [[ 9.99985955e-01 -4.66769674e-03 2.51029228e-03 1.28638814e+02] [ 4.66804140e-03 9.99989096e-01 -1.31458113e-04 -7.13232312e+00] [-2.50965130e-03 1.43174415e-04 9.99996841e-01 -1.79276673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79037174299998 meters 0.03417004147691655 Centerline is valid? [True, True] Translation: X:128.67, Y:-7.14, Z:-1.79 [[ 9.99968863e-01 -7.72465057e-03 1.61320226e-03 1.28668759e+02] [ 7.72479678e-03 9.99970160e-01 -8.44177855e-05 -7.13985504e+00] [-1.61250202e-03 9.68768166e-05 9.99998695e-01 -1.79427284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82037174299998 meters 0.034137698733109505 Centerline is valid? [True, True] Translation: X:128.70, Y:-7.14, Z:-1.80 [[ 9.99964888e-01 -8.31110294e-03 1.07134276e-03 1.28701307e+02] [ 8.31116695e-03 9.99965460e-01 -5.53086940e-05 -7.14084004e+00] [-1.07084608e-03 6.42108606e-05 9.99999425e-01 -1.79537270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85037174299998 meters 0.03212806634835121 Centerline is valid? [True, True] Translation: X:128.73, Y:-7.14, Z:-1.80 [[ 9.99965210e-01 -8.31331166e-03 6.84424351e-04 1.28733366e+02] [ 8.31333755e-03 9.99965443e-01 -3.49910456e-05 -7.13781918e+00] [-6.84109808e-04 4.06796789e-05 9.99999765e-01 -1.79573667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88037174299998 meters 0.03212806634835121 Centerline is valid? [True, True] Translation: X:128.77, Y:-7.14, Z:-1.80 [[ 9.99965817e-01 -8.23989635e-03 6.84421649e-04 1.28765066e+02] [ 8.23992226e-03 9.99966051e-01 -3.50430675e-05 -7.13954625e+00] [-6.84109662e-04 4.06814508e-05 9.99999765e-01 -1.79618233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91037174299998 meters 0.032607387294043326 Centerline is valid? [True, True] Translation: X:128.80, Y:-7.14, Z:-1.80 [[ 9.99979013e-01 -6.45260035e-03 5.80964490e-04 1.28795612e+02] [ 6.45261908e-03 9.99979181e-01 -3.03776332e-05 -7.13901590e+00] [-5.80756380e-04 3.41257382e-05 9.99999831e-01 -1.79674428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940371743 meters 0.031359446227374625 Centerline is valid? [True, True] Translation: X:128.83, Y:-7.13, Z:-1.80 [[ 9.99992777e-01 -3.80018628e-03 6.54313080e-05 1.28827733e+02] [ 3.80018646e-03 9.99992779e-01 -2.66980879e-06 -7.13477106e+00] [-6.54206899e-05 2.91844068e-06 9.99999998e-01 -1.79552568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.970371743 meters 0.02974186829100985 Centerline is valid? [True, True] Translation: X:128.86, Y:-7.13, Z:-1.80 [[ 9.99993263e-01 -3.45314989e-03 1.24450645e-03 1.28859287e+02] [ 3.45323372e-03 9.99994035e-01 -6.52172226e-05 -7.13290369e+00] [-1.24427382e-03 6.95143549e-05 9.99999223e-01 -1.79560946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000371743 meters 0.029954348520692516 Centerline is valid? [True, True] Translation: X:128.89, Y:-7.13, Z:-1.80 [[ 9.99998280e-01 -4.43869718e-04 1.80091627e-03 1.28889163e+02] [ 4.44041749e-04 9.99999897e-01 -9.51253001e-05 -7.12965672e+00] [-1.80087386e-03 9.59248185e-05 9.99998374e-01 -1.79514870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.030371743 meters 0.031507040617087825 Centerline is valid? [True, True] Translation: X:128.92, Y:-7.13, Z:-1.80 [[ 9.99997963e-01 7.67219568e-04 1.86692433e-03 1.28919544e+02] [-7.67037207e-04 9.99999701e-01 -9.83939238e-05 -7.13128990e+00] [-1.86699926e-03 9.69617229e-05 9.99998252e-01 -1.79563649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060371743 meters 0.030638115708552127 Centerline is valid? [True, True] Translation: X:128.95, Y:-7.13, Z:-1.80 [[ 9.99997073e-01 1.55969770e-03 1.84960845e-03 1.28951378e+02] [-1.55952039e-03 9.99998779e-01 -9.73010708e-05 -7.12988804e+00] [-1.84975796e-03 9.44162840e-05 9.99998285e-01 -1.79553153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.090371743 meters 0.03023272957957431 Centerline is valid? [True, True] Translation: X:128.98, Y:-7.13, Z:-1.80 [[ 9.99996834e-01 1.67543221e-03 1.87723168e-03 1.28982404e+02] [-1.67524883e-03 9.99998592e-01 -9.92561806e-05 -7.12877115e+00] [-1.87739533e-03 9.61110362e-05 9.99998233e-01 -1.79598659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120371743 meters 0.029320269184597635 Centerline is valid? [True, True] Translation: X:129.01, Y:-7.13, Z:-1.80 [[ 9.99998609e-01 1.36243463e-03 9.62506672e-04 1.29013376e+02] [-1.36238627e-03 9.99999071e-01 -5.08912871e-05 -7.12551868e+00] [-9.62575114e-04 4.95799104e-05 9.99999535e-01 -1.79682633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.150371743 meters 0.02907033614024065 Centerline is valid? [True, True] Translation: X:129.04, Y:-7.12, Z:-1.80 [[ 9.99999918e-01 -1.46654635e-04 3.76430463e-04 1.29044210e+02] [ 1.46662138e-04 9.99999989e-01 -1.99032706e-05 -7.12361325e+00] [-3.76427540e-04 1.99584771e-05 9.99999929e-01 -1.79800712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180371743 meters 0.03104428733868298 Centerline is valid? [True, True] Translation: X:129.07, Y:-7.13, Z:-1.80 [[ 9.99998902e-01 -1.21056349e-03 8.54449577e-04 1.29074132e+02] [ 1.21060233e-03 9.99999266e-01 -4.49393210e-05 -7.12706219e+00] [-8.54394548e-04 4.59736703e-05 9.99999634e-01 -1.79891975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.210371743 meters 0.029211673338028835 Centerline is valid? [True, True] Translation: X:129.11, Y:-7.12, Z:-1.80 [[ 9.99994751e-01 -2.59618342e-03 1.93856322e-03 1.29105969e+02] [ 2.59638619e-03 9.99996624e-01 -1.02089554e-04 -7.12489672e+00] [-1.93829163e-03 1.07122277e-04 9.99998116e-01 -1.79857803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.240371743 meters 0.03038901651993007 Centerline is valid? [True, True] Translation: X:129.14, Y:-7.13, Z:-1.80 [[ 9.99984356e-01 -4.62836023e-03 3.14097639e-03 1.29137311e+02] [ 4.62890392e-03 9.99989273e-01 -1.65849248e-04 -7.12566532e+00] [-3.14017509e-03 1.80385931e-04 9.99995053e-01 -1.79840066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27037174299997 meters 0.03379538943096224 Centerline is valid? [True, True] Translation: X:129.17, Y:-7.13, Z:-1.80 [[ 9.99977327e-01 -5.70002417e-03 3.58540296e-03 1.29167932e+02] [ 5.70073952e-03 9.99983733e-01 -1.89330036e-04 -7.13158550e+00] [-3.58426545e-03 2.09765192e-04 9.99993554e-01 -1.79921236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30037174299997 meters 0.03069171120799375 Centerline is valid? [True, True] Translation: X:129.20, Y:-7.13, Z:-1.80 [[ 9.99966516e-01 -6.90612143e-03 4.39005654e-03 1.29200780e+02] [ 6.90720649e-03 9.99976118e-01 -2.32049027e-04 -7.12782953e+00] [-4.38834914e-03 2.62364284e-04 9.99990337e-01 -1.79862802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33037174299997 meters 0.03415496825075779 Centerline is valid? [True, True] Translation: X:129.23, Y:-7.13, Z:-1.80 [[ 9.99955461e-01 -8.54943193e-03 3.99781131e-03 1.29231533e+02] [ 8.55034641e-03 9.99963423e-01 -2.11708267e-04 -7.13312483e+00] [-3.99585509e-03 2.45881510e-04 9.99991986e-01 -1.79949530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36037174299997 meters 0.03639556607196284 Centerline is valid? [True, True] Translation: X:129.26, Y:-7.13, Z:-1.80 [[ 9.99915394e-01 -1.23143831e-02 4.19064758e-03 1.29262226e+02] [ 1.23154237e-02 9.99924138e-01 -2.22614437e-04 -7.13442890e+00] [-4.18758831e-03 2.74205204e-04 9.99991194e-01 -1.79973459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39037174299997 meters 0.03447699304025704 Centerline is valid? [True, True] Translation: X:129.29, Y:-7.13, Z:-1.80 [[ 9.99894427e-01 -1.39193833e-02 4.16963050e-03 1.29293945e+02] [ 1.39204235e-02 9.99903082e-01 -2.20529673e-04 -7.13229580e+00] [-4.16615675e-03 2.78549414e-04 9.99991283e-01 -1.79959464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42037174299998 meters 0.035928163477913534 Centerline is valid? [True, True] Translation: X:129.33, Y:-7.13, Z:-1.80 [[ 9.99856758e-01 -1.66556590e-02 3.00878929e-03 1.29325021e+02] [ 1.66562151e-02 9.99861263e-01 -1.59875191e-04 -7.13208585e+00] [-3.00570903e-03 2.09967332e-04 9.99995461e-01 -1.80121107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45037174299998 meters 0.03672974551328618 Centerline is valid? [True, True] Translation: X:129.36, Y:-7.13, Z:-1.80 [[ 9.99859130e-01 -1.66316977e-02 2.25989562e-03 1.29357013e+02] [ 1.66320104e-02 9.99861671e-01 -1.19630348e-04 -7.13219619e+00] [-2.25759335e-03 1.57200103e-04 9.99997439e-01 -1.80188145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48037174299998 meters 0.03814088528845476 Centerline is valid? [True, True] Translation: X:129.39, Y:-7.13, Z:-1.80 [[ 9.99855083e-01 -1.68612091e-02 2.34781424e-03 1.29387845e+02] [ 1.68615465e-02 9.99857826e-01 -1.23981476e-04 -7.13257180e+00] [-2.34538996e-03 1.63551288e-04 9.99997236e-01 -1.80298004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51037174299998 meters 0.03474763894402501 Centerline is valid? [True, True] Translation: X:129.42, Y:-7.13, Z:-1.80 [[ 9.99861758e-01 -1.64444465e-02 2.45857444e-03 1.29420169e+02] [ 1.64448173e-02 9.99864766e-01 -1.30686708e-04 -7.12710558e+00] [-2.45609289e-03 1.71099449e-04 9.99996969e-01 -1.80264699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54037174299998 meters 0.038674586453440116 Centerline is valid? [True, True] Translation: X:129.45, Y:-7.13, Z:-1.80 [[ 9.99874171e-01 -1.56206870e-02 2.76355089e-03 1.29450850e+02] [ 1.56211539e-02 9.99877971e-01 -1.47440263e-04 -7.13269341e+00] [-2.76091054e-03 1.90591565e-04 9.99996171e-01 -1.80408960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57037174299998 meters 0.036949167288326076 Centerline is valid? [True, True] Translation: X:129.48, Y:-7.13, Z:-1.80 [[ 9.99890952e-01 -1.44747459e-02 2.92683460e-03 1.29482865e+02] [ 1.44752648e-02 9.99895216e-01 -1.56177461e-04 -7.12989146e+00] [-2.92426729e-03 1.98527136e-04 9.99995705e-01 -1.80444165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60037174299998 meters 0.03630873176789908 Centerline is valid? [True, True] Translation: X:129.52, Y:-7.13, Z:-1.80 [[ 9.99903049e-01 -1.36006877e-02 2.98577574e-03 1.29515123e+02] [ 1.36012245e-02 9.99907486e-01 -1.59554949e-04 -7.12849952e+00] [-2.98332945e-03 2.00149686e-04 9.99995530e-01 -1.80496049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63037174299998 meters 0.0346248528706597 Centerline is valid? [True, True] Translation: X:129.55, Y:-7.12, Z:-1.81 [[ 9.99941699e-01 -1.04803664e-02 2.60014751e-03 1.29546047e+02] [ 1.04807652e-02 9.99945066e-01 -1.39813871e-04 -7.12238072e+00] [-2.59853937e-03 1.67057255e-04 9.99996610e-01 -1.80595827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66037174299998 meters 0.03234587030141357 Centerline is valid? [True, True] Translation: X:129.58, Y:-7.12, Z:-1.81 [[ 9.99960572e-01 -8.45134159e-03 2.72568486e-03 1.29578201e+02] [ 8.45177069e-03 9.99964273e-01 -1.45946917e-04 -7.11849225e+00] [-2.72435403e-03 1.68978025e-04 9.99996275e-01 -1.80556076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.690371743 meters 0.03230227993075684 Centerline is valid? [True, True] Translation: X:129.61, Y:-7.12, Z:-1.81 [[ 9.99971257e-01 -6.52829307e-03 3.85580939e-03 1.29608955e+02] [ 6.52914028e-03 9.99978663e-01 -2.07175437e-04 -7.11796066e+00] [-3.85437462e-03 2.32344602e-04 9.99992545e-01 -1.80532438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720371743 meters 0.030490558296226777 Centerline is valid? [True, True] Translation: X:129.64, Y:-7.11, Z:-1.80 [[ 9.99974533e-01 -2.01121056e-03 6.84753043e-03 1.29639949e+02] [ 2.01378307e-03 9.99997904e-01 -3.68809961e-04 -7.11265279e+00] [-6.84677432e-03 3.82590010e-04 9.99976487e-01 -1.80378645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.750371743 meters 0.02981426264448928 Centerline is valid? [True, True] Translation: X:129.67, Y:-7.11, Z:-1.80 [[ 9.99966999e-01 -2.93056985e-04 8.11881931e-03 1.29671544e+02] [ 2.96615473e-04 9.99999860e-01 -4.37100454e-04 -7.11126255e+00] [-8.11869008e-03 4.39494197e-04 9.99966946e-01 -1.80326247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780371743 meters 0.03102738160252718 Centerline is valid? [True, True] Translation: X:129.70, Y:-7.11, Z:-1.80 [[ 9.99954480e-01 1.52061404e-03 9.41944330e-03 1.29701831e+02] [-1.51589950e-03 9.99998722e-01 -5.07631174e-04 -7.11359682e+00] [-9.42020318e-03 4.93329137e-04 9.99955507e-01 -1.80312296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.810371743 meters 0.02921499387346694 Centerline is valid? [True, True] Translation: X:129.73, Y:-7.11, Z:-1.80 [[ 9.99936900e-01 4.35595053e-03 1.03548001e-02 1.29734038e+02] [-4.35040447e-03 9.99990381e-01 -5.58067065e-04 -7.10792132e+00] [-1.03571314e-02 5.12984282e-04 9.99946232e-01 -1.80362217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840371743 meters 0.029212585865274702 Centerline is valid? [True, True] Translation: X:129.77, Y:-7.11, Z:-1.80 [[ 9.99931396e-01 5.43702766e-03 1.03750965e-02 1.29765880e+02] [-5.43151731e-03 9.99985093e-01 -5.59216757e-04 -7.10834352e+00] [-1.03779823e-02 5.02825876e-04 9.99946021e-01 -1.80464274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.870371743 meters 0.029224887696647595 Centerline is valid? [True, True] Translation: X:129.80, Y:-7.11, Z:-1.81 [[ 9.99926422e-01 5.93961376e-03 1.05769152e-02 1.29797858e+02] [-5.93388685e-03 9.99982230e-01 -5.72753820e-04 -7.10892200e+00] [-1.05801292e-02 5.09949460e-04 9.99943899e-01 -1.80622513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900371743 meters 0.030209799032913195 Centerline is valid? [True, True] Translation: X:129.83, Y:-7.11, Z:-1.81 [[ 9.99935997e-01 5.45598779e-03 9.91130813e-03 1.29829031e+02] [-5.45091267e-03 9.99984998e-01 -5.38994861e-04 -7.11101056e+00] [-9.91410020e-03 4.84934689e-04 9.99950737e-01 -1.80779491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.930371743 meters 0.028666574987769793 Centerline is valid? [True, True] Translation: X:129.86, Y:-7.11, Z:-1.81 [[ 9.99963064e-01 1.67700682e-03 8.42964411e-03 1.29860702e+02] [-1.67318080e-03 9.99998494e-01 -4.60908116e-04 -7.10779232e+00] [-8.43040436e-03 4.46786773e-04 9.99964364e-01 -1.80923130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960371743 meters 0.03394077694630912 Centerline is valid? [True, True] Translation: X:129.89, Y:-7.12, Z:-1.81 [[ 9.99962289e-01 -1.20759786e-03 8.60018475e-03 1.29890643e+02] [ 1.21169023e-03 9.99999155e-01 -4.70652113e-04 -7.11604661e+00] [-8.59960912e-03 4.81055124e-04 9.99962907e-01 -1.81064289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.990371743 meters 0.03786519201857506 Centerline is valid? [True, True] Translation: X:129.92, Y:-7.12, Z:-1.81 [[ 9.99944508e-01 -6.94854850e-03 7.91829652e-03 1.29920124e+02] [ 6.95219509e-03 9.99975739e-01 -4.33095450e-04 -7.12077102e+00] [-7.91509504e-03 4.88120959e-04 9.99968556e-01 -1.81177652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02037174299997 meters 0.03334965419527371 Centerline is valid? [True, True] Translation: X:129.95, Y:-7.11, Z:-1.81 [[ 9.99933013e-01 -9.15501709e-03 7.08207648e-03 1.29951819e+02] [ 9.15799433e-03 9.99957989e-01 -3.88075523e-04 -7.11429229e+00] [-7.07822612e-03 4.52907143e-04 9.99974846e-01 -1.81198795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05037174299997 meters 0.0344966336637912 Centerline is valid? [True, True] Translation: X:129.98, Y:-7.12, Z:-1.81 [[ 9.99925108e-01 -1.04185679e-02 6.42115615e-03 1.29984083e+02] [ 1.04210407e-02 9.99945638e-01 -3.51772078e-04 -7.11671340e+00] [-6.41714212e-03 4.18660863e-04 9.99979322e-01 -1.81307234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08037174299997 meters 0.03680407424372017 Centerline is valid? [True, True] Translation: X:130.02, Y:-7.12, Z:-1.81 [[ 9.99913296e-01 -1.14878852e-02 6.43653076e-03 1.30015132e+02] [ 1.14903958e-02 9.99933921e-01 -3.53216490e-04 -7.11876445e+00] [-6.43204773e-03 4.27144150e-04 9.99979223e-01 -1.81354144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11037174299997 meters 0.03644013479534703 Centerline is valid? [True, True] Translation: X:130.05, Y:-7.12, Z:-1.81 [[ 9.99912640e-01 -1.10442564e-02 7.26200684e-03 1.30047109e+02] [ 1.10474434e-02 9.99938896e-01 -3.98882626e-04 -7.11828080e+00] [-7.25715773e-03 4.79074389e-04 9.99973552e-01 -1.81349123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14037174299997 meters 0.036707950279732886 Centerline is valid? [True, True] Translation: X:130.08, Y:-7.12, Z:-1.81 [[ 9.99915248e-01 -1.03113693e-02 7.94807677e-03 1.30078581e+02] [ 1.03151699e-02 9.99946702e-01 -4.37334846e-04 -7.11800075e+00] [-7.94314363e-03 5.19283544e-04 9.99968318e-01 -1.81330955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17037174299998 meters 0.03169145173377315 Centerline is valid? [True, True] Translation: X:130.11, Y:-7.11, Z:-1.81 [[ 9.99926133e-01 -7.50830903e-03 9.55797031e-03 1.30109636e+02] [ 7.51368631e-03 9.99971633e-01 -5.26811681e-04 -7.10834335e+00] [-9.55374371e-03 5.98588358e-04 9.99954183e-01 -1.81185855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20037174299998 meters 0.03506363653651865 Centerline is valid? [True, True] Translation: X:130.14, Y:-7.11, Z:-1.81 [[ 9.99931305e-01 -6.01257952e-03 1.00615619e-02 1.30139578e+02] [ 6.01846224e-03 9.99981735e-01 -5.54496294e-04 -7.11329082e+00] [-1.00580442e-02 6.15013333e-04 9.99949227e-01 -1.81247846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23037174299998 meters 0.033526351985936384 Centerline is valid? [True, True] Translation: X:130.17, Y:-7.11, Z:-1.81 [[ 9.99931243e-01 -4.25380373e-03 1.09277026e-02 1.30171338e+02] [ 4.26064011e-03 9.99990742e-01 -6.02396839e-04 -7.11130738e+00] [-1.09250390e-02 6.48914428e-04 9.99940109e-01 -1.81212333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26037174299998 meters 0.03304921931109303 Centerline is valid? [True, True] Translation: X:130.20, Y:-7.11, Z:-1.81 [[ 9.99930837e-01 -2.53520070e-03 1.14844754e-02 1.30203365e+02] [ 2.54264303e-03 9.99996567e-01 -6.33478798e-04 -7.11057481e+00] [-1.14828299e-02 6.62635906e-04 9.99933851e-01 -1.81211542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29037174299998 meters 0.03567919337246095 Centerline is valid? [True, True] Translation: X:130.23, Y:-7.11, Z:-1.81 [[ 9.99931025e-01 -3.07944512e-04 1.17409305e-02 1.30233698e+02] [ 3.15576032e-04 9.99999740e-01 -6.48145611e-04 -7.11287639e+00] [-1.17407278e-02 6.51806061e-04 9.99930863e-01 -1.81268374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32037174299998 meters 0.03054338743671835 Centerline is valid? [True, True] Translation: X:130.27, Y:-7.10, Z:-1.81 [[ 9.99930645e-01 8.59911055e-04 1.17458613e-02 1.30266058e+02] [-8.52338134e-04 9.99999426e-01 -6.49721709e-04 -7.10446589e+00] [-1.17464132e-02 6.39665202e-04 9.99930804e-01 -1.81351622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35037174299998 meters 0.030791336844761933 Centerline is valid? [True, True] Translation: X:130.30, Y:-7.11, Z:-1.81 [[ 9.99931983e-01 1.40508708e-03 1.15782283e-02 1.30298159e+02] [-1.39775572e-03 9.99998818e-01 -6.41270196e-04 -7.10574793e+00] [-1.15791156e-02 6.25043044e-04 9.99932764e-01 -1.81453537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38037174299998 meters 0.030351271792127838 Centerline is valid? [True, True] Translation: X:130.33, Y:-7.11, Z:-1.82 [[ 9.99936047e-01 2.08149128e-03 1.11161359e-02 1.30330065e+02] [-2.07476676e-03 9.99997658e-01 -6.16430867e-04 -7.10531057e+00] [-1.11173929e-02 5.93328055e-04 9.99938024e-01 -1.81560613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41037174299998 meters 0.028514928062628977 Centerline is valid? [True, True] Translation: X:130.36, Y:-7.10, Z:-1.82 [[ 9.99932348e-01 2.77589338e-03 1.12957342e-02 1.30362022e+02] [-2.76898466e-03 9.99995970e-01 -6.27214957e-04 -7.10329914e+00] [-1.12974298e-02 5.95894810e-04 9.99936004e-01 -1.81633376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440371743 meters 0.028416647696390965 Centerline is valid? [True, True] Translation: X:130.39, Y:-7.10, Z:-1.82 [[ 9.99928346e-01 4.34745629e-03 1.11536033e-02 1.30394774e+02] [-4.34080936e-03 9.99990386e-01 -6.20084305e-04 -7.10259861e+00] [-1.11561918e-02 5.71624208e-04 9.99937604e-01 -1.81773190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.470371743 meters 0.02809939677680386 Centerline is valid? [True, True] Translation: X:130.43, Y:-7.10, Z:-1.82 [[ 9.99926565e-01 5.35468120e-03 1.08715765e-02 1.30427413e+02] [-5.34841448e-03 9.99985514e-01 -6.05424035e-04 -7.10198000e+00] [-1.08746609e-02 5.47233878e-04 9.99940719e-01 -1.81832559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500371743 meters 0.03138640296430191 Centerline is valid? [True, True] Translation: X:130.46, Y:-7.11, Z:-1.82 [[ 9.99919292e-01 6.42551435e-03 1.09599991e-02 1.30458038e+02] [-6.41920598e-03 9.99979210e-01 -6.10663344e-04 -7.10682894e+00] [-1.09636951e-02 5.40259567e-04 9.99939751e-01 -1.81866691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.530371743 meters 0.02852628229850256 Centerline is valid? [True, True] Translation: X:130.49, Y:-7.10, Z:-1.82 [[ 9.99907031e-01 8.00718599e-03 1.10369733e-02 1.30490822e+02] [-8.00085631e-03 9.99967802e-01 -6.17533489e-04 -7.10060615e+00] [-1.10415626e-02 5.29170841e-04 9.99938900e-01 -1.81859921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560371743 meters 0.028714958842273087 Centerline is valid? [True, True] Translation: X:130.52, Y:-7.10, Z:-1.82 [[ 9.99898672e-01 8.84827181e-03 1.11514329e-02 1.30522358e+02] [-8.84182699e-03 9.99960714e-01 -6.27106016e-04 -7.10175300e+00] [-1.11565436e-02 5.28443432e-04 9.99937624e-01 -1.81947299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.590371743 meters 0.028672975383759246 Centerline is valid? [True, True] Translation: X:130.55, Y:-7.10, Z:-1.82 [[ 9.99897918e-01 8.99619649e-03 1.11004972e-02 1.30553981e+02] [-8.98979832e-03 9.99959395e-01 -6.26149248e-04 -7.10232490e+00] [-1.11056795e-02 5.26294098e-04 9.99938192e-01 -1.82028090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620371743 meters 0.029202335356321257 Centerline is valid? [True, True] Translation: X:130.59, Y:-7.10, Z:-1.82 [[ 9.99909129e-01 9.05004841e-03 9.99152629e-03 1.30585333e+02] [-9.04486445e-03 9.99958935e-01 -5.63902596e-04 -7.10303231e+00] [-9.99621934e-03 4.73479353e-04 9.99949924e-01 -1.82181500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.650371743 meters 0.029697731773621495 Centerline is valid? [True, True] Translation: X:130.62, Y:-7.11, Z:-1.82 [[ 9.99919554e-01 8.12518180e-03 9.73991841e-03 1.30616033e+02] [-8.12020787e-03 9.99966879e-01 -5.50112189e-04 -7.10515031e+00] [-9.74406558e-03 4.70977773e-04 9.99952415e-01 -1.82293711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680371743 meters 0.028794891940298564 Centerline is valid? [True, True] Translation: X:130.65, Y:-7.10, Z:-1.82 [[ 9.99933744e-01 7.05134850e-03 9.09867173e-03 1.30647403e+02] [-7.04696315e-03 9.99975038e-01 -5.13947455e-04 -7.10471062e+00] [-9.10206863e-03 4.49795398e-04 9.99958474e-01 -1.82339830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.710371743 meters 0.03129243440101473 Centerline is valid? [True, True] Translation: X:130.68, Y:-7.11, Z:-1.82 [[ 9.99946465e-01 4.17643199e-03 9.46703901e-03 1.30677726e+02] [-4.17155160e-03 9.99991156e-01 -5.35202390e-04 -7.10963573e+00] [-9.46919052e-03 4.95681496e-04 9.99955043e-01 -1.82372809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.740371743 meters 0.03157832198660465 Centerline is valid? [True, True] Translation: X:130.71, Y:-7.11, Z:-1.82 [[ 9.99947409e-01 2.93297021e-03 9.82740468e-03 1.30709550e+02] [-2.92765827e-03 9.99995560e-01 -5.54865879e-04 -7.11149544e+00] [-9.82898846e-03 5.26065415e-04 9.99951556e-01 -1.82362821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77037174299997 meters 0.030892276441027815 Centerline is valid? [True, True] Translation: X:130.74, Y:-7.11, Z:-1.82 [[ 9.99950491e-01 1.24256031e-03 9.87277775e-03 1.30741583e+02] [-1.23708783e-03 9.99999078e-01 -5.60386928e-04 -7.11220161e+00] [-9.87346496e-03 5.48145690e-04 9.99951106e-01 -1.82363013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80037174299997 meters 0.030892276441027815 Centerline is valid? [True, True] Translation: X:130.77, Y:-7.11, Z:-1.82 [[ 9.99950090e-01 1.53170002e-03 9.87278842e-03 1.30774199e+02] [-1.52624341e-03 9.99998678e-01 -5.60202328e-04 -7.11412729e+00] [-9.87363344e-03 5.45106090e-04 9.99951106e-01 -1.82408866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83037174299997 meters 0.03631503652378301 Centerline is valid? [True, True] Translation: X:130.80, Y:-7.12, Z:-1.82 [[ 9.99950830e-01 -1.54510610e-03 9.79544543e-03 1.30803458e+02] [ 1.55066111e-03 9.99998641e-01 -5.59531487e-04 -7.12361187e+00] [-9.79456759e-03 5.74693391e-04 9.99951867e-01 -1.82457537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86037174299997 meters 0.03270370030292664 Centerline is valid? [True, True] Translation: X:130.84, Y:-7.12, Z:-1.82 [[ 9.99947384e-01 -2.92905938e-03 9.83108909e-03 1.30835925e+02] [ 2.93472897e-03 9.99995536e-01 -5.62322883e-04 -7.11965537e+00] [-9.82939812e-03 5.91144878e-04 9.99951516e-01 -1.82463905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89037174299997 meters 0.0342830318447807 Centerline is valid? [True, True] Translation: X:130.87, Y:-7.12, Z:-1.83 [[ 9.99948442e-01 -4.11324835e-03 9.28408374e-03 1.30866982e+02] [ 4.11835896e-03 9.99991378e-01 -5.31419793e-04 -7.12339515e+00] [-9.28181783e-03 5.69627583e-04 9.99956761e-01 -1.82535186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92037174299998 meters 0.035575207257475476 Centerline is valid? [True, True] Translation: X:130.90, Y:-7.13, Z:-1.83 [[ 9.99945881e-01 -6.48453279e-03 8.13552112e-03 1.30898147e+02] [ 6.48854574e-03 9.99978840e-01 -4.66965168e-04 -7.12544606e+00] [-8.13232092e-03 5.19727597e-04 9.99966797e-01 -1.82662082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95037174299998 meters 0.035312901271486674 Centerline is valid? [True, True] Translation: X:130.93, Y:-7.13, Z:-1.83 [[ 9.99948953e-01 -7.34640179e-03 6.93703342e-03 1.30930625e+02] [ 7.34933952e-03 9.99972914e-01 -3.98087283e-04 -7.12557990e+00] [-6.93392102e-03 4.49049575e-04 9.99975859e-01 -1.82793092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98037174299998 meters 0.04106193705347518 Centerline is valid? [True, True] Translation: X:130.96, Y:-7.13, Z:-1.83 [[ 9.99951656e-01 -7.83070606e-03 5.94683175e-03 1.30961716e+02] [ 7.83287605e-03 9.99969264e-01 -3.41695275e-04 -7.13461495e+00] [-5.94397325e-03 3.88259552e-04 9.99982259e-01 -1.82981856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01037174299998 meters 0.033402630446803985 Centerline is valid? [True, True] Translation: X:131.00, Y:-7.12, Z:-1.83 [[ 9.99954910e-01 -7.36404047e-03 5.99567644e-03 1.30995240e+02] [ 7.36623802e-03 9.99972810e-01 -3.44521668e-04 -7.12234471e+00] [-5.99297635e-03 3.88671713e-04 9.99981966e-01 -1.82879997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04037174299998 meters 0.035376990317135655 Centerline is valid? [True, True] Translation: X:131.03, Y:-7.13, Z:-1.83 [[ 9.99955477e-01 -7.00213268e-03 6.32571520e-03 1.31025817e+02] [ 7.00457758e-03 9.99975401e-01 -3.64429012e-04 -7.12588003e+00] [-6.32300781e-03 4.08721749e-04 9.99979926e-01 -1.82921006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07037174299998 meters 0.0343271397804454 Centerline is valid? [True, True] Translation: X:131.06, Y:-7.12, Z:-1.83 [[ 9.99954621e-01 -6.37697800e-03 7.07745893e-03 1.31058184e+02] [ 6.38002549e-03 9.99979564e-01 -4.08095568e-04 -7.12473043e+00] [-7.07471188e-03 4.53231418e-04 9.99974871e-01 -1.82931231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10037174299998 meters 0.03588889640967648 Centerline is valid? [True, True] Translation: X:131.09, Y:-7.13, Z:-1.83 [[ 9.99954963e-01 -5.93621400e-03 7.40493894e-03 1.31089362e+02] [ 5.93954324e-03 9.99982269e-01 -4.27687614e-04 -7.12739835e+00] [-7.40226880e-03 4.71650308e-04 9.99972492e-01 -1.82963842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13037174299998 meters 0.03460177172229378 Centerline is valid? [True, True] Translation: X:131.12, Y:-7.13, Z:-1.83 [[ 9.99954680e-01 -5.20448058e-03 7.97193176e-03 1.31121684e+02] [ 5.20831909e-03 9.99986330e-01 -4.60817320e-04 -7.12581909e+00] [-7.96942448e-03 5.02316800e-04 9.99968117e-01 -1.82968862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16037174299998 meters 0.03505526549206098 Centerline is valid? [True, True] Translation: X:131.15, Y:-7.12, Z:-1.83 [[ 9.99966224e-01 -4.18747806e-03 7.07213916e-03 1.31154290e+02] [ 4.19047643e-03 9.99991136e-01 -4.09204401e-04 -7.12478813e+00] [-7.07036294e-03 4.38826213e-04 9.99974908e-01 -1.83067970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.190371743 meters 0.03466784379410804 Centerline is valid? [True, True] Translation: X:131.19, Y:-7.12, Z:-1.83 [[ 9.99967712e-01 -3.87673754e-03 7.03895251e-03 1.31186641e+02] [ 3.87970367e-03 9.99992391e-01 -4.07782213e-04 -7.12491389e+00] [-7.03731808e-03 4.35078096e-04 9.99975143e-01 -1.83145346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220371743 meters 0.03544444818315364 Centerline is valid? [True, True] Translation: X:131.22, Y:-7.13, Z:-1.83 [[ 9.99969952e-01 -3.94717762e-03 6.67195879e-03 1.31217450e+02] [ 3.94984781e-03 9.99992124e-01 -3.87081303e-04 -7.12658047e+00] [-6.67037837e-03 4.13422894e-04 9.99977667e-01 -1.83245243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.250371743 meters 0.03666183403325723 Centerline is valid? [True, True] Translation: X:131.25, Y:-7.13, Z:-1.83 [[ 9.99966928e-01 -5.58551003e-03 5.91134610e-03 1.31249862e+02] [ 5.58763516e-03 9.99984330e-01 -3.43046335e-04 -7.12811922e+00] [-5.90933738e-03 3.76065435e-04 9.99982469e-01 -1.83435806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280371743 meters 0.03513673992244926 Centerline is valid? [True, True] Translation: X:131.28, Y:-7.13, Z:-1.83 [[ 9.99960836e-01 -6.99573224e-03 5.42098499e-03 1.31282092e+02] [ 6.99754155e-03 9.99975467e-01 -3.14865691e-04 -7.12683399e+00] [-5.41864928e-03 3.52786927e-04 9.99985257e-01 -1.83481781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.310371743 meters 0.03874711534223276 Centerline is valid? [True, True] Translation: X:131.31, Y:-7.13, Z:-1.84 [[ 9.99936494e-01 -1.02558506e-02 4.67181717e-03 1.31311834e+02] [ 1.02572313e-02 9.99947356e-01 -2.71666452e-04 -7.13225498e+00] [-4.66878506e-03 3.19569108e-04 9.99989050e-01 -1.83610283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340371743 meters 0.038506671047894785 Centerline is valid? [True, True] Translation: X:131.34, Y:-7.13, Z:-1.84 [[ 9.99924727e-01 -1.14496005e-02 4.40989445e-03 1.31344076e+02] [ 1.14508428e-02 9.99934404e-01 -2.56553349e-04 -7.13300678e+00] [-4.40666775e-03 3.07031046e-04 9.99990243e-01 -1.83647275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.370371743 meters 0.036818225493666236 Centerline is valid? [True, True] Translation: X:131.38, Y:-7.13, Z:-1.84 [[ 9.99921121e-01 -1.19429806e-02 3.88810950e-03 1.31376443e+02] [ 1.19439505e-02 9.99928643e-01 -2.26341562e-04 -7.13148775e+00] [-3.88512886e-03 2.72763096e-04 9.99992416e-01 -1.83720504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400371743 meters 0.03920362326215839 Centerline is valid? [True, True] Translation: X:131.41, Y:-7.13, Z:-1.84 [[ 9.99938904e-01 -1.07612785e-02 2.52667599e-03 1.31407223e+02] [ 1.07616845e-02 9.99942081e-01 -1.47127617e-04 -7.13478581e+00] [-2.52494637e-03 1.74309917e-04 9.99996797e-01 -1.83988580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.430371743 meters 0.03769975430147388 Centerline is valid? [True, True] Translation: X:131.44, Y:-7.13, Z:-1.84 [[ 9.99952411e-01 -9.64018678e-03 1.49723954e-03 1.31439618e+02] [ 9.64032741e-03 9.99953527e-01 -8.67373261e-05 -7.13365274e+00] [-1.49633380e-03 1.01167078e-04 9.99998875e-01 -1.84083753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460371743 meters 0.03850295806435001 Centerline is valid? [True, True] Translation: X:131.47, Y:-7.14, Z:-1.84 [[ 9.99964734e-01 -8.33521467e-03 1.02674053e-03 1.31470944e+02] [ 8.33527905e-03 9.99965259e-01 -5.84387673e-05 -7.13532597e+00] [-1.02621776e-03 6.69948752e-05 9.99999471e-01 -1.84209105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.490371743 meters 0.03752518637151327 Centerline is valid? [True, True] Translation: X:131.50, Y:-7.13, Z:-1.84 [[ 9.99979041e-01 -6.29464250e-03 1.51461501e-03 1.31502761e+02] [ 6.29478343e-03 9.99980184e-01 -8.82971850e-05 -7.13318125e+00] [-1.51402919e-03 9.78295079e-05 9.99998849e-01 -1.84216890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52037174299997 meters 0.03763998474868662 Centerline is valid? [True, True] Translation: X:131.53, Y:-7.13, Z:-1.84 [[ 9.99983862e-01 -5.47453580e-03 1.51847984e-03 1.31534092e+02] [ 5.47467664e-03 9.99985010e-01 -8.86071595e-05 -7.13366634e+00] [-1.51797199e-03 9.69189156e-05 9.99998843e-01 -1.84220855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55037174299997 meters 0.037308409376020736 Centerline is valid? [True, True] Translation: X:131.57, Y:-7.13, Z:-1.84 [[ 9.99990673e-01 -3.88152209e-03 1.89427429e-03 1.31566078e+02] [ 3.88173896e-03 9.99992460e-01 -1.10823804e-04 -7.13404407e+00] [-1.89382984e-03 1.18175848e-04 9.99998200e-01 -1.84218789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58037174299997 meters 0.03611690422828993 Centerline is valid? [True, True] Translation: X:131.60, Y:-7.13, Z:-1.84 [[ 9.99994423e-01 -2.35854751e-03 2.36445190e-03 1.31598007e+02] [ 2.35888188e-03 9.99997208e-01 -1.38637261e-04 -7.13275774e+00] [-2.36411832e-03 1.44213951e-04 9.99997195e-01 -1.84177531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61037174299997 meters 0.03628044267924345 Centerline is valid? [True, True] Translation: X:131.63, Y:-7.13, Z:-1.84 [[ 9.99987355e-01 9.74020765e-04 4.93364293e-03 1.31627981e+02] [-9.72597762e-04 9.99999485e-01 -2.90819436e-04 -7.13206409e+00] [-4.93392365e-03 2.86017309e-04 9.99987787e-01 -1.84066876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64037174299997 meters 0.03435724982128229 Centerline is valid? [True, True] Translation: X:131.66, Y:-7.13, Z:-1.84 [[ 9.99979991e-01 2.75878733e-03 5.69261572e-03 1.31659292e+02] [-2.75692334e-03 9.99996143e-01 -3.35262452e-04 -7.12957147e+00] [-5.69351869e-03 3.19561639e-04 9.99983741e-01 -1.84027421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67037174299998 meters 0.03480608831245521 Centerline is valid? [True, True] Translation: X:131.69, Y:-7.13, Z:-1.84 [[ 9.99956208e-01 6.27118300e-03 6.94653958e-03 1.31688964e+02] [-6.26848765e-03 9.99980269e-01 -4.09718574e-04 -7.12913923e+00] [-6.94897194e-03 3.66156334e-04 9.99975789e-01 -1.83989233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70037174299998 meters 0.03143666053057876 Centerline is valid? [True, True] Translation: X:131.72, Y:-7.12, Z:-1.84 [[ 9.99942926e-01 7.42549182e-03 7.68156881e-03 1.31720219e+02] [-7.42223071e-03 9.99972352e-01 -4.52958829e-04 -7.12432119e+00] [-7.68471987e-03 3.95918601e-04 9.99970394e-01 -1.83938046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73037174299998 meters 0.031385288042763373 Centerline is valid? [True, True] Translation: X:131.75, Y:-7.12, Z:-1.84 [[ 9.99938603e-01 7.82717426e-03 7.84386369e-03 1.31750340e+02] [-7.82378421e-03 9.99969287e-01 -4.62784115e-04 -7.12492274e+00] [-7.84724507e-03 4.01387004e-04 9.99969129e-01 -1.84018770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76037174299998 meters 0.030393954982766702 Centerline is valid? [True, True] Translation: X:131.78, Y:-7.12, Z:-1.84 [[ 9.99937743e-01 8.45575783e-03 7.28081251e-03 1.31781019e+02] [-8.45285363e-03 9.99964182e-01 -4.29564371e-04 -7.12379105e+00] [-7.28418402e-03 3.67993985e-04 9.99973402e-01 -1.84159314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79037174299998 meters 0.03629618254793428 Centerline is valid? [True, True] Translation: X:131.81, Y:-7.13, Z:-1.84 [[ 9.99946710e-01 8.10511997e-03 6.39409090e-03 1.31809517e+02] [-8.10287208e-03 9.99967100e-01 -3.77384502e-04 -7.13419396e+00] [-6.39693928e-03 3.25553890e-04 9.99979486e-01 -1.84373024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82037174299998 meters 0.033312375820589525 Centerline is valid? [True, True] Translation: X:131.84, Y:-7.13, Z:-1.84 [[ 9.99954334e-01 7.60444409e-03 5.78820153e-03 1.31839647e+02] [-7.60259334e-03 9.99971041e-01 -3.41681217e-04 -7.13127648e+00] [-5.79063221e-03 2.97660271e-04 9.99983190e-01 -1.84428256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85037174299998 meters 0.03411440092307112 Centerline is valid? [True, True] Translation: X:131.87, Y:-7.13, Z:-1.85 [[ 9.99960252e-01 6.99395197e-03 5.52980638e-03 1.31868814e+02] [-6.99225522e-03 9.99975501e-01 -3.26112068e-04 -7.13476616e+00] [-5.53195171e-03 2.87433288e-04 9.99984657e-01 -1.84604054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88037174299998 meters 0.035070710176496024 Centerline is valid? [True, True] Translation: X:131.90, Y:-7.14, Z:-1.85 [[ 9.99964053e-01 6.31752714e-03 5.65523379e-03 1.31898701e+02] [-6.31574154e-03 9.99980000e-01 -3.33545897e-04 -7.13819264e+00] [-5.65722787e-03 2.97816912e-04 9.99983953e-01 -1.84683414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91037174299998 meters 0.03539834491805492 Centerline is valid? [True, True] Translation: X:131.93, Y:-7.14, Z:-1.85 [[ 9.99964596e-01 5.96562101e-03 5.93443901e-03 1.31929104e+02] [-5.96365152e-03 9.99982156e-01 -3.49516075e-04 -7.14081524e+00] [-5.93641820e-03 3.14112775e-04 9.99982330e-01 -1.84769787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940371743 meters 0.03665343083032252 Centerline is valid? [True, True] Translation: X:131.96, Y:-7.15, Z:-1.85 [[ 9.99963933e-01 5.71645137e-03 6.28133044e-03 1.31959001e+02] [-5.71424370e-03 9.99983605e-01 -3.69356200e-04 -7.14502644e+00] [-6.28333887e-03 3.33449826e-04 9.99980204e-01 -1.84848168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.970371743 meters 0.033058757737385154 Centerline is valid? [True, True] Translation: X:131.99, Y:-7.14, Z:-1.85 [[ 9.99961603e-01 5.73169485e-03 6.62879844e-03 1.31989913e+02] [-5.72922902e-03 9.99983511e-01 -3.90917062e-04 -7.14188256e+00] [-6.63092975e-03 3.52924147e-04 9.99977953e-01 -1.84841131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000371743 meters 0.03323916881854782 Centerline is valid? [True, True] Translation: X:132.02, Y:-7.14, Z:-1.85 [[ 9.99960901e-01 5.95362887e-03 6.53834254e-03 1.32020821e+02] [-5.95123548e-03 9.99982217e-01 -3.85449262e-04 -7.14403158e+00] [-6.54052109e-03 3.46522976e-04 9.99978551e-01 -1.84917922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.030371743 meters 0.034134593273825196 Centerline is valid? [True, True] Translation: X:132.05, Y:-7.15, Z:-1.85 [[ 9.99954688e-01 6.07481433e-03 7.32930871e-03 1.32051373e+02] [-6.07180888e-03 9.99981473e-01 -4.32240848e-04 -7.14780612e+00] [-7.33179870e-03 3.87719100e-04 9.99973047e-01 -1.84924278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060371743 meters 0.03181289375826389 Centerline is valid? [True, True] Translation: X:132.08, Y:-7.15, Z:-1.85 [[ 9.99950116e-01 6.11586567e-03 7.89691365e-03 1.32083296e+02] [-6.11237761e-03 9.99981211e-01 -4.65758481e-04 -7.14624126e+00] [-7.89961379e-03 4.17466329e-04 9.99968710e-01 -1.84907573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.090371743 meters 0.032114662451750875 Centerline is valid? [True, True] Translation: X:132.11, Y:-7.15, Z:-1.85 [[ 9.99943205e-01 6.28813953e-03 8.60494699e-03 1.32114298e+02] [-6.28400120e-03 9.99980127e-01 -5.07878037e-04 -7.14908656e+00] [-8.60796959e-03 4.53775695e-04 9.99962848e-01 -1.84929294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120371743 meters 0.031929709126308006 Centerline is valid? [True, True] Translation: X:132.15, Y:-7.15, Z:-1.85 [[ 9.99941009e-01 5.87745819e-03 9.13427476e-03 1.32145354e+02] [-5.87277467e-03 9.99982610e-01 -5.39479691e-04 -7.15162315e+00] [-9.13728668e-03 4.85804329e-04 9.99958136e-01 -1.84954146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.150371743 meters 0.03592942762564458 Centerline is valid? [True, True] Translation: X:132.18, Y:-7.16, Z:-1.85 [[ 9.99945820e-01 5.82095296e-03 8.62981880e-03 1.32176275e+02] [-5.81677702e-03 9.99982953e-01 -5.08917187e-04 -7.16023044e+00] [-8.63263407e-03 4.58691882e-04 9.99962633e-01 -1.85133343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180371743 meters 0.034618715167812744 Centerline is valid? [True, True] Translation: X:132.21, Y:-7.16, Z:-1.85 [[ 9.99959434e-01 5.12237189e-03 7.40893232e-03 1.32207756e+02] [-5.11925719e-03 9.99986800e-01 -4.39300578e-04 -7.16080345e+00] [-7.41108478e-03 4.01354527e-04 9.99972457e-01 -1.85361643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.210371743 meters 0.034303029742821414 Centerline is valid? [True, True] Translation: X:132.24, Y:-7.16, Z:-1.85 [[ 9.99960254e-01 4.89652334e-03 7.45074190e-03 1.32239412e+02] [-4.89336247e-03 9.99987930e-01 -4.42406996e-04 -7.16328737e+00] [-7.45281822e-03 4.05930232e-04 9.99972145e-01 -1.85474738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.240371743 meters 0.03616303120696253 Centerline is valid? [True, True] Translation: X:132.27, Y:-7.17, Z:-1.86 [[ 9.99959543e-01 5.15561773e-03 7.37107609e-03 1.32269923e+02] [-5.15253416e-03 9.99986630e-01 -4.37261807e-04 -7.16881216e+00] [-7.37323190e-03 3.99264395e-04 9.99972738e-01 -1.85625976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27037174299997 meters 0.035521457210858406 Centerline is valid? [True, True] Translation: X:132.30, Y:-7.17, Z:-1.86 [[ 9.99959630e-01 4.94799390e-03 7.50041508e-03 1.32300791e+02] [-4.94478259e-03 9.99987675e-01 -4.46635075e-04 -7.17044085e+00] [-7.50253259e-03 4.09529122e-04 9.99971772e-01 -1.85687803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30037174299997 meters 0.03518169777996865 Centerline is valid? [True, True] Translation: X:132.33, Y:-7.17, Z:-1.86 [[ 9.99950754e-01 5.74059577e-03 8.09539680e-03 1.32331797e+02] [-5.73687811e-03 9.99983428e-01 -4.82378335e-04 -7.17241760e+00] [-8.09803178e-03 4.35912276e-04 9.99967115e-01 -1.85727767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33037174299997 meters 0.03191663957700277 Centerline is valid? [True, True] Translation: X:132.36, Y:-7.17, Z:-1.86 [[ 9.99946007e-01 5.96408983e-03 8.50953742e-03 1.32363492e+02] [-5.95998752e-03 9.99982110e-01 -5.07360758e-04 -7.16932198e+00] [-8.51241114e-03 4.56616628e-04 9.99963665e-01 -1.85691186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36037174299997 meters 0.03119380124541792 Centerline is valid? [True, True] Translation: X:132.40, Y:-7.17, Z:-1.86 [[ 9.99938970e-01 5.93065571e-03 9.32110237e-03 1.32395251e+02] [-5.92572859e-03 9.99982288e-01 -5.56126841e-04 -7.17063091e+00] [-9.32423547e-03 5.00858578e-04 9.99956403e-01 -1.85690557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39037174299997 meters 0.03153182550885434 Centerline is valid? [True, True] Translation: X:132.43, Y:-7.17, Z:-1.86 [[ 9.99934661e-01 5.78563089e-03 9.85904493e-03 1.32427106e+02] [-5.78011665e-03 9.99983122e-01 -5.87710415e-04 -7.17344993e+00] [-9.86227881e-03 5.30685584e-04 9.99951226e-01 -1.85702509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42037174299998 meters 0.03142916504554128 Centerline is valid? [True, True] Translation: X:132.46, Y:-7.18, Z:-1.86 [[ 9.99922400e-01 6.69077073e-03 1.05084319e-02 1.32458841e+02] [-6.68452570e-03 9.99977460e-01 -6.29298089e-04 -7.17786737e+00] [-1.05124056e-02 5.59005372e-04 9.99944587e-01 -1.85808155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45037174299998 meters 0.031345525723962965 Centerline is valid? [True, True] Translation: X:132.49, Y:-7.18, Z:-1.86 [[ 9.99918377e-01 7.43175448e-03 1.03926929e-02 1.32491323e+02] [-7.42565944e-03 9.99972234e-01 -6.24938370e-04 -7.18132831e+00] [-1.03970487e-02 5.47714762e-04 9.99945799e-01 -1.85837571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48037174299998 meters 0.0313034686539867 Centerline is valid? [True, True] Translation: X:132.52, Y:-7.18, Z:-1.86 [[ 9.99910611e-01 7.97669169e-03 1.07304475e-02 1.32522346e+02] [-7.97018748e-03 9.99968027e-01 -6.48773216e-04 -7.18394169e+00] [-1.07352795e-02 5.63191544e-04 9.99942217e-01 -1.85844855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51037174299998 meters 0.0314926687356442 Centerline is valid? [True, True] Translation: X:132.55, Y:-7.19, Z:-1.86 [[ 9.99897262e-01 9.28393022e-03 1.09212949e-02 1.32553665e+02] [-9.27727258e-03 9.99956747e-01 -6.60106618e-04 -7.18733031e+00] [-1.09269509e-02 5.58718970e-04 9.99940143e-01 -1.85824183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54037174299998 meters 0.03068375030122342 Centerline is valid? [True, True] Translation: X:132.58, Y:-7.19, Z:-1.86 [[ 9.99898483e-01 9.65631963e-03 1.04775887e-02 1.32584993e+02] [-9.65018102e-03 9.99953233e-01 -6.36280582e-04 -7.18840999e+00] [-1.04832428e-02 5.35105361e-04 9.99944906e-01 -1.85898018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57037174299998 meters 0.031208502872185406 Centerline is valid? [True, True] Translation: X:132.62, Y:-7.19, Z:-1.86 [[ 9.99899068e-01 9.83989394e-03 1.02484781e-02 1.32615266e+02] [-9.83402883e-03 9.99951451e-01 -6.22528251e-04 -7.19209827e+00] [-1.02541061e-02 5.21681589e-04 9.99947289e-01 -1.86014554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60037174299998 meters 0.030320422676166508 Centerline is valid? [True, True] Translation: X:132.65, Y:-7.19, Z:-1.86 [[ 9.99898182e-01 1.02682699e-02 9.90897975e-03 1.32646041e+02] [-1.02627961e-02 9.99947154e-01 -6.03101453e-04 -7.19375387e+00] [-9.91464891e-03 5.01346208e-04 9.99950723e-01 -1.86162519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63037174299998 meters 0.030871496805429877 Centerline is valid? [True, True] Translation: X:132.68, Y:-7.20, Z:-1.86 [[ 9.99894213e-01 1.03579031e-02 1.02115526e-02 1.32676001e+02] [-1.03520952e-02 9.99946223e-01 -6.21448952e-04 -7.19904580e+00] [-1.02174404e-02 5.15672246e-04 9.99947668e-01 -1.86320726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66037174299998 meters 0.03218591758307391 Centerline is valid? [True, True] Translation: X:132.71, Y:-7.20, Z:-1.86 [[ 9.99898969e-01 9.80341376e-03 1.02929783e-02 1.32706331e+02] [-9.79748166e-03 9.99951807e-01 -6.26591793e-04 -7.20341036e+00] [-1.02986250e-02 5.25683221e-04 9.99946830e-01 -1.86335961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.690371743 meters 0.03218591758307391 Centerline is valid? [True, True] Translation: X:132.74, Y:-7.21, Z:-1.86 [[ 9.99898618e-01 9.83910871e-03 1.02929713e-02 1.32737159e+02] [-9.83317732e-03 9.99951457e-01 -6.26706980e-04 -7.20531952e+00] [-1.02986379e-02 5.25430832e-04 9.99946830e-01 -1.86379333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720371743 meters 0.03097212798043871 Centerline is valid? [True, True] Translation: X:132.77, Y:-7.20, Z:-1.86 [[ 9.99895174e-01 9.24281341e-03 1.11449930e-02 1.32767809e+02] [-9.23581634e-03 9.99957118e-01 -6.79127809e-04 -7.20459471e+00] [-1.11507922e-02 5.76123510e-04 9.99937662e-01 -1.86248435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.750371743 meters 0.031627614707245066 Centerline is valid? [True, True] Translation: X:132.80, Y:-7.21, Z:-1.86 [[ 9.99898981e-01 8.59482834e-03 1.13206016e-02 1.32799281e+02] [-8.58757471e-03 9.99962889e-01 -6.89201551e-04 -7.20839238e+00] [-1.13261051e-02 5.91915417e-04 9.99935682e-01 -1.86265538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780371743 meters 0.033754707732121005 Centerline is valid? [True, True] Translation: X:132.83, Y:-7.21, Z:-1.86 [[ 9.99900933e-01 7.93470794e-03 1.16260098e-02 1.32830018e+02] [-7.92698057e-03 9.99968329e-01 -7.10592965e-04 -7.21444659e+00] [-1.16312800e-02 6.18363415e-04 9.99932163e-01 -1.86331145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.810371743 meters 0.032513831241596874 Centerline is valid? [True, True] Translation: X:132.86, Y:-7.22, Z:-1.86 [[ 9.99933811e-01 5.38546031e-03 1.01670823e-02 1.32861109e+02] [-5.37939145e-03 9.99985336e-01 -6.24165762e-04 -7.21601618e+00] [-1.01702947e-02 5.69431734e-04 9.99948119e-01 -1.86471772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840371743 meters 0.03339661282439345 Centerline is valid? [True, True] Translation: X:132.89, Y:-7.22, Z:-1.87 [[ 9.99944387e-01 4.05927256e-03 9.73373249e-03 1.32892531e+02] [-4.05365039e-03 9.99991606e-01 -5.97255486e-04 -7.22024152e+00] [-9.73607521e-03 5.57765122e-04 9.99952448e-01 -1.86551697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.870371743 meters 0.037201953734904654 Centerline is valid? [True, True] Translation: X:132.92, Y:-7.23, Z:-1.87 [[ 9.99955191e-01 2.24039564e-03 9.19766403e-03 1.32922965e+02] [-2.23528503e-03 9.99997342e-01 -5.65884743e-04 -7.22874918e+00] [-9.19890738e-03 5.45299985e-04 9.99957540e-01 -1.86657012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900371743 meters 0.038221396911761574 Centerline is valid? [True, True] Translation: X:132.95, Y:-7.23, Z:-1.87 [[ 9.99964752e-01 5.93942613e-04 8.37509207e-03 1.32954999e+02] [-5.89647175e-04 9.99999693e-01 -5.15342351e-04 -7.23322559e+00] [-8.37539558e-03 5.10385837e-04 9.99964796e-01 -1.86734802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.930371743 meters 0.03464818742421388 Centerline is valid? [True, True] Translation: X:132.99, Y:-7.23, Z:-1.87 [[ 9.99972523e-01 -2.25624289e-03 7.06133005e-03 1.32985876e+02] [ 2.25937086e-03 9.99997353e-01 -4.35025829e-04 -7.23129136e+00] [-7.06032984e-03 4.50968039e-04 9.99974974e-01 -1.86815639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960371743 meters 0.03532051017112129 Centerline is valid? [True, True] Translation: X:133.02, Y:-7.24, Z:-1.87 [[ 9.99976739e-01 -3.26079892e-03 5.99070830e-03 1.33017687e+02] [ 3.26306766e-03 9.99994608e-01 -3.68974199e-04 -7.23536183e+00] [-5.98947285e-03 3.88513702e-04 9.99981987e-01 -1.86947883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.990371743 meters 0.03636511628587975 Centerline is valid? [True, True] Translation: X:133.05, Y:-7.24, Z:-1.87 [[ 9.99977038e-01 -3.77934896e-03 5.62488747e-03 1.33049244e+02] [ 3.78135683e-03 9.99992791e-01 -3.46368175e-04 -7.23995081e+00] [-5.62353787e-03 3.67629929e-04 9.99984120e-01 -1.87069303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02037174299997 meters 0.03736364561327378 Centerline is valid? [True, True] Translation: X:133.08, Y:-7.24, Z:-1.87 [[ 9.99976995e-01 -4.99409055e-03 4.58993937e-03 1.33081347e+02] [ 4.99544355e-03 9.99987483e-01 -2.83358111e-04 -7.24494951e+00] [-4.58846680e-03 3.06280376e-04 9.99989426e-01 -1.87167972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05037174299997 meters 0.0389045282725805 Centerline is valid? [True, True] Translation: X:133.11, Y:-7.25, Z:-1.87 [[ 9.99976020e-01 -5.04189812e-03 4.74755519e-03 1.33111871e+02] [ 5.04334562e-03 9.99987239e-01 -2.92971138e-04 -7.24921449e+00] [-4.74601747e-03 3.16907675e-04 9.99988687e-01 -1.87219485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08037174299997 meters 0.03846540383302041 Centerline is valid? [True, True] Translation: X:133.14, Y:-7.25, Z:-1.87 [[ 9.99973879e-01 -4.92403392e-03 5.29098723e-03 1.33144203e+02] [ 4.92583720e-03 9.99987814e-01 -3.27842654e-04 -7.25076223e+00] [-5.28930845e-03 3.53896632e-04 9.99985949e-01 -1.87161292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11037174299997 meters 0.03499907752322555 Centerline is valid? [True, True] Translation: X:133.18, Y:-7.25, Z:-1.87 [[ 9.99972843e-01 -4.57445537e-03 5.77828759e-03 1.33176966e+02] [ 4.57660308e-03 9.99989463e-01 -3.58518262e-04 -7.24820444e+00] [-5.77658667e-03 3.84953454e-04 9.99983241e-01 -1.87008700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14037174299997 meters 0.03846129357780294 Centerline is valid? [True, True] Translation: X:133.21, Y:-7.26, Z:-1.87 [[ 9.99964051e-01 -3.90165327e-03 7.52814574e-03 1.33207535e+02] [ 3.90528721e-03 9.99992265e-01 -4.68073890e-04 -7.25626932e+00] [-7.52626125e-03 4.97456635e-04 9.99971554e-01 -1.86981091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17037174299998 meters 0.03507705772135883 Centerline is valid? [True, True] Translation: X:133.24, Y:-7.25, Z:-1.87 [[ 9.99961143e-01 -3.44985388e-03 8.11240678e-03 1.33239504e+02] [ 3.45406211e-03 9.99993907e-01 -5.04786388e-04 -7.25408537e+00] [-8.11061591e-03 5.32787530e-04 9.99966966e-01 -1.86883960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20037174299998 meters 0.04237278865681871 Centerline is valid? [True, True] Translation: X:133.27, Y:-7.27, Z:-1.87 [[ 9.99956372e-01 -3.06550834e-03 8.82360888e-03 1.33270418e+02] [ 3.07047852e-03 9.99995135e-01 -5.49789371e-04 -7.26749032e+00] [-8.82188057e-03 5.76858086e-04 9.99960920e-01 -1.86950983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23037174299998 meters 0.04200075809819379 Centerline is valid? [True, True] Translation: X:133.30, Y:-7.27, Z:-1.87 [[ 9.99959687e-01 -2.14162663e-03 8.71997803e-03 1.33302582e+02] [ 2.14645156e-03 9.99997548e-01 -5.43997988e-04 -7.26985622e+00] [-8.71879161e-03 5.62693069e-04 9.99961832e-01 -1.86970799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26037174299998 meters 0.041022691551886994 Centerline is valid? [True, True] Translation: X:133.34, Y:-7.27, Z:-1.87 [[ 9.99962904e-01 -1.40266069e-03 8.49846478e-03 1.33335028e+02] [ 1.40722167e-03 9.99998869e-01 -5.30726738e-04 -7.27163205e+00] [-8.49771074e-03 5.42666274e-04 9.99963747e-01 -1.87049152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29037174299998 meters 0.03411984811927993 Centerline is valid? [True, True] Translation: X:133.37, Y:-7.27, Z:-1.87 [[ 9.99966375e-01 -3.64560683e-04 8.19243198e-03 1.33367344e+02] [ 3.68768361e-04 9.99999801e-01 -5.12100776e-04 -7.26524743e+00] [-8.19224366e-03 5.15104666e-04 9.99966310e-01 -1.87162542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32037174299998 meters 0.034208043620365856 Centerline is valid? [True, True] Translation: X:133.40, Y:-7.27, Z:-1.87 [[ 9.99972123e-01 1.84070722e-04 7.46448346e-03 1.33398986e+02] [-1.80589394e-04 9.99999875e-01 -4.67056886e-04 -7.26831893e+00] [-7.46456849e-03 4.65695859e-04 9.99972031e-01 -1.87260624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35037174299998 meters 0.031627933722193254 Centerline is valid? [True, True] Translation: X:133.43, Y:-7.27, Z:-1.87 [[ 9.99974184e-01 9.41042511e-04 7.12361872e-03 1.33431135e+02] [-9.37887772e-04 9.99999461e-01 -4.46183985e-04 -7.26735260e+00] [-7.12403476e-03 4.39491311e-04 9.99974527e-01 -1.87335184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38037174299998 meters 0.033856745374241735 Centerline is valid? [True, True] Translation: X:133.46, Y:-7.27, Z:-1.88 [[ 9.99980585e-01 2.18162762e-03 5.83689784e-03 1.33461698e+02] [-2.17952833e-03 9.99997558e-01 -3.65996577e-04 -7.27467039e+00] [-5.83768205e-03 3.53267787e-04 9.99982898e-01 -1.87502411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41037174299998 meters 0.03283563776632498 Centerline is valid? [True, True] Translation: X:133.49, Y:-7.28, Z:-1.88 [[ 9.99981788e-01 2.71085229e-03 5.39204103e-03 1.33494418e+02] [-2.70907648e-03 9.99996274e-01 -3.36616479e-04 -7.27598467e+00] [-5.39293346e-03 3.22002897e-04 9.99985406e-01 -1.87587204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440371743 meters 0.034254736962728245 Centerline is valid? [True, True] Translation: X:133.53, Y:-7.28, Z:-1.88 [[ 9.99982814e-01 3.37768573e-03 4.79206065e-03 1.33525768e+02] [-3.37628593e-03 9.99994255e-01 -3.00169449e-04 -7.28138299e+00] [-4.79304700e-03 2.83984923e-04 9.99988473e-01 -1.87703292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.470371743 meters 0.03273597085558636 Centerline is valid? [True, True] Translation: X:133.56, Y:-7.28, Z:-1.88 [[ 9.99985989e-01 3.62946326e-03 3.85336185e-03 1.33557361e+02] [-3.62855115e-03 9.99993387e-01 -2.43669689e-04 -7.28241427e+00] [-3.85422075e-03 2.29684154e-04 9.99992546e-01 -1.87784738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500371743 meters 0.036989534554964926 Centerline is valid? [True, True] Translation: X:133.59, Y:-7.29, Z:-1.88 [[ 9.99987889e-01 4.05390893e-03 2.79060675e-03 1.33587010e+02] [-4.05343174e-03 9.99991769e-01 -1.76632689e-04 -7.29410357e+00] [-2.79129984e-03 1.65319015e-04 9.99996091e-01 -1.88102852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.530371743 meters 0.03703414274060846 Centerline is valid? [True, True] Translation: X:133.62, Y:-7.30, Z:-1.88 [[ 9.99988023e-01 4.25438878e-03 2.41948279e-03 1.33617322e+02] [-4.25403013e-03 9.99990940e-01 -1.53362045e-04 -7.29787098e+00] [-2.42011333e-03 1.43067656e-04 9.99997061e-01 -1.88209856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560371743 meters 0.03279834946789096 Centerline is valid? [True, True] Translation: X:133.65, Y:-7.29, Z:-1.88 [[ 9.99989185e-01 4.32174823e-03 1.71832605e-03 1.33648106e+02] [-4.32156743e-03 9.99990656e-01 -1.08918319e-04 -7.29494431e+00] [-1.71878071e-03 1.01491279e-04 9.99998518e-01 -1.88141828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.590371743 meters 0.03461747400107316 Centerline is valid? [True, True] Translation: X:133.68, Y:-7.30, Z:-1.88 [[ 9.99988723e-01 4.43552867e-03 1.69676870e-03 1.33677476e+02] [-4.43535298e-03 9.99990158e-01 -1.07292034e-04 -7.30230591e+00] [-1.69722790e-03 9.97650560e-05 9.99998555e-01 -1.88264034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620371743 meters 0.034820001921560505 Centerline is valid? [True, True] Translation: X:133.71, Y:-7.31, Z:-1.88 [[ 9.99987480e-01 4.51949837e-03 2.14822497e-03 1.33707262e+02] [-4.51921525e-03 9.99989779e-01 -1.36629699e-04 -7.30599694e+00] [-2.14882051e-03 1.26919697e-04 9.99997683e-01 -1.88329015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.650371743 meters 0.03343337984635602 Centerline is valid? [True, True] Translation: X:133.74, Y:-7.31, Z:-1.88 [[ 9.99985621e-01 5.04083037e-03 1.82983811e-03 1.33737204e+02] [-5.04062579e-03 9.99987289e-01 -1.16394774e-04 -7.30730556e+00] [-1.83040158e-03 1.07169572e-04 9.99998319e-01 -1.88345001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680371743 meters 0.0337730992189806 Centerline is valid? [True, True] Translation: X:133.77, Y:-7.31, Z:-1.88 [[ 9.99977602e-01 6.58351939e-03 1.20516466e-03 1.33766481e+02] [-6.58343189e-03 9.99978326e-01 -7.65572256e-05 -7.31173489e+00] [-1.20564256e-03 6.86213914e-05 9.99999271e-01 -1.88497247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.710371743 meters 0.035155142950708734 Centerline is valid? [True, True] Translation: X:133.79, Y:-7.32, Z:-1.89 [[ 9.99971032e-01 7.60333029e-03 3.53105689e-04 1.33794754e+02] [-7.60332261e-03 9.99971094e-01 -2.30774551e-05 -7.31565901e+00] [-3.53270947e-04 2.03920101e-05 9.99999937e-01 -1.88646433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.740371743 meters 0.03327838171114736 Centerline is valid? [True, True] Translation: X:133.82, Y:-7.32, Z:-1.89 [[ 9.99966722e-01 8.15813724e-03 -1.43430842e-05 1.33823790e+02] [-8.15813724e-03 9.99966722e-01 -7.41252208e-08 -7.31724342e+00] [ 1.43420021e-05 1.91135608e-07 1.00000000e+00 -1.88751323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77037174299997 meters 0.030351367184851742 Centerline is valid? [True, True] Translation: X:133.85, Y:-7.31, Z:-1.89 [[ 9.99965470e-01 8.28279381e-03 -6.73292253e-04 1.33853020e+02] [-8.28276775e-03 9.99965696e-01 4.14729708e-05 -7.31499864e+00] [ 6.73612669e-04 -3.58948154e-05 9.99999772e-01 -1.88701464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80037174299997 meters 0.03405603615380411 Centerline is valid? [True, True] Translation: X:133.88, Y:-7.32, Z:-1.89 [[ 9.99964651e-01 8.37266751e-03 -7.71024858e-04 1.33880190e+02] [-8.37263351e-03 9.99964948e-01 4.73232426e-05 -7.32349299e+00] [ 7.71394053e-04 -4.08660612e-05 9.99999702e-01 -1.88940532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83037174299997 meters 0.03560525998857582 Centerline is valid? [True, True] Translation: X:133.91, Y:-7.33, Z:-1.89 [[ 9.99970762e-01 7.54129716e-03 -1.26652318e-03 1.33907485e+02] [-7.54120373e-03 9.99971562e-01 7.85264813e-05 -7.32884764e+00] [ 1.26707935e-03 -6.89730761e-05 9.99999195e-01 -1.89000725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86037174299997 meters 0.031724960889664575 Centerline is valid? [True, True] Translation: X:133.94, Y:-7.33, Z:-1.89 [[ 9.99974579e-01 7.07673408e-03 -8.72137540e-04 1.33936634e+02] [-7.07668982e-03 9.99974958e-01 5.38301584e-05 -7.32528171e+00] [ 8.72496642e-04 -4.76569432e-05 9.99999618e-01 -1.88837179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89037174299997 meters 0.03202559257942559 Centerline is valid? [True, True] Translation: X:133.97, Y:-7.33, Z:-1.89 [[ 9.99979482e-01 6.39891821e-03 2.98064162e-04 1.33965621e+02] [-6.39891262e-03 9.99979527e-01 -1.97239064e-05 -7.32829706e+00] [-2.98184272e-04 1.78162151e-05 9.99999955e-01 -1.88779409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92037174299998 meters 0.032791015917937476 Centerline is valid? [True, True] Translation: X:133.99, Y:-7.33, Z:-1.89 [[ 9.99983066e-01 5.65923581e-03 1.35643687e-03 1.33993196e+02] [-5.65912392e-03 9.99983983e-01 -8.63131966e-05 -7.33234208e+00] [-1.35690362e-03 7.86354907e-05 9.99999076e-01 -1.88745944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95037174299998 meters 0.03218423180248111 Centerline is valid? [True, True] Translation: X:134.02, Y:-7.33, Z:-1.89 [[ 9.99986861e-01 4.69025947e-03 2.06853713e-03 1.34022828e+02] [-4.69000023e-03 9.99988993e-01 -1.30157778e-04 -7.33386358e+00] [-2.06912484e-03 1.20454628e-04 9.99997852e-01 -1.88666788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98037174299998 meters 0.03219454591768207 Centerline is valid? [True, True] Translation: X:134.05, Y:-7.34, Z:-1.89 [[ 9.99985592e-01 3.55789097e-03 4.01971102e-03 1.34051949e+02] [-3.55690538e-03 9.99993642e-01 -2.52310353e-04 -7.33716754e+00] [-4.02058316e-03 2.38008986e-04 9.99991889e-01 -1.88537715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01037174299998 meters 0.03427635680981812 Centerline is valid? [True, True] Translation: X:134.08, Y:-7.34, Z:-1.89 [[ 9.99985538e-01 3.07716646e-03 4.41085941e-03 1.34081937e+02] [-3.07598082e-03 9.99995231e-01 -2.75559090e-04 -7.34283148e+00] [-4.41168632e-03 2.61987386e-04 9.99990234e-01 -1.88557502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04037174299998 meters 0.03313042905911834 Centerline is valid? [True, True] Translation: X:134.11, Y:-7.34, Z:-1.89 [[ 9.99985882e-01 2.07529683e-03 4.89166871e-03 1.34112687e+02] [-2.07382156e-03 9.99997803e-01 -3.06641454e-04 -7.34402889e+00] [-4.89229433e-03 2.96492677e-04 9.99987989e-01 -1.88521376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07037174299998 meters 0.03369161721277064 Centerline is valid? [True, True] Translation: X:134.14, Y:-7.35, Z:-1.89 [[ 9.99986142e-01 1.69678907e-03 4.98367679e-03 1.34143532e+02] [-1.69525342e-03 9.99998514e-01 -3.12342775e-04 -7.34777186e+00] [-4.98419937e-03 3.03889852e-04 9.99987533e-01 -1.88618344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10037174299998 meters 0.03470896461568998 Centerline is valid? [True, True] Translation: X:134.17, Y:-7.35, Z:-1.89 [[ 9.99989439e-01 1.05778993e-03 4.47250000e-03 1.34173992e+02] [-1.05655009e-03 9.99999403e-01 -2.79567486e-04 -7.35229975e+00] [-4.47279305e-03 2.74839113e-04 9.99989959e-01 -1.88736924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13037174299998 meters 0.03271998377563508 Centerline is valid? [True, True] Translation: X:134.21, Y:-7.35, Z:-1.89 [[ 9.99992133e-01 8.92133753e-04 3.86506244e-03 1.34206176e+02] [-8.91210755e-04 9.99999574e-01 -2.40521208e-04 -7.35255504e+00] [-3.86527537e-03 2.37074730e-04 9.99992502e-01 -1.88834334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16037174299998 meters 0.03315227440502879 Centerline is valid? [True, True] Translation: X:134.24, Y:-7.36, Z:-1.89 [[ 9.99996173e-01 4.57473380e-04 2.72868101e-03 1.34237775e+02] [-4.57005982e-04 9.99999881e-01 -1.71911742e-04 -7.35596454e+00] [-2.72875933e-03 1.70664060e-04 9.99996262e-01 -1.88979148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.190371743 meters 0.0329232599210103 Centerline is valid? [True, True] Translation: X:134.27, Y:-7.36, Z:-1.89 [[ 9.99996291e-01 1.53996415e-05 2.72349383e-03 1.34268718e+02] [-1.49321147e-05 9.99999985e-01 -1.71684617e-04 -7.35842241e+00] [-2.72349643e-03 1.71643312e-04 9.99996277e-01 -1.89001349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220371743 meters 0.03384886472699985 Centerline is valid? [True, True] Translation: X:134.30, Y:-7.36, Z:-1.89 [[ 9.99996901e-01 -1.29753782e-04 2.48614416e-03 1.34299742e+02] [ 1.30138246e-04 9.99999980e-01 -1.54481186e-04 -7.36301006e+00] [-2.48612406e-03 1.54804250e-04 9.99996898e-01 -1.89097816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.250371743 meters 0.03212281559902767 Centerline is valid? [True, True] Translation: X:134.33, Y:-7.36, Z:-1.89 [[ 9.99997662e-01 -1.07657510e-04 2.15971248e-03 1.34330678e+02] [ 1.07952820e-04 9.99999985e-01 -1.36619467e-04 -7.36313846e+00] [-2.15969774e-03 1.36852294e-04 9.99997658e-01 -1.89139210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280371743 meters 0.03570850703183518 Centerline is valid? [True, True] Translation: X:134.36, Y:-7.37, Z:-1.89 [[ 9.99997141e-01 1.55895524e-04 2.38625837e-03 1.34360782e+02] [-1.55534903e-04 9.99999976e-01 -1.51308873e-04 -7.37169706e+00] [-2.38628190e-03 1.50937294e-04 9.99997141e-01 -1.89281975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.310371743 meters 0.03184618001268667 Centerline is valid? [True, True] Translation: X:134.39, Y:-7.37, Z:-1.89 [[ 9.99996485e-01 1.46978513e-03 2.20671682e-03 1.34392063e+02] [-1.46948036e-03 9.99998911e-01 -1.39724001e-04 -7.36848085e+00] [-2.20691978e-03 1.36480783e-04 9.99997555e-01 -1.89202850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340371743 meters 0.03189451192444865 Centerline is valid? [True, True] Translation: X:134.42, Y:-7.37, Z:-1.89 [[ 9.99995031e-01 2.42430468e-03 2.01493204e-03 1.34422090e+02] [-2.42405200e-03 9.99997054e-01 -1.27834990e-04 -7.36999380e+00] [-2.01523601e-03 1.22950055e-04 9.99997962e-01 -1.89180733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.370371743 meters 0.03344212314054549 Centerline is valid? [True, True] Translation: X:134.45, Y:-7.37, Z:-1.89 [[ 9.99988974e-01 3.97164522e-03 2.50560400e-03 1.34451558e+02] [-3.97125801e-03 9.99992102e-01 -1.59492069e-04 -7.37375515e+00] [-2.50621765e-03 1.49539911e-04 9.99996848e-01 -1.89208684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400371743 meters 0.03091882950029551 Centerline is valid? [True, True] Translation: X:134.48, Y:-7.37, Z:-1.89 [[ 9.99977831e-01 5.81714080e-03 3.24009209e-03 1.34482165e+02] [-5.81650402e-03 9.99983063e-01 -2.05918407e-04 -7.37129001e+00] [-3.24123507e-03 1.87067834e-04 9.99994730e-01 -1.89135186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.430371743 meters 0.0316511545165214 Centerline is valid? [True, True] Translation: X:134.51, Y:-7.37, Z:-1.89 [[ 9.99943570e-01 9.55907001e-03 4.63468008e-03 1.34511571e+02] [-9.55780638e-03 9.99954280e-01 -2.94718580e-04 -7.37399815e+00] [-4.63728542e-03 2.50404575e-04 9.99989216e-01 -1.89079715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460371743 meters 0.03017164298185132 Centerline is valid? [True, True] Translation: X:134.54, Y:-7.37, Z:-1.89 [[ 9.99926300e-01 1.07685786e-02 5.60644531e-03 1.34541463e+02] [-1.07667485e-02 9.99941973e-01 -3.56506930e-04 -7.37376115e+00] [-5.60995906e-03 2.96117469e-04 9.99984220e-01 -1.89012998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.490371743 meters 0.029671758964442334 Centerline is valid? [True, True] Translation: X:134.57, Y:-7.37, Z:-1.89 [[ 9.99914348e-01 1.17344680e-02 5.79637558e-03 1.34570833e+02] [-1.17325284e-02 9.99931104e-01 -3.68509499e-04 -7.37409793e+00] [-5.80030050e-03 3.00471795e-04 9.99983133e-01 -1.89001552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52037174299997 meters 0.030711850762877576 Centerline is valid? [True, True] Translation: X:134.60, Y:-7.38, Z:-1.89 [[ 9.99897787e-01 1.28211695e-02 6.32724354e-03 1.34599985e+02] [-1.28188836e-02 9.99917754e-01 -4.01709688e-04 -7.37645175e+00] [-6.33187353e-03 3.20560430e-04 9.99979902e-01 -1.89009431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55037174299997 meters 0.0304517370631992 Centerline is valid? [True, True] Translation: X:134.63, Y:-7.38, Z:-1.89 [[ 9.99903486e-01 1.20614869e-02 6.89487436e-03 1.34628394e+02] [-1.20587546e-02 9.99927195e-01 -4.37705481e-04 -7.37871288e+00] [-6.89965176e-03 3.54519638e-04 9.99976134e-01 -1.89026599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58037174299997 meters 0.028738847615345495 Centerline is valid? [True, True] Translation: X:134.66, Y:-7.38, Z:-1.89 [[ 9.99913416e-01 1.12812373e-02 6.77459292e-03 1.34658395e+02] [-1.12785865e-02 9.99936303e-01 -4.29363103e-04 -7.37768669e+00] [-6.77900514e-03 3.52918094e-04 9.99976960e-01 -1.89040345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61037174299997 meters 0.028738847615345495 Centerline is valid? [True, True] Translation: X:134.69, Y:-7.38, Z:-1.89 [[ 9.99913825e-01 1.12448857e-02 6.77460851e-03 1.34687528e+02] [-1.12422357e-02 9.99936712e-01 -4.29116985e-04 -7.37950169e+00] [-6.77900513e-03 3.52918260e-04 9.99976960e-01 -1.89081360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64037174299997 meters 0.02990446181305303 Centerline is valid? [True, True] Translation: X:134.72, Y:-7.38, Z:-1.89 [[ 9.99938590e-01 9.11210898e-03 6.30757044e-03 1.34717141e+02] [-9.10977073e-03 9.99958425e-01 -3.99336623e-04 -7.38416167e+00] [-6.31094700e-03 3.41851579e-04 9.99980027e-01 -1.89226368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67037174299998 meters 0.03019267404200942 Centerline is valid? [True, True] Translation: X:134.75, Y:-7.39, Z:-1.89 [[ 9.99947793e-01 8.27885944e-03 5.98930044e-03 1.34747537e+02] [-8.27673920e-03 9.99965676e-01 -3.78704949e-04 -7.38746812e+00] [-5.99223010e-03 3.29113300e-04 9.99981992e-01 -1.89346151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70037174299998 meters 0.030427759951237816 Centerline is valid? [True, True] Translation: X:134.78, Y:-7.39, Z:-1.89 [[ 9.99959144e-01 7.18438194e-03 5.48590700e-03 1.34778298e+02] [-7.18258671e-03 9.99974145e-01 -3.46875257e-04 -7.38974345e+00] [-5.48825724e-03 3.07458083e-04 9.99984892e-01 -1.89433015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73037174299998 meters 0.03269259629405937 Centerline is valid? [True, True] Translation: X:134.81, Y:-7.39, Z:-1.90 [[ 9.99967279e-01 6.53299163e-03 4.77085928e-03 1.34807900e+02] [-6.53162650e-03 9.99978623e-01 -3.01662613e-04 -7.39494186e+00] [-4.77272806e-03 2.70491272e-04 9.99988574e-01 -1.89527196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76037174299998 meters 0.03387563120072325 Centerline is valid? [True, True] Translation: X:134.84, Y:-7.40, Z:-1.90 [[ 9.99976374e-01 5.41067974e-03 4.23974636e-03 1.34837799e+02] [-5.40959522e-03 9.99985332e-01 -2.67225342e-04 -7.39678885e+00] [-4.24113004e-03 2.44283717e-04 9.99990977e-01 -1.89594368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79037174299998 meters 0.03444805083442715 Centerline is valid? [True, True] Translation: X:134.87, Y:-7.40, Z:-1.90 [[ 9.99978168e-01 4.77999489e-03 4.56240609e-03 1.34868178e+02] [-4.77872645e-03 9.99988540e-01 -2.88881048e-04 -7.39909451e+00] [-4.56373466e-03 2.67072250e-04 9.99989550e-01 -1.89676999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82037174299998 meters 0.030796535748671257 Centerline is valid? [True, True] Translation: X:134.90, Y:-7.40, Z:-1.90 [[ 9.99980538e-01 4.54530186e-03 4.27367210e-03 1.34898675e+02] [-4.54418675e-03 9.99989639e-01 -2.70599076e-04 -7.39518035e+00] [-4.27485778e-03 2.51173446e-04 9.99990831e-01 -1.89651567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85037174299998 meters 0.05209127373656139 Centerline is valid? [True, True] Translation: X:134.93, Y:-7.43, Z:-1.90 [[ 9.99965244e-01 6.67615863e-03 4.99390405e-03 1.34927155e+02] [-6.67466701e-03 9.99977674e-01 -3.15295080e-04 -7.42601863e+00] [-4.99589752e-03 2.81951475e-04 9.99987481e-01 -1.90139066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88037174299998 meters 0.03273389958255991 Centerline is valid? [True, True] Translation: X:134.96, Y:-7.40, Z:-1.90 [[ 9.99978856e-01 3.97602994e-03 5.14571621e-03 1.34958674e+02] [-3.97440233e-03 9.99992049e-01 -3.26491649e-04 -7.40038683e+00] [-5.14697343e-03 3.06033600e-04 9.99986707e-01 -1.89691566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91037174299998 meters 0.03360259838936397 Centerline is valid? [True, True] Translation: X:134.99, Y:-7.40, Z:-1.90 [[ 9.99975935e-01 3.95504442e-03 5.69968810e-03 1.34988569e+02] [-3.95304958e-03 9.99992121e-01 -3.61214103e-04 -7.40336157e+00] [-5.70107181e-03 3.38674261e-04 9.99983691e-01 -1.89716721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940371743 meters 0.0364708554010012 Centerline is valid? [True, True] Translation: X:135.02, Y:-7.41, Z:-1.90 [[ 9.99974821e-01 4.35038976e-03 5.60638461e-03 1.35019324e+02] [-4.34847526e-03 9.99990483e-01 -3.53629264e-04 -7.40837502e+00] [-5.60786968e-03 3.29241135e-04 9.99984222e-01 -1.89804650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.970371743 meters 0.032923144753138456 Centerline is valid? [True, True] Translation: X:135.05, Y:-7.40, Z:-1.90 [[ 9.99976607e-01 3.82374562e-03 5.67144579e-03 1.35051127e+02] [-3.82176137e-03 9.99992632e-01 -3.60664533e-04 -7.40442112e+00] [-5.67278309e-03 3.38981183e-04 9.99983852e-01 -1.89806456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000371743 meters 0.0339888603943275 Centerline is valid? [True, True] Translation: X:135.08, Y:-7.41, Z:-1.90 [[ 9.99977799e-01 3.54920456e-03 5.63955452e-03 1.35082628e+02] [-3.54724644e-03 9.99993645e-01 -3.57177771e-04 -7.40765165e+00] [-5.64078637e-03 3.37164951e-04 9.99984034e-01 -1.89948927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.030371743 meters 0.03488130702673653 Centerline is valid? [True, True] Translation: X:135.11, Y:-7.41, Z:-1.90 [[ 9.99977627e-01 3.35758388e-03 5.78543108e-03 1.35113568e+02] [-3.35551157e-03 9.99994303e-01 -3.67864561e-04 -7.41053294e+00] [-5.78663325e-03 3.48443250e-04 9.99983197e-01 -1.90019169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060371743 meters 0.03615465926254489 Centerline is valid? [True, True] Translation: X:135.14, Y:-7.41, Z:-1.90 [[ 9.99980674e-01 2.79769497e-03 5.55206758e-03 1.35144888e+02] [-2.79576212e-03 9.99996029e-01 -3.55862281e-04 -7.41423566e+00] [-5.55304112e-03 3.40333143e-04 9.99984524e-01 -1.90101102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.090371743 meters 0.037590837972960534 Centerline is valid? [True, True] Translation: X:135.18, Y:-7.42, Z:-1.90 [[ 9.99982520e-01 2.48089953e-03 5.36709715e-03 1.35175958e+02] [-2.47909693e-03 9.99996868e-01 -3.42487858e-04 -7.41779173e+00] [-5.36793002e-03 3.29176317e-04 9.99985538e-01 -1.90152927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120371743 meters 0.03709406512930127 Centerline is valid? [True, True] Translation: X:135.21, Y:-7.42, Z:-1.90 [[ 9.99981112e-01 2.33868330e-03 5.68393376e-03 1.35207464e+02] [-2.33664646e-03 9.99997203e-01 -3.64964732e-04 -7.41855695e+00] [-5.68477140e-03 3.51676494e-04 9.99983780e-01 -1.90144842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.150371743 meters 0.03406514862961048 Centerline is valid? [True, True] Translation: X:135.24, Y:-7.42, Z:-1.90 [[ 9.99979687e-01 2.84419761e-03 5.70397720e-03 1.35239658e+02] [-2.84215511e-03 9.99995894e-01 -3.66158148e-04 -7.41606879e+00] [-5.70499520e-03 3.49939123e-04 9.99983665e-01 -1.90122369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180371743 meters 0.03759066202917369 Centerline is valid? [True, True] Translation: X:135.27, Y:-7.42, Z:-1.90 [[ 9.99981230e-01 3.29407479e-03 5.16612632e-03 1.35270163e+02] [-3.29239052e-03 9.99994524e-01 -3.34492027e-04 -7.42226343e+00] [-5.16719988e-03 3.17476843e-04 9.99986600e-01 -1.90242556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.210371743 meters 0.03240407908606085 Centerline is valid? [True, True] Translation: X:135.30, Y:-7.41, Z:-1.90 [[ 9.99975732e-01 5.68841720e-03 4.02206632e-03 1.35301615e+02] [-5.68741479e-03 9.99983793e-01 -2.60622590e-04 -7.41481533e+00] [-4.02348366e-03 2.37741106e-04 9.99991877e-01 -1.90265247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.240371743 meters 0.03149451508824153 Centerline is valid? [True, True] Translation: X:135.33, Y:-7.41, Z:-1.90 [[ 9.99969974e-01 7.04251813e-03 3.23320822e-03 1.35331970e+02] [-7.04187676e-03 9.99975184e-01 -2.09709684e-04 -7.41437681e+00] [-3.23460486e-03 1.86935533e-04 9.99994751e-01 -1.90386817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27037174299997 meters 0.03266039205357836 Centerline is valid? [True, True] Translation: X:135.36, Y:-7.42, Z:-1.91 [[ 9.99954911e-01 9.15719255e-03 2.51426136e-03 1.35361142e+02] [-9.15681033e-03 9.99958062e-01 -1.63491650e-04 -7.41677340e+00] [-2.51565304e-03 1.40461664e-04 9.99996826e-01 -1.90544379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30037174299997 meters 0.031567545271614 Centerline is valid? [True, True] Translation: X:135.39, Y:-7.42, Z:-1.91 [[ 9.99927322e-01 1.18555666e-02 2.18990672e-03 1.35390826e+02] [-1.18552831e-02 9.99929714e-01 -1.42379636e-04 -7.41540374e+00] [-2.19144079e-03 1.16407325e-04 9.99997592e-01 -1.90641871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33037174299997 meters 0.03105228345419855 Centerline is valid? [True, True] Translation: X:135.42, Y:-7.41, Z:-1.91 [[ 9.99906745e-01 1.34527459e-02 2.35068667e-03 1.35419781e+02] [-1.34524230e-02 9.99909500e-01 -1.53124724e-04 -7.41497748e+00] [-2.35253388e-03 1.21488013e-04 9.99997225e-01 -1.90652472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36037174299997 meters 0.03030420208115633 Centerline is valid? [True, True] Translation: X:135.45, Y:-7.41, Z:-1.91 [[ 9.99878078e-01 1.53582046e-02 2.82050044e-03 1.35448401e+02] [-1.53577484e-02 9.99882046e-01 -1.83332413e-04 -7.41409008e+00] [-2.82298340e-03 1.39993525e-04 9.99996006e-01 -1.90614920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39037174299997 meters 0.0281336318195947 Centerline is valid? [True, True] Translation: X:135.48, Y:-7.41, Z:-1.91 [[ 9.99822724e-01 1.83747392e-02 4.10958173e-03 1.35478943e+02] [-1.83738013e-02 9.99831152e-01 -2.65856787e-04 -7.41017317e+00] [-4.11377289e-03 1.90301019e-04 9.99991520e-01 -1.90500104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42037174299998 meters 0.028322270414419905 Centerline is valid? [True, True] Translation: X:135.51, Y:-7.41, Z:-1.91 [[ 9.99802805e-01 1.92603024e-02 4.83649260e-03 1.35506739e+02] [-1.92590111e-02 9.99814479e-01 -3.13422127e-04 -7.41152727e+00] [-4.84163194e-03 2.20214257e-04 9.99988255e-01 -1.90510559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45037174299998 meters 0.030566714727895836 Centerline is valid? [True, True] Translation: X:135.53, Y:-7.42, Z:-1.91 [[ 9.99792763e-01 1.97513697e-02 4.93106144e-03 1.35534550e+02] [-1.97500359e-02 9.99804898e-01 -3.19050865e-04 -7.41684419e+00] [-4.93640107e-03 2.21596105e-04 9.99987791e-01 -1.90625541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48037174299998 meters 0.03135170715953492 Centerline is valid? [True, True] Translation: X:135.56, Y:-7.42, Z:-1.91 [[ 9.99795858e-01 1.96817368e-02 4.56847403e-03 1.35561872e+02] [-1.96805928e-02 9.99806275e-01 -2.95237497e-04 -7.41925425e+00] [-4.57339979e-03 2.05266950e-04 9.99989521e-01 -1.90750675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51037174299998 meters 0.02738881713422405 Centerline is valid? [True, True] Translation: X:135.59, Y:-7.42, Z:-1.91 [[ 9.99801474e-01 1.94255858e-02 4.43391330e-03 1.35591237e+02] [-1.94245077e-02 9.99811286e-01 -2.86086312e-04 -7.41505400e+00] [-4.43863395e-03 1.99902933e-04 9.99990129e-01 -1.90711645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54037174299998 meters 0.02930647704819231 Centerline is valid? [True, True] Translation: X:135.62, Y:-7.42, Z:-1.91 [[ 9.99812736e-01 1.88220860e-02 4.49686790e-03 1.35618659e+02] [-1.88209717e-02 9.99822828e-01 -2.89974814e-04 -7.42001732e+00] [-4.50152911e-03 2.05285089e-04 9.99989847e-01 -1.90804371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57037174299998 meters 0.029414383513359704 Centerline is valid? [True, True] Translation: X:135.65, Y:-7.42, Z:-1.91 [[ 9.99838874e-01 1.76291779e-02 3.38211857e-03 1.35647728e+02] [-1.76285414e-02 9.99844581e-01 -2.17898629e-04 -7.42238277e+00] [-3.38543430e-03 1.58241702e-04 9.99994257e-01 -1.90867536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60037174299998 meters 0.03154879414233829 Centerline is valid? [True, True] Translation: X:135.67, Y:-7.43, Z:-1.91 [[ 9.99855802e-01 1.66629124e-02 3.27452754e-03 1.35674798e+02] [-1.66623107e-02 9.99861152e-01 -2.10952523e-04 -7.42833530e+00] [-3.27758796e-03 1.56360908e-04 9.99994616e-01 -1.90977233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63037174299998 meters 0.029748797559308846 Centerline is valid? [True, True] Translation: X:135.70, Y:-7.43, Z:-1.91 [[ 9.99862378e-01 1.63177001e-02 2.99295003e-03 1.35703795e+02] [-1.63171969e-02 9.99866847e-01 -1.92468416e-04 -7.42740355e+00] [-2.99569215e-03 1.43605373e-04 9.99995503e-01 -1.90933623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66037174299998 meters 0.03082485095014298 Centerline is valid? [True, True] Translation: X:135.73, Y:-7.43, Z:-1.91 [[ 9.99904822e-01 1.34439815e-02 3.09931826e-03 1.35731441e+02] [-1.34434290e-02 9.99909613e-01 -1.99045788e-04 -7.43275543e+00] [-3.10171409e-03 1.57361378e-04 9.99995177e-01 -1.90946935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.690371743 meters 0.029844824172840147 Centerline is valid? [True, True] Translation: X:135.76, Y:-7.43, Z:-1.91 [[ 9.99919505e-01 1.22634497e-02 3.25455677e-03 1.35760038e+02] [-1.22628350e-02 9.99924787e-01 -2.08750468e-04 -7.43290050e+00] [-3.25687199e-03 1.68823572e-04 9.99994682e-01 -1.90938598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720371743 meters 0.03038932363716699 Centerline is valid? [True, True] Translation: X:135.79, Y:-7.44, Z:-1.91 [[ 9.99931158e-01 1.12148611e-02 3.45066495e-03 1.35788170e+02] [-1.12141643e-02 9.99937095e-01 -2.21201583e-04 -7.43667469e+00] [-3.45292863e-03 1.82490032e-04 9.99994022e-01 -1.90995012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.750371743 meters 0.030552938230813086 Centerline is valid? [True, True] Translation: X:135.82, Y:-7.44, Z:-1.91 [[ 9.99940729e-01 1.02955418e-02 3.54118029e-03 1.35816362e+02] [-1.02948030e-02 9.99946981e-01 -2.26787341e-04 -7.43917351e+00] [-3.54332744e-03 1.90318145e-04 9.99993704e-01 -1.91072177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780371743 meters 0.030792835020581853 Centerline is valid? [True, True] Translation: X:135.85, Y:-7.44, Z:-1.91 [[ 9.99959538e-01 8.29790512e-03 3.47381665e-03 1.35845557e+02] [-8.29718574e-03 9.99965553e-01 -2.21446692e-04 -7.44338892e+00] [-3.47553454e-03 1.92614830e-04 9.99993942e-01 -1.91193037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.810371743 meters 0.03007922529917545 Centerline is valid? [True, True] Translation: X:135.88, Y:-7.45, Z:-1.91 [[ 9.99970033e-01 6.98673519e-03 3.33443152e-03 1.35875429e+02] [-6.98606543e-03 9.99975575e-01 -2.12466304e-04 -7.44517084e+00] [-3.33583452e-03 1.89165380e-04 9.99994418e-01 -1.91169788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840371743 meters 0.03298810729539701 Centerline is valid? [True, True] Translation: X:135.90, Y:-7.45, Z:-1.91 [[ 9.99979344e-01 5.43692576e-03 3.42801266e-03 1.35904279e+02] [-5.43620996e-03 9.99985200e-01 -2.18093039e-04 -7.45193528e+00] [-3.42914768e-03 1.99453138e-04 9.99994101e-01 -1.91247349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.870371743 meters 0.03160442157582984 Centerline is valid? [True, True] Translation: X:135.94, Y:-7.45, Z:-1.91 [[ 9.99983586e-01 4.10801315e-03 3.99401999e-03 1.35935152e+02] [-4.10703208e-03 9.99991534e-01 -2.53805689e-04 -7.45226689e+00] [-3.99502881e-03 2.37397955e-04 9.99991992e-01 -1.91186187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900371743 meters 0.03300369293400224 Centerline is valid? [True, True] Translation: X:135.97, Y:-7.46, Z:-1.91 [[ 9.99984980e-01 1.65364099e-03 5.22535121e-03 1.35965239e+02] [-1.65192920e-03 9.99998580e-01 -3.31893527e-04 -7.45781879e+00] [-5.22589263e-03 3.23256632e-04 9.99986293e-01 -1.91146659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.930371743 meters 0.033997533383560014 Centerline is valid? [True, True] Translation: X:136.00, Y:-7.46, Z:-1.91 [[ 9.99982649e-01 4.77469088e-04 5.87144441e-03 1.35996696e+02] [-4.75292142e-04 9.99999818e-01 -3.72158256e-04 -7.46181155e+00] [-5.87162103e-03 3.69361147e-04 9.99982694e-01 -1.91163437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960371743 meters 0.03396424330791029 Centerline is valid? [True, True] Translation: X:136.03, Y:-7.46, Z:-1.91 [[ 9.99977072e-01 -1.31927872e-03 6.64191422e-03 1.36028268e+02] [ 1.32210610e-03 9.99999037e-01 -4.21314794e-04 -7.46479361e+00] [-6.64135199e-03 4.30086450e-04 9.99977853e-01 -1.91183114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.990371743 meters 0.037510512998220294 Centerline is valid? [True, True] Translation: X:136.06, Y:-7.47, Z:-1.91 [[ 9.99971845e-01 -1.66982475e-03 7.31578157e-03 1.36059379e+02] [ 1.67328418e-03 9.99998491e-01 -4.66777837e-04 -7.47248737e+00] [-7.31499109e-03 4.79006077e-04 9.99973130e-01 -1.91258043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02037174299997 meters 0.0366219955504522 Centerline is valid? [True, True] Translation: X:136.09, Y:-7.47, Z:-1.91 [[ 9.99969189e-01 -2.25956100e-03 7.51761341e-03 1.36091562e+02] [ 2.26324193e-03 9.99997323e-01 -4.81170375e-04 -7.47323710e+00] [-7.51650605e-03 4.98169728e-04 9.99971627e-01 -1.91235616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05037174299997 meters 0.03710042245054813 Centerline is valid? [True, True] Translation: X:136.12, Y:-7.48, Z:-1.91 [[ 9.99971558e-01 -2.58092664e-03 7.08674739e-03 1.36123289e+02] [ 2.58420892e-03 9.99996558e-01 -4.54039662e-04 -7.47602273e+00] [-7.08555116e-03 4.72340384e-04 9.99974786e-01 -1.91291982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08037174299997 meters 0.03751696783653483 Centerline is valid? [True, True] Translation: X:136.15, Y:-7.48, Z:-1.91 [[ 9.99975684e-01 -2.68369698e-03 6.43659354e-03 1.36154326e+02] [ 2.68640997e-03 9.99996306e-01 -4.12886105e-04 -7.47882533e+00] [-6.43546170e-03 4.30167394e-04 9.99979200e-01 -1.91378829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11037174299997 meters 0.040509338083793874 Centerline is valid? [True, True] Translation: X:136.18, Y:-7.49, Z:-1.92 [[ 9.99975220e-01 -2.84204406e-03 6.44071703e-03 1.36184727e+02] [ 2.84476605e-03 9.99995868e-01 -4.13500255e-04 -7.48563515e+00] [-6.43951523e-03 4.31812342e-04 9.99979173e-01 -1.91517892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14037174299997 meters 0.038356647945137365 Centerline is valid? [True, True] Translation: X:136.22, Y:-7.49, Z:-1.92 [[ 9.99980264e-01 -3.02248774e-03 5.50776719e-03 1.36216818e+02] [ 3.02448117e-03 9.99995364e-01 -3.53636945e-04 -7.48553530e+00] [-5.50667279e-03 3.70288104e-04 9.99984770e-01 -1.91619336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17037174299998 meters 0.03897780955080009 Centerline is valid? [True, True] Translation: X:136.25, Y:-7.49, Z:-1.92 [[ 9.99982448e-01 -3.04392745e-03 5.08317528e-03 1.36248348e+02] [ 3.04562524e-03 9.99995309e-01 -3.26294743e-04 -7.48916199e+00] [-5.08215821e-03 3.41770463e-04 9.99987027e-01 -1.91686153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20037174299998 meters 0.03887214418235391 Centerline is valid? [True, True] Translation: X:136.28, Y:-7.49, Z:-1.92 [[ 9.99980799e-01 -3.11365867e-03 5.35793883e-03 1.36280751e+02] [ 3.11555148e-03 9.99995087e-01 -3.44960736e-04 -7.49175218e+00] [-5.35683841e-03 3.61647047e-04 9.99985587e-01 -1.91764820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23037174299998 meters 0.03684251058147892 Centerline is valid? [True, True] Translation: X:136.31, Y:-7.49, Z:-1.92 [[ 9.99982068e-01 -2.82996512e-03 5.27775121e-03 1.36313368e+02] [ 2.83179956e-03 9.99995933e-01 -3.40139629e-04 -7.49107506e+00] [-5.27676716e-03 3.55079063e-04 9.99986015e-01 -1.91764355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26037174299998 meters 0.03578596324550909 Centerline is valid? [True, True] Translation: X:136.35, Y:-7.49, Z:-1.92 [[ 9.99983729e-01 -2.20348449e-03 5.26186365e-03 1.36345364e+02] [ 2.20530118e-03 9.99997511e-01 -3.39478146e-04 -7.49142894e+00] [-5.26110252e-03 3.51076616e-04 9.99986099e-01 -1.91779834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29037174299998 meters 0.03390439609227878 Centerline is valid? [True, True] Translation: X:136.38, Y:-7.49, Z:-1.92 [[ 9.99984965e-01 -1.59207635e-03 5.24747251e-03 1.36377530e+02] [ 1.59387661e-03 9.99998672e-01 -3.38909275e-04 -7.49040156e+00] [-5.24692597e-03 3.47268003e-04 9.99986174e-01 -1.91745177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32037174299998 meters 0.03594657456629647 Centerline is valid? [True, True] Translation: X:136.41, Y:-7.50, Z:-1.92 [[ 9.99977553e-01 -1.29755610e-03 6.57341720e-03 1.36408885e+02] [ 1.30038065e-03 9.99999064e-01 -4.25437208e-04 -7.49557926e+00] [-6.57285901e-03 4.33975603e-04 9.99978304e-01 -1.91736256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35037174299998 meters 0.03409938329172455 Centerline is valid? [True, True] Translation: X:136.44, Y:-7.49, Z:-1.92 [[ 9.99975791e-01 -1.34300882e-03 6.82745804e-03 1.36441092e+02] [ 1.34605885e-03 9.99998996e-01 -4.42154793e-04 -7.49488516e+00] [-6.82685737e-03 4.51334249e-04 9.99976595e-01 -1.91715903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38037174299998 meters 0.036224751186126995 Centerline is valid? [True, True] Translation: X:136.47, Y:-7.50, Z:-1.92 [[ 9.99974003e-01 -1.64329837e-03 7.02082667e-03 1.36471728e+02] [ 1.64653572e-03 9.99998541e-01 -4.55352681e-04 -7.49991744e+00] [-7.02006815e-03 4.66900885e-04 9.99975250e-01 -1.91750988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41037174299998 meters 0.03624310864774597 Centerline is valid? [True, True] Translation: X:136.50, Y:-7.50, Z:-1.92 [[ 9.99965551e-01 -2.89200768e-03 7.78034529e-03 1.36503730e+02] [ 2.89602410e-03 9.99995679e-01 -5.05009906e-04 -7.50195740e+00] [-7.77885117e-03 5.27524577e-04 9.99969605e-01 -1.91760670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440371743 meters 0.03584613723804769 Centerline is valid? [True, True] Translation: X:136.54, Y:-7.50, Z:-1.92 [[ 9.99961471e-01 -3.65522900e-03 7.98098950e-03 1.36535630e+02] [ 3.65948420e-03 9.99993170e-01 -5.18629059e-04 -7.50391203e+00] [-7.97903928e-03 5.47815382e-04 9.99968017e-01 -1.91800245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.470371743 meters 0.03656965385702918 Centerline is valid? [True, True] Translation: X:136.57, Y:-7.51, Z:-1.92 [[ 9.99958454e-01 -4.33370134e-03 8.01933680e-03 1.36567931e+02] [ 4.33802396e-03 9.99990455e-01 -5.21709267e-04 -7.50720531e+00] [-8.01699932e-03 5.56475667e-04 9.99967709e-01 -1.91879772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500371743 meters 0.03656965385702918 Centerline is valid? [True, True] Translation: X:136.60, Y:-7.51, Z:-1.92 [[ 9.99958917e-01 -4.22545575e-03 8.01931342e-03 1.36600475e+02] [ 4.22977777e-03 9.99990918e-01 -5.22068427e-04 -7.50941849e+00] [-8.01703461e-03 5.55966892e-04 9.99967709e-01 -1.91925553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.530371743 meters 0.03897160333514549 Centerline is valid? [True, True] Translation: X:136.63, Y:-7.52, Z:-1.92 [[ 9.99945836e-01 -6.77899434e-03 7.89745813e-03 1.36629825e+02] [ 6.78327360e-03 9.99976861e-01 -5.15193573e-04 -7.51503965e+00] [-7.89378290e-03 5.68736288e-04 9.99968682e-01 -1.92022877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560371743 meters 0.03876262193379016 Centerline is valid? [True, True] Translation: X:136.66, Y:-7.52, Z:-1.92 [[ 9.99935358e-01 -7.98608261e-03 8.09335335e-03 1.36661490e+02] [ 7.99062196e-03 9.99967935e-01 -5.28692760e-04 -7.51689009e+00] [-8.08887165e-03 5.93329512e-04 9.99967109e-01 -1.92137639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.590371743 meters 0.038488323632697226 Centerline is valid? [True, True] Translation: X:136.69, Y:-7.52, Z:-1.92 [[ 9.99931056e-01 -9.26299302e-03 7.21666981e-03 1.36693704e+02] [ 9.26663658e-03 9.99956953e-01 -4.71606103e-04 -7.51870796e+00] [-7.21199066e-03 5.38447845e-04 9.99973848e-01 -1.92230772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620371743 meters 0.04045055155979888 Centerline is valid? [True, True] Translation: X:136.72, Y:-7.52, Z:-1.92 [[ 9.99906657e-01 -1.17526674e-02 6.96795078e-03 1.36723952e+02] [ 1.17561302e-02 9.99930790e-01 -4.56202734e-04 -7.52353240e+00] [-6.96210693e-03 5.38076287e-04 9.99975619e-01 -1.92450278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.650371743 meters 0.04039049060209099 Centerline is valid? [True, True] Translation: X:136.76, Y:-7.53, Z:-1.93 [[ 9.99893244e-01 -1.28151107e-02 7.01949945e-03 1.36755395e+02] [ 1.28186501e-02 9.99917732e-01 -4.59452252e-04 -7.52619703e+00] [-7.01303404e-03 5.49383709e-04 9.99975257e-01 -1.92570453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680371743 meters 0.04156092510475618 Centerline is valid? [True, True] Translation: X:136.79, Y:-7.53, Z:-1.93 [[ 9.99875856e-01 -1.42798337e-02 6.66029478e-03 1.36785991e+02] [ 1.42830563e-02 9.99897897e-01 -4.36527381e-04 -7.52977639e+00] [-6.65338121e-03 5.31602554e-04 9.99977725e-01 -1.92673153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.710371743 meters 0.042304901110215995 Centerline is valid? [True, True] Translation: X:136.82, Y:-7.53, Z:-1.93 [[ 9.99872536e-01 -1.45815572e-02 6.50303973e-03 1.36818110e+02] [ 1.45846338e-02 9.99893548e-01 -4.25930393e-04 -7.53248352e+00] [-6.49613674e-03 5.20720555e-04 9.99978764e-01 -1.92721046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.740371743 meters 0.0462472661984346 Centerline is valid? [True, True] Translation: X:136.85, Y:-7.54, Z:-1.93 [[ 9.99883837e-01 -1.39869015e-02 6.05638380e-03 1.36849479e+02] [ 1.39895613e-02 9.99902062e-01 -3.97042384e-04 -7.53924938e+00] [-6.05023726e-03 4.81722415e-04 9.99981581e-01 -1.92823676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77037174299997 meters 0.04140632033625585 Centerline is valid? [True, True] Translation: X:136.88, Y:-7.53, Z:-1.93 [[ 9.99897320e-01 -1.31305447e-02 5.73921607e-03 1.36882151e+02] [ 1.31329212e-02 9.99913689e-01 -3.76595485e-04 -7.53394898e+00] [-5.73377581e-03 4.51929488e-04 9.99983460e-01 -1.92811160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80037174299997 meters 0.04126567064456557 Centerline is valid? [True, True] Translation: X:136.91, Y:-7.53, Z:-1.93 [[ 9.99931461e-01 -1.01065103e-02 5.91034969e-03 1.36912510e+02] [ 1.01089842e-02 9.99948827e-01 -3.88860537e-04 -7.53365974e+00] [-5.90611722e-03 4.48581517e-04 9.99982458e-01 -1.92878302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83037174299997 meters 0.03848001824819896 Centerline is valid? [True, True] Translation: X:136.94, Y:-7.53, Z:-1.93 [[ 9.99948506e-01 -8.26293249e-03 5.89151756e-03 1.36944367e+02] [ 8.26535630e-03 9.99965766e-01 -3.87176836e-04 -7.53052271e+00] [-5.88811666e-03 4.35852391e-04 9.99982570e-01 -1.92917736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86037174299997 meters 0.038541753197305455 Centerline is valid? [True, True] Translation: X:136.98, Y:-7.53, Z:-1.93 [[ 9.99961329e-01 -6.40489879e-03 6.02650564e-03 1.36976213e+02] [ 6.40740346e-03 9.99979394e-01 -3.96393120e-04 -7.53103149e+00] [-6.02384260e-03 4.34992044e-04 9.99981762e-01 -1.92957251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89037174299997 meters 0.040033284326812496 Centerline is valid? [True, True] Translation: X:137.01, Y:-7.53, Z:-1.93 [[ 9.99977609e-01 -3.17027517e-03 5.89336289e-03 1.37005957e+02] [ 3.17261881e-03 9.99994892e-01 -3.88369541e-04 -7.53197602e+00] [-5.89210155e-03 4.07058239e-04 9.99982559e-01 -1.92992422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92037174299998 meters 0.03377598178230595 Centerline is valid? [True, True] Translation: X:137.04, Y:-7.52, Z:-1.93 [[ 9.99979255e-01 -1.89051608e-03 6.15754335e-03 1.37038429e+02] [ 1.89304683e-03 9.99998126e-01 -4.05197347e-04 -7.52409788e+00] [-6.15676578e-03 4.16845459e-04 9.99980960e-01 -1.92900076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95037174299998 meters 0.038253957347464146 Centerline is valid? [True, True] Translation: X:137.07, Y:-7.53, Z:-1.93 [[ 9.99976087e-01 -6.92359911e-04 6.88085598e-03 1.37069545e+02] [ 6.95496252e-04 9.99999655e-01 -4.53424349e-04 -7.53216496e+00] [-6.88053968e-03 4.58199116e-04 9.99976224e-01 -1.93022921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98037174299998 meters 0.033586290723409996 Centerline is valid? [True, True] Translation: X:137.10, Y:-7.53, Z:-1.93 [[ 9.99976942e-01 6.00914611e-04 6.76419136e-03 1.37102642e+02] [-5.97910827e-04 9.99999722e-01 -4.46084901e-04 -7.52625901e+00] [-6.76445754e-03 4.42030232e-04 9.99977023e-01 -1.92979040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01037174299998 meters 0.03440218990228304 Centerline is valid? [True, True] Translation: X:137.13, Y:-7.53, Z:-1.93 [[ 9.99975340e-01 1.23903078e-03 6.91259127e-03 1.37134106e+02] [-1.23590243e-03 9.99999132e-01 -4.56812121e-04 -7.52913228e+00] [-6.91315127e-03 4.48257568e-04 9.99976003e-01 -1.93066275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04037174299998 meters 0.03509506568761505 Centerline is valid? [True, True] Translation: X:137.17, Y:-7.53, Z:-1.93 [[ 9.99978911e-01 1.60207195e-03 6.29373465e-03 1.37166174e+02] [-1.59949445e-03 9.99998635e-01 -4.14546356e-04 -7.53140615e+00] [-6.29439019e-03 4.04470820e-04 9.99980108e-01 -1.93150628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07037174299998 meters 0.03534518628276286 Centerline is valid? [True, True] Translation: X:137.20, Y:-7.53, Z:-1.93 [[ 9.99978754e-01 2.16446230e-03 6.14866824e-03 1.37198032e+02] [-2.16199364e-03 9.99997580e-01 -4.08112954e-04 -7.53357368e+00] [-6.14953671e-03 3.94810902e-04 9.99981013e-01 -1.93202205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10037174299998 meters 0.034840267242228225 Centerline is valid? [True, True] Translation: X:137.23, Y:-7.53, Z:-1.93 [[ 9.99982550e-01 2.99673369e-03 5.09112578e-03 1.37229898e+02] [-2.99505016e-03 9.99995458e-01 -3.38270577e-04 -7.53454473e+00] [-5.09211636e-03 3.23016497e-04 9.99986983e-01 -1.93339283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13037174299998 meters 0.033670042928070666 Centerline is valid? [True, True] Translation: X:137.26, Y:-7.53, Z:-1.93 [[ 9.99983185e-01 3.58121592e-03 4.56122310e-03 1.37261762e+02] [-3.57987069e-03 9.99993546e-01 -3.03058123e-04 -7.53479205e+00] [-4.56227898e-03 2.86724438e-04 9.99989552e-01 -1.93408356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16037174299998 meters 0.03411066610423099 Centerline is valid? [True, True] Translation: X:137.29, Y:-7.54, Z:-1.94 [[ 9.99984459e-01 4.12738487e-03 3.74779488e-03 1.37293424e+02] [-4.12647879e-03 9.99991455e-01 -2.49463338e-04 -7.53753059e+00] [-3.74879248e-03 2.33994265e-04 9.99992946e-01 -1.93503404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.190371743 meters 0.03337767880482498 Centerline is valid? [True, True] Translation: X:137.32, Y:-7.54, Z:-1.94 [[ 9.99975093e-01 6.25289745e-03 3.27340996e-03 1.37324114e+02] [-6.25221615e-03 9.99980431e-01 -2.18323477e-04 -7.53802092e+00] [-3.27471106e-03 1.97851973e-04 9.99994619e-01 -1.93559825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220371743 meters 0.03456041253522843 Centerline is valid? [True, True] Translation: X:137.35, Y:-7.54, Z:-1.94 [[ 9.99966284e-01 7.57667741e-03 3.16609832e-03 1.37353469e+02] [-7.57604604e-03 9.99971279e-01 -2.11360663e-04 -7.54117321e+00] [-3.16760880e-03 1.87367030e-04 9.99994966e-01 -1.93572838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.250371743 meters 0.03396426081573919 Centerline is valid? [True, True] Translation: X:137.38, Y:-7.54, Z:-1.94 [[ 9.99952372e-01 9.12039261e-03 3.47446300e-03 1.37382947e+02] [-9.11964124e-03 9.99958388e-01 -2.32037465e-04 -7.54147148e+00] [-3.47643469e-03 2.00340558e-04 9.99993937e-01 -1.93544054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280371743 meters 0.03382391586492519 Centerline is valid? [True, True] Translation: X:137.41, Y:-7.54, Z:-1.93 [[ 9.99899670e-01 1.33719739e-02 4.67331282e-03 1.37413463e+02] [-1.33706637e-02 9.99910560e-01 -3.11478066e-04 -7.54184301e+00] [-4.67705991e-03 2.48961522e-04 9.99989032e-01 -1.93476934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.310371743 meters 0.03023484505168469 Centerline is valid? [True, True] Translation: X:137.44, Y:-7.54, Z:-1.93 [[ 9.99881025e-01 1.42081113e-02 6.00542899e-03 1.37442272e+02] [-1.42059598e-02 9.99899010e-01 -4.00769354e-04 -7.53944519e+00] [-6.01051667e-03 3.15408789e-04 9.99981887e-01 -1.93400030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340371743 meters 0.029289361973849307 Centerline is valid? [True, True] Translation: X:137.47, Y:-7.54, Z:-1.93 [[ 9.99854773e-01 1.56466387e-02 6.75399031e-03 1.37471324e+02] [-1.56439542e-02 9.99877525e-01 -4.50122921e-04 -7.53993678e+00] [-6.76020602e-03 3.44398436e-04 9.99977090e-01 -1.93370083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.370371743 meters 0.03103530450971333 Centerline is valid? [True, True] Translation: X:137.50, Y:-7.54, Z:-1.93 [[ 9.99809203e-01 1.78594289e-02 7.91194175e-03 1.37499404e+02] [-1.78558208e-02 9.99840434e-01 -5.26446831e-04 -7.54484568e+00] [-7.92008131e-03 3.85072173e-04 9.99968562e-01 -1.93355467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400371743 meters 0.03226113918996492 Centerline is valid? [True, True] Translation: X:137.53, Y:-7.55, Z:-1.93 [[ 9.99794531e-01 1.86437860e-02 7.95639296e-03 1.37526994e+02] [-1.86401639e-02 9.99826117e-01 -5.29170577e-04 -7.54819697e+00] [-7.96487522e-03 3.80753381e-04 9.99968207e-01 -1.93380205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.430371743 meters 0.02704369729958935 Centerline is valid? [True, True] Translation: X:137.56, Y:-7.54, Z:-1.93 [[ 9.99793349e-01 1.87833271e-02 7.77466229e-03 1.37556667e+02] [-1.87798783e-02 9.99823509e-01 -5.16375199e-04 -7.54247638e+00] [-7.78298938e-03 3.70261278e-04 9.99969644e-01 -1.93339726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460371743 meters 0.03258740669255449 Centerline is valid? [True, True] Translation: X:137.58, Y:-7.55, Z:-1.94 [[ 9.99798648e-01 1.85021265e-02 7.76753536e-03 1.37583589e+02] [-1.84986791e-02 9.99828752e-01 -5.15442791e-04 -7.55400523e+00] [-7.77574197e-03 3.71649862e-04 9.99969699e-01 -1.93540642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.490371743 meters 0.03295940646643301 Centerline is valid? [True, True] Translation: X:137.61, Y:-7.56, Z:-1.94 [[ 9.99820182e-01 1.77070548e-02 6.78706474e-03 1.37611581e+02] [-1.77044074e-02 9.99843163e-01 -4.49955883e-04 -7.55893082e+00] [-6.79396768e-03 3.29714013e-04 9.99976866e-01 -1.93689330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52037174299997 meters 0.028732554512429388 Centerline is valid? [True, True] Translation: X:137.64, Y:-7.56, Z:-1.94 [[ 9.99835944e-01 1.69748815e-02 6.31964045e-03 1.37640967e+02] [-1.69725760e-02 9.99855868e-01 -4.18274610e-04 -7.55570268e+00] [-6.32582975e-03 3.10945412e-04 9.99979943e-01 -1.93701410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55037174299997 meters 0.028881212793002316 Centerline is valid? [True, True] Translation: X:137.67, Y:-7.56, Z:-1.94 [[ 9.99847561e-01 1.63123304e-02 6.22588834e-03 1.37669506e+02] [-1.63100827e-02 9.99866897e-01 -4.11637150e-04 -7.56001935e+00] [-6.23177442e-03 3.10029647e-04 9.99980534e-01 -1.93783035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58037174299997 meters 0.02955434927064626 Centerline is valid? [True, True] Translation: X:137.70, Y:-7.57, Z:-1.94 [[ 9.99879886e-01 1.44462189e-02 5.61434869e-03 1.37698598e+02] [-1.44443651e-02 9.99895606e-01 -3.70604550e-04 -7.56585794e+00] [-5.61911642e-03 2.89464333e-04 9.99984171e-01 -1.93885571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61037174299997 meters 0.029708940047741474 Centerline is valid? [True, True] Translation: X:137.73, Y:-7.57, Z:-1.94 [[ 9.99897777e-01 1.34129161e-02 4.95273913e-03 1.37727560e+02] [-1.34114598e-02 9.99910009e-01 -3.27137671e-04 -7.56939522e+00] [-4.95668130e-03 2.60680769e-04 9.99987682e-01 -1.93950602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64037174299997 meters 0.030574807960847834 Centerline is valid? [True, True] Translation: X:137.76, Y:-7.57, Z:-1.94 [[ 9.99913129e-01 1.24856369e-02 4.22423317e-03 1.37756353e+02] [-1.24845700e-02 9.99922026e-01 -2.78858954e-04 -7.57387678e+00] [-4.22738552e-03 2.26096994e-04 9.99991039e-01 -1.94038674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67037174299998 meters 0.031920080873394256 Centerline is valid? [True, True] Translation: X:137.79, Y:-7.58, Z:-1.94 [[ 9.99938697e-01 1.05429120e-02 3.38363063e-03 1.37785516e+02] [-1.05422184e-02 9.99944404e-01 -2.22760858e-04 -7.58125275e+00] [-3.38579106e-03 1.87076229e-04 9.99994251e-01 -1.94207573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70037174299998 meters 0.030528121571593247 Centerline is valid? [True, True] Translation: X:137.81, Y:-7.58, Z:-1.94 [[ 9.99948398e-01 9.59825995e-03 3.32796317e-03 1.37813987e+02] [-9.59758198e-03 9.99953918e-01 -2.19630121e-04 -7.58266844e+00] [-3.32991788e-03 1.87678388e-04 9.99994438e-01 -1.94189415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73037174299998 meters 0.03376541337001966 Centerline is valid? [True, True] Translation: X:137.84, Y:-7.59, Z:-1.94 [[ 9.99956961e-01 8.64412863e-03 3.36977702e-03 1.37842268e+02] [-8.64342966e-03 9.99962620e-01 -2.21930724e-04 -7.59090393e+00] [-3.37156945e-03 1.92794742e-04 9.99994298e-01 -1.94308960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76037174299998 meters 0.03221672424470468 Centerline is valid? [True, True] Translation: X:137.87, Y:-7.59, Z:-1.94 [[ 9.99964002e-01 7.21441076e-03 4.46630302e-03 1.37872166e+02] [-7.21317164e-03 9.99973942e-01 -2.93484818e-04 -7.59376585e+00] [-4.46830396e-03 2.61258043e-04 9.99989983e-01 -1.94238654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79037174299998 meters 0.03095980964719161 Centerline is valid? [True, True] Translation: X:137.90, Y:-7.59, Z:-1.94 [[ 9.99967149e-01 6.50814798e-03 4.83158058e-03 1.37902493e+02] [-6.50669227e-03 9.99978781e-01 -3.16948743e-04 -7.59483393e+00] [-4.83354080e-03 2.85500723e-04 9.99988278e-01 -1.94221145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82037174299998 meters 0.032949739258810576 Centerline is valid? [True, True] Translation: X:137.93, Y:-7.60, Z:-1.94 [[ 9.99970272e-01 5.69696700e-03 5.19612810e-03 1.37931671e+02] [-5.69527159e-03 9.99983724e-01 -3.41022718e-04 -7.60119050e+00] [-5.19798632e-03 3.11419219e-04 9.99986442e-01 -1.94270749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85037174299998 meters 0.0329269153382679 Centerline is valid? [True, True] Translation: X:137.96, Y:-7.61, Z:-1.94 [[ 9.99978993e-01 4.20976532e-03 4.92864514e-03 1.37961720e+02] [-4.20822316e-03 9.99991093e-01 -3.23226749e-04 -7.60606350e+00] [-4.92996195e-03 3.02479120e-04 9.99987802e-01 -1.94360859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88037174299998 meters 0.03413959465506048 Centerline is valid? [True, True] Translation: X:137.99, Y:-7.61, Z:-1.94 [[ 9.99982274e-01 4.22498511e-03 4.19549207e-03 1.37992818e+02] [-4.22386924e-03 9.99991042e-01 -2.74793166e-04 -7.61033010e+00] [-4.19661548e-03 2.57067085e-04 9.99991161e-01 -1.94445024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91037174299998 meters 0.033372505078782755 Centerline is valid? [True, True] Translation: X:138.02, Y:-7.61, Z:-1.95 [[ 9.99986398e-01 2.60115759e-03 4.52077224e-03 1.38023374e+02] [-2.59984378e-03 9.99996576e-01 -2.96469575e-04 -7.61330743e+00] [-4.52152793e-03 2.84712241e-04 9.99989737e-01 -1.94533871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940371743 meters 0.03453878398922225 Centerline is valid? [True, True] Translation: X:138.05, Y:-7.62, Z:-1.95 [[ 9.99994421e-01 1.19094766e-03 3.12075128e-03 1.38054462e+02] [-1.19031542e-03 9.99999271e-01 -2.04441641e-04 -7.61903915e+00] [-3.12099248e-03 2.00725823e-04 9.99995110e-01 -1.94643425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.970371743 meters 0.03467543920202831 Centerline is valid? [True, True] Translation: X:138.09, Y:-7.62, Z:-1.95 [[ 9.99997062e-01 1.18966925e-04 2.42100050e-03 1.38085238e+02] [-1.18582862e-04 9.99999980e-01 -1.58781002e-04 -7.62237234e+00] [-2.42101934e-03 1.58493446e-04 9.99997057e-01 -1.94737963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000371743 meters 0.03607213326476379 Centerline is valid? [True, True] Translation: X:138.12, Y:-7.63, Z:-1.95 [[ 9.99998274e-01 -6.00212892e-04 1.75843577e-03 1.38115608e+02] [ 6.00416548e-04 9.99999813e-01 -1.15291270e-04 -7.62772562e+00] [-1.75836624e-03 1.16346865e-04 9.99998447e-01 -1.94875029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.030371743 meters 0.03636203858925473 Centerline is valid? [True, True] Translation: X:138.15, Y:-7.63, Z:-1.95 [[ 9.99998313e-01 -1.46786835e-03 1.10408502e-03 1.38146894e+02] [ 1.46794884e-03 9.99998920e-01 -7.20877202e-05 -7.63234980e+00] [-1.10397802e-03 7.37083390e-05 9.99999388e-01 -1.95064812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060371743 meters 0.0377288418471924 Centerline is valid? [True, True] Translation: X:138.18, Y:-7.64, Z:-1.95 [[ 9.99998108e-01 -1.86130925e-03 5.65856506e-04 1.38177351e+02] [ 1.86133046e-03 9.99998267e-01 -3.69641351e-05 -7.63748446e+00] [-5.65786724e-04 3.80173111e-05 9.99999839e-01 -1.95199769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.090371743 meters 0.03823887724794003 Centerline is valid? [True, True] Translation: X:138.21, Y:-7.64, Z:-1.95 [[ 9.99997295e-01 -2.31734313e-03 2.01189163e-04 1.38208877e+02] [ 2.31734574e-03 9.99997315e-01 -1.27475041e-05 -7.64042581e+00] [-2.01159083e-04 1.32136945e-05 9.99999980e-01 -1.95291324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120371743 meters 0.03721818489748337 Centerline is valid? [True, True] Translation: X:138.24, Y:-7.64, Z:-1.95 [[ 9.99997167e-01 -2.37870915e-03 8.57392360e-05 1.38240081e+02] [ 2.37870960e-03 9.99997171e-01 -5.14923005e-06 -7.64184199e+00] [-8.57267450e-05 5.35316421e-06 9.99999996e-01 -1.95320094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.150371743 meters 0.03814733538970125 Centerline is valid? [True, True] Translation: X:138.27, Y:-7.65, Z:-1.95 [[ 9.99997513e-01 -2.05598922e-03 8.63830773e-04 1.38269973e+02] [ 2.05603891e-03 9.99997885e-01 -5.66350442e-05 -7.64594484e+00] [-8.63712505e-04 5.84109731e-05 9.99999625e-01 -1.95306083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180371743 meters 0.04022279566672853 Centerline is valid? [True, True] Translation: X:138.30, Y:-7.65, Z:-1.95 [[ 9.99997410e-01 -1.91714331e-03 1.22633406e-03 1.38300591e+02] [ 1.91724296e-03 9.99998159e-01 -8.00847836e-05 -7.65137115e+00] [-1.22617827e-03 8.24357566e-05 9.99999245e-01 -1.95355487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.210371743 meters 0.034687057211114286 Centerline is valid? [True, True] Translation: X:138.33, Y:-7.65, Z:-1.95 [[ 9.99996588e-01 -1.68841499e-03 1.99338304e-03 1.38332373e+02] [ 1.68867932e-03 9.99998566e-01 -1.30927601e-04 -7.64599697e+00] [-1.99315912e-03 1.34293339e-04 9.99998005e-01 -1.95196748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.240371743 meters 0.03594449991020818 Centerline is valid? [True, True] Translation: X:138.36, Y:-7.65, Z:-1.95 [[ 9.99996253e-01 -1.09606118e-03 2.50863821e-03 1.38363350e+02] [ 1.09647800e-03 9.99999385e-01 -1.64784009e-04 -7.64950912e+00] [-2.50845605e-03 1.67534058e-04 9.99996840e-01 -1.95177594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27037174299997 meters 0.035413426840088344 Centerline is valid? [True, True] Translation: X:138.39, Y:-7.65, Z:-1.95 [[ 9.99994514e-01 -1.00083397e-03 3.15742819e-03 1.38394974e+02] [ 1.00149559e-03 9.99999477e-01 -2.07970923e-04 -7.65144568e+00] [-3.15721839e-03 2.11131933e-04 9.99994994e-01 -1.95177123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30037174299997 meters 0.03665104828276606 Centerline is valid? [True, True] Translation: X:138.43, Y:-7.66, Z:-1.95 [[ 9.99992311e-01 -1.32306561e-03 3.69145662e-03 1.38425794e+02] [ 1.32397229e-03 9.99999094e-01 -2.43180749e-04 -7.65547130e+00] [-3.69113153e-03 2.48066265e-04 9.99993157e-01 -1.95215086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33037174299997 meters 0.038295585224607846 Centerline is valid? [True, True] Translation: X:138.46, Y:-7.66, Z:-1.95 [[ 9.99988380e-01 -2.34183518e-03 4.21364344e-03 1.38456567e+02] [ 2.34301969e-03 9.99997217e-01 -2.76197762e-04 -7.66096818e+00] [-4.21298490e-03 2.86067202e-04 9.99991084e-01 -1.95294543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36037174299997 meters 0.03716833922687158 Centerline is valid? [True, True] Translation: X:138.49, Y:-7.66, Z:-1.95 [[ 9.99987235e-01 -3.20628172e-03 3.90504756e-03 1.38488753e+02] [ 3.20731441e-03 9.99994823e-01 -2.58214594e-04 -7.66194750e+00] [-3.90419943e-03 2.70736013e-04 9.99992342e-01 -1.95333539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39037174299997 meters 0.03720385364983163 Centerline is valid? [True, True] Translation: X:138.52, Y:-7.66, Z:-1.95 [[ 9.99987158e-01 -3.75778498e-03 3.40032477e-03 1.38520369e+02] [ 3.75857217e-03 9.99992911e-01 -2.25142323e-04 -7.66478940e+00] [-3.39945463e-03 2.37919797e-04 9.99994194e-01 -1.95441571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42037174299998 meters 0.03720385364983163 Centerline is valid? [True, True] Translation: X:138.55, Y:-7.67, Z:-1.95 [[ 9.99987423e-01 -3.68676893e-03 3.40032519e-03 1.38552065e+02] [ 3.68755568e-03 9.99993176e-01 -2.25136402e-04 -7.66695712e+00] [-3.39947196e-03 2.37672459e-04 9.99994194e-01 -1.95486169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45037174299998 meters 0.04156354647556132 Centerline is valid? [True, True] Translation: X:138.58, Y:-7.68, Z:-1.96 [[ 9.99978616e-01 -6.23789021e-03 1.96359643e-03 1.38581108e+02] [ 6.23815704e-03 9.99980534e-01 -1.29792661e-04 -7.67510753e+00] [-1.96274858e-03 1.42039109e-04 9.99998064e-01 -1.95747297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48037174299998 meters 0.03944336644540072 Centerline is valid? [True, True] Translation: X:138.61, Y:-7.67, Z:-1.96 [[ 9.99969284e-01 -7.65352560e-03 1.68983335e-03 1.38613567e+02] [ 7.65372509e-03 9.99970704e-01 -1.11617658e-04 -7.67427613e+00] [-1.68892957e-03 1.24547749e-04 9.99998566e-01 -1.95792422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51037174299998 meters 0.040417152504794523 Centerline is valid? [True, True] Translation: X:138.65, Y:-7.68, Z:-1.96 [[ 9.99961902e-01 -8.61196091e-03 1.42425002e-03 1.38645215e+02] [ 8.61210383e-03 9.99962911e-01 -9.42438298e-05 -7.67820620e+00] [-1.42338557e-03 1.06506028e-04 9.99998981e-01 -1.95891589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54037174299998 meters 0.04280557057877017 Centerline is valid? [True, True] Translation: X:138.68, Y:-7.68, Z:-1.96 [[ 9.99947742e-01 -1.00515776e-02 1.86506961e-03 1.38675742e+02] [ 1.00518261e-02 9.99949471e-01 -1.23961113e-04 -7.68406312e+00] [-1.86372936e-03 1.42701990e-04 9.99998253e-01 -1.95979724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57037174299998 meters 0.04217507870327375 Centerline is valid? [True, True] Translation: X:138.71, Y:-7.69, Z:-1.96 [[ 9.99946928e-01 -1.00982340e-02 2.04116221e-03 1.38708382e+02] [ 1.00985313e-02 9.99948999e-01 -1.35366171e-04 -7.68502727e+00] [-2.03969115e-03 1.55971727e-04 9.99997908e-01 -1.95982320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60037174299998 meters 0.043851278511942954 Centerline is valid? [True, True] Translation: X:138.74, Y:-7.69, Z:-1.96 [[ 9.99947814e-01 -9.84421888e-03 2.73143824e-03 1.38739855e+02] [ 9.84475166e-03 9.99951523e-01 -1.81675147e-04 -7.68903937e+00] [-2.72951738e-03 2.08555997e-04 9.99996253e-01 -1.96019672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63037174299998 meters 0.04661379014101227 Centerline is valid? [True, True] Translation: X:138.77, Y:-7.69, Z:-1.96 [[ 9.99953462e-01 -8.98818946e-03 3.50509582e-03 1.38771224e+02] [ 8.98906341e-03 9.99959570e-01 -2.33663671e-04 -7.69290766e+00] [-3.50285390e-03 2.65160325e-04 9.99993830e-01 -1.95983523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66037174299998 meters 0.04673419014417831 Centerline is valid? [True, True] Translation: X:138.80, Y:-7.69, Z:-1.96 [[ 9.99959873e-01 -8.09719620e-03 3.83242329e-03 1.38803966e+02] [ 8.09823526e-03 9.99967176e-01 -2.55684665e-04 -7.69370419e+00] [-3.83022716e-03 2.86710271e-04 9.99992624e-01 -1.95960854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.690371743 meters 0.03750123586110002 Centerline is valid? [True, True] Translation: X:138.84, Y:-7.68, Z:-1.96 [[ 9.99966170e-01 -6.98254069e-03 4.34786740e-03 1.38836671e+02] [ 6.98387031e-03 9.99975570e-01 -2.90703202e-04 -7.68226912e+00] [-4.34573133e-03 3.21058310e-04 9.99990506e-01 -1.95754307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720371743 meters 0.03824854616030692 Centerline is valid? [True, True] Translation: X:138.87, Y:-7.68, Z:-1.96 [[ 9.99971899e-01 -5.27430948e-03 5.32754324e-03 1.38866750e+02] [ 5.27628745e-03 9.99986016e-01 -3.57285404e-04 -7.68308451e+00] [-5.32558431e-03 3.85385013e-04 9.99985745e-01 -1.95766889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.750371743 meters 0.038087887698225346 Centerline is valid? [True, True] Translation: X:138.90, Y:-7.68, Z:-1.96 [[ 9.99970839e-01 -4.32204267e-03 6.29615152e-03 1.38898758e+02] [ 4.32478492e-03 9.99990559e-01 -4.21994694e-04 -7.68478230e+00] [-6.29426820e-03 4.49211889e-04 9.99980090e-01 -1.95780304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780371743 meters 0.03828606815927544 Centerline is valid? [True, True] Translation: X:138.93, Y:-7.69, Z:-1.96 [[ 9.99970608e-01 -3.70091540e-03 6.71465633e-03 1.38931146e+02] [ 3.70402408e-03 9.99993039e-01 -4.50592791e-04 -7.68640710e+00] [-6.71294198e-03 4.75450796e-04 9.99977355e-01 -1.95774988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.810371743 meters 0.03865605639056993 Centerline is valid? [True, True] Translation: X:138.96, Y:-7.69, Z:-1.96 [[ 9.99969085e-01 -3.38891465e-03 7.09533039e-03 1.38963721e+02] [ 3.39238201e-03 9.99994132e-01 -4.76703179e-04 -7.68822144e+00] [-7.09367325e-03 5.00758513e-04 9.99974714e-01 -1.95791664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840371743 meters 0.03933088448880057 Centerline is valid? [True, True] Translation: X:139.00, Y:-7.69, Z:-1.96 [[ 9.99969310e-01 -3.08334097e-03 7.20219350e-03 1.38995726e+02] [ 3.08690945e-03 9.99995118e-01 -4.84407641e-04 -7.69010334e+00] [-7.20066475e-03 5.06625294e-04 9.99973947e-01 -1.95818486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.870371743 meters 0.040354835707251124 Centerline is valid? [True, True] Translation: X:139.03, Y:-7.69, Z:-1.96 [[ 9.99971615e-01 -3.15987273e-03 6.83993507e-03 1.39027188e+02] [ 3.16309684e-03 9.99994891e-01 -4.60599726e-04 -7.69201849e+00] [-6.83844469e-03 4.82222029e-04 9.99976501e-01 -1.95909902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900371743 meters 0.04108801961233515 Centerline is valid? [True, True] Translation: X:139.06, Y:-7.69, Z:-1.96 [[ 9.99974563e-01 -3.14814787e-03 6.40022494e-03 1.39057921e+02] [ 3.15096877e-03 9.99994943e-01 -4.30714389e-04 -7.69484593e+00] [-6.39883662e-03 4.50870342e-04 9.99979426e-01 -1.96031756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.930371743 meters 0.04172324516345619 Centerline is valid? [True, True] Translation: X:139.09, Y:-7.70, Z:-1.96 [[ 9.99980032e-01 -3.21029446e-03 5.44325997e-03 1.39089809e+02] [ 3.21234076e-03 9.99994773e-01 -3.67231587e-04 -7.69774729e+00] [-5.44205260e-03 3.84709860e-04 9.99985118e-01 -1.96188459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960371743 meters 0.04307873847688503 Centerline is valid? [True, True] Translation: X:139.12, Y:-7.70, Z:-1.96 [[ 9.99983164e-01 -3.16371588e-03 4.86438516e-03 1.39120567e+02] [ 3.16535143e-03 9.99994936e-01 -3.28567522e-04 -7.70128399e+00] [-4.86332103e-03 3.43959479e-04 9.99988115e-01 -1.96394694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99037174299997 meters 0.043060203065806234 Centerline is valid? [True, True] Translation: X:139.15, Y:-7.70, Z:-1.96 [[ 9.99985648e-01 -3.18137337e-03 4.31066125e-03 1.39152655e+02] [ 3.18265781e-03 9.99994893e-01 -2.91140702e-04 -7.70281784e+00] [-4.30971301e-03 3.04855884e-04 9.99990667e-01 -1.96480413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02037174299997 meters 0.04393768510483319 Centerline is valid? [True, True] Translation: X:139.18, Y:-7.70, Z:-1.97 [[ 9.99992674e-01 -1.90241548e-03 3.32162658e-03 1.39184016e+02] [ 1.90317176e-03 9.99998164e-01 -2.24539038e-04 -7.70428212e+00] [-3.32119331e-03 2.30859019e-04 9.99994458e-01 -1.96621015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05037174299997 meters 0.043627389170623164 Centerline is valid? [True, True] Translation: X:139.22, Y:-7.71, Z:-1.97 [[ 9.99994190e-01 -7.91493709e-04 3.31559340e-03 1.39215181e+02] [ 7.92242311e-04 9.99999661e-01 -2.24475000e-04 -7.70512504e+00] [-3.31541461e-03 2.27100450e-04 9.99994478e-01 -1.96638336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08037174299997 meters 0.043768942003969434 Centerline is valid? [True, True] Translation: X:139.25, Y:-7.71, Z:-1.97 [[ 9.99993368e-01 4.46633199e-04 3.61438000e-03 1.39247086e+02] [-4.45751664e-04 9.99999871e-01 -2.44698531e-04 -7.70697441e+00] [-3.61448882e-03 2.43085793e-04 9.99993438e-01 -1.96691171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11037174299997 meters 0.04320304890247778 Centerline is valid? [True, True] Translation: X:139.28, Y:-7.71, Z:-1.97 [[ 9.99980400e-01 4.27449264e-03 4.57471441e-03 1.39277873e+02] [-4.27311648e-03 9.99990822e-01 -3.10551186e-04 -7.70678672e+00] [-4.57599987e-03 2.90996812e-04 9.99989488e-01 -1.96707495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14037174299997 meters 0.03284661382693912 Centerline is valid? [True, True] Translation: X:139.31, Y:-7.69, Z:-1.97 [[ 9.99969862e-01 5.59845486e-03 5.37888442e-03 1.39309922e+02] [-5.59657189e-03 9.99984272e-01 -3.65056154e-04 -7.69434324e+00] [-5.38084357e-03 3.34941839e-04 9.99985467e-01 -1.96515233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17037174299998 meters 0.033389367706190186 Centerline is valid? [True, True] Translation: X:139.34, Y:-7.70, Z:-1.97 [[ 9.99955003e-01 7.69748332e-03 5.54441869e-03 1.39340093e+02] [-7.69551804e-03 9.99970318e-01 -3.75706865e-04 -7.69636758e+00] [-5.54714612e-03 3.33022785e-04 9.99984559e-01 -1.96578629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20037174299998 meters 0.03338303255371527 Centerline is valid? [True, True] Translation: X:139.37, Y:-7.70, Z:-1.97 [[ 9.99919374e-01 1.15220616e-02 5.33731727e-03 1.39369548e+02] [-1.15202867e-02 9.99933573e-01 -3.63170755e-04 -7.69596444e+00] [-5.34114720e-03 3.01654048e-04 9.99985690e-01 -1.96626298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23037174299998 meters 0.03352133816083166 Centerline is valid? [True, True] Translation: X:139.40, Y:-7.70, Z:-1.97 [[ 9.99901586e-01 1.29601037e-02 5.37162231e-03 1.39398485e+02] [-1.29583270e-02 9.99915971e-01 -3.65439013e-04 -7.69677974e+00] [-5.37590706e-03 2.95795810e-04 9.99985506e-01 -1.96644721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26037174299998 meters 0.02875638155621349 Centerline is valid? [True, True] Translation: X:139.43, Y:-7.69, Z:-1.97 [[ 9.99883753e-01 1.42032634e-02 5.54499687e-03 1.39428192e+02] [-1.42013882e-02 9.99899084e-01 -3.77394566e-04 -7.69055728e+00] [-5.54979753e-03 2.98604042e-04 9.99984555e-01 -1.96564811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29037174299998 meters 0.029885294362572923 Centerline is valid? [True, True] Translation: X:139.46, Y:-7.69, Z:-1.97 [[ 9.99844808e-01 1.65530246e-02 6.02962851e-03 1.39456791e+02] [-1.65508524e-02 9.99862941e-01 -4.09976314e-04 -7.69328152e+00] [-6.03558845e-03 3.10117198e-04 9.99981738e-01 -1.96605547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32037174299998 meters 0.02886664671771477 Centerline is valid? [True, True] Translation: X:139.49, Y:-7.69, Z:-1.97 [[ 9.99826768e-01 1.74466185e-02 6.48448748e-03 1.39486154e+02] [-1.74441277e-02 9.99847743e-01 -4.40491328e-04 -7.69319098e+00] [-6.49118525e-03 3.27298794e-04 9.99978878e-01 -1.96611271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35037174299998 meters 0.02951635099695538 Centerline is valid? [True, True] Translation: X:139.51, Y:-7.70, Z:-1.97 [[ 9.99824914e-01 1.76098507e-02 6.32728234e-03 1.39514119e+02] [-1.76074827e-02 9.99844884e-01 -4.29760846e-04 -7.69575720e+00] [-6.33386890e-03 3.18278086e-04 9.99979890e-01 -1.96606704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38037174299998 meters 0.02819551884860247 Centerline is valid? [True, True] Translation: X:139.54, Y:-7.69, Z:-1.97 [[ 9.99818474e-01 1.80530006e-02 6.09171306e-03 1.39542842e+02] [-1.80508177e-02 9.99836985e-01 -4.13128323e-04 -7.69452265e+00] [-6.09817823e-03 3.03092928e-04 9.99981360e-01 -1.96609303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41037174299998 meters 0.02891313433268188 Centerline is valid? [True, True] Translation: X:139.57, Y:-7.70, Z:-1.97 [[ 9.99821464e-01 1.78097000e-02 6.31306951e-03 1.39570298e+02] [-1.78073530e-02 9.99841345e-01 -4.27779481e-04 -7.69741913e+00] [-6.31968653e-03 3.15284049e-04 9.99979981e-01 -1.96682080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440371743 meters 0.028849752375250566 Centerline is valid? [True, True] Translation: X:139.60, Y:-7.70, Z:-1.97 [[ 9.99816426e-01 1.80044687e-02 6.55388938e-03 1.39599288e+02] [-1.80019485e-02 9.99837854e-01 -4.43331689e-04 -7.69895818e+00] [-6.56080864e-03 3.25267526e-04 9.99978425e-01 -1.96705566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.470371743 meters 0.029679493077538092 Centerline is valid? [True, True] Translation: X:139.63, Y:-7.70, Z:-1.97 [[ 9.99823926e-01 1.73545379e-02 7.13696295e-03 1.39627047e+02] [-1.73515363e-02 9.99849334e-01 -4.82286552e-04 -7.70305640e+00] [-7.14425751e-03 3.58364362e-04 9.99974415e-01 -1.96797891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500371743 meters 0.029589731185031415 Centerline is valid? [True, True] Translation: X:139.66, Y:-7.71, Z:-1.97 [[ 9.99827424e-01 1.69652085e-02 7.56992863e-03 1.39655766e+02] [-1.69618270e-02 9.99856007e-01 -5.10677180e-04 -7.70521373e+00] [-7.57750236e-03 3.82189230e-04 9.99971217e-01 -1.96832360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.530371743 meters 0.03103507458801661 Centerline is valid? [True, True] Translation: X:139.68, Y:-7.71, Z:-1.97 [[ 9.99832800e-01 1.65916258e-02 7.68704621e-03 1.39683715e+02] [-1.65881314e-02 9.99862273e-01 -5.18126127e-04 -7.70905514e+00] [-7.69458406e-03 3.90525764e-04 9.99970320e-01 -1.96897393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560371743 meters 0.0321422682772175 Centerline is valid? [True, True] Translation: X:139.71, Y:-7.71, Z:-1.97 [[ 9.99859724e-01 1.47980201e-02 7.84539416e-03 1.39711971e+02] [-1.47943325e-02 9.99890419e-01 -5.27862762e-04 -7.71232693e+00] [-7.85234577e-03 4.11721346e-04 9.99969085e-01 -1.96879975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.590371743 meters 0.028640325141913406 Centerline is valid? [True, True] Translation: X:139.74, Y:-7.71, Z:-1.97 [[ 9.99879163e-01 1.35894735e-02 7.54882500e-03 1.39741435e+02] [-1.35860277e-02 9.99907577e-01 -5.07566775e-04 -7.70774462e+00] [-7.55502488e-03 4.04946897e-04 9.99971378e-01 -1.96855623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620371743 meters 0.035054073929756784 Centerline is valid? [True, True] Translation: X:139.77, Y:-7.72, Z:-1.97 [[ 9.99899464e-01 1.21709011e-02 7.27543558e-03 1.39769475e+02] [-1.21676656e-02 9.99925852e-01 -4.88807069e-04 -7.71910371e+00] [-7.28084534e-03 4.00232859e-04 9.99973414e-01 -1.97050967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.650371743 meters 0.03565733326588572 Centerline is valid? [True, True] Translation: X:139.80, Y:-7.72, Z:-1.97 [[ 9.99932886e-01 9.80216738e-03 6.17585133e-03 1.39799553e+02] [-9.79979416e-03 9.99951895e-01 -4.14420492e-04 -7.72249025e+00] [-6.17961646e-03 3.53870607e-04 9.99980843e-01 -1.97241239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680371743 meters 0.03648821706876453 Centerline is valid? [True, True] Translation: X:139.83, Y:-7.73, Z:-1.97 [[ 9.99946943e-01 8.65323109e-03 5.58871911e-03 1.39829491e+02] [-8.65127018e-03 9.99962507e-01 -3.74948819e-04 -7.72543204e+00] [-5.59175409e-03 3.26579406e-04 9.99984313e-01 -1.97350264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.710371743 meters 0.03757947907878701 Centerline is valid? [True, True] Translation: X:139.86, Y:-7.73, Z:-1.97 [[ 9.99955352e-01 7.75349611e-03 5.40156018e-03 1.39860174e+02] [-7.75165250e-03 9.99969890e-01 -3.62162911e-04 -7.72817058e+00] [-5.40420557e-03 3.20275724e-04 9.99985346e-01 -1.97415589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74037174299997 meters 0.039194468743917486 Centerline is valid? [True, True] Translation: X:139.89, Y:-7.73, Z:-1.97 [[ 9.99966616e-01 6.84240065e-03 4.46636766e-03 1.39889431e+02] [-6.84113039e-03 9.99976554e-01 -2.99620764e-04 -7.72970243e+00] [-4.46831307e-03 2.69055758e-04 9.99989981e-01 -1.97473089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77037174299997 meters 0.034223412755693475 Centerline is valid? [True, True] Translation: X:139.92, Y:-7.72, Z:-1.97 [[ 9.99967867e-01 6.86592359e-03 4.13815835e-03 1.39920419e+02] [-6.86483427e-03 9.99976398e-01 -2.77384981e-04 -7.72269783e+00] [-4.13996518e-03 2.48968296e-04 9.99991399e-01 -1.97417270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80037174299997 meters 0.03957251413990981 Centerline is valid? [True, True] Translation: X:139.95, Y:-7.73, Z:-1.98 [[ 9.99961743e-01 7.66944497e-03 4.20629412e-03 1.39949484e+02] [-7.66832780e-03 9.99970558e-01 -2.81656487e-04 -7.73206699e+00] [-4.20833042e-03 2.49390469e-04 9.99991114e-01 -1.97589468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83037174299997 meters 0.033427243415361824 Centerline is valid? [True, True] Translation: X:139.98, Y:-7.72, Z:-1.97 [[ 9.99943527e-01 9.09642900e-03 5.49518130e-03 1.39980163e+02] [-9.09453991e-03 9.99958576e-01 -3.68662717e-04 -7.72401855e+00] [-5.49830718e-03 3.18665752e-04 9.99984833e-01 -1.97474750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86037174299997 meters 0.03249861317341068 Centerline is valid? [True, True] Translation: X:140.01, Y:-7.72, Z:-1.97 [[ 9.99932155e-01 9.99091719e-03 5.98893160e-03 1.40009926e+02] [-9.98868927e-03 9.99950031e-01 -4.01803179e-04 -7.72389789e+00] [-5.99264672e-03 3.41954342e-04 9.99981985e-01 -1.97457273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89037174299997 meters 0.03127257351019164 Centerline is valid? [True, True] Translation: X:140.04, Y:-7.72, Z:-1.97 [[ 9.99908391e-01 1.19578119e-02 6.34194994e-03 1.40039887e+02] [-1.19553545e-02 9.99928442e-01 -4.25240910e-04 -7.72023320e+00] [-6.34658107e-03 3.49381694e-04 9.99979799e-01 -1.97343463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92037174299998 meters 0.030036954067247545 Centerline is valid? [True, True] Translation: X:140.07, Y:-7.72, Z:-1.97 [[ 9.99909077e-01 1.18194586e-02 6.49135896e-03 1.40068411e+02] [-1.18168810e-02 9.99930083e-01 -4.35286389e-04 -7.71946865e+00] [-6.49604995e-03 3.58539195e-04 9.99978836e-01 -1.97381052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95037174299998 meters 0.030474883814366343 Centerline is valid? [True, True] Translation: X:140.10, Y:-7.72, Z:-1.97 [[ 9.99908404e-01 1.22243171e-02 5.80948101e-03 1.40097129e+02] [-1.22222622e-02 9.99925230e-01 -3.89094577e-04 -7.72137615e+00] [-5.81380305e-03 3.18053937e-04 9.99983049e-01 -1.97475248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98037174299998 meters 0.031468527867780406 Centerline is valid? [True, True] Translation: X:140.13, Y:-7.72, Z:-1.98 [[ 9.99912751e-01 1.21627146e-02 5.15360282e-03 1.40125749e+02] [-1.21610977e-02 9.99925992e-01 -3.44966906e-04 -7.72391146e+00] [-5.15741714e-03 2.82263341e-04 9.99986661e-01 -1.97597458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01037174299998 meters 0.03015602837313567 Centerline is valid? [True, True] Translation: X:140.16, Y:-7.72, Z:-1.98 [[ 9.99930724e-01 1.12285907e-02 3.53071644e-03 1.40155351e+02] [-1.12278264e-02 9.99936938e-01 -2.36206668e-04 -7.72288562e+00] [-3.53314606e-03 1.96548033e-04 9.99993739e-01 -1.97725567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04037174299998 meters 0.030649047440111342 Centerline is valid? [True, True] Translation: X:140.18, Y:-7.73, Z:-1.98 [[ 9.99940638e-01 1.04055577e-02 3.23190097e-03 1.40182940e+02] [-1.04049114e-02 9.99945844e-01 -2.16726595e-04 -7.72533032e+00] [-3.23398110e-03 1.83086086e-04 9.99994754e-01 -1.97796903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07037174299998 meters 0.03155668814533806 Centerline is valid? [True, True] Translation: X:140.21, Y:-7.73, Z:-1.98 [[ 9.99949924e-01 9.56092097e-03 2.95590071e-03 1.40210937e+02] [-9.56037775e-03 9.99954279e-01 -1.97847717e-04 -7.72809916e+00] [-2.95765717e-03 1.69578283e-04 9.99995612e-01 -1.97836099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10037174299998 meters 0.031050671998410915 Centerline is valid? [True, True] Translation: X:140.24, Y:-7.73, Z:-1.98 [[ 9.99960959e-01 8.59563501e-03 2.04828975e-03 1.40240909e+02] [-8.59537269e-03 9.99963050e-01 -1.36835845e-04 -7.72717718e+00] [-2.04939025e-03 1.19224689e-04 9.99997893e-01 -1.97861502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13037174299998 meters 0.03094847255712905 Centerline is valid? [True, True] Translation: X:140.27, Y:-7.73, Z:-1.98 [[ 9.99962507e-01 8.41580761e-03 2.03939201e-03 1.40269730e+02] [-8.41554645e-03 9.99964579e-01 -1.36606165e-04 -7.72828756e+00] [-2.04046943e-03 1.19438445e-04 9.99997911e-01 -1.97908898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16037174299998 meters 0.03274181819936764 Centerline is valid? [True, True] Translation: X:140.30, Y:-7.73, Z:-1.98 [[ 9.99963164e-01 8.25134328e-03 2.36329071e-03 1.40297499e+02] [-8.25099243e-03 9.99965947e-01 -1.58170498e-04 -7.73196136e+00] [-2.36451535e-03 1.38665178e-04 9.99997195e-01 -1.97974869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.190371743 meters 0.031763929374441925 Centerline is valid? [True, True] Translation: X:140.33, Y:-7.73, Z:-1.98 [[ 9.99954349e-01 8.90725759e-03 3.45843779e-03 1.40326487e+02] [-8.90651390e-03 9.99960310e-01 -2.30378285e-04 -7.73084832e+00] [-3.46035256e-03 1.99565143e-04 9.99993993e-01 -1.97839756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220371743 meters 0.03171742035786661 Centerline is valid? [True, True] Translation: X:140.36, Y:-7.73, Z:-1.98 [[ 9.99947159e-01 9.49962148e-03 3.92890828e-03 1.40355077e+02] [-9.49866791e-03 9.99954853e-01 -2.61295205e-04 -7.73183720e+00] [-3.93121311e-03 2.23962003e-04 9.99992248e-01 -1.97822379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.250371743 meters 0.03219225528290053 Centerline is valid? [True, True] Translation: X:140.38, Y:-7.73, Z:-1.98 [[ 9.99937901e-01 1.04178909e-02 3.95744842e-03 1.40383492e+02] [-1.04169336e-02 9.99945708e-01 -2.62443027e-04 -7.73366067e+00] [-3.95996767e-03 2.21202252e-04 9.99992135e-01 -1.97839165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280371743 meters 0.032240684203395396 Centerline is valid? [True, True] Translation: X:140.41, Y:-7.73, Z:-1.98 [[ 9.99922857e-01 1.18099204e-02 3.84792818e-03 1.40411231e+02] [-1.18090236e-02 9.99930238e-01 -2.55721656e-04 -7.73339338e+00] [-3.85067979e-03 2.10261654e-04 9.99992564e-01 -1.97792694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.310371743 meters 0.032240684203395396 Centerline is valid? [True, True] Translation: X:140.44, Y:-7.74, Z:-1.98 [[ 9.99923679e-01 1.17401118e-02 3.84796225e-03 1.40439517e+02] [-1.17392164e-02 9.99931060e-01 -2.55206870e-04 -7.73520175e+00] [-3.85069313e-03 2.10015330e-04 9.99992564e-01 -1.97832549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340371743 meters 0.030214481596334615 Centerline is valid? [True, True] Translation: X:140.47, Y:-7.73, Z:-1.98 [[ 9.99921781e-01 1.18529119e-02 3.99253646e-03 1.40468954e+02] [-1.18519500e-02 9.99929728e-01 -2.64499712e-04 -7.73292518e+00] [-3.99539099e-03 2.17159681e-04 9.99991995e-01 -1.97779558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.370371743 meters 0.029149884313156484 Centerline is valid? [True, True] Translation: X:140.50, Y:-7.73, Z:-1.98 [[ 9.99921318e-01 1.20992888e-02 3.31148877e-03 1.40498068e+02] [-1.20986286e-02 9.99926785e-01 -2.19326689e-04 -7.73260844e+00] [-3.31390002e-03 1.79244959e-04 9.99994493e-01 -1.97812038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400371743 meters 0.03049065602559323 Centerline is valid? [True, True] Translation: X:140.53, Y:-7.74, Z:-1.98 [[ 9.99923421e-01 1.22067433e-02 2.03636501e-03 1.40525818e+02] [-1.22064930e-02 9.99925489e-01 -1.35330473e-04 -7.73610569e+00] [-2.03786522e-03 1.10463235e-04 9.99997917e-01 -1.98021167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.430371743 meters 0.030526582149623747 Centerline is valid? [True, True] Translation: X:140.55, Y:-7.74, Z:-1.98 [[ 9.99925762e-01 1.20369714e-02 1.89282960e-03 1.40554318e+02] [-1.20367554e-02 9.99927548e-01 -1.25476584e-04 -7.73811573e+00] [-1.89420282e-03 1.02683742e-04 9.99998201e-01 -1.98082913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460371743 meters 0.030666049728836724 Centerline is valid? [True, True] Translation: X:140.58, Y:-7.74, Z:-1.98 [[ 9.99924588e-01 1.21564573e-02 1.74332189e-03 1.40582918e+02] [-1.21562743e-02 9.99926103e-01 -1.15517079e-04 -7.73934149e+00] [-1.74459735e-03 9.43160681e-05 9.99998474e-01 -1.98127337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49037174299997 meters 0.03133068838853606 Centerline is valid? [True, True] Translation: X:140.61, Y:-7.74, Z:-1.98 [[ 9.99920725e-01 1.24683375e-02 1.75603641e-03 1.40610718e+02] [-1.24681522e-02 9.99922263e-01 -1.16437988e-04 -7.74186826e+00] [-1.75735169e-03 9.45342285e-05 9.99998451e-01 -1.98119771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52037174299997 meters 0.030772776826668846 Centerline is valid? [True, True] Translation: X:140.64, Y:-7.74, Z:-1.98 [[ 9.99914033e-01 1.28569893e-02 2.57377326e-03 1.40639378e+02] [-1.28565951e-02 9.99917336e-01 -1.69649967e-04 -7.74208584e+00] [-2.57574169e-03 1.36545423e-04 9.99996673e-01 -1.98060197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55037174299997 meters 0.02899645511482626 Centerline is valid? [True, True] Translation: X:140.67, Y:-7.74, Z:-1.98 [[ 9.99888777e-01 1.43626913e-02 4.01832824e-03 1.40668881e+02] [-1.43617466e-02 9.99896830e-01 -2.63855178e-04 -7.74028902e+00] [-4.02170334e-03 2.06115620e-04 9.99991892e-01 -1.97900834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58037174299997 meters 0.02895305606018459 Centerline is valid? [True, True] Translation: X:140.70, Y:-7.74, Z:-1.98 [[ 9.99870559e-01 1.54383119e-02 4.53041667e-03 1.40697755e+02] [-1.54371229e-02 9.99880796e-01 -2.97303393e-04 -7.74201244e+00] [-4.53446649e-03 2.27328311e-04 9.99989693e-01 -1.97906315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61037174299997 meters 0.029644275692605606 Centerline is valid? [True, True] Translation: X:140.73, Y:-7.74, Z:-1.98 [[ 9.99855573e-01 1.63445632e-02 4.65701539e-03 1.40725734e+02] [-1.63433176e-02 9.99866392e-01 -3.05410084e-04 -7.74400202e+00] [-4.66138498e-03 2.29254893e-04 9.99989109e-01 -1.97950879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64037174299997 meters 0.028957333923256466 Centerline is valid? [True, True] Translation: X:140.75, Y:-7.74, Z:-1.98 [[ 9.99838819e-01 1.72912047e-02 4.83221220e-03 1.40754448e+02] [-1.72898777e-02 9.99850469e-01 -3.16251057e-04 -7.74376908e+00] [-4.83695800e-03 2.32651725e-04 9.99988275e-01 -1.97966387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67037174299998 meters 0.02929273152627796 Centerline is valid? [True, True] Translation: X:140.78, Y:-7.74, Z:-1.98 [[ 9.99792409e-01 1.97400476e-02 5.04665205e-03 1.40783904e+02] [-1.97386351e-02 9.99805120e-01 -3.29559887e-04 -7.74421553e+00] [-5.05217408e-03 2.29877450e-04 9.99987211e-01 -1.98056103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70037174299998 meters 0.026524163907077812 Centerline is valid? [True, True] Translation: X:140.81, Y:-7.74, Z:-1.98 [[ 9.99786154e-01 1.99832302e-02 5.32133642e-03 1.40812995e+02] [-1.99816625e-02 9.99800286e-01 -3.47614578e-04 -7.74206865e+00] [-5.32722013e-03 2.41211094e-04 9.99985781e-01 -1.98047242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73037174299998 meters 0.029757151326522735 Centerline is valid? [True, True] Translation: X:140.84, Y:-7.75, Z:-1.98 [[ 9.99766668e-01 2.09077996e-02 5.42886940e-03 1.40840800e+02] [-2.09061838e-02 9.99781379e-01 -3.54213348e-04 -7.74923083e+00] [-5.43508835e-03 2.40633757e-04 9.99985201e-01 -1.98245553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76037174299998 meters 0.02711308311001567 Centerline is valid? [True, True] Translation: X:140.87, Y:-7.75, Z:-1.98 [[ 9.99733518e-01 2.25214321e-02 5.06734457e-03 1.40869849e+02] [-2.25200467e-02 9.99746337e-01 -3.30313374e-04 -7.74556461e+00] [-5.07349830e-03 2.16108515e-04 9.99987106e-01 -1.98306402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79037174299998 meters 0.027250532809081355 Centerline is valid? [True, True] Translation: X:140.90, Y:-7.75, Z:-1.98 [[ 9.99727058e-01 2.28627452e-02 4.80673337e-03 1.40898557e+02] [-2.28615039e-02 9.99738593e-01 -3.13027122e-04 -7.74788406e+00] [-4.81263351e-03 2.03052530e-04 9.99988399e-01 -1.98451791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82037174299998 meters 0.02686430555626545 Centerline is valid? [True, True] Translation: X:140.93, Y:-7.75, Z:-1.99 [[ 9.99718152e-01 2.34021695e-02 3.99442981e-03 1.40927839e+02] [-2.34013178e-02 9.99726118e-01 -2.59838356e-04 -7.74892828e+00] [-3.99941659e-03 1.66290199e-04 9.99991988e-01 -1.98643214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85037174299998 meters 0.028137613924251625 Centerline is valid? [True, True] Translation: X:140.96, Y:-7.75, Z:-1.99 [[ 9.99712304e-01 2.36879744e-02 3.76677677e-03 1.40955951e+02] [-2.36872183e-02 9.99719388e-01 -2.45232136e-04 -7.75172084e+00] [-3.77152882e-03 1.55937120e-04 9.99992876e-01 -1.98769303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88037174299998 meters 0.02701934438313605 Centerline is valid? [True, True] Translation: X:140.98, Y:-7.75, Z:-1.99 [[ 9.99734638e-01 2.26848482e-02 4.00650887e-03 1.40984743e+02] [-2.26839872e-02 9.99742651e-01 -2.60227838e-04 -7.75255944e+00] [-4.01138103e-03 1.69275188e-04 9.99991940e-01 -1.98775467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91037174299998 meters 0.027864709740971664 Centerline is valid? [True, True] Translation: X:141.01, Y:-7.76, Z:-1.99 [[ 9.99765706e-01 2.13694079e-02 3.44707380e-03 1.41012234e+02] [-2.13687624e-02 9.99771637e-01 -2.23970213e-04 -7.75581876e+00] [-3.45107272e-03 1.50258037e-04 9.99994034e-01 -1.98834297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940371743 meters 0.02847934539223664 Centerline is valid? [True, True] Translation: X:141.04, Y:-7.76, Z:-1.99 [[ 9.99788154e-01 2.03236046e-02 3.25536340e-03 1.41040975e+02] [-2.03230248e-02 9.99793444e-01 -2.11084988e-04 -7.75904550e+00] [-3.25898100e-03 1.44881439e-04 9.99994679e-01 -1.98893224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.970371743 meters 0.02886424733362409 Centerline is valid? [True, True] Translation: X:141.07, Y:-7.76, Z:-1.99 [[ 9.99807357e-01 1.93402271e-02 3.34729133e-03 1.41069819e+02] [-1.93396095e-02 9.99812949e-01 -2.16781790e-04 -7.76172677e+00] [-3.35085783e-03 1.52004721e-04 9.99994374e-01 -1.98959843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000371743 meters 0.02947892029557767 Centerline is valid? [True, True] Translation: X:141.10, Y:-7.77, Z:-1.99 [[ 9.99828884e-01 1.82015975e-02 3.30206968e-03 1.41098855e+02] [-1.82009910e-02 9.99834325e-01 -2.13631012e-04 -7.76534558e+00] [-3.30541104e-03 1.53493516e-04 9.99994525e-01 -1.99028700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.030371743 meters 0.029697999260005513 Centerline is valid? [True, True] Translation: X:141.13, Y:-7.77, Z:-1.99 [[ 9.99874468e-01 1.56071837e-02 2.73196898e-03 1.41128055e+02] [-1.56067594e-02 9.99878192e-01 -1.76548680e-04 -7.76664094e+00] [-2.73439163e-03 1.33889335e-04 9.99996253e-01 -1.99035772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060371743 meters 0.02968147644878163 Centerline is valid? [True, True] Translation: X:141.16, Y:-7.77, Z:-1.99 [[ 9.99915509e-01 1.25587874e-02 3.35432295e-03 1.41157316e+02] [-1.25581316e-02 9.99921120e-01 -2.16526048e-04 -7.76960355e+00] [-3.35677766e-03 1.74383725e-04 9.99994351e-01 -1.99067375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.090371743 meters 0.0335505463179421 Centerline is valid? [True, True] Translation: X:141.19, Y:-7.78, Z:-1.99 [[ 9.99961116e-01 7.91406078e-03 3.89025747e-03 1.41186136e+02] [-7.91314700e-03 9.99968659e-01 -2.50225615e-04 -7.77884962e+00] [-3.89211585e-03 2.19431706e-04 9.99992402e-01 -1.99151067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120371743 meters 0.034064295596468445 Centerline is valid? [True, True] Translation: X:141.22, Y:-7.78, Z:-1.99 [[ 9.99977040e-01 5.30311975e-03 4.21859211e-03 1.41215806e+02] [-5.30202279e-03 9.99985907e-01 -2.71170576e-04 -7.78199939e+00] [-4.21997071e-03 2.48797279e-04 9.99991065e-01 -1.99193043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.150371743 meters 0.03481572714591328 Centerline is valid? [True, True] Translation: X:141.25, Y:-7.79, Z:-1.99 [[ 9.99985342e-01 3.21932685e-03 4.35326671e-03 1.41246221e+02] [-3.21813955e-03 9.99994783e-01 -2.79716128e-04 -7.78539351e+00] [-4.35414450e-03 2.65702608e-04 9.99990485e-01 -1.99280604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180371743 meters 0.04234252449175061 Centerline is valid? [True, True] Translation: X:141.28, Y:-7.80, Z:-2.00 [[ 9.99992082e-01 3.74665635e-04 3.96180206e-03 1.41275720e+02] [-3.73662981e-04 9.99999898e-01 -2.53817562e-04 -7.79775289e+00] [-3.96189675e-03 2.52335173e-04 9.99992120e-01 -1.99512000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.210371743 meters 0.03704452899747423 Centerline is valid? [True, True] Translation: X:141.31, Y:-7.79, Z:-1.99 [[ 9.99989314e-01 -8.63039129e-04 4.54172974e-03 1.41307970e+02] [ 8.64365080e-04 9.99999584e-01 -2.89993722e-04 -7.79250513e+00] [-4.54147757e-03 2.93916336e-04 9.99989644e-01 -1.99447068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24037174299997 meters 0.036156347724457534 Centerline is valid? [True, True] Translation: X:141.34, Y:-7.79, Z:-1.99 [[ 9.99990000e-01 -1.03941188e-03 4.34969364e-03 1.41339768e+02] [ 1.04064009e-03 9.99999419e-01 -2.80114317e-04 -7.79309129e+00] [-4.34939996e-03 2.84637982e-04 9.99990501e-01 -1.99433024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27037174299997 meters 0.03854155161887023 Centerline is valid? [True, True] Translation: X:141.37, Y:-7.80, Z:-2.00 [[ 9.99989982e-01 -1.42579992e-04 4.47379508e-03 1.41370717e+02] [ 1.43872685e-04 9.99999948e-01 -2.88627435e-04 -7.79704895e+00] [-4.47375370e-03 2.89268201e-04 9.99989951e-01 -1.99573267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30037174299997 meters 0.03768677600338552 Centerline is valid? [True, True] Translation: X:141.40, Y:-7.80, Z:-2.00 [[ 9.99988330e-01 1.20309322e-03 4.67900573e-03 1.41401738e+02] [-1.20169175e-03 9.99999232e-01 -3.02323350e-04 -7.79757789e+00] [-4.67936586e-03 2.96697099e-04 9.99989008e-01 -1.99620866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33037174299997 meters 0.036147648146785026 Centerline is valid? [True, True] Translation: X:141.43, Y:-7.80, Z:-2.00 [[ 9.99986523e-01 2.08446998e-03 4.75493599e-03 1.41433857e+02] [-2.08303331e-03 9.99997783e-01 -3.07075167e-04 -7.79699908e+00] [-4.75556554e-03 2.97166339e-04 9.99988648e-01 -1.99606205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36037174299997 meters 0.03502915720845801 Centerline is valid? [True, True] Translation: X:141.47, Y:-7.80, Z:-2.00 [[ 9.99980502e-01 3.45622834e-03 5.20105214e-03 1.41465188e+02] [-3.45452396e-03 9.99993976e-01 -3.36647596e-04 -7.79620560e+00] [-5.20218435e-03 3.18673873e-04 9.99986418e-01 -1.99614317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39037174299997 meters 0.03728001973320985 Centerline is valid? [True, True] Translation: X:141.50, Y:-7.80, Z:-2.00 [[ 9.99964458e-01 5.82973291e-03 6.09075151e-03 1.41495459e+02] [-5.82743670e-03 9.99982942e-01 -3.94678500e-04 -7.79959065e+00] [-6.09294848e-03 3.59171004e-04 9.99981373e-01 -1.99581160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42037174299998 meters 0.03405383020139799 Centerline is valid? [True, True] Translation: X:141.53, Y:-7.80, Z:-2.00 [[ 9.99947300e-01 7.71201345e-03 6.77658335e-03 1.41526829e+02] [-7.70921305e-03 9.99970187e-01 -4.39270807e-04 -7.79602386e+00] [-6.77976898e-03 3.87005533e-04 9.99976942e-01 -1.99517356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45037174299998 meters 0.03142152933729728 Centerline is valid? [True, True] Translation: X:141.56, Y:-7.79, Z:-1.99 [[ 9.99930059e-01 9.54113915e-03 6.98878155e-03 1.41557564e+02] [-9.53820339e-03 9.99954408e-01 -4.53277936e-04 -7.79361704e+00] [-6.99278771e-03 3.86585814e-04 9.99975475e-01 -1.99467567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48037174299998 meters 0.03291582136653944 Centerline is valid? [True, True] Translation: X:141.59, Y:-7.80, Z:-1.99 [[ 9.99887881e-01 1.26382019e-02 8.03127466e-03 1.41586704e+02] [-1.26344229e-02 9.99920047e-01 -5.21103940e-04 -7.79565195e+00] [-8.03721835e-03 4.19574994e-04 9.99967613e-01 -1.99478994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51037174299998 meters 0.032776037894315206 Centerline is valid? [True, True] Translation: X:141.62, Y:-7.80, Z:-1.99 [[ 9.99867931e-01 1.39705046e-02 8.30338087e-03 1.41615889e+02] [-1.39665128e-02 9.99902318e-01 -5.38538530e-04 -7.79624359e+00] [-8.31009344e-03 4.22498130e-04 9.99965381e-01 -1.99482129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54037174299998 meters 0.03261394671458449 Centerline is valid? [True, True] Translation: X:141.64, Y:-7.80, Z:-2.00 [[ 9.99844857e-01 1.60063579e-02 7.35247400e-03 1.41644546e+02] [-1.60032852e-02 9.99871826e-01 -4.76568239e-04 -7.79649675e+00] [-7.35915972e-03 3.58830564e-04 9.99972857e-01 -1.99570270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57037174299998 meters 0.030097154395883396 Centerline is valid? [True, True] Translation: X:141.67, Y:-7.79, Z:-2.00 [[ 9.99843825e-01 1.63272633e-02 6.76358872e-03 1.41674077e+02] [-1.63246722e-02 9.99866648e-01 -4.38122947e-04 -7.79401711e+00] [-6.76984013e-03 3.27641154e-04 9.99977031e-01 -1.99658379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60037174299998 meters 0.029108551944567924 Centerline is valid? [True, True] Translation: X:141.70, Y:-7.79, Z:-2.00 [[ 9.99860308e-01 1.57924541e-02 5.47376343e-03 1.41702772e+02] [-1.57907490e-02 9.99875255e-01 -3.54587283e-04 -7.79364609e+00] [-5.47868041e-03 2.68102925e-04 9.99984956e-01 -1.99854870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63037174299998 meters 0.030220678040061764 Centerline is valid? [True, True] Translation: X:141.73, Y:-7.80, Z:-2.00 [[ 9.99881943e-01 1.48104406e-02 4.09286338e-03 1.41730268e+02] [-1.48094785e-02 9.99890298e-01 -2.65262832e-04 -7.79698005e+00] [-4.09634305e-03 2.04618343e-04 9.99991589e-01 -2.00027530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66037174299998 meters 0.030103102866919782 Centerline is valid? [True, True] Translation: X:141.76, Y:-7.80, Z:-2.00 [[ 9.99921340e-01 1.22604728e-02 2.64487002e-03 1.41760030e+02] [-1.22600632e-02 9.99924828e-01 -1.71021090e-04 -7.79848634e+00] [-2.64676800e-03 1.38581364e-04 9.99996488e-01 -2.00251824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.690371743 meters 0.029186241078890934 Centerline is valid? [True, True] Translation: X:141.79, Y:-7.80, Z:-2.00 [[ 9.99935376e-01 1.10486872e-02 2.67776377e-03 1.41789184e+02] [-1.10482622e-02 9.99938951e-01 -1.73467632e-04 -7.79871327e+00] [-2.67951688e-03 1.43871785e-04 9.99996400e-01 -2.00272434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720371743 meters 0.030183210966144944 Centerline is valid? [True, True] Translation: X:141.82, Y:-7.80, Z:-2.00 [[ 9.99955089e-01 9.27023419e-03 1.97048609e-03 1.41817263e+02] [-9.27000138e-03 9.99957025e-01 -1.27249165e-04 -7.80004554e+00] [-1.97158104e-03 1.08977042e-04 9.99998050e-01 -2.00342716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.750371743 meters 0.034550906100445866 Centerline is valid? [True, True] Translation: X:141.84, Y:-7.81, Z:-2.01 [[ 9.99961857e-01 8.50328780e-03 1.99458467e-03 1.41844644e+02] [-8.50304641e-03 9.99963840e-01 -1.29469369e-04 -7.80738202e+00] [-1.99561346e-03 1.12504385e-04 9.99998002e-01 -2.00528507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780371743 meters 0.03126330572061535 Centerline is valid? [True, True] Translation: X:141.87, Y:-7.80, Z:-2.00 [[ 9.99966255e-01 7.92230717e-03 2.17397162e-03 1.41873493e+02] [-7.92202017e-03 9.99968610e-01 -1.40596158e-04 -7.80349034e+00] [-2.17501723e-03 1.23369166e-04 9.99997627e-01 -2.00437858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.810371743 meters 0.031204519673574186 Centerline is valid? [True, True] Translation: X:141.90, Y:-7.80, Z:-2.00 [[ 9.99946333e-01 9.97092143e-03 2.81284232e-03 1.41902811e+02] [-9.97045159e-03 9.99950277e-01 -1.81005374e-04 -7.80379578e+00] [-2.81450724e-03 1.52950352e-04 9.99996028e-01 -2.00433226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840371743 meters 0.03113675133906401 Centerline is valid? [True, True] Translation: X:141.93, Y:-7.80, Z:-2.00 [[ 9.99933225e-01 1.09686642e-02 3.63793292e-03 1.41931357e+02] [-1.09678846e-02 9.99939824e-01 -2.34184032e-04 -7.80424950e+00] [-3.64028269e-03 1.94267966e-04 9.99993355e-01 -2.00398700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.870371743 meters 0.0349490017651766 Centerline is valid? [True, True] Translation: X:141.96, Y:-7.81, Z:-2.00 [[ 9.99914579e-01 1.22657198e-02 4.51509027e-03 1.41959400e+02] [-1.22645347e-02 9.99924746e-01 -2.90086241e-04 -7.81033376e+00] [-4.51830860e-03 2.34685981e-04 9.99989765e-01 -2.00455727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900371743 meters 0.03069483930668965 Centerline is valid? [True, True] Translation: X:141.99, Y:-7.80, Z:-2.00 [[ 9.99873157e-01 1.49739151e-02 5.42702132e-03 1.41989330e+02] [-1.49722474e-02 9.99887849e-01 -3.47794138e-04 -7.80347718e+00] [-5.43162052e-03 2.66495316e-04 9.99985213e-01 -2.00276814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.930371743 meters 0.02908125878986956 Centerline is valid? [True, True] Translation: X:142.02, Y:-7.80, Z:-2.00 [[ 9.99861898e-01 1.56050350e-02 5.71551339e-03 1.42017882e+02] [-1.56031951e-02 9.99878196e-01 -3.66362093e-04 -7.80145095e+00] [-5.72053431e-03 2.77131227e-04 9.99983599e-01 -2.00233182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960371743 meters 0.028742364849340066 Centerline is valid? [True, True] Translation: X:142.05, Y:-7.80, Z:-2.00 [[ 9.99844469e-01 1.64853541e-02 6.26658717e-03 1.42046315e+02] [-1.64831629e-02 9.99864063e-01 -4.01140868e-04 -7.80221798e+00] [-6.27234826e-03 2.97785301e-04 9.99980284e-01 -2.00198300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99037174299997 meters 0.029380095206220386 Centerline is valid? [True, True] Translation: X:142.08, Y:-7.80, Z:-2.00 [[ 9.99819104e-01 1.78108719e-02 6.67320772e-03 1.42075586e+02] [-1.78084212e-02 9.99841327e-01 -4.26494869e-04 -7.80417055e+00] [-6.67974510e-03 3.07578424e-04 9.99977643e-01 -2.00275833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02037174299997 meters 0.02846780650739304 Centerline is valid? [True, True] Translation: X:142.10, Y:-7.81, Z:-2.00 [[ 9.99819660e-01 1.77467609e-02 6.76023656e-03 1.42104315e+02] [-1.77442460e-02 9.99842465e-01 -4.31823767e-04 -7.80502170e+00] [-6.76683506e-03 3.11790591e-04 9.99977056e-01 -2.00306911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05037174299997 meters 0.028257336722006175 Centerline is valid? [True, True] Translation: X:142.13, Y:-7.81, Z:-2.00 [[ 9.99821635e-01 1.76420350e-02 6.74214359e-03 1.42132997e+02] [-1.76395343e-02 9.99844319e-01 -4.30194520e-04 -7.80628413e+00] [-6.74868347e-03 3.11189515e-04 9.99977179e-01 -2.00373540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08037174299997 meters 0.027852368282004908 Centerline is valid? [True, True] Translation: X:142.16, Y:-7.81, Z:-2.01 [[ 9.99827649e-01 1.78151341e-02 5.22438562e-03 1.42161296e+02] [-1.78136357e-02 9.99841269e-01 -3.33206508e-04 -7.80773821e+00] [-5.22949246e-03 2.40083777e-04 9.99986297e-01 -2.00559761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11037174299997 meters 0.028584289157494922 Centerline is valid? [True, True] Translation: X:142.19, Y:-7.81, Z:-2.01 [[ 9.99835751e-01 1.76768290e-02 4.00012955e-03 1.42188967e+02] [-1.76759490e-02 9.99843736e-01 -2.55247945e-04 -7.81095840e+00] [-4.00401645e-03 1.84499935e-04 9.99991967e-01 -2.00766722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14037174299997 meters 0.02942971310353498 Centerline is valid? [True, True] Translation: X:142.22, Y:-7.81, Z:-2.01 [[ 9.99845210e-01 1.75562556e-02 1.15532234e-03 1.42216427e+02] [-1.75561812e-02 9.99845876e-01 -7.44876053e-05 -7.81429807e+00] [-1.15645200e-03 5.41930269e-05 9.99999330e-01 -2.01186322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17037174299998 meters 0.02866931891588351 Centerline is valid? [True, True] Translation: X:142.25, Y:-7.81, Z:-2.01 [[ 9.99842499e-01 1.77412354e-02 -4.74464375e-04 1.42245066e+02] [-1.77412236e-02 9.99842612e-01 2.90472005e-05 -7.81413005e+00] [ 4.74905033e-04 -2.06250470e-05 9.99999887e-01 -2.01291997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20037174299998 meters 0.02992278792456875 Centerline is valid? [True, True] Translation: X:142.27, Y:-7.82, Z:-2.02 [[ 9.99846256e-01 1.75013677e-02 -1.08048824e-03 1.42272183e+02] [-1.75013053e-02 9.99846838e-01 6.71060585e-05 -7.81760498e+00] [ 1.08149720e-03 -4.81857866e-05 9.99999414e-01 -2.01514067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23037174299998 meters 0.02992278792456875 Centerline is valid? [True, True] Translation: X:142.30, Y:-7.82, Z:-2.02 [[ 9.99848061e-01 1.73979189e-02 -1.08050928e-03 1.42299616e+02] [-1.73978569e-02 9.99848644e-01 6.67722460e-05 -7.81924572e+00] [ 1.08150743e-03 -4.79635549e-05 9.99999414e-01 -2.01552716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26037174299998 meters 0.03040547256892591 Centerline is valid? [True, True] Translation: X:142.33, Y:-7.82, Z:-2.02 [[ 9.99839751e-01 1.78418678e-02 -1.46290860e-03 1.42327400e+02] [-1.78417542e-02 9.99840819e-01 9.06603364e-05 -7.82168152e+00] [ 1.46429328e-03 -6.45449525e-05 9.99998926e-01 -2.01690677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29037174299998 meters 0.03082941628172222 Centerline is valid? [True, True] Translation: X:142.35, Y:-7.82, Z:-2.02 [[ 9.99819630e-01 1.89571317e-02 -1.15556047e-03 1.42354831e+02] [-1.89570616e-02 9.99820296e-01 7.15523820e-05 -7.82344864e+00] [ 1.15670924e-03 -4.96334449e-05 9.99999330e-01 -2.01758577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32037174299998 meters 0.03067610003153449 Centerline is valid? [True, True] Translation: X:142.38, Y:-7.82, Z:-2.02 [[ 9.99812780e-01 1.93280321e-02 -9.12560245e-04 1.42384149e+02] [-1.93279884e-02 9.99813195e-01 5.66866725e-05 -7.82449747e+00] [ 9.13485416e-04 -3.90381057e-05 9.99999582e-01 -2.01794875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35037174299998 meters 0.029277141525013227 Centerline is valid? [True, True] Translation: X:142.41, Y:-7.82, Z:-2.02 [[ 9.99812522e-01 1.93488800e-02 -7.35675748e-04 1.42413397e+02] [-1.93488519e-02 9.99812792e-01 4.52442346e-05 -7.82328009e+00] [ 7.36413449e-04 -3.10012712e-05 9.99999728e-01 -2.01727025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38037174299998 meters 0.02895067538897976 Centerline is valid? [True, True] Translation: X:142.44, Y:-7.82, Z:-2.02 [[ 9.99818265e-01 1.90620158e-02 -2.78423706e-04 1.42442233e+02] [-1.90620120e-02 9.99818303e-01 1.64902148e-05 -7.82399179e+00] [ 2.78687454e-04 -1.11799019e-05 9.99999961e-01 -2.01626585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41037174299998 meters 0.028619421433946374 Centerline is valid? [True, True] Translation: X:142.47, Y:-7.82, Z:-2.02 [[ 9.99836747e-01 1.80670465e-02 2.48054113e-04 1.42470820e+02] [-1.80670429e-02 9.99836778e-01 -1.65452126e-05 -7.82453222e+00] [-2.48312548e-04 1.20609072e-05 9.99999969e-01 -2.01545681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440371743 meters 0.028765671270598134 Centerline is valid? [True, True] Translation: X:142.50, Y:-7.83, Z:-2.01 [[ 9.99852921e-01 1.71092536e-02 1.18731066e-03 1.42499846e+02] [-1.71091762e-02 9.99853624e-01 -7.53435138e-05 -7.82658302e+00] [-1.18842593e-03 5.50185252e-05 9.99999292e-01 -2.01463458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.470371743 meters 0.028795476862214803 Centerline is valid? [True, True] Translation: X:142.53, Y:-7.83, Z:-2.01 [[ 9.99853758e-01 1.70188368e-02 1.68003427e-03 1.42528740e+02] [-1.70186825e-02 9.99855166e-01 -1.06080487e-04 -7.82876506e+00] [-1.68159631e-03 7.74730041e-05 9.99998583e-01 -2.01450951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500371743 meters 0.028709579623204803 Centerline is valid? [True, True] Translation: X:142.56, Y:-7.83, Z:-2.01 [[ 9.99851061e-01 1.71910096e-02 1.52481987e-03 1.42557627e+02] [-1.71908828e-02 9.99852221e-01 -9.62626387e-05 -7.83058696e+00] [-1.52624938e-03 7.00353019e-05 9.99998833e-01 -2.01477235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.530371743 meters 0.028843088811957844 Centerline is valid? [True, True] Translation: X:142.59, Y:-7.83, Z:-2.01 [[ 9.99849067e-01 1.73204643e-02 1.35786256e-03 1.42586475e+02] [-1.73203638e-02 9.99849988e-01 -8.57270052e-05 -7.83263735e+00] [-1.35914370e-03 6.21953926e-05 9.99999074e-01 -2.01495966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560371743 meters 0.028966431556017247 Centerline is valid? [True, True] Translation: X:142.62, Y:-7.84, Z:-2.02 [[ 9.99862872e-01 1.65510993e-02 5.46809010e-04 1.42615291e+02] [-1.65510826e-02 9.99863021e-01 -3.50757960e-05 -7.83551709e+00] [-5.47314652e-04 2.60207051e-05 9.99999850e-01 -2.01570920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.590371743 meters 0.03181286291052838 Centerline is valid? [True, True] Translation: X:142.64, Y:-7.84, Z:-2.02 [[ 9.99877284e-01 1.56651675e-02 -1.36410617e-04 1.42642950e+02] [-1.56651667e-02 9.99877294e-01 7.00021963e-06 -7.84278096e+00] [ 1.36503538e-04 -4.86246553e-06 9.99999991e-01 -2.01809877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620371743 meters 0.028827815051396633 Centerline is valid? [True, True] Translation: X:142.67, Y:-7.84, Z:-2.02 [[ 9.99889269e-01 1.47470663e-02 -1.99368384e-03 1.42671667e+02] [-1.47468505e-02 9.99891252e-01 1.22912215e-04 -7.84247421e+00] [ 1.99527963e-03 -9.34980476e-05 9.99998005e-01 -2.01912636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.650371743 meters 0.029899546303542666 Centerline is valid? [True, True] Translation: X:142.70, Y:-7.85, Z:-2.02 [[ 9.99898384e-01 1.39354863e-02 -3.00413337e-03 1.42698957e+02] [-1.39349926e-02 9.99902886e-01 1.85208332e-04 -7.84704722e+00] [ 3.00642259e-03 -1.43326935e-04 9.99995470e-01 -2.02080600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680371743 meters 0.028945288829977173 Centerline is valid? [True, True] Translation: X:142.73, Y:-7.85, Z:-2.02 [[ 9.99900611e-01 1.35859287e-02 -3.76715625e-03 1.42728163e+02] [-1.35851488e-02 9.99907691e-01 2.32530873e-04 -7.84840545e+00] [ 3.76996765e-03 -1.81330384e-04 9.99992877e-01 -2.02151117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.710371743 meters 0.02945112427991715 Centerline is valid? [True, True] Translation: X:142.76, Y:-7.85, Z:-2.02 [[ 9.99903560e-01 1.31238353e-02 -4.54267837e-03 1.42757107e+02] [-1.31226971e-02 9.99913854e-01 2.80290847e-04 -7.85238385e+00] [ 4.54596553e-03 -2.20651623e-04 9.99989643e-01 -2.02325891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74037174299997 meters 0.02952875603833393 Centerline is valid? [True, True] Translation: X:142.79, Y:-7.86, Z:-2.02 [[ 9.99913239e-01 1.21900560e-02 -4.99160999e-03 1.42785449e+02] [-1.21886713e-02 9.99925668e-01 3.07728092e-04 -7.85595629e+00] [ 4.99499017e-03 -2.46860300e-04 9.99987494e-01 -2.02322030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77037174299997 meters 0.029629661251789504 Centerline is valid? [True, True] Translation: X:142.81, Y:-7.86, Z:-2.02 [[ 9.99922009e-01 1.15427795e-02 -4.76874497e-03 1.42814688e+02] [-1.15415102e-02 9.99933351e-01 2.93596957e-04 -7.85744466e+00] [ 4.77181607e-03 -2.38535540e-04 9.99988586e-01 -2.02232083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80037174299997 meters 0.029596529260684564 Centerline is valid? [True, True] Translation: X:142.84, Y:-7.86, Z:-2.02 [[ 9.99926132e-01 1.13025163e-02 -4.47026667e-03 1.42843653e+02] [-1.13014003e-02 9.99936099e-01 2.74835136e-04 -7.85931868e+00] [ 4.47308735e-03 -2.24294562e-04 9.99989971e-01 -2.02152155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83037174299997 meters 0.02999194754324779 Centerline is valid? [True, True] Translation: X:142.87, Y:-7.86, Z:-2.02 [[ 9.99933436e-01 1.08364056e-02 -3.96176471e-03 1.42871941e+02] [-1.08355270e-02 9.99941264e-01 2.43175976e-04 -7.86174506e+00] [ 3.96416717e-03 -2.00231981e-04 9.99992123e-01 -2.02115171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86037174299997 meters 0.03087573972480204 Centerline is valid? [True, True] Translation: X:142.90, Y:-7.87, Z:-2.02 [[ 9.99944138e-01 1.02024701e-02 -2.76218711e-03 1.42899381e+02] [-1.02020427e-02 9.99947944e-01 1.68752336e-04 -7.86604067e+00] [ 2.76376501e-03 -1.40562958e-04 9.99996171e-01 -2.02113945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89037174299997 meters 0.03000796313699483 Centerline is valid? [True, True] Translation: X:142.93, Y:-7.87, Z:-2.02 [[ 9.99946967e-01 1.01630252e-02 -1.66621813e-03 1.42928048e+02] [-1.01628703e-02 9.99948352e-01 1.01418073e-04 -7.86754591e+00] [ 1.66716279e-03 -8.44791356e-05 9.99998607e-01 -2.02059552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92037174299998 meters 0.0312538188292341 Centerline is valid? [True, True] Translation: X:142.96, Y:-7.87, Z:-2.02 [[ 9.99949214e-01 1.00437998e-02 -8.31921024e-04 1.42955606e+02] [-1.00437618e-02 9.99949559e-01 4.98085066e-05 -7.87214401e+00] [ 8.32379328e-04 -4.14503604e-05 9.99999653e-01 -2.02127972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95037174299998 meters 0.030174762985783296 Centerline is valid? [True, True] Translation: X:142.98, Y:-7.87, Z:-2.02 [[ 9.99953232e-01 9.65277307e-03 5.97666816e-04 1.42984011e+02] [-9.65275229e-03 9.99953410e-01 -3.76512785e-05 -7.87407164e+00] [-5.98002410e-04 3.18803879e-05 9.99999821e-01 -2.02034357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98037174299998 meters 0.030091417686567867 Centerline is valid? [True, True] Translation: X:143.01, Y:-7.88, Z:-2.02 [[ 9.99956881e-01 9.26740961e-03 5.93289840e-04 1.43012579e+02] [-9.26738908e-03 9.99957056e-01 -3.73388639e-05 -7.87640409e+00] [-5.93610396e-04 3.18390061e-05 9.99999823e-01 -2.02025668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01037174299998 meters 0.03168676304293918 Centerline is valid? [True, True] Translation: X:143.04, Y:-7.88, Z:-2.02 [[ 9.99970212e-01 7.70409648e-03 -4.71957854e-04 1.43040837e+02] [-7.70408406e-03 9.99970323e-01 2.81288898e-05 -7.88190041e+00] [ 4.72160555e-04 -2.44920489e-05 9.99999888e-01 -2.02147413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04037174299998 meters 0.03357687238484327 Centerline is valid? [True, True] Translation: X:143.07, Y:-7.89, Z:-2.02 [[ 9.99976171e-01 6.83004596e-03 -1.00405151e-03 1.43068004e+02] [-6.82998903e-03 9.99976674e-01 6.01170549e-05 -7.88754199e+00] [ 1.00443869e-03 -5.32579616e-05 9.99999494e-01 -2.02269219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07037174299998 meters 0.03157699684214418 Centerline is valid? [True, True] Translation: X:143.10, Y:-7.89, Z:-2.02 [[ 9.99981316e-01 5.92703563e-03 -1.49606702e-03 1.43097177e+02] [-5.92690715e-03 9.99982432e-01 9.02995021e-05 -7.88692451e+00] [ 1.49657594e-03 -8.14307647e-05 9.99998877e-01 -2.02234937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10037174299998 meters 0.030985589914634494 Centerline is valid? [True, True] Translation: X:143.13, Y:-7.89, Z:-2.02 [[ 9.99986927e-01 4.60497928e-03 -2.22272628e-03 1.43126475e+02] [-4.60469043e-03 9.99989389e-01 1.35056582e-04 -7.88947180e+00] [ 2.22332463e-03 -1.24819850e-04 9.99997521e-01 -2.02258632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13037174299998 meters 0.03475176726360248 Centerline is valid? [True, True] Translation: X:143.15, Y:-7.90, Z:-2.02 [[ 9.99988541e-01 4.28737021e-03 -2.12971898e-03 1.43153320e+02] [-4.28710637e-03 9.99990802e-01 1.28432806e-04 -7.89780293e+00] [ 2.13025003e-03 -1.19301003e-04 9.99997724e-01 -2.02437083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16037174299998 meters 0.033365106309330206 Centerline is valid? [True, True] Translation: X:143.18, Y:-7.90, Z:-2.02 [[ 9.99991447e-01 3.84835216e-03 -1.51555560e-03 1.43182271e+02] [-3.84821834e-03 9.99992591e-01 9.12050868e-05 -7.89849999e+00] [ 1.51589537e-03 -8.53721178e-05 9.99998847e-01 -2.02375649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.190371743 meters 0.03165392056796937 Centerline is valid? [True, True] Translation: X:143.21, Y:-7.90, Z:-2.02 [[ 9.99992469e-01 3.87877064e-03 -1.30956876e-04 1.43211394e+02] [-3.87876976e-03 9.99992478e-01 6.94811214e-06 -7.89907657e+00] [ 1.30982841e-04 -6.44010823e-06 9.99999991e-01 -2.02165238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220371743 meters 0.03375016823570052 Centerline is valid? [True, True] Translation: X:143.24, Y:-7.90, Z:-2.02 [[ 9.99993383e-01 3.59493809e-03 5.57634141e-04 1.43239888e+02] [-3.59491935e-03 9.99993538e-01 -3.46006619e-05 -7.90482368e+00] [-5.57754925e-04 3.25957832e-05 9.99999844e-01 -2.02183140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.250371743 meters 0.03417541262667855 Centerline is valid? [True, True] Translation: X:143.27, Y:-7.91, Z:-2.02 [[ 9.99993884e-01 3.32650013e-03 1.08032933e-03 1.43269243e+02] [-3.32643072e-03 9.99994465e-01 -6.60310973e-05 -7.90769322e+00] [-1.08054300e-03 6.24370528e-05 9.99999414e-01 -2.02152881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280371743 meters 0.033290846537447245 Centerline is valid? [True, True] Translation: X:143.30, Y:-7.91, Z:-2.02 [[ 9.99994272e-01 2.87611343e-03 1.78455081e-03 1.43298981e+02] [-2.87592401e-03 9.99995859e-01 -1.08700015e-04 -7.90861313e+00] [-1.78485605e-03 1.03567159e-04 9.99998402e-01 -2.02083693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.310371743 meters 0.035364284506000626 Centerline is valid? [True, True] Translation: X:143.33, Y:-7.91, Z:-2.02 [[ 9.99995455e-01 2.46095764e-03 1.74184113e-03 1.43328174e+02] [-2.46077760e-03 9.99996967e-01 -1.05493135e-04 -7.91349286e+00] [-1.74209546e-03 1.01206372e-04 9.99998477e-01 -2.02085600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340371743 meters 0.03398399073351449 Centerline is valid? [True, True] Translation: X:143.36, Y:-7.91, Z:-2.02 [[ 9.99996512e-01 6.88544160e-04 2.54990621e-03 1.43358584e+02] [-6.88152076e-04 9.99999751e-01 -1.54638354e-04 -7.91464312e+00] [-2.55001206e-03 1.52883091e-04 9.99996737e-01 -2.02061531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.370371743 meters 0.037376176130433814 Centerline is valid? [True, True] Translation: X:143.39, Y:-7.92, Z:-2.02 [[ 9.99993153e-01 -1.95768827e-03 3.14035794e-03 1.43388383e+02] [ 1.95829432e-03 9.99998065e-01 -1.89925301e-04 -7.92314406e+00] [-3.13998005e-03 1.96073746e-04 9.99995051e-01 -2.02138786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400371743 meters 0.03519921630060102 Centerline is valid? [True, True] Translation: X:143.42, Y:-7.92, Z:-2.02 [[ 9.99989559e-01 -3.41710805e-03 3.03389203e-03 1.43420534e+02] [ 3.41767998e-03 9.99994143e-01 -1.83350746e-04 -7.92240329e+00] [-3.03324774e-03 1.93717704e-04 9.99995381e-01 -2.02088310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.430371743 meters 0.03632032864221572 Centerline is valid? [True, True] Translation: X:143.45, Y:-7.93, Z:-2.02 [[ 9.99983726e-01 -4.85797248e-03 2.99114127e-03 1.43452430e+02] [ 4.85853543e-03 9.99988181e-01 -1.80968697e-04 -7.92630380e+00] [-2.99022678e-03 1.95498318e-04 9.99995510e-01 -2.02137161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460371743 meters 0.03857124835039205 Centerline is valid? [True, True] Translation: X:143.48, Y:-7.93, Z:-2.02 [[ 9.99964013e-01 -7.94917366e-03 2.96356701e-03 1.43482487e+02] [ 7.94974215e-03 9.99968384e-01 -1.80094610e-04 -7.93241163e+00] [-2.96204171e-03 2.03647722e-04 9.99995592e-01 -2.02187273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49037174299997 meters 0.04025114186628639 Centerline is valid? [True, True] Translation: X:143.51, Y:-7.94, Z:-2.02 [[ 9.99952404e-01 -9.17667991e-03 3.31338811e-03 1.43514671e+02] [ 9.17739568e-03 9.99957867e-01 -2.00882706e-04 -7.93752414e+00] [-3.31140506e-03 2.31281418e-04 9.99994491e-01 -2.02241831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52037174299997 meters 0.039388206253246336 Centerline is valid? [True, True] Translation: X:143.55, Y:-7.94, Z:-2.02 [[ 9.99940294e-01 -1.02795547e-02 3.70664965e-03 1.43546761e+02] [ 1.02804594e-02 9.99947129e-01 -2.25088932e-04 -7.93917945e+00] [-3.70413986e-03 2.63181554e-04 9.99993105e-01 -2.02216837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55037174299997 meters 0.03852930677341474 Centerline is valid? [True, True] Translation: X:143.58, Y:-7.94, Z:-2.02 [[ 9.99923187e-01 -1.18175348e-02 3.73702786e-03 1.43579158e+02] [ 1.18184660e-02 9.99930134e-01 -2.27202945e-04 -7.94150942e+00] [-3.73408178e-03 2.71351430e-04 9.99992991e-01 -2.02224673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58037174299997 meters 0.03831960355670348 Centerline is valid? [True, True] Translation: X:143.61, Y:-7.94, Z:-2.02 [[ 9.99923227e-01 -1.18827184e-02 3.51286587e-03 1.43611388e+02] [ 1.18835423e-02 9.99929365e-01 -2.13755452e-04 -7.94383862e+00] [-3.51007775e-03 2.55484332e-04 9.99993807e-01 -2.02308601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61037174299997 meters 0.043656668767503126 Centerline is valid? [True, True] Translation: X:143.64, Y:-7.95, Z:-2.03 [[ 9.99929484e-01 -1.13580340e-02 3.46728989e-03 1.43642110e+02] [ 1.13588350e-02 9.99935464e-01 -2.11411333e-04 -7.95390072e+00] [-3.46466491e-03 2.50780799e-04 9.99993967e-01 -2.02500628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64037174299997 meters 0.04434976691518212 Centerline is valid? [True, True] Translation: X:143.67, Y:-7.96, Z:-2.03 [[ 9.99952680e-01 -9.25596852e-03 2.99428695e-03 1.43672184e+02] [ 9.25655512e-03 9.99957141e-01 -1.82108468e-04 -7.95695251e+00] [-2.99247303e-03 2.09816633e-04 9.99995501e-01 -2.02656194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67037174299998 meters 0.038344524117466076 Centerline is valid? [True, True] Translation: X:143.70, Y:-7.95, Z:-2.03 [[ 9.99967805e-01 -7.40060670e-03 3.10147293e-03 1.43703779e+02] [ 7.40123052e-03 9.99972593e-01 -1.89704953e-04 -7.95045451e+00] [-3.09998399e-03 2.12653561e-04 9.99995172e-01 -2.02615633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70037174299998 meters 0.03500033239740083 Centerline is valid? [True, True] Translation: X:143.73, Y:-7.95, Z:-2.03 [[ 9.99993275e-01 -2.84044617e-03 2.31968121e-03 1.43734523e+02] [ 2.84078366e-03 9.99995955e-01 -1.42205596e-04 -7.94693974e+00] [-2.31926790e-03 1.48794352e-04 9.99997299e-01 -2.02631219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73037174299998 meters 0.03735806613931234 Centerline is valid? [True, True] Translation: X:143.76, Y:-7.95, Z:-2.03 [[ 9.99997292e-01 -7.86403886e-04 2.19039081e-03 1.43764862e+02] [ 7.86699090e-04 9.99999682e-01 -1.33913937e-04 -7.95222063e+00] [-2.19028480e-03 1.35636753e-04 9.99997592e-01 -2.02763601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76037174299998 meters 0.034586488690335836 Centerline is valid? [True, True] Translation: X:143.80, Y:-7.95, Z:-2.03 [[ 9.99996356e-01 1.42329025e-03 2.29413786e-03 1.43796149e+02] [-1.42297196e-03 9.99998978e-01 -1.40367946e-04 -7.94998433e+00] [-2.29433530e-03 1.37102940e-04 9.99997359e-01 -2.02767960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79037174299998 meters 0.03193638768780258 Centerline is valid? [True, True] Translation: X:143.83, Y:-7.95, Z:-2.03 [[ 9.99985647e-01 5.08659473e-03 1.68305439e-03 1.43827260e+02] [-5.08642835e-03 9.99987059e-01 -1.03121719e-04 -7.94725580e+00] [-1.68355715e-03 9.45595031e-05 9.99998578e-01 -2.02765029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82037174299998 meters 0.03086952183082339 Centerline is valid? [True, True] Translation: X:143.86, Y:-7.95, Z:-2.03 [[ 9.99979601e-01 6.20717642e-03 1.50638042e-03 1.43857079e+02] [-6.20704339e-03 9.99980732e-01 -9.29731000e-05 -7.94759628e+00] [-1.50692849e-03 8.36210348e-05 9.99998861e-01 -2.02864696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85037174299998 meters 0.03396404613398372 Centerline is valid? [True, True] Translation: X:143.89, Y:-7.95, Z:-2.03 [[ 9.99972820e-01 7.29487389e-03 1.07004042e-03 1.43885013e+02] [-7.29480702e-03 9.99973390e-01 -6.63804304e-05 -7.95444233e+00] [-1.07049618e-03 5.85728878e-05 9.99999425e-01 -2.03116908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88037174299998 meters 0.03197610039907523 Centerline is valid? [True, True] Translation: X:143.91, Y:-7.95, Z:-2.03 [[ 9.99968893e-01 7.86485476e-03 5.97865965e-04 1.43913621e+02] [-7.86483367e-03 9.99969071e-01 -3.76091043e-05 -7.95331736e+00] [-5.98143264e-04 3.29058180e-05 9.99999821e-01 -2.03152693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91037174299998 meters 0.032214988447841104 Centerline is valid? [True, True] Translation: X:143.94, Y:-7.95, Z:-2.03 [[ 9.99959794e-01 8.94189560e-03 -6.73354716e-04 1.43942448e+02] [-8.94187054e-03 9.99960020e-01 4.02172402e-05 -7.95466754e+00] [ 6.73687414e-04 -3.41945725e-05 9.99999772e-01 -2.03287524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940371743 meters 0.03289340408334235 Centerline is valid? [True, True] Translation: X:143.97, Y:-7.96, Z:-2.03 [[ 9.99962679e-01 8.55149083e-03 -1.22967226e-03 1.43970307e+02] [-8.55140639e-03 9.99963433e-01 7.39158060e-05 -7.95785530e+00] [ 1.23025938e-03 -6.33976203e-05 9.99999241e-01 -2.03416060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.970371743 meters 0.028875535532067793 Centerline is valid? [True, True] Translation: X:144.00, Y:-7.95, Z:-2.03 [[ 9.99964726e-01 8.32228061e-03 -1.13418691e-03 1.43999346e+02] [-8.32220861e-03 9.99965368e-01 6.81926505e-05 -7.95367164e+00] [ 1.13471515e-03 -5.87513050e-05 9.99999354e-01 -2.03211757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000371743 meters 0.03389629620700468 Centerline is valid? [True, True] Translation: X:144.03, Y:-7.96, Z:-2.03 [[ 9.99967365e-01 8.06844956e-03 -4.11526061e-04 1.44026651e+02] [-8.06844045e-03 9.99967449e-01 2.38064644e-05 -7.96267943e+00] [ 4.11704746e-04 -2.04853140e-05 9.99999915e-01 -2.03382568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.030371743 meters 0.029831133437280416 Centerline is valid? [True, True] Translation: X:144.06, Y:-7.96, Z:-2.03 [[ 9.99967993e-01 7.94049948e-03 9.80923618e-04 1.44056213e+02] [-7.94044373e-03 9.99968472e-01 -6.07179588e-05 -7.95809764e+00] [-9.81374823e-04 5.29270466e-05 9.99999517e-01 -2.03107673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060371743 meters 0.031040376651561088 Centerline is valid? [True, True] Translation: X:144.08, Y:-7.96, Z:-2.03 [[ 9.99964699e-01 7.62745564e-03 3.52453779e-03 1.44084312e+02] [-7.62674343e-03 9.99970893e-01 -2.15466062e-04 -7.96168628e+00] [-3.52607865e-03 1.88577711e-04 9.99993766e-01 -2.02888294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.090371743 meters 0.030618507491612806 Centerline is valid? [True, True] Translation: X:144.11, Y:-7.96, Z:-2.03 [[ 9.99961618e-01 7.26259788e-03 4.90072176e-03 1.44113753e+02] [-7.26122353e-03 9.99973593e-01 -2.98172937e-04 -7.96303681e+00] [-4.90275785e-03 2.62576256e-04 9.99987947e-01 -2.02802768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120371743 meters 0.030618507491612806 Centerline is valid? [True, True] Translation: X:144.14, Y:-7.96, Z:-2.03 [[ 9.99961877e-01 7.22687084e-03 4.90073235e-03 1.44142892e+02] [-7.22549691e-03 9.99973851e-01 -2.97998736e-04 -7.96477646e+00] [-4.90275780e-03 2.62577149e-04 9.99987947e-01 -2.02843787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.150371743 meters 0.031085112962056207 Centerline is valid? [True, True] Translation: X:144.17, Y:-7.97, Z:-2.03 [[ 9.99961829e-01 6.76128487e-03 5.53399372e-03 1.44172494e+02] [-6.75952729e-03 9.99977098e-01 -3.36240555e-04 -7.96740867e+00] [-5.53614040e-03 2.98820539e-04 9.99984631e-01 -2.02827093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180371743 meters 0.030150790392840045 Centerline is valid? [True, True] Translation: X:144.20, Y:-7.97, Z:-2.03 [[ 9.99962466e-01 6.26146267e-03 5.98843091e-03 1.44202860e+02] [-6.25939887e-03 9.99980344e-01 -3.63310483e-04 -7.96816345e+00] [-5.99058805e-03 3.25812869e-04 9.99982003e-01 -2.02854575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.210371743 meters 0.03132816112193492 Centerline is valid? [True, True] Translation: X:144.23, Y:-7.97, Z:-2.03 [[ 9.99973132e-01 4.53413676e-03 5.75998100e-03 1.44232490e+02] [-4.53219886e-03 9.99989668e-01 -3.49450718e-04 -7.97406901e+00] [-5.76150595e-03 3.23335950e-04 9.99983350e-01 -2.03039311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24037174299997 meters 0.03196111841035827 Centerline is valid? [True, True] Translation: X:144.26, Y:-7.98, Z:-2.03 [[ 9.99977605e-01 3.53557482e-03 5.68233484e-03 1.44263304e+02] [-3.53367444e-03 9.99993697e-01 -3.44441510e-04 -7.97838073e+00] [-5.68351683e-03 3.24354275e-04 9.99983796e-01 -2.03135535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27037174299997 meters 0.03331614873769891 Centerline is valid? [True, True] Translation: X:144.29, Y:-7.98, Z:-2.03 [[ 9.99984737e-01 1.79895371e-03 5.22400211e-03 1.44294458e+02] [-1.79733216e-03 9.99998335e-01 -3.15082031e-04 -7.98444468e+00] [-5.22456023e-03 3.05687955e-04 9.99986305e-01 -2.03228754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30037174299997 meters 0.03208490828584436 Centerline is valid? [True, True] Translation: X:144.33, Y:-7.99, Z:-2.03 [[ 9.99987138e-01 1.23577339e-03 4.91897108e-03 1.44326643e+02] [-1.23432515e-03 9.99999194e-01 -2.97445105e-04 -7.98572147e+00] [-4.91933469e-03 2.91369670e-04 9.99987858e-01 -2.03242978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33037174299997 meters 0.034310977887269875 Centerline is valid? [True, True] Translation: X:144.36, Y:-7.99, Z:-2.03 [[ 9.99987367e-01 8.73028694e-04 4.95015247e-03 1.44357687e+02] [-8.71550409e-04 9.99999575e-01 -3.00783428e-04 -7.99164945e+00] [-4.95041296e-03 2.96465321e-04 9.99987703e-01 -2.03358015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36037174299997 meters 0.03589097848463893 Centerline is valid? [True, True] Translation: X:144.39, Y:-8.00, Z:-2.04 [[ 9.99987503e-01 1.94461285e-03 4.60568189e-03 1.44388409e+02] [-1.94333625e-03 9.99998072e-01 -2.81639202e-04 -7.99757967e+00] [-4.60622069e-03 2.72685293e-04 9.99989354e-01 -2.03558675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39037174299997 meters 0.035329077925539895 Centerline is valid? [True, True] Translation: X:144.42, Y:-8.00, Z:-2.04 [[ 9.99990217e-01 1.50066254e-03 4.16111911e-03 1.44419682e+02] [-1.49961108e-03 9.99998843e-01 -2.55796584e-04 -8.00051303e+00] [-4.16149816e-03 2.49554021e-04 9.99991310e-01 -2.03677956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42037174299998 meters 0.03502043944035552 Centerline is valid? [True, True] Translation: X:144.45, Y:-8.00, Z:-2.04 [[ 9.99993440e-01 2.21838601e-03 2.86330730e-03 1.44451273e+02] [-2.21789124e-03 9.99997525e-01 -1.75958216e-04 -8.00192115e+00] [-2.86369055e-03 1.69606558e-04 9.99995885e-01 -2.03806053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45037174299998 meters 0.03772862181209954 Centerline is valid? [True, True] Translation: X:144.48, Y:-8.01, Z:-2.04 [[ 9.99995247e-01 2.78909019e-03 1.31417583e-03 1.44480833e+02] [-2.78898768e-03 9.99996108e-01 -7.98298057e-05 -8.00835627e+00] [-1.31439337e-03 7.61642061e-05 9.99999133e-01 -2.04086121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48037174299998 meters 0.037326560452916074 Centerline is valid? [True, True] Translation: X:144.51, Y:-8.01, Z:-2.04 [[ 9.99997275e-01 2.10983810e-03 9.98935744e-04 1.44511596e+02] [-2.10977756e-03 9.99997773e-01 -6.16498388e-05 -8.01048074e+00] [-9.99063590e-04 5.95421386e-05 9.99999499e-01 -2.04140835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51037174299998 meters 0.03503595455693899 Centerline is valid? [True, True] Translation: X:144.54, Y:-8.01, Z:-2.04 [[ 9.99996036e-01 2.59779068e-03 1.08608070e-03 1.44542350e+02] [-2.59771941e-03 9.99996624e-01 -6.70280348e-05 -8.00938717e+00] [-1.08625115e-03 6.42064362e-05 9.99999408e-01 -2.04082368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54037174299998 meters 0.036858745577196504 Centerline is valid? [True, True] Translation: X:144.57, Y:-8.01, Z:-2.04 [[ 9.99991415e-01 3.72659628e-03 1.81172297e-03 1.44572020e+02] [-3.72639981e-03 9.99993051e-01 -1.11811425e-04 -8.01401545e+00] [-1.81212705e-03 1.05059261e-04 9.99998353e-01 -2.04109494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57037174299998 meters 0.030909857579475227 Centerline is valid? [True, True] Translation: X:144.60, Y:-8.01, Z:-2.04 [[ 9.99989124e-01 3.85380451e-03 2.62672914e-03 1.44602655e+02] [-3.85339139e-03 9.99992562e-01 -1.62316392e-04 -8.00726472e+00] [-2.62733514e-03 1.52192811e-04 9.99996537e-01 -2.03898638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60037174299998 meters 0.03156782492317525 Centerline is valid? [True, True] Translation: X:144.63, Y:-8.01, Z:-2.04 [[ 9.99983194e-01 4.07996394e-03 4.11885284e-03 1.44632824e+02] [-4.07895172e-03 9.99991649e-01 -2.54122490e-04 -8.01018929e+00] [-4.11985526e-03 2.37317618e-04 9.99991485e-01 -2.03815069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63037174299998 meters 0.03233057715366829 Centerline is valid? [True, True] Translation: X:144.66, Y:-8.01, Z:-2.04 [[ 9.99980715e-01 4.45697969e-03 4.32487974e-03 1.44663279e+02] [-4.45586719e-03 9.99990037e-01 -2.66833813e-04 -8.01217437e+00] [-4.32602592e-03 2.47557578e-04 9.99990612e-01 -2.03797237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66037174299998 meters 0.032744328180288176 Centerline is valid? [True, True] Translation: X:144.69, Y:-8.02, Z:-2.04 [[ 9.99979638e-01 3.63896865e-03 5.24236190e-03 1.44693915e+02] [-3.63732368e-03 9.99993333e-01 -3.23283891e-04 -8.01542352e+00] [-5.24350337e-03 3.04209141e-04 9.99986206e-01 -2.03753588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.690371743 meters 0.03161381812063678 Centerline is valid? [True, True] Translation: X:144.73, Y:-8.02, Z:-2.04 [[ 9.99977717e-01 2.58005723e-03 6.15703388e-03 1.44725673e+02] [-2.57776811e-03 9.99996605e-01 -3.79696314e-04 -8.01598329e+00] [-6.15799262e-03 3.63816448e-04 9.99980973e-01 -2.03701296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720371743 meters 0.031785233187080694 Centerline is valid? [True, True] Translation: X:144.76, Y:-8.02, Z:-2.04 [[ 9.99982476e-01 1.33473442e-03 5.76773976e-03 1.44758074e+02] [-1.33270570e-03 9.99999049e-01 -3.55565261e-04 -8.01877395e+00] [-5.76820886e-03 3.47872330e-04 9.99983303e-01 -2.03776634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.750371743 meters 0.03372308717980704 Centerline is valid? [True, True] Translation: X:144.79, Y:-8.02, Z:-2.04 [[ 9.99985222e-01 6.09721341e-05 5.43616045e-03 1.44788561e+02] [-5.91476685e-05 9.99999942e-01 -3.35776736e-04 -8.02454949e+00] [-5.43618061e-03 3.35450238e-04 9.99985168e-01 -2.03905432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780371743 meters 0.03602352161213337 Centerline is valid? [True, True] Translation: X:144.82, Y:-8.03, Z:-2.04 [[ 9.99982963e-01 -3.75913990e-03 4.46561812e-03 1.44818075e+02] [ 3.76041146e-03 9.99992891e-01 -2.76382872e-04 -8.03147355e+00] [-4.46454741e-03 2.93170725e-04 9.99989991e-01 -2.04106858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.810371743 meters 0.037796529707469016 Centerline is valid? [True, True] Translation: X:144.85, Y:-8.04, Z:-2.04 [[ 9.99976268e-01 -5.86253232e-03 3.61860895e-03 1.44847446e+02] [ 5.86337728e-03 9.99982785e-01 -2.22939730e-04 -8.03645605e+00] [-3.61723966e-03 2.44151709e-04 9.99993428e-01 -2.04274629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840371743 meters 0.03931986606537582 Centerline is valid? [True, True] Translation: X:144.88, Y:-8.04, Z:-2.04 [[ 9.99962608e-01 -8.07949719e-03 3.08277800e-03 1.44877921e+02] [ 8.08012338e-03 9.99967337e-01 -1.90724058e-04 -8.04143337e+00] [-3.08113635e-03 2.15626153e-04 9.99995230e-01 -2.04409813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.870371743 meters 0.04073041562072187 Centerline is valid? [True, True] Translation: X:144.91, Y:-8.05, Z:-2.05 [[ 9.99928511e-01 -1.17116335e-02 2.41055262e-03 1.44908665e+02] [ 1.17120272e-02 9.99931401e-01 -1.49286240e-04 -8.04709647e+00] [-2.40863887e-03 1.77508026e-04 9.99997083e-01 -2.04524362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900371743 meters 0.03944069455535275 Centerline is valid? [True, True] Translation: X:144.94, Y:-8.05, Z:-2.05 [[ 9.99912986e-01 -1.30536257e-02 1.90343817e-03 1.44940357e+02] [ 1.30538725e-02 9.99914788e-01 -1.17265007e-04 -8.04814087e+00] [-1.90174524e-03 1.42102042e-04 9.99998182e-01 -2.04568133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.930371743 meters 0.040094069481840626 Centerline is valid? [True, True] Translation: X:144.97, Y:-8.05, Z:-2.05 [[ 9.99901077e-01 -1.39948492e-02 1.40753035e-03 1.44972005e+02] [ 1.39949849e-02 9.99902062e-01 -8.65947484e-05 -8.05154188e+00] [-1.40618062e-03 1.06284548e-04 9.99999006e-01 -2.04670493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960371743 meters 0.040709569451698256 Centerline is valid? [True, True] Translation: X:145.00, Y:-8.05, Z:-2.05 [[ 9.99896389e-01 -1.43876746e-02 4.53493678e-04 1.45003564e+02] [ 1.43876886e-02 9.99896491e-01 -2.74129733e-05 -8.05432452e+00] [-4.53052329e-04 3.39348589e-05 9.99999897e-01 -2.04710389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99037174299997 meters 0.04054641555312616 Centerline is valid? [True, True] Translation: X:145.04, Y:-8.06, Z:-2.05 [[ 9.99892909e-01 -1.46216987e-02 6.13735040e-04 1.45035745e+02] [ 1.46217243e-02 9.99893096e-01 -3.71637306e-05 -8.05621151e+00] [-6.13126033e-04 4.61336152e-05 9.99999811e-01 -2.04703103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02037174299997 meters 0.04074066097029975 Centerline is valid? [True, True] Translation: X:145.07, Y:-8.06, Z:-2.05 [[ 9.99897863e-01 -1.42582800e-02 9.82577404e-04 1.45067977e+02] [ 1.42583460e-02 9.99898343e-01 -6.01737356e-05 -8.05834229e+00] [-9.81619545e-04 7.41775182e-05 9.99999515e-01 -2.04734541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05037174299997 meters 0.03739214315282991 Centerline is valid? [True, True] Translation: X:145.10, Y:-8.06, Z:-2.05 [[ 9.99909758e-01 -1.32608043e-02 2.15124140e-03 1.45099406e+02] [ 1.32611220e-02 9.99912059e-01 -1.33485149e-04 -8.05595708e+00] [-2.14928209e-03 1.62000977e-04 9.99997677e-01 -2.04685142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08037174299997 meters 0.0366346628566017 Centerline is valid? [True, True] Translation: X:145.13, Y:-8.06, Z:-2.05 [[ 9.99920831e-01 -1.23069637e-02 2.62123757e-03 1.45131278e+02] [ 1.23074316e-02 9.99924248e-01 -1.62435037e-04 -8.05756165e+00] [-2.61903992e-03 1.94682880e-04 9.99996551e-01 -2.04699683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11037174299997 meters 0.038121410849087496 Centerline is valid? [True, True] Translation: X:145.16, Y:-8.06, Z:-2.05 [[ 9.99934446e-01 -1.07007827e-02 4.07386046e-03 1.45161872e+02] [ 1.07019046e-02 9.99942701e-01 -2.53700217e-04 -8.06266964e+00] [-4.07091224e-03 2.97281652e-04 9.99991670e-01 -2.04738627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14037174299997 meters 0.038828329238958764 Centerline is valid? [True, True] Translation: X:145.19, Y:-8.07, Z:-2.05 [[ 9.99936980e-01 -1.01979404e-02 4.69449902e-03 1.45194293e+02] [ 1.01994244e-02 9.99947942e-01 -2.92280715e-04 -8.06563467e+00] [-4.69127397e-03 3.40143483e-04 9.99988938e-01 -2.04699017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17037174299998 meters 0.036838020617325606 Centerline is valid? [True, True] Translation: X:145.23, Y:-8.06, Z:-2.05 [[ 9.99942139e-01 -9.39149673e-03 5.24588862e-03 1.45226313e+02] [ 9.39334127e-03 9.99955828e-01 -3.27088906e-04 -8.06451978e+00] [-5.24258505e-03 3.76346403e-04 9.99986187e-01 -2.04641416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20037174299998 meters 0.03760950454433235 Centerline is valid? [True, True] Translation: X:145.26, Y:-8.07, Z:-2.05 [[ 9.99954827e-01 -7.87151755e-03 5.32755175e-03 1.45256522e+02] [ 7.87340319e-03 9.99968949e-01 -3.33060211e-04 -8.06718526e+00] [-5.32476463e-03 3.74991129e-04 9.99985753e-01 -2.04621381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23037174299998 meters 0.037895079995000025 Centerline is valid? [True, True] Translation: X:145.29, Y:-8.07, Z:-2.05 [[ 9.99960611e-01 -7.04782935e-03 5.39477468e-03 1.45288606e+02] [ 7.04974905e-03 9.99975093e-01 -3.36909547e-04 -8.06981144e+00] [-5.39226584e-03 3.74928085e-04 9.99985391e-01 -2.04702263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26037174299998 meters 0.038437245199584254 Centerline is valid? [True, True] Translation: X:145.32, Y:-8.07, Z:-2.05 [[ 9.99968797e-01 -5.94021820e-03 5.20754296e-03 1.45319540e+02] [ 5.94199459e-03 9.99982293e-01 -3.25712110e-04 -8.07318013e+00] [-5.20551595e-03 3.56645139e-04 9.99986388e-01 -2.04791208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29037174299998 meters 0.036925380456164995 Centerline is valid? [True, True] Translation: X:145.35, Y:-8.07, Z:-2.05 [[ 9.99976478e-01 -4.69441294e-03 5.00057433e-03 1.45352353e+02] [ 4.69603498e-03 9.99988925e-01 -3.12678779e-04 -8.07277182e+00] [-4.99905110e-03 3.36154296e-04 9.99987448e-01 -2.04853643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32037174299998 meters 0.03718437602832772 Centerline is valid? [True, True] Translation: X:145.38, Y:-8.07, Z:-2.05 [[ 9.99990389e-01 -1.63744718e-03 4.06700529e-03 1.45382391e+02] [ 1.63849905e-03 9.99998625e-01 -2.55316372e-04 -8.07384575e+00] [-4.06658163e-03 2.61977703e-04 9.99991697e-01 -2.04949106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35037174299998 meters 0.03710764643874709 Centerline is valid? [True, True] Translation: X:145.41, Y:-8.07, Z:-2.05 [[ 9.99991653e-01 4.03514332e-04 4.06595261e-03 1.45412700e+02] [-4.02480518e-04 9.99999886e-01 -2.55076314e-04 -8.07452042e+00] [-4.06605508e-03 2.53437718e-04 9.99991701e-01 -2.04999348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38037174299998 meters 0.03587983298638484 Centerline is valid? [True, True] Translation: X:145.44, Y:-8.07, Z:-2.05 [[ 9.99987033e-01 2.45528699e-03 4.46163470e-03 1.45444060e+02] [-2.45406279e-03 9.99996950e-01 -2.79836179e-04 -8.07367039e+00] [-4.46230817e-03 2.68883418e-04 9.99990008e-01 -2.04998608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41037174299998 meters 0.02991426321819107 Centerline is valid? [True, True] Translation: X:145.48, Y:-8.06, Z:-2.05 [[ 9.99957470e-01 7.44847679e-03 5.43869048e-03 1.45475250e+02] [-7.44672815e-03 9.99972214e-01 -3.41698526e-04 -8.06364313e+00] [-5.44108450e-03 3.01183544e-04 9.99985152e-01 -2.04868189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440371743 meters 0.030137893447873737 Centerline is valid? [True, True] Translation: X:145.50, Y:-8.07, Z:-2.05 [[ 9.99931330e-01 1.00833978e-02 5.97162575e-03 1.45504904e+02] [-1.00813381e-02 9.99949112e-01 -3.74924895e-04 -8.06524550e+00] [-5.97510238e-03 3.14697171e-04 9.99982099e-01 -2.04895907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.470371743 meters 0.02860227029359736 Centerline is valid? [True, True] Translation: X:145.54, Y:-8.06, Z:-2.05 [[ 9.99901081e-01 1.25396628e-02 6.37069283e-03 1.45535252e+02] [-1.25373633e-02 9.99921324e-01 -4.00764563e-04 -8.06318428e+00] [-6.37521706e-03 3.20853229e-04 9.99979627e-01 -2.04893114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500371743 meters 0.027769406261920756 Centerline is valid? [True, True] Translation: X:145.56, Y:-8.06, Z:-2.05 [[ 9.99818588e-01 1.74618548e-02 7.60750223e-03 1.45564800e+02] [-1.74587211e-02 9.99847471e-01 -4.78140090e-04 -8.06066243e+00] [-7.61469108e-03 3.45236090e-04 9.99970948e-01 -2.04863804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.530371743 meters 0.02791915616167803 Centerline is valid? [True, True] Translation: X:145.59, Y:-8.06, Z:-2.05 [[ 9.99763389e-01 2.00731534e-02 8.38058343e-03 1.45593680e+02] [-2.00694425e-02 9.99798450e-01 -5.26668018e-04 -8.06082893e+00] [-8.38946621e-03 3.58349765e-04 9.99964744e-01 -2.04806951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560371743 meters 0.02483877027494452 Centerline is valid? [True, True] Translation: X:145.62, Y:-8.05, Z:-2.05 [[ 9.99628644e-01 2.51322721e-02 1.05329054e-02 1.45624656e+02] [-2.51266998e-02 9.99684056e-01 -6.61052424e-04 -8.05428662e+00] [-1.05461914e-02 3.96149785e-04 9.99944309e-01 -2.04612765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.590371743 meters 0.02479330783629873 Centerline is valid? [True, True] Translation: X:145.65, Y:-8.05, Z:-2.05 [[ 9.99572576e-01 2.69333766e-02 1.13692174e-02 1.45654000e+02] [-2.69270021e-02 9.99637148e-01 -7.13408105e-04 -8.05425420e+00] [-1.13843065e-02 4.06964237e-04 9.99935114e-01 -2.04597081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620371743 meters 0.024650558518003563 Centerline is valid? [True, True] Translation: X:145.68, Y:-8.06, Z:-2.05 [[ 9.99522222e-01 2.85763320e-02 1.17779586e-02 1.45681481e+02] [-2.85696118e-02 9.99591533e-01 -7.38461111e-04 -8.05528776e+00] [-1.17942502e-02 4.01616586e-04 9.99930365e-01 -2.04612030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.650371743 meters 0.024052281713021102 Centerline is valid? [True, True] Translation: X:145.71, Y:-8.05, Z:-2.05 [[ 9.99456295e-01 3.08442677e-02 1.16509927e-02 1.45710854e+02] [-3.08378581e-02 9.99524134e-01 -7.29421347e-04 -8.05364296e+00] [-1.16679468e-02 3.69733097e-04 9.99931859e-01 -2.04698599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680371743 meters 0.025244004575227023 Centerline is valid? [True, True] Translation: X:145.74, Y:-8.06, Z:-2.05 [[ 9.99430486e-01 3.18923211e-02 1.10265046e-02 1.45738184e+02] [-3.18866490e-02 9.99491253e-01 -6.89870601e-04 -8.05656808e+00] [-1.10428965e-02 3.37879428e-04 9.99938968e-01 -2.04803831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.710371743 meters 0.023400614520464484 Centerline is valid? [True, True] Translation: X:145.77, Y:-8.06, Z:-2.05 [[ 9.99434655e-01 3.17567702e-02 1.10398743e-02 1.45766516e+02] [-3.17510866e-02 9.99495569e-01 -6.89765561e-04 -8.05547651e+00] [-1.10562102e-02 3.38847600e-04 9.99938821e-01 -2.04809980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74037174299997 meters 0.024421868711034724 Centerline is valid? [True, True] Translation: X:145.79, Y:-8.06, Z:-2.05 [[ 9.99434949e-01 3.17451291e-02 1.10466614e-02 1.45793286e+02] [-3.17394504e-02 9.99495939e-01 -6.89035875e-04 -8.05848531e+00] [-1.10629668e-02 3.38031573e-04 9.99938746e-01 -2.04906401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77037174299997 meters 0.02414904755097328 Centerline is valid? [True, True] Translation: X:145.82, Y:-8.06, Z:-2.05 [[ 9.99465550e-01 3.08669270e-02 1.07631947e-02 1.45821517e+02] [-3.08615007e-02 9.99523446e-01 -6.69917725e-04 -8.06088283e+00] [-1.07787437e-02 3.37391348e-04 9.99941851e-01 -2.05020950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80037174299997 meters 0.0239869007922966 Centerline is valid? [True, True] Translation: X:145.85, Y:-8.06, Z:-2.05 [[ 9.99495963e-01 3.00027410e-02 1.03756870e-02 1.45850331e+02] [-2.99976616e-02 9.99549761e-01 -6.44867057e-04 -8.06282135e+00] [-1.03903632e-02 3.33295674e-04 9.99945963e-01 -2.05148371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83037174299997 meters 0.024535610150128527 Centerline is valid? [True, True] Translation: X:145.88, Y:-8.07, Z:-2.05 [[ 9.99572412e-01 2.79378513e-02 8.62953079e-03 1.45878350e+02] [-2.79342639e-02 9.99609619e-01 -5.35984055e-04 -8.06651046e+00] [-8.64113623e-03 2.94695284e-04 9.99962621e-01 -2.05359327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86037174299997 meters 0.025171924524603487 Centerline is valid? [True, True] Translation: X:145.91, Y:-8.07, Z:-2.05 [[ 9.99616724e-01 2.66449229e-02 7.51354023e-03 1.45907270e+02] [-2.66421716e-02 9.99644926e-01 -4.66042991e-04 -8.06967079e+00] [-7.52329004e-03 2.65687339e-04 9.99971664e-01 -2.05484332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89037174299997 meters 0.025458955151526953 Centerline is valid? [True, True] Translation: X:145.94, Y:-8.07, Z:-2.06 [[ 9.99651118e-01 2.55762545e-02 6.59529013e-03 1.45935773e+02] [-2.55741137e-02 9.99672845e-01 -4.08742392e-04 -8.07210569e+00] [-6.60358655e-03 2.39931090e-04 9.99978167e-01 -2.05596184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92037174299998 meters 0.025441901452634287 Centerline is valid? [True, True] Translation: X:145.96, Y:-8.07, Z:-2.06 [[ 9.99729441e-01 2.24904912e-02 5.93481648e-03 1.45964806e+02] [-2.24887053e-02 9.99747030e-01 -3.67497875e-04 -8.07392682e+00] [-5.94158035e-03 2.33932106e-04 9.99982321e-01 -2.05648660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95037174299998 meters 0.027413886278819195 Centerline is valid? [True, True] Translation: X:145.99, Y:-8.08, Z:-2.06 [[ 9.99756630e-01 2.12479496e-02 5.93343685e-03 1.45991916e+02] [-2.12461446e-02 9.99774208e-01 -3.67084767e-04 -8.07884831e+00] [-5.93989693e-03 2.40932773e-04 9.99982330e-01 -2.05739229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98037174299998 meters 0.02727816265952966 Centerline is valid? [True, True] Translation: X:146.02, Y:-8.08, Z:-2.06 [[ 9.99799891e-01 1.90276765e-02 6.17458263e-03 1.46021037e+02] [-1.90256845e-02 9.99818923e-01 -3.81189866e-04 -8.08126198e+00] [-6.18071771e-03 2.63637925e-04 9.99980864e-01 -2.05739021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01037174299998 meters 0.029717075940519665 Centerline is valid? [True, True] Translation: X:146.05, Y:-8.09, Z:-2.06 [[ 9.99843097e-01 1.64321774e-02 6.61557815e-03 1.46049320e+02] [-1.64298367e-02 9.99864938e-01 -4.08007612e-04 -8.08831250e+00] [-6.62138909e-03 2.99250726e-04 9.99978034e-01 -2.05827669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04037174299998 meters 0.029717075940519665 Centerline is valid? [True, True] Translation: X:146.08, Y:-8.09, Z:-2.06 [[ 9.99844238e-01 1.63625657e-02 6.61559193e-03 1.46077601e+02] [-1.63602250e-02 9.99866079e-01 -4.07784152e-04 -8.08999131e+00] [-6.62137836e-03 2.99488062e-04 9.99978034e-01 -2.05867488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07037174299998 meters 0.029530891527671084 Centerline is valid? [True, True] Translation: X:146.11, Y:-8.09, Z:-2.06 [[ 9.99878290e-01 1.40418376e-02 6.79943123e-03 1.46107018e+02] [-1.40393165e-02 9.99901356e-01 -4.18364606e-04 -8.09254746e+00] [-6.80463511e-03 3.22854319e-04 9.99976796e-01 -2.05855674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10037174299998 meters 0.030318582431979463 Centerline is valid? [True, True] Translation: X:146.14, Y:-8.10, Z:-2.06 [[ 9.99909683e-01 1.13265020e-02 7.23432334e-03 1.46136357e+02] [-1.13235793e-02 9.99935787e-01 -4.44836095e-04 -8.09662890e+00] [-7.23889724e-03 3.62877485e-04 9.99973733e-01 -2.05927732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13037174299998 meters 0.030776510638938596 Centerline is valid? [True, True] Translation: X:146.17, Y:-8.10, Z:-2.06 [[ 9.99926346e-01 1.01173647e-02 6.70388749e-03 1.46165611e+02] [-1.01148292e-02 9.99948759e-01 -4.12016956e-04 -8.09929408e+00] [-6.70771251e-03 3.44177932e-04 9.99977444e-01 -2.05974090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16037174299998 meters 0.031938893384244715 Centerline is valid? [True, True] Translation: X:146.19, Y:-8.10, Z:-2.06 [[ 9.99938751e-01 9.32429306e-03 5.96250157e-03 1.46194758e+02] [-9.32227505e-03 9.99956480e-01 -3.66152977e-04 -8.10346580e+00] [-5.96565620e-03 3.10546471e-04 9.99982157e-01 -2.06067260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.190371743 meters 0.03307336757874125 Centerline is valid? [True, True] Translation: X:146.22, Y:-8.11, Z:-2.06 [[ 9.99952278e-01 8.82262583e-03 4.19552584e-03 1.46224408e+02] [-8.82162331e-03 9.99961056e-01 -2.57394749e-04 -8.10840149e+00] [-4.19763335e-03 2.20371117e-04 9.99991166e-01 -2.06263780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220371743 meters 0.03357415702845706 Centerline is valid? [True, True] Translation: X:146.25, Y:-8.11, Z:-2.06 [[ 9.99956331e-01 8.59485877e-03 3.66947539e-03 1.46254293e+02] [-8.59408873e-03 9.99963045e-01 -2.25567932e-04 -8.11139166e+00] [-3.67127851e-03 1.94022284e-04 9.99993242e-01 -2.06384667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.250371743 meters 0.033931379347004145 Centerline is valid? [True, True] Translation: X:146.28, Y:-8.11, Z:-2.06 [[ 9.99958209e-01 8.66665742e-03 2.91026227e-03 1.46283543e+02] [-8.66617336e-03 9.99962432e-01 -1.78896208e-04 -8.11367752e+00] [-2.91170337e-03 1.53667894e-04 9.99995749e-01 -2.06488937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280371743 meters 0.029612221754142964 Centerline is valid? [True, True] Translation: X:146.31, Y:-8.11, Z:-2.06 [[ 9.99962785e-01 8.24442092e-03 2.54144471e-03 1.46313126e+02] [-8.24404989e-03 9.99966005e-01 -1.56435151e-04 -8.10841174e+00] [-2.54264803e-03 1.35477532e-04 9.99996758e-01 -2.06350386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.310371743 meters 0.03544679474734721 Centerline is valid? [True, True] Translation: X:146.34, Y:-8.12, Z:-2.07 [[ 9.99966044e-01 7.75139502e-03 2.79751932e-03 1.46340836e+02] [-7.75094418e-03 9.99969946e-01 -1.71963354e-04 -8.11920231e+00] [-2.79876820e-03 1.50274099e-04 9.99996072e-01 -2.06536151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340371743 meters 0.033104131238584134 Centerline is valid? [True, True] Translation: X:146.37, Y:-8.12, Z:-2.07 [[ 9.99973840e-01 6.71280644e-03 2.69405671e-03 1.46370476e+02] [-6.71238547e-03 9.99977458e-01 -1.65272679e-04 -8.11787030e+00] [-2.69510543e-03 1.47184808e-04 9.99996357e-01 -2.06574248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.370371743 meters 0.03176709259230143 Centerline is valid? [True, True] Translation: X:146.40, Y:-8.12, Z:-2.07 [[ 9.99979492e-01 5.82118359e-03 2.67000741e-03 1.46399902e+02] [-5.82076714e-03 9.99983046e-01 -1.63720182e-04 -8.11818706e+00] [-2.67091519e-03 1.48175333e-04 9.99996422e-01 -2.06641695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400371743 meters 0.03125709595953138 Centerline is valid? [True, True] Translation: X:146.43, Y:-8.12, Z:-2.07 [[ 9.99987500e-01 4.03623439e-03 2.95108883e-03 1.46429947e+02] [-4.03571895e-03 9.99991840e-01 -1.80596211e-04 -8.12023337e+00] [-2.95179368e-03 1.68684188e-04 9.99995629e-01 -2.06656697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.430371743 meters 0.03176468761360429 Centerline is valid? [True, True] Translation: X:146.46, Y:-8.12, Z:-2.07 [[ 9.99992859e-01 2.52948027e-03 2.80763094e-03 1.46460701e+02] [-2.52900848e-03 9.99996787e-01 -1.71576417e-04 -8.12263664e+00] [-2.80805592e-03 1.64474669e-04 9.99996044e-01 -2.06710235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460371743 meters 0.03242843959893434 Centerline is valid? [True, True] Translation: X:146.49, Y:-8.13, Z:-2.07 [[ 9.99995934e-01 -4.00922005e-04 2.82331469e-03 1.46491320e+02] [ 4.01409170e-04 9.99999905e-01 -1.71985953e-04 -8.12527907e+00] [-2.82324547e-03 1.73118559e-04 9.99996000e-01 -2.06770611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49037174299997 meters 0.03459049161102429 Centerline is valid? [True, True] Translation: X:146.52, Y:-8.13, Z:-2.07 [[ 9.99995538e-01 -1.76054023e-03 2.41333764e-03 1.46522244e+02] [ 1.76089499e-03 9.99998439e-01 -1.44886715e-04 -8.13057969e+00] [-2.41307879e-03 1.49135703e-04 9.99997077e-01 -2.06888491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52037174299997 meters 0.03444706623477023 Centerline is valid? [True, True] Translation: X:146.55, Y:-8.13, Z:-2.07 [[ 9.99987441e-01 -4.79239346e-03 1.46639867e-03 1.46553481e+02] [ 4.79253027e-03 9.99988512e-01 -8.98000101e-05 -8.13200238e+00] [-1.46595147e-03 9.68266424e-05 9.99998921e-01 -2.06989201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55037174299997 meters 0.03718952484116111 Centerline is valid? [True, True] Translation: X:146.58, Y:-8.14, Z:-2.07 [[ 9.99983495e-01 -5.71976466e-03 5.41398903e-04 1.46584263e+02] [ 5.71978310e-03 9.99983641e-01 -3.25181100e-05 -8.13717615e+00] [-5.41204051e-04 3.56142576e-05 9.99999853e-01 -2.07127879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58037174299997 meters 0.039963756534996286 Centerline is valid? [True, True] Translation: X:146.61, Y:-8.14, Z:-2.07 [[ 9.99978201e-01 -6.59670808e-03 2.86130812e-04 1.46614750e+02] [ 6.59671290e-03 9.99978241e-01 -1.59031511e-05 -8.14190834e+00] [-2.86019678e-04 1.77903273e-05 9.99999959e-01 -2.07262144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61037174299997 meters 0.04049097322532716 Centerline is valid? [True, True] Translation: X:146.65, Y:-8.14, Z:-2.07 [[ 9.99975745e-01 -6.92537248e-03 -7.40925690e-04 1.46646100e+02] [ 6.92540875e-03 9.99976018e-01 4.63973893e-05 -8.14266786e+00] [ 7.40586602e-04 -5.15274772e-05 9.99999724e-01 -2.07312933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64037174299997 meters 0.036332241785956336 Centerline is valid? [True, True] Translation: X:146.68, Y:-8.14, Z:-2.07 [[ 9.99980376e-01 -6.20972477e-03 -8.28378538e-04 1.46678595e+02] [ 6.20977007e-03 9.99980718e-01 5.21232162e-05 -8.13782793e+00] [ 8.28038894e-04 -5.72662336e-05 9.99999656e-01 -2.07239070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67037174299998 meters 0.04095335633372045 Centerline is valid? [True, True] Translation: X:146.71, Y:-8.14, Z:-2.07 [[ 9.99984522e-01 -5.39314503e-03 -1.36769146e-03 1.46709725e+02] [ 5.39326661e-03 9.99985453e-01 8.52235673e-05 -8.14471598e+00] [ 1.36721194e-03 -9.25985729e-05 9.99999061e-01 -2.07479534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70037174299998 meters 0.04030788389660169 Centerline is valid? [True, True] Translation: X:146.74, Y:-8.14, Z:-2.08 [[ 9.99995302e-01 -2.13693073e-03 -2.19772082e-03 1.46741158e+02] [ 2.13723479e-03 9.99997707e-01 1.36014891e-04 -8.14058325e+00] [ 2.19742512e-03 -1.40711297e-04 9.99997576e-01 -2.07632020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73037174299998 meters 0.040008557838307465 Centerline is valid? [True, True] Translation: X:146.77, Y:-8.14, Z:-2.08 [[ 9.99996633e-01 1.02279681e-04 -2.59282754e-03 1.46771817e+02] [-1.01864677e-04 9.99999982e-01 1.60190088e-04 -8.13916327e+00] [ 2.59284388e-03 -1.59925431e-04 9.99996626e-01 -2.07714780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76037174299998 meters 0.03319724208950005 Centerline is valid? [True, True] Translation: X:146.80, Y:-8.13, Z:-2.07 [[ 9.99996808e-01 1.46736144e-03 -2.05700286e-03 1.46802274e+02] [-1.46710430e-03 9.99998916e-01 1.26509824e-04 -8.12916833e+00] [ 2.05718627e-03 -1.23491582e-04 9.99997876e-01 -2.07461602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79037174299998 meters 0.03372416131052121 Centerline is valid? [True, True] Translation: X:146.83, Y:-8.13, Z:-2.07 [[ 9.99989702e-01 4.52828630e-03 3.01267640e-04 1.46831907e+02] [-4.52828076e-03 9.99989747e-01 -1.90882711e-05 -8.12658627e+00] [-3.01350988e-04 1.77238501e-05 9.99999954e-01 -2.07393746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82037174299998 meters 0.031400689604526334 Centerline is valid? [True, True] Translation: X:146.86, Y:-8.12, Z:-2.07 [[ 9.99983413e-01 5.61039493e-03 1.30242613e-03 1.46861656e+02] [-5.61029410e-03 9.99984259e-01 -8.10597074e-05 -8.12238451e+00] [-1.30286040e-03 7.37513692e-05 9.99999149e-01 -2.07264617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85037174299998 meters 0.03298599903242724 Centerline is valid? [True, True] Translation: X:146.89, Y:-8.12, Z:-2.07 [[ 9.99977749e-01 6.25584460e-03 2.31632494e-03 1.46890065e+02] [-6.25552858e-03 9.99980424e-01 -1.43651010e-04 -8.12255299e+00] [-2.31717825e-03 1.29157976e-04 9.99997307e-01 -2.07211931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88037174299998 meters 0.031246146735153267 Centerline is valid? [True, True] Translation: X:146.92, Y:-8.12, Z:-2.07 [[ 9.99980323e-01 5.75923605e-03 2.48697775e-03 1.46919593e+02] [-5.75887185e-03 9.99983406e-01 -1.53577500e-04 -8.12010225e+00] [-2.48782097e-03 1.39252291e-04 9.99996896e-01 -2.07102308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91037174299998 meters 0.03199089966132546 Centerline is valid? [True, True] Translation: X:146.95, Y:-8.12, Z:-2.07 [[ 9.99983470e-01 5.06346411e-03 2.72422912e-03 1.46948856e+02] [-5.06302495e-03 9.99987169e-01 -1.68078415e-04 -8.12172331e+00] [-2.72504522e-03 1.54282796e-04 9.99996275e-01 -2.07103266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940371743 meters 0.033040794853926275 Centerline is valid? [True, True] Translation: X:146.98, Y:-8.12, Z:-2.07 [[ 9.99989733e-01 4.03442394e-03 2.06352234e-03 1.46978738e+02] [-4.03417012e-03 9.99991855e-01 -1.27147959e-04 -8.12391926e+00] [-2.06401850e-03 1.18822053e-04 9.99997863e-01 -2.07123808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.970371743 meters 0.03358566540578656 Centerline is valid? [True, True] Translation: X:147.01, Y:-8.13, Z:-2.07 [[ 9.99996742e-01 2.35687263e-03 9.80778815e-04 1.47008363e+02] [-2.35681415e-03 9.99997221e-01 -6.07802470e-05 -8.12541116e+00] [-9.80919340e-04 5.84685355e-05 9.99999517e-01 -2.07225692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000371743 meters 0.03431340571943927 Centerline is valid? [True, True] Translation: X:147.04, Y:-8.13, Z:-2.07 [[ 9.99998418e-01 1.70887161e-03 4.92909223e-04 1.47037491e+02] [-1.70885677e-03 9.99998539e-01 -3.05332637e-05 -8.12813260e+00] [-4.92960681e-04 2.96909041e-05 9.99999878e-01 -2.07300333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.030371743 meters 0.03406455291326522 Centerline is valid? [True, True] Translation: X:147.07, Y:-8.13, Z:-2.07 [[ 9.99998016e-01 1.95153702e-03 3.99284668e-04 1.47067578e+02] [-1.95152738e-03 9.99998095e-01 -2.45330078e-05 -8.12950232e+00] [-3.99331785e-04 2.37537441e-05 9.99999920e-01 -2.07321037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060371743 meters 0.03460463198187474 Centerline is valid? [True, True] Translation: X:147.10, Y:-8.13, Z:-2.07 [[ 9.99993829e-01 3.47399598e-03 -5.22245666e-04 1.47097149e+02] [-3.47397996e-03 9.99993965e-01 3.15725402e-05 -8.13048560e+00] [ 5.22352197e-04 -2.97580744e-05 9.99999863e-01 -2.07402283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.090371743 meters 0.034144482094120895 Centerline is valid? [True, True] Translation: X:147.13, Y:-8.13, Z:-2.07 [[ 9.99980572e-01 6.20233331e-03 -6.22552097e-04 1.47126224e+02] [-6.20231103e-03 9.99980765e-01 3.77149968e-05 -8.13094725e+00] [ 6.22774042e-04 -3.38530023e-05 9.99999806e-01 -2.07469294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120371743 meters 0.03262140863276698 Centerline is valid? [True, True] Translation: X:147.15, Y:-8.13, Z:-2.07 [[ 9.99975317e-01 7.02313073e-03 2.03956658e-04 1.47154942e+02] [-7.02312812e-03 9.99975337e-01 -1.34884448e-05 -8.13047068e+00] [-2.04046359e-04 1.20556982e-05 9.99999979e-01 -2.07418914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.150371743 meters 0.03240582201486677 Centerline is valid? [True, True] Translation: X:147.18, Y:-8.13, Z:-2.07 [[ 9.99960858e-01 8.84520189e-03 2.10087792e-04 1.47182821e+02] [-8.84519912e-03 9.99960880e-01 -1.40864644e-05 -8.13110568e+00] [-2.10204171e-04 1.22276447e-05 9.99999978e-01 -2.07450657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180371743 meters 0.032010994457175236 Centerline is valid? [True, True] Translation: X:147.21, Y:-8.13, Z:-2.07 [[ 9.99931260e-01 1.16756618e-02 1.07427536e-03 1.47211887e+02] [-1.16755974e-02 9.99931836e-01 -6.62085876e-05 -8.13024168e+00] [-1.07497516e-03 5.36612299e-05 9.99999421e-01 -2.07430271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.210371743 meters 0.02789988435020892 Centerline is valid? [True, True] Translation: X:147.24, Y:-8.12, Z:-2.07 [[ 9.99917147e-01 1.28005025e-02 1.35844822e-03 1.47241139e+02] [-1.28004001e-02 9.99918068e-01 -8.40380702e-05 -8.12445700e+00] [-1.35941265e-03 6.66424266e-05 9.99999074e-01 -2.07298159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24037174299997 meters 0.028353054957358473 Centerline is valid? [True, True] Translation: X:147.27, Y:-8.13, Z:-2.07 [[ 9.99904857e-01 1.36497523e-02 1.99046895e-03 1.47268537e+02] [-1.36495350e-02 9.99906833e-01 -1.22720932e-04 -8.12685520e+00] [-1.99195861e-03 9.55402808e-05 9.99998011e-01 -2.07334875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27037174299997 meters 0.027846738028669864 Centerline is valid? [True, True] Translation: X:147.30, Y:-8.13, Z:-2.07 [[ 9.99901218e-01 1.38471040e-02 2.41098310e-03 1.47297087e+02] [-1.38467874e-02 9.99904118e-01 -1.47951963e-04 -8.12633293e+00] [-2.41280063e-03 1.14552978e-04 9.99997083e-01 -2.07318486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30037174299997 meters 0.0284750046646902 Centerline is valid? [True, True] Translation: X:147.33, Y:-8.13, Z:-2.07 [[ 9.99909951e-01 1.31631126e-02 2.61205189e-03 1.47325075e+02] [-1.31627388e-02 9.99913355e-01 -1.60212141e-04 -8.12894186e+00] [-2.61393445e-03 1.25815957e-04 9.99996576e-01 -2.07383283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33037174299997 meters 0.029590933148776793 Centerline is valid? [True, True] Translation: X:147.35, Y:-8.13, Z:-2.07 [[ 9.99940196e-01 1.07207828e-02 2.16106690e-03 1.47353778e+02] [-1.07205222e-02 9.99942525e-01 -1.32140983e-04 -8.13331987e+00] [-2.16235935e-03 1.08965315e-04 9.99997656e-01 -2.07490263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36037174299997 meters 0.030150933729619998 Centerline is valid? [True, True] Translation: X:147.38, Y:-8.14, Z:-2.08 [[ 9.99958014e-01 9.06781437e-03 1.32105472e-03 1.47383248e+02] [-9.06771555e-03 9.99958884e-01 -8.07714232e-05 -8.13621856e+00] [-1.32173283e-03 6.87890834e-05 9.99999124e-01 -2.07576122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39037174299997 meters 0.03091618237507323 Centerline is valid? [True, True] Translation: X:147.41, Y:-8.14, Z:-2.08 [[ 9.99973344e-01 7.27294862e-03 6.45216941e-04 1.47412448e+02] [-7.27292437e-03 9.99973551e-01 -3.99208541e-05 -8.13951268e+00] [-6.45490219e-04 3.52271760e-05 9.99999791e-01 -2.07638420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42037174299998 meters 0.03178457755373282 Centerline is valid? [True, True] Translation: X:147.44, Y:-8.14, Z:-2.08 [[ 9.99985202e-01 5.42707641e-03 -3.77375565e-04 1.47442214e+02] [-5.42706834e-03 9.99985273e-01 2.23981159e-05 -8.14308725e+00] [ 3.77491564e-04 -2.03497415e-05 9.99999929e-01 -2.07739166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45037174299998 meters 0.031993201786869624 Centerline is valid? [True, True] Translation: X:147.47, Y:-8.15, Z:-2.08 [[ 9.99997623e-01 1.76402713e-03 -1.28144020e-03 1.47472214e+02] [-1.76392930e-03 9.99998441e-01 7.74733963e-05 -8.14668844e+00] [ 1.28157486e-03 -7.52128422e-05 9.99999176e-01 -2.07789749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48037174299998 meters 0.03313943329936269 Centerline is valid? [True, True] Translation: X:147.50, Y:-8.15, Z:-2.08 [[ 9.99998801e-01 -1.31022893e-03 -8.25286767e-04 1.47502241e+02] [ 1.31027058e-03 9.99999140e-01 4.99285734e-05 -8.15160148e+00] [ 8.25220639e-04 -5.10098625e-05 9.99999658e-01 -2.07814721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51037174299998 meters 0.03395671146424685 Centerline is valid? [True, True] Translation: X:147.53, Y:-8.16, Z:-2.08 [[ 9.99996676e-01 -2.57227789e-03 1.79380518e-04 1.47532962e+02] [ 2.57227983e-03 9.99996692e-01 -1.06299658e-05 -8.15550979e+00] [-1.79352581e-04 1.10913474e-05 9.99999984e-01 -2.07848593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54037174299998 meters 0.03770748716755175 Centerline is valid? [True, True] Translation: X:147.56, Y:-8.16, Z:-2.08 [[ 9.99993154e-01 -3.59089205e-03 8.93282157e-04 1.47562506e+02] [ 3.59094168e-03 9.99993551e-01 -5.39572684e-05 -8.16329034e+00] [-8.93082641e-04 5.71646231e-05 9.99999600e-01 -2.07907105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57037174299998 meters 0.037415586855877744 Centerline is valid? [True, True] Translation: X:147.59, Y:-8.17, Z:-2.08 [[ 9.99990324e-01 -3.95276117e-03 1.93086459e-03 1.47594681e+02] [ 3.95299313e-03 9.99992180e-01 -1.16329007e-04 -8.16540037e+00] [-1.93038967e-03 1.23960575e-04 9.99998129e-01 -2.07817976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60037174299998 meters 0.03491273819597804 Centerline is valid? [True, True] Translation: X:147.63, Y:-8.16, Z:-2.08 [[ 9.99984164e-01 -4.32629239e-03 3.59941316e-03 1.47626875e+02] [ 4.32710470e-03 9.99990614e-01 -2.17923263e-04 -8.16438420e+00] [-3.59843658e-03 2.33494849e-04 9.99993498e-01 -2.07621705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63037174299998 meters 0.036579626632029974 Centerline is valid? [True, True] Translation: X:147.66, Y:-8.17, Z:-2.08 [[ 9.99984365e-01 -4.28070434e-03 3.59799658e-03 1.47657932e+02] [ 4.28151734e-03 9.99990810e-01 -2.18287478e-04 -8.16939564e+00] [-3.59702909e-03 2.33688949e-04 9.99993503e-01 -2.07680591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66037174299998 meters 0.03654474791528046 Centerline is valid? [True, True] Translation: X:147.69, Y:-8.17, Z:-2.08 [[ 9.99982370e-01 -4.81699018e-03 3.47217206e-03 1.47690289e+02] [ 4.81775046e-03 9.99988372e-01 -2.10634065e-04 -8.17267690e+00] [-3.47111707e-03 2.27358410e-04 9.99993950e-01 -2.07785691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.690371743 meters 0.038448367007036174 Centerline is valid? [True, True] Translation: X:147.72, Y:-8.18, Z:-2.08 [[ 9.99983940e-01 -5.13090312e-03 2.40714590e-03 1.47721187e+02] [ 5.13126814e-03 9.99986824e-01 -1.45488623e-04 -8.17830475e+00] [-2.40636770e-03 1.57837998e-04 9.99997092e-01 -2.07949241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720371743 meters 0.03800439413587296 Centerline is valid? [True, True] Translation: X:147.75, Y:-8.18, Z:-2.08 [[ 9.99982649e-01 -5.67356967e-03 1.58524534e-03 1.47753689e+02] [ 5.67372882e-03 9.99983900e-01 -9.59144937e-05 -8.18067553e+00] [-1.58467564e-03 1.04907082e-04 9.99998739e-01 -2.08099322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.750371743 meters 0.04014800086997184 Centerline is valid? [True, True] Translation: X:147.78, Y:-8.19, Z:-2.08 [[ 9.99975824e-01 -6.83714310e-03 -1.26690108e-03 1.47783245e+02] [ 6.83724835e-03 9.99976623e-01 7.87668875e-05 -8.18629013e+00] [ 1.26633292e-03 -8.74271005e-05 9.99999194e-01 -2.08419006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780371743 meters 0.040847480873076186 Centerline is valid? [True, True] Translation: X:147.81, Y:-8.19, Z:-2.09 [[ 9.99965111e-01 -8.04127828e-03 -2.26172734e-03 1.47814165e+02] [ 8.04161315e-03 9.99967656e-01 1.39004492e-04 -8.19029938e+00] [ 2.26053642e-03 -1.57187578e-04 9.99997433e-01 -2.08570029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.810371743 meters 0.04191918087364257 Centerline is valid? [True, True] Translation: X:147.85, Y:-8.20, Z:-2.09 [[ 9.99950523e-01 -8.89311359e-03 -4.45691490e-03 1.47845493e+02] [ 8.89442241e-03 9.99960406e-01 2.73924820e-04 -8.19546035e+00] [ 4.45430239e-03 -3.13552951e-04 9.99990030e-01 -2.08859690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840371743 meters 0.04379970541847016 Centerline is valid? [True, True] Translation: X:147.88, Y:-8.20, Z:-2.09 [[ 9.99941954e-01 -9.31562693e-03 -5.41359340e-03 1.47875982e+02] [ 9.31757185e-03 9.99956535e-01 3.34154148e-04 -8.20072082e+00] [ 5.41024524e-03 -3.84576298e-04 9.99985291e-01 -2.09027838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.870371743 meters 0.038631281941668344 Centerline is valid? [True, True] Translation: X:147.91, Y:-8.20, Z:-2.09 [[ 9.99940754e-01 -9.26431236e-03 -5.71496137e-03 1.47907566e+02] [ 9.26647294e-03 9.99957003e-01 3.51693532e-04 -8.19585863e+00] [ 5.71145744e-03 -4.04630231e-04 9.99983608e-01 -2.08907515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900371743 meters 0.03933417510346881 Centerline is valid? [True, True] Translation: X:147.94, Y:-8.20, Z:-2.09 [[ 9.99946769e-01 -8.13635173e-03 -6.34494024e-03 1.47937407e+02] [ 8.13899806e-03 9.99966801e-01 3.91367823e-04 -8.19885805e+00] [ 6.34154529e-03 -4.42988447e-04 9.99979794e-01 -2.09010050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.930371743 meters 0.03933417510346881 Centerline is valid? [True, True] Translation: X:147.97, Y:-8.20, Z:-2.09 [[ 9.99946769e-01 -8.13633765e-03 -6.34500168e-03 1.47967427e+02] [ 8.13897767e-03 9.99966802e-01 3.90369171e-04 -8.20070451e+00] [ 6.34161486e-03 -4.41990218e-04 9.99979794e-01 -2.09052256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960371743 meters 0.039089978481468585 Centerline is valid? [True, True] Translation: X:148.00, Y:-8.20, Z:-2.09 [[ 9.99952342e-01 -7.28167167e-03 -6.50322242e-03 1.47997714e+02] [ 7.28442701e-03 9.99973388e-01 4.00103526e-04 -8.20184487e+00] [ 6.50013593e-03 -4.47456706e-04 9.99978774e-01 -2.09106231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99037174299997 meters 0.03797158816235556 Centerline is valid? [True, True] Translation: X:148.03, Y:-8.20, Z:-2.09 [[ 9.99957833e-01 -6.33085705e-03 -6.65232482e-03 1.48028003e+02] [ 6.33371925e-03 9.99979858e-01 4.09276885e-04 -8.20216812e+00] [ 6.64959975e-03 -4.51393585e-04 9.99977789e-01 -2.09118869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02037174299997 meters 0.03717016872666244 Centerline is valid? [True, True] Translation: X:148.06, Y:-8.20, Z:-2.09 [[ 9.99977299e-01 -4.11770169e-03 -5.33344938e-03 1.48057496e+02] [ 4.11950650e-03 9.99991461e-01 3.27454008e-04 -8.20327407e+00] [ 5.33205548e-03 -3.49417754e-04 9.99985723e-01 -2.09096061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05037174299997 meters 0.03522648014400118 Centerline is valid? [True, True] Translation: X:148.09, Y:-8.20, Z:-2.09 [[ 9.99993183e-01 -1.98781721e-03 -3.11167556e-03 1.48087484e+02] [ 1.98842121e-03 9.99998005e-01 1.91028106e-04 -8.20281921e+00] [ 3.11128962e-03 -1.97214126e-04 9.99995140e-01 -2.08880406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08037174299997 meters 0.03379190553555789 Centerline is valid? [True, True] Translation: X:148.12, Y:-8.20, Z:-2.09 [[ 9.99997485e-01 -5.75441650e-04 -2.16787444e-03 1.48116972e+02] [ 5.75730624e-04 9.99999825e-01 1.32676606e-04 -8.20232106e+00] [ 2.16779771e-03 -1.33924384e-04 9.99997641e-01 -2.08791921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11037174299997 meters 0.035423357497215494 Centerline is valid? [True, True] Translation: X:148.15, Y:-8.21, Z:-2.09 [[ 9.99999115e-01 -3.12343315e-04 -1.29354313e-03 1.48146013e+02] [ 3.12446017e-04 9.99999948e-01 7.91946421e-05 -8.20671364e+00] [ 1.29351832e-03 -7.95987344e-05 9.99999160e-01 -2.08787765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14037174299997 meters 0.03701618810705605 Centerline is valid? [True, True] Translation: X:148.18, Y:-8.21, Z:-2.09 [[ 9.99999721e-01 -1.51408430e-04 -7.32009931e-04 1.48175204e+02] [ 1.51441192e-04 9.99999988e-01 4.47007798e-05 -8.21150747e+00] [ 7.32003154e-04 -4.48116238e-05 9.99999731e-01 -2.08829698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17037174299998 meters 0.03678815547422421 Centerline is valid? [True, True] Translation: X:148.21, Y:-8.22, Z:-2.09 [[ 9.99999812e-01 -6.00816882e-04 -1.21012706e-04 1.48205681e+02] [ 6.00817785e-04 9.99999819e-01 7.43011657e-06 -8.21514748e+00] [ 1.21008220e-04 -7.50282175e-06 9.99999993e-01 -2.08850080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20037174299998 meters 0.033563806615660816 Centerline is valid? [True, True] Translation: X:148.24, Y:-8.21, Z:-2.09 [[ 9.99998675e-01 -1.62505457e-03 -9.21914233e-05 1.48236686e+02] [ 1.62505512e-03 9.99998680e-01 5.91579519e-06 -8.21311758e+00] [ 9.21816879e-05 -6.06560349e-06 9.99999996e-01 -2.08759158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23037174299998 meters 0.038424750148741124 Centerline is valid? [True, True] Translation: X:148.27, Y:-8.22, Z:-2.09 [[ 9.99992275e-01 -3.88771391e-03 -5.79478308e-04 1.48266344e+02] [ 3.88773533e-03 9.99992442e-01 3.58520912e-05 -8.22470168e+00] [ 5.79334545e-04 -3.81046725e-05 9.99999831e-01 -2.08952549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26037174299998 meters 0.03686574154200483 Centerline is valid? [True, True] Translation: X:148.30, Y:-8.23, Z:-2.09 [[ 9.99987308e-01 -4.89859466e-03 -1.17788771e-03 1.48297521e+02] [ 4.89868391e-03 9.99987999e-01 7.29061099e-05 -8.22550753e+00] [ 1.17751644e-03 -7.86752842e-05 9.99999304e-01 -2.08937890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29037174299998 meters 0.038348522040893354 Centerline is valid? [True, True] Translation: X:148.33, Y:-8.23, Z:-2.09 [[ 9.99967360e-01 -7.86936824e-03 -1.83111222e-03 1.48327754e+02] [ 7.86958877e-03 9.99969028e-01 1.13260701e-04 -8.23228275e+00] [ 1.83016422e-03 -1.27667104e-04 9.99998317e-01 -2.09063598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32037174299998 meters 0.04063087031924501 Centerline is valid? [True, True] Translation: X:148.36, Y:-8.24, Z:-2.09 [[ 9.99959625e-01 -8.71130497e-03 -2.20468295e-03 1.48358762e+02] [ 8.71162695e-03 9.99962044e-01 1.36483694e-04 -8.23863067e+00] [ 2.20341032e-03 -1.55684559e-04 9.99997560e-01 -2.09169325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35037174299998 meters 0.039696043503348585 Centerline is valid? [True, True] Translation: X:148.39, Y:-8.24, Z:-2.09 [[ 9.99927945e-01 -1.17940445e-02 -2.23735423e-03 1.48389655e+02] [ 1.17943827e-02 9.99930434e-01 1.38033090e-04 -8.24175230e+00] [ 2.23557062e-03 -1.64411356e-04 9.99997488e-01 -2.09203113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38037174299998 meters 0.0402834156653611 Centerline is valid? [True, True] Translation: X:148.42, Y:-8.25, Z:-2.09 [[ 9.99912010e-01 -1.29886165e-02 -2.69576706e-03 1.48421598e+02] [ 1.29891142e-02 9.99915624e-01 1.67207697e-04 -8.24592981e+00] [ 2.69336781e-03 -2.02208611e-04 9.99996352e-01 -2.09266532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41037174299998 meters 0.04218733520523712 Centerline is valid? [True, True] Translation: X:148.45, Y:-8.25, Z:-2.09 [[ 9.99906082e-01 -1.33891688e-02 -2.92532107e-03 1.48452571e+02] [ 1.33897561e-02 9.99910337e-01 1.81265542e-04 -8.25107436e+00] [ 2.92263178e-03 -2.20417854e-04 9.99995705e-01 -2.09403191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440371743 meters 0.04073637031597725 Centerline is valid? [True, True] Translation: X:148.48, Y:-8.25, Z:-2.09 [[ 9.99895633e-01 -1.42961933e-02 -2.08369277e-03 1.48484457e+02] [ 1.42964945e-02 9.99897791e-01 1.29729835e-04 -8.25317777e+00] [ 2.08162516e-03 -1.59505798e-04 9.99997821e-01 -2.09341775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.470371743 meters 0.041305999616115904 Centerline is valid? [True, True] Translation: X:148.52, Y:-8.26, Z:-2.09 [[ 9.99901140e-01 -1.40026139e-02 -1.27909959e-03 1.48516802e+02] [ 1.40027278e-02 9.99901954e-01 8.01105981e-05 -8.25648567e+00] [ 1.27785242e-03 -9.80135617e-05 9.99999179e-01 -2.09325941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500371743 meters 0.041943698140715927 Centerline is valid? [True, True] Translation: X:148.55, Y:-8.26, Z:-2.09 [[ 9.99913001e-01 -1.31873532e-02 -2.89491969e-04 1.48549307e+02] [ 1.31873594e-02 9.99913043e-01 1.93694892e-05 -8.25989038e+00] [ 2.89211363e-04 -2.31854387e-05 9.99999958e-01 -2.09290093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.530371743 meters 0.04274384536344103 Centerline is valid? [True, True] Translation: X:148.58, Y:-8.26, Z:-2.09 [[ 9.99928791e-01 -1.19175573e-02 6.20692823e-04 1.48579608e+02] [ 1.19175833e-02 9.99928982e-01 -3.82180741e-05 -8.26411614e+00] [-6.20193277e-04 4.56125111e-05 9.99999807e-01 -2.09245541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560371743 meters 0.042629399287300834 Centerline is valid? [True, True] Translation: X:148.61, Y:-8.27, Z:-2.09 [[ 9.99939632e-01 -1.09647014e-02 7.12767231e-04 1.48611813e+02] [ 1.09647350e-02 9.99939885e-01 -4.32455129e-05 -8.26687534e+00] [-7.12250208e-04 5.10582060e-05 9.99999745e-01 -2.09303108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.590371743 meters 0.04394906236160959 Centerline is valid? [True, True] Translation: X:148.64, Y:-8.27, Z:-2.09 [[ 9.99943297e-01 -1.06317371e-02 6.07333024e-04 1.48643061e+02] [ 1.06317615e-02 9.99943481e-01 -3.69849745e-05 -8.27288369e+00] [-6.06905483e-04 4.34398973e-05 9.99999815e-01 -2.09435609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620371743 meters 0.037789553259038995 Centerline is valid? [True, True] Translation: X:148.68, Y:-8.27, Z:-2.09 [[ 9.99950182e-01 -9.97631258e-03 -3.25331207e-04 1.48675621e+02] [ 9.97632002e-03 9.99950235e-01 2.12485384e-05 -8.26646575e+00] [ 3.25103035e-04 -2.44930880e-05 9.99999947e-01 -2.09359305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.650371743 meters 0.043761704784408315 Centerline is valid? [True, True] Translation: X:148.71, Y:-8.28, Z:-2.10 [[ 9.99945997e-01 -1.03795043e-02 -5.18980999e-04 1.48706203e+02] [ 1.03795229e-02 9.99946131e-01 3.30526303e-05 -8.27880158e+00] [ 5.18609972e-04 -3.84376205e-05 9.99999865e-01 -2.09642943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680371743 meters 0.03934043872852395 Centerline is valid? [True, True] Translation: X:148.74, Y:-8.28, Z:-2.10 [[ 9.99937893e-01 -1.10674001e-02 -1.31229868e-03 1.48738027e+02] [ 1.10675178e-02 9.99938750e-01 8.24762262e-05 -8.27749149e+00] [ 1.31130551e-03 -9.69949929e-05 9.99999136e-01 -2.09645606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.710371743 meters 0.039995107835994824 Centerline is valid? [True, True] Translation: X:148.77, Y:-8.28, Z:-2.10 [[ 9.99929372e-01 -1.17426248e-02 -1.83327476e-03 1.48769664e+02] [ 1.17428558e-02 9.99931044e-01 1.15295585e-04 -8.28162268e+00] [ 1.83179447e-03 -1.36815323e-04 9.99998313e-01 -2.09714819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74037174299997 meters 0.03995570781887018 Centerline is valid? [True, True] Translation: X:148.80, Y:-8.29, Z:-2.10 [[ 9.99914120e-01 -1.30271636e-02 -1.43035422e-03 1.48801594e+02] [ 1.30273060e-02 9.99915137e-01 9.02830347e-05 -8.28629645e+00] [ 1.42905670e-03 -1.08908943e-04 9.99998973e-01 -2.09727793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77037174299997 meters 0.038825890405183236 Centerline is valid? [True, True] Translation: X:148.83, Y:-8.29, Z:-2.10 [[ 9.99910548e-01 -1.33321261e-02 -1.07276664e-03 1.48833380e+02] [ 1.33322067e-02 9.99911120e-01 6.80544877e-05 -8.28772590e+00] [ 1.07176398e-03 -8.23507466e-05 9.99999422e-01 -2.09728380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80037174299997 meters 0.039849555181298034 Centerline is valid? [True, True] Translation: X:148.86, Y:-8.29, Z:-2.10 [[ 9.99908841e-01 -1.34713966e-02 -9.11503539e-04 1.48864557e+02] [ 1.34714556e-02 9.99909254e-01 5.86177319e-05 -8.29177218e+00] [ 9.10631161e-04 -7.08916678e-05 9.99999583e-01 -2.09780800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83037174299997 meters 0.04035191972426773 Centerline is valid? [True, True] Translation: X:148.90, Y:-8.30, Z:-2.10 [[ 9.99905713e-01 -1.37053880e-02 -8.53260915e-04 1.48896922e+02] [ 1.37054395e-02 9.99906075e-01 5.44805653e-05 -8.29511852e+00] [ 8.52434095e-04 -6.61697443e-05 9.99999634e-01 -2.09807575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86037174299997 meters 0.041760616576061796 Centerline is valid? [True, True] Translation: X:148.93, Y:-8.30, Z:-2.10 [[ 9.99906870e-01 -1.35475906e-02 -1.64719229e-03 1.48927818e+02] [ 1.35477818e-02 9.99908219e-01 1.04975387e-04 -8.29976457e+00] [ 1.64561894e-03 -1.27281413e-04 9.99998638e-01 -2.09928845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89037174299997 meters 0.04283765822099256 Centerline is valid? [True, True] Translation: X:148.96, Y:-8.31, Z:-2.10 [[ 9.99898665e-01 -1.41177650e-02 -1.82970896e-03 1.48958271e+02] [ 1.41180023e-02 9.99900329e-01 1.16830672e-04 -8.30521702e+00] [ 1.82787721e-03 -1.42650668e-04 9.99998319e-01 -2.10086565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92037174299998 meters 0.042646838794928504 Centerline is valid? [True, True] Translation: X:148.99, Y:-8.31, Z:-2.10 [[ 9.99894918e-01 -1.43823218e-02 -1.81708631e-03 1.48989926e+02] [ 1.43825551e-02 9.99896559e-01 1.15424324e-04 -8.30821232e+00] [ 1.81523828e-03 -1.41546539e-04 9.99998342e-01 -2.10158166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95037174299998 meters 0.043066207959696845 Centerline is valid? [True, True] Translation: X:149.02, Y:-8.31, Z:-2.10 [[ 9.99890401e-01 -1.46967238e-02 -1.78690663e-03 1.49022124e+02] [ 1.46969502e-02 9.99891988e-01 1.13644749e-04 -8.31153785e+00] [ 1.78504342e-03 -1.39894371e-04 9.99998397e-01 -2.10202862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98037174299998 meters 0.04417615648915584 Centerline is valid? [True, True] Translation: X:149.05, Y:-8.32, Z:-2.10 [[ 9.99883730e-01 -1.51478239e-02 -1.75203033e-03 1.49052768e+02] [ 1.51480420e-02 9.99885256e-01 1.11286722e-04 -8.31567580e+00] [ 1.75014354e-03 -1.37813612e-04 9.99998459e-01 -2.10239930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01037174299998 meters 0.04339560866583429 Centerline is valid? [True, True] Translation: X:149.08, Y:-8.32, Z:-2.10 [[ 9.99865515e-01 -1.63492473e-02 -1.28620483e-03 1.49084231e+02] [ 1.63493662e-02 9.99866337e-01 8.19691623e-05 -8.31888599e+00] [ 1.28469278e-03 -1.02986772e-04 9.99999169e-01 -2.10192355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04037174299998 meters 0.04164114219870149 Centerline is valid? [True, True] Translation: X:149.12, Y:-8.32, Z:-2.10 [[ 9.99838478e-01 -1.79394539e-02 -1.09305767e-03 1.49115567e+02] [ 1.79395406e-02 9.99839071e-01 6.95731098e-05 -8.32071468e+00] [ 1.09163366e-03 -8.91708246e-05 9.99999400e-01 -2.10103849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07037174299998 meters 0.049301510888944126 Centerline is valid? [True, True] Translation: X:149.15, Y:-8.33, Z:-2.10 [[ 9.99835303e-01 -1.81280983e-02 -8.59271294e-04 1.49145889e+02] [ 1.81281531e-02 9.99835670e-01 5.59875499e-05 -8.33356396e+00] [ 8.58115142e-04 -7.15553305e-05 9.99999629e-01 -2.10320712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10037174299998 meters 0.04270083482112748 Centerline is valid? [True, True] Translation: X:149.18, Y:-8.33, Z:-2.10 [[ 9.99837778e-01 -1.79972913e-02 -7.18404492e-04 1.49178947e+02] [ 1.79973294e-02 9.99838034e-01 4.65323167e-05 -8.32691626e+00] [ 7.17450679e-04 -5.94541303e-05 9.99999741e-01 -2.10160005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13037174299998 meters 0.04174280737531846 Centerline is valid? [True, True] Translation: X:149.21, Y:-8.33, Z:-2.10 [[ 9.99851411e-01 -1.72237206e-02 -7.07341247e-04 1.49210907e+02] [ 1.72237573e-02 9.99851659e-01 4.58892064e-05 -8.32788995e+00] [ 7.06445937e-04 -5.80654618e-05 9.99999749e-01 -2.10156635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16037174299998 meters 0.04053549265977953 Centerline is valid? [True, True] Translation: X:149.24, Y:-8.33, Z:-2.10 [[ 9.99882062e-01 -1.53534372e-02 -3.66553978e-04 1.49242908e+02] [ 1.53534472e-02 9.99882129e-01 2.43018389e-05 -8.32870613e+00] [ 3.66137655e-04 -2.99268399e-05 9.99999933e-01 -2.10124820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.190371743 meters 0.04263743973219004 Centerline is valid? [True, True] Translation: X:149.27, Y:-8.33, Z:-2.10 [[ 9.99926816e-01 -1.20879077e-02 -4.95789260e-04 1.49271813e+02] [ 1.20879245e-02 9.99926938e-01 3.10869145e-05 -8.33330614e+00] [ 4.95377261e-04 -3.70777026e-05 9.99999877e-01 -2.10219987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220371743 meters 0.04036009987558466 Centerline is valid? [True, True] Translation: X:149.30, Y:-8.33, Z:-2.10 [[ 9.99941628e-01 -1.08045693e-02 -5.22476910e-05 1.49303116e+02] [ 1.08045695e-02 9.99941629e-01 3.81635586e-06 -8.33270396e+00] [ 5.22034071e-05 -4.38064689e-06 9.99999999e-01 -2.10211138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.250371743 meters 0.03863847136961106 Centerline is valid? [True, True] Translation: X:149.33, Y:-8.33, Z:-2.10 [[ 9.99959527e-01 -8.99655116e-03 7.51001234e-05 1.49334750e+02] [ 8.99655150e-03 9.99959530e-01 -4.27138743e-06 -8.33210000e+00] [-7.50586565e-05 4.94685669e-06 9.99999997e-01 -2.10227066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280371743 meters 0.038135006577276975 Centerline is valid? [True, True] Translation: X:149.36, Y:-8.33, Z:-2.10 [[ 9.99990092e-01 -4.43966373e-03 -3.25178336e-04 1.49364202e+02] [ 4.43967061e-03 9.99990144e-01 2.04137067e-05 -8.33176114e+00] [ 3.25084501e-04 -2.18571891e-05 9.99999947e-01 -2.10278897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.310371743 meters 0.03739151796968257 Centerline is valid? [True, True] Translation: X:149.39, Y:-8.33, Z:-2.10 [[ 9.99998279e-01 -1.76857204e-03 -5.61078154e-04 1.49394839e+02] [ 1.76859233e-03 9.99998435e-01 3.56536357e-05 -8.33136639e+00] [ 5.61014220e-04 -3.66458929e-05 9.99999842e-01 -2.10298714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340371743 meters 0.03525486333240348 Centerline is valid? [True, True] Translation: X:149.43, Y:-8.33, Z:-2.10 [[ 9.99999530e-01 6.90767804e-04 -6.80984191e-04 1.49425962e+02] [-6.90738319e-04 9.99999760e-01 4.35320478e-05 -8.32913110e+00] [ 6.81014098e-04 -4.30616455e-05 9.99999767e-01 -2.10266692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.370371743 meters 0.03551691679234454 Centerline is valid? [True, True] Translation: X:149.46, Y:-8.33, Z:-2.10 [[ 9.99982654e-01 5.88461281e-03 2.52362793e-04 1.49455467e+02] [-5.88460888e-03 9.99982685e-01 -1.63266147e-05 -8.32897163e+00] [-2.52454499e-04 1.48412752e-05 9.99999968e-01 -2.10344418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400371743 meters 0.03503667567314878 Centerline is valid? [True, True] Translation: X:149.48, Y:-8.33, Z:-2.10 [[ 9.99965126e-01 8.35042519e-03 1.30905379e-04 1.49484561e+02] [-8.35042411e-03 9.99965135e-01 -8.78614907e-06 -8.32866518e+00] [-1.30974183e-04 7.69272723e-06 9.99999991e-01 -2.10411122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.430371743 meters 0.033983284323677636 Centerline is valid? [True, True] Translation: X:149.51, Y:-8.33, Z:-2.10 [[ 9.99925608e-01 1.21888515e-02 4.57757670e-04 1.49514039e+02] [-1.21888393e-02 9.99925713e-01 -2.95195308e-05 -8.32566262e+00] [-4.58083474e-04 2.39378001e-05 9.99999895e-01 -2.10464551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460371743 meters 0.028573213337859595 Centerline is valid? [True, True] Translation: X:149.54, Y:-8.32, Z:-2.10 [[ 9.99907276e-01 1.36118265e-02 3.96755235e-04 1.49543661e+02] [-1.36118172e-02 9.99907355e-01 -2.61685825e-05 -8.31731315e+00] [-3.97074679e-04 2.07655964e-05 9.99999921e-01 -2.10325800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49037174299997 meters 0.029149658971888877 Centerline is valid? [True, True] Translation: X:149.57, Y:-8.32, Z:-2.10 [[ 9.99893081e-01 1.46192224e-02 -3.23966711e-04 1.49572542e+02] [-1.46192169e-02 9.99893133e-01 1.95079376e-05 -8.31749147e+00] [ 3.24217280e-04 -1.47697122e-05 9.99999947e-01 -2.10388657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52037174299997 meters 0.02816547514968537 Centerline is valid? [True, True] Translation: X:149.60, Y:-8.32, Z:-2.10 [[ 9.99891965e-01 1.46989056e-02 1.91744950e-05 1.49601408e+02] [-1.46989056e-02 9.99891965e-01 -2.22479854e-06 -8.31586073e+00] [-1.92051257e-05 1.94271410e-06 1.00000000e+00 -2.10383080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55037174299997 meters 0.02842464281476462 Centerline is valid? [True, True] Translation: X:149.63, Y:-8.32, Z:-2.10 [[ 9.99895660e-01 1.44402417e-02 3.85690611e-04 1.49630346e+02] [-1.44402330e-02 9.99895734e-01 -2.53822862e-05 -8.31639477e+00] [-3.86016923e-04 1.98101756e-05 9.99999925e-01 -2.10444077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58037174299997 meters 0.035986413944054135 Centerline is valid? [True, True] Translation: X:149.66, Y:-8.33, Z:-2.11 [[ 9.99921014e-01 1.25457978e-02 7.54284436e-04 1.49658322e+02] [-1.25457649e-02 9.99921298e-01 -4.83729631e-05 -8.32730359e+00] [-7.54831950e-04 3.89060671e-05 9.99999714e-01 -2.10711678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61037174299997 meters 0.02936558891249459 Centerline is valid? [True, True] Translation: X:149.69, Y:-8.32, Z:-2.10 [[ 9.99937651e-01 1.11166911e-02 1.05488894e-03 1.49688054e+02] [-1.11166260e-02 9.99938206e-01 -6.75365227e-05 -8.31806570e+00] [-1.05557454e-03 5.58055060e-05 9.99999441e-01 -2.10464565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64037174299997 meters 0.030952950339697895 Centerline is valid? [True, True] Translation: X:149.72, Y:-8.32, Z:-2.11 [[ 9.99953140e-01 9.64418037e-03 8.41070709e-04 1.49717068e+02] [-9.64413836e-03 9.99953493e-01 -5.39899854e-05 -8.32036633e+00] [-8.41552282e-04 4.58760532e-05 9.99999645e-01 -2.10524914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67037174299998 meters 0.03195072358829185 Centerline is valid? [True, True] Translation: X:149.75, Y:-8.32, Z:-2.11 [[ 9.99983200e-01 5.58555038e-03 1.54942098e-03 1.49747185e+02] [-5.58540549e-03 9.99984397e-01 -9.78183937e-05 -8.32279688e+00] [-1.54994318e-03 8.91626059e-05 9.99998795e-01 -2.10552942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70037174299998 meters 0.033035820951528946 Centerline is valid? [True, True] Translation: X:149.78, Y:-8.33, Z:-2.11 [[ 9.99992570e-01 3.68194515e-03 1.14185908e-03 1.49776275e+02] [-3.68186465e-03 9.99993219e-01 -7.25928284e-05 -8.32515659e+00] [-1.14211862e-03 6.83881184e-05 9.99999345e-01 -2.10623040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73037174299998 meters 0.03588573999089788 Centerline is valid? [True, True] Translation: X:149.81, Y:-8.33, Z:-2.11 [[ 9.99999852e-01 9.53984233e-05 5.35066077e-04 1.49805631e+02] [-9.53805124e-05 9.99999995e-01 -3.34996233e-05 -8.32918324e+00] [-5.35069271e-04 3.34485835e-05 9.99999856e-01 -2.10660251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76037174299998 meters 0.03631436015571239 Centerline is valid? [True, True] Translation: X:149.84, Y:-8.33, Z:-2.11 [[ 9.99998423e-01 -1.55920817e-03 8.50200253e-04 1.49836075e+02] [ 1.55925422e-03 9.99998783e-01 -5.35017729e-05 -8.33103207e+00] [-8.50115798e-04 5.48273669e-05 9.99999637e-01 -2.10678241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79037174299998 meters 0.03769776866029246 Centerline is valid? [True, True] Translation: X:149.87, Y:-8.33, Z:-2.11 [[ 9.99994194e-01 -3.34695932e-03 6.40044918e-04 1.49867488e+02] [ 3.34698548e-03 9.99994398e-01 -3.98060433e-05 -8.33436019e+00] [-6.39908103e-04 4.19480332e-05 9.99999794e-01 -2.10728283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82037174299998 meters 0.03994387817183814 Centerline is valid? [True, True] Translation: X:149.90, Y:-8.34, Z:-2.11 [[ 9.99971468e-01 -7.54958659e-03 2.59838362e-04 1.49897411e+02] [ 7.54959108e-03 9.99971501e-01 -1.63215711e-05 -8.33895513e+00] [-2.59707736e-04 1.82827788e-05 9.99999966e-01 -2.10904166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85037174299998 meters 0.03994387817183814 Centerline is valid? [True, True] Translation: X:149.93, Y:-8.34, Z:-2.11 [[ 9.99971991e-01 -7.47989782e-03 2.59896287e-04 1.49929119e+02] [ 7.47990208e-03 9.99972025e-01 -1.54021717e-05 -8.34101551e+00] [-2.59773810e-04 1.73457391e-05 9.99999966e-01 -2.10948793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88037174299998 meters 0.04148816213064375 Centerline is valid? [True, True] Translation: X:149.96, Y:-8.35, Z:-2.11 [[ 9.99954131e-01 -9.57753601e-03 -7.83394631e-05 1.49959716e+02] [ 9.57753644e-03 9.99954134e-01 5.18254162e-06 -8.34578619e+00] [ 7.82862339e-05 -5.93260297e-06 9.99999997e-01 -2.11062006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91037174299998 meters 0.04241878712855082 Centerline is valid? [True, True] Translation: X:149.99, Y:-8.35, Z:-2.11 [[ 9.99935939e-01 -1.13164303e-02 -2.35944784e-04 1.49991112e+02] [ 1.13164343e-02 9.99935967e-01 1.53715505e-05 -8.34936053e+00] [ 2.35755724e-04 -1.80406195e-05 9.99999972e-01 -2.11216667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940371743 meters 0.0444761257700622 Centerline is valid? [True, True] Translation: X:150.02, Y:-8.35, Z:-2.11 [[ 9.99909036e-01 -1.34268580e-02 -1.28063667e-03 1.50020907e+02] [ 1.34269724e-02 9.99909851e-01 8.07934153e-05 -8.35393822e+00] [ 1.27943642e-03 -9.79811391e-05 9.99999177e-01 -2.11484270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.970371743 meters 0.0445621219630534 Centerline is valid? [True, True] Translation: X:150.05, Y:-8.36, Z:-2.12 [[ 9.99906591e-01 -1.35318574e-02 -1.92327384e-03 1.50053084e+02] [ 1.35321177e-02 9.99908429e-01 1.22435543e-04 -8.35559141e+00] [ 1.92144095e-03 -1.48450074e-04 9.99998143e-01 -2.11563064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000371743 meters 0.045919520531737555 Centerline is valid? [True, True] Translation: X:150.08, Y:-8.36, Z:-2.12 [[ 9.99912294e-01 -1.30604557e-02 -2.19741705e-03 1.50083773e+02] [ 1.30607938e-02 9.99914694e-01 1.39615270e-04 -8.35751791e+00] [ 2.19540616e-03 -1.68303036e-04 9.99997576e-01 -2.11582634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.030371743 meters 0.04585207706789466 Centerline is valid? [True, True] Translation: X:150.11, Y:-8.36, Z:-2.12 [[ 9.99926621e-01 -1.19535720e-02 -1.96591429e-03 1.50114881e+02] [ 1.19538404e-02 9.99928543e-01 1.24804814e-04 -8.35840469e+00] [ 1.96428195e-03 -1.48295881e-04 9.99998060e-01 -2.11605193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060371743 meters 0.04597367731405826 Centerline is valid? [True, True] Translation: X:150.15, Y:-8.36, Z:-2.12 [[ 9.99937899e-01 -1.09766286e-02 -1.92655126e-03 1.50145872e+02] [ 1.09768846e-02 9.99939745e-01 1.22377516e-04 -8.35961722e+00] [ 1.92509188e-03 -1.43517447e-04 9.99998137e-01 -2.11587097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.090371743 meters 0.045994272781950465 Centerline is valid? [True, True] Translation: X:150.18, Y:-8.36, Z:-2.12 [[ 9.99969826e-01 -7.73415506e-03 -7.27360833e-04 1.50175819e+02] [ 7.73419043e-03 9.99970090e-01 4.58220676e-05 -8.35947862e+00] [ 7.26984682e-04 -5.14462322e-05 9.99999734e-01 -2.11539151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120371743 meters 0.04559925583704067 Centerline is valid? [True, True] Translation: X:150.21, Y:-8.36, Z:-2.12 [[ 9.99976500e-01 -6.85522423e-03 7.50819361e-05 1.50207496e+02] [ 6.85522457e-03 9.99976503e-01 -4.28816336e-06 -8.36027368e+00] [-7.50507757e-05 4.80276613e-06 9.99999997e-01 -2.11500712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.150371743 meters 0.045351597348583475 Centerline is valid? [True, True] Translation: X:150.24, Y:-8.36, Z:-2.11 [[ 9.99988111e-01 -4.69621602e-03 1.31270076e-03 1.50237132e+02] [ 4.69632939e-03 9.99988969e-01 -8.32960863e-05 -8.35973252e+00] [-1.31229510e-03 8.94599712e-05 9.99999135e-01 -2.11431812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180371743 meters 0.04113717099084707 Centerline is valid? [True, True] Translation: X:150.27, Y:-8.35, Z:-2.11 [[ 9.99992131e-01 -3.55698729e-03 1.75638596e-03 1.50268525e+02] [ 3.55718723e-03 9.99993667e-01 -1.10723582e-04 -8.35490873e+00] [-1.75598099e-03 1.16970505e-04 9.99998451e-01 -2.11371129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.210371743 meters 0.03629764854859053 Centerline is valid? [True, True] Translation: X:150.30, Y:-8.35, Z:-2.11 [[ 9.99995252e-01 -2.83228292e-03 1.21412863e-03 1.50301266e+02] [ 2.83237721e-03 9.99995986e-01 -7.59510185e-05 -8.34870638e+00] [-1.21390864e-03 7.93895281e-05 9.99999260e-01 -2.11295400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24037174299997 meters 0.03447719170947776 Centerline is valid? [True, True] Translation: X:150.33, Y:-8.35, Z:-2.11 [[ 9.99998103e-01 -1.57999683e-03 1.13924275e-03 1.50333231e+02] [ 1.58007932e-03 9.99998749e-01 -7.15064434e-05 -8.34614396e+00] [-1.13912835e-03 7.33064017e-05 9.99999349e-01 -2.11284013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27037174299997 meters 0.03471129260864444 Centerline is valid? [True, True] Translation: X:150.36, Y:-8.35, Z:-2.11 [[ 9.99997199e-01 -1.34090008e-03 1.95030832e-03 1.50364512e+02] [ 1.34114308e-03 9.99999093e-01 -1.23291026e-04 -8.34753700e+00] [-1.95014123e-03 1.25906323e-04 9.99998091e-01 -2.11315135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30037174299997 meters 0.035053902267251275 Centerline is valid? [True, True] Translation: X:150.40, Y:-8.35, Z:-2.11 [[ 9.99997438e-01 -9.37129595e-04 2.06049084e-03 1.50395695e+02] [ 9.37400183e-04 9.99999552e-01 -1.30360657e-04 -8.34870348e+00] [-2.06036775e-03 1.32291828e-04 9.99997869e-01 -2.11332175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33037174299997 meters 0.040892706021068405 Centerline is valid? [True, True] Translation: X:150.43, Y:-8.36, Z:-2.11 [[ 9.99997489e-01 -2.20891732e-04 2.23015466e-03 1.50426278e+02] [ 2.21206745e-04 9.99999966e-01 -1.41005952e-04 -8.35822811e+00] [-2.23012344e-03 1.41498923e-04 9.99997503e-01 -2.11468155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36037174299997 meters 0.03601111174545873 Centerline is valid? [True, True] Translation: X:150.46, Y:-8.35, Z:-2.11 [[ 9.99996579e-01 7.12054521e-04 2.51705919e-03 1.50458048e+02] [-7.11655063e-04 9.99999734e-01 -1.59592400e-04 -8.35054672e+00] [-2.51717216e-03 1.57800577e-04 9.99996819e-01 -2.11308712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39037174299997 meters 0.035333504795702776 Centerline is valid? [True, True] Translation: X:150.49, Y:-8.35, Z:-2.11 [[ 9.99995687e-01 6.94331085e-04 2.85379715e-03 1.50489249e+02] [-6.93817049e-04 9.99999743e-01 -1.81109830e-04 -8.35146625e+00] [-2.85392217e-03 1.79129036e-04 9.99995912e-01 -2.11289120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42037174299998 meters 0.037229715586000904 Centerline is valid? [True, True] Translation: X:150.52, Y:-8.35, Z:-2.11 [[ 9.99993551e-01 8.86860220e-04 3.48023777e-03 1.50519090e+02] [-8.86095430e-04 9.99999583e-01 -2.21288155e-04 -8.35495776e+00] [-3.48043257e-03 2.18202905e-04 9.99993919e-01 -2.11353379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45037174299998 meters 0.037617207287695034 Centerline is valid? [True, True] Translation: X:150.55, Y:-8.36, Z:-2.11 [[ 9.99991277e-01 1.52931764e-03 3.88688463e-03 1.50550031e+02] [-1.52836881e-03 9.99998802e-01 -2.47068887e-04 -8.35681578e+00] [-3.88725782e-03 2.41126139e-04 9.99992416e-01 -2.11403012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48037174299998 meters 0.03727735422874794 Centerline is valid? [True, True] Translation: X:150.58, Y:-8.36, Z:-2.11 [[ 9.99991283e-01 1.74146996e-03 3.79485529e-03 1.50580892e+02] [-1.74056659e-03 9.99998456e-01 -2.41341569e-04 -8.35823084e+00] [-3.79526972e-03 2.34734267e-04 9.99992770e-01 -2.11486915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51037174299998 meters 0.03437127342138886 Centerline is valid? [True, True] Translation: X:150.61, Y:-8.36, Z:-2.12 [[ 9.99990948e-01 3.69397512e-03 2.11140377e-03 1.50612069e+02] [-3.69369969e-03 9.99993169e-01 -1.34338005e-04 -8.35506728e+00] [-2.11188559e-03 1.26537898e-04 9.99997762e-01 -2.11566267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54037174299998 meters 0.03725212466910493 Centerline is valid? [True, True] Translation: X:150.64, Y:-8.36, Z:-2.12 [[ 9.99987237e-01 4.68034080e-03 1.90269434e-03 1.50641477e+02] [-4.68011807e-03 9.99989041e-01 -1.21496334e-04 -8.36065140e+00] [-1.90324214e-03 1.12589950e-04 9.99998182e-01 -2.11773929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57037174299998 meters 0.032953912073357065 Centerline is valid? [True, True] Translation: X:150.67, Y:-8.36, Z:-2.12 [[ 9.99981338e-01 5.89079101e-03 1.61956531e-03 1.50671776e+02] [-5.89063084e-03 9.99982645e-01 -1.03649613e-04 -8.35596290e+00] [-1.62014778e-03 9.41074172e-05 9.99998683e-01 -2.11724221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60037174299998 meters 0.03240976969509272 Centerline is valid? [True, True] Translation: X:150.70, Y:-8.36, Z:-2.12 [[ 9.99976380e-01 6.71110746e-03 1.48339301e-03 1.50700629e+02] [-6.71097333e-03 9.99977477e-01 -9.53763813e-05 -8.35613378e+00] [-1.48399968e-03 8.54191176e-05 9.99998895e-01 -2.11745223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63037174299998 meters 0.030868529193026965 Centerline is valid? [True, True] Translation: X:150.73, Y:-8.35, Z:-2.12 [[ 9.99955764e-01 8.98403517e-03 2.78515880e-03 1.50730699e+02] [-8.98357584e-03 9.99959631e-01 -1.77388921e-04 -8.35492022e+00] [-2.78664004e-03 1.52360389e-04 9.99996106e-01 -2.11655126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66037174299998 meters 0.031168919676410892 Centerline is valid? [True, True] Translation: X:150.76, Y:-8.36, Z:-2.12 [[ 9.99942857e-01 1.01865211e-02 3.24320293e-03 1.50758153e+02] [-1.01859026e-02 9.99948101e-01 -2.07188821e-04 -8.35699387e+00] [-3.24514515e-03 1.74142033e-04 9.99994719e-01 -2.11653017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.690371743 meters 0.029628639066161245 Centerline is valid? [True, True] Translation: X:150.79, Y:-8.36, Z:-2.12 [[ 9.99900380e-01 1.37068237e-02 3.36956941e-03 1.50787984e+02] [-1.37061788e-02 9.99906043e-01 -2.14399299e-04 -8.35559043e+00] [-3.37219155e-03 1.68194019e-04 9.99994300e-01 -2.11654878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720371743 meters 0.028695133324857472 Centerline is valid? [True, True] Translation: X:150.82, Y:-8.36, Z:-2.12 [[ 9.99877368e-01 1.53505181e-02 3.10016588e-03 1.50817131e+02] [-1.53499791e-02 9.99882163e-01 -1.97590217e-04 -8.35519290e+00] [-3.10283368e-03 1.49978504e-04 9.99995175e-01 -2.11680104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.750371743 meters 0.030645825807105842 Centerline is valid? [True, True] Translation: X:150.84, Y:-8.36, Z:-2.12 [[ 9.99854350e-01 1.67541834e-02 3.25203004e-03 1.50844778e+02] [-1.67535981e-02 9.99859627e-01 -2.07149145e-04 -8.35984399e+00] [-3.25504416e-03 1.52635770e-04 9.99994691e-01 -2.11821112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780371743 meters 0.028187584897691405 Centerline is valid? [True, True] Translation: X:150.87, Y:-8.36, Z:-2.12 [[ 9.99799751e-01 1.98852200e-02 2.24424297e-03 1.50874461e+02] [-1.98849501e-02 9.99802265e-01 -1.42525699e-04 -8.35668513e+00] [-2.24663336e-03 9.78704989e-05 9.99997472e-01 -2.11796083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.810371743 meters 0.031232679346005838 Centerline is valid? [True, True] Translation: X:150.90, Y:-8.37, Z:-2.12 [[ 9.99796376e-01 2.00563858e-02 2.22431030e-03 1.50901910e+02] [-2.00561198e-02 9.99798846e-01 -1.41812948e-04 -8.36536707e+00] [-2.22670713e-03 9.71730378e-05 9.99997516e-01 -2.12060560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840371743 meters 0.02765520922972114 Centerline is valid? [True, True] Translation: X:150.93, Y:-8.36, Z:-2.12 [[ 9.99772142e-01 2.12786133e-02 1.69829494e-03 1.50930941e+02] [-2.12784602e-02 9.99773582e-01 -1.08191630e-04 -8.36273251e+00] [-1.70021258e-03 7.20298760e-05 9.99998552e-01 -2.12002110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.870371743 meters 0.02694112295550798 Centerline is valid? [True, True] Translation: X:150.96, Y:-8.36, Z:-2.12 [[ 9.99757509e-01 2.19789340e-02 1.35994264e-03 1.50960009e+02] [-2.19788363e-02 9.99758432e-01 -8.67448919e-05 -8.36405795e+00] [-1.36152068e-03 5.68339005e-05 9.99999072e-01 -2.12021813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900371743 meters 0.02667913398043398 Centerline is valid? [True, True] Translation: X:150.99, Y:-8.36, Z:-2.12 [[ 9.99744429e-01 2.25583339e-02 1.48288267e-03 1.50988622e+02] [-2.25582187e-02 9.99745527e-01 -9.43946435e-05 -8.36495315e+00] [-1.48463470e-03 6.09193274e-05 9.99998896e-01 -2.12017964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.930371743 meters 0.027508103685863622 Centerline is valid? [True, True] Translation: X:151.02, Y:-8.37, Z:-2.12 [[ 9.99727295e-01 2.32057942e-02 2.61291541e-03 1.51016464e+02] [-2.32054406e-02 9.99730704e-01 -1.65566742e-04 -8.36883465e+00] [-2.61605387e-03 1.04887738e-04 9.99996573e-01 -2.11983115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960371743 meters 0.026973095298885127 Centerline is valid? [True, True] Translation: X:151.04, Y:-8.37, Z:-2.12 [[ 9.99734859e-01 2.28283368e-02 3.01304382e-03 1.51043892e+02] [-2.28278637e-02 9.99739392e-01 -1.91310649e-04 -8.36983015e+00] [-3.01662590e-03 1.22478571e-04 9.99995442e-01 -2.11900464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99037174299997 meters 0.027318267027438167 Centerline is valid? [True, True] Translation: X:151.07, Y:-8.37, Z:-2.12 [[ 9.99775646e-01 2.08668754e-02 3.63745856e-03 1.51072447e+02] [-2.08661805e-02 9.99782251e-01 -2.28870665e-04 -8.37431462e+00] [-3.64144233e-03 1.52919450e-04 9.99993358e-01 -2.11932952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02037174299997 meters 0.028493553144899004 Centerline is valid? [True, True] Translation: X:151.10, Y:-8.38, Z:-2.12 [[ 9.99814531e-01 1.88913018e-02 3.74469239e-03 1.51099561e+02] [-1.88905518e-02 9.99821530e-01 -2.35553696e-04 -8.37873390e+00] [-3.74847399e-03 1.64770702e-04 9.99992961e-01 -2.12030254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05037174299997 meters 0.028288503463511628 Centerline is valid? [True, True] Translation: X:151.13, Y:-8.38, Z:-2.12 [[ 9.99856336e-01 1.65882887e-02 3.48375016e-03 1.51129193e+02] [-1.65876286e-02 9.99862392e-01 -2.18293255e-04 -8.38073523e+00] [-3.48689188e-03 1.60474740e-04 9.99993908e-01 -2.12047835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08037174299997 meters 0.02943039116130875 Centerline is valid? [True, True] Translation: X:151.16, Y:-8.39, Z:-2.12 [[ 9.99892353e-01 1.42873282e-02 3.33993735e-03 1.51158849e+02] [-1.42867090e-02 9.99897918e-01 -2.09180668e-04 -8.38536386e+00] [-3.34258504e-03 1.61441437e-04 9.99994401e-01 -2.12136301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11037174299997 meters 0.03246798664482269 Centerline is valid? [True, True] Translation: X:151.19, Y:-8.39, Z:-2.12 [[ 9.99953009e-01 8.93626907e-03 3.75796440e-03 1.51187486e+02] [-8.93544966e-03 9.99960051e-01 -2.34781004e-04 -8.39352586e+00] [-3.75991234e-03 2.01190870e-04 9.99992911e-01 -2.12141839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14037174299997 meters 0.033922061470299705 Centerline is valid? [True, True] Translation: X:151.22, Y:-8.40, Z:-2.12 [[ 9.99972872e-01 6.14953065e-03 4.05455995e-03 1.51217115e+02] [-6.14855314e-03 9.99981065e-01 -2.53511590e-04 -8.39877476e+00] [-4.05604216e-03 2.28575035e-04 9.99991748e-01 -2.12193365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17037174299998 meters 0.03303029214493803 Centerline is valid? [True, True] Translation: X:151.25, Y:-8.40, Z:-2.12 [[ 9.99992893e-01 8.60717153e-04 3.67052262e-03 1.51247101e+02] [-8.59882017e-04 9.99999604e-01 -2.29097075e-04 -8.40135885e+00] [-3.67071835e-03 2.25939230e-04 9.99993237e-01 -2.12186918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20037174299998 meters 0.03425909441507623 Centerline is valid? [True, True] Translation: X:151.28, Y:-8.41, Z:-2.12 [[ 9.99992945e-01 -1.66267825e-03 3.36822504e-03 1.51277751e+02] [ 1.66339586e-03 9.99998594e-01 -2.10261164e-04 -8.40637312e+00] [-3.36787071e-03 2.15862373e-04 9.99994305e-01 -2.12246636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23037174299998 meters 0.034485581466627814 Centerline is valid? [True, True] Translation: X:151.31, Y:-8.41, Z:-2.12 [[ 9.99986183e-01 -3.80281374e-03 3.62948574e-03 1.51308868e+02] [ 3.80366064e-03 9.99992740e-01 -2.26464397e-04 -8.40976554e+00] [-3.62859819e-03 2.40266600e-04 9.99993388e-01 -2.12325082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26037174299998 meters 0.0373473925074299 Centerline is valid? [True, True] Translation: X:151.34, Y:-8.42, Z:-2.12 [[ 9.99963085e-01 -8.17367118e-03 2.64929176e-03 1.51337583e+02] [ 8.17413693e-03 9.99966578e-01 -1.65021758e-04 -8.41742300e+00] [-2.64785438e-03 1.86671339e-04 9.99996477e-01 -2.12449279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29037174299998 meters 0.040340665048455314 Centerline is valid? [True, True] Translation: X:151.37, Y:-8.42, Z:-2.13 [[ 9.99951570e-01 -9.64190900e-03 1.97257005e-03 1.51368651e+02] [ 9.64216997e-03 9.99953506e-01 -1.22834021e-04 -8.42430785e+00] [-1.97129399e-03 1.41847928e-04 9.99998047e-01 -2.12612875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32037174299998 meters 0.0392026885829109 Centerline is valid? [True, True] Translation: X:151.40, Y:-8.43, Z:-2.13 [[ 9.99939455e-01 -1.09025977e-02 1.48986817e-03 1.51400983e+02] [ 1.09027474e-02 9.99940559e-01 -9.24379331e-05 -8.42550276e+00] [-1.48877179e-03 1.08675993e-04 9.99998886e-01 -2.12638108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35037174299998 meters 0.03755451682004445 Centerline is valid? [True, True] Translation: X:151.43, Y:-8.43, Z:-2.13 [[ 9.99930593e-01 -1.16496292e-02 1.75936513e-03 1.51433188e+02] [ 1.16498397e-02 9.99932132e-01 -1.09451233e-04 -8.42687361e+00] [-1.75797066e-03 1.29939958e-04 9.99998446e-01 -2.12688825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38037174299998 meters 0.03911758280621526 Centerline is valid? [True, True] Translation: X:151.46, Y:-8.43, Z:-2.13 [[ 9.99933959e-01 -1.13122791e-02 2.02751370e-03 1.51463945e+02] [ 1.13125573e-02 9.99936003e-01 -1.25805739e-04 -8.43125127e+00] [-2.02596080e-03 1.48733796e-04 9.99997937e-01 -2.12752198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41037174299998 meters 0.04047855095596159 Centerline is valid? [True, True] Translation: X:151.49, Y:-8.44, Z:-2.13 [[ 9.99945821e-01 -1.01160973e-02 2.45346973e-03 1.51494363e+02] [ 1.01165058e-02 9.99948815e-01 -1.54160250e-04 -8.43525511e+00] [-2.45178465e-03 1.78972439e-04 9.99996978e-01 -2.12734832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440371743 meters 0.03908130121039527 Centerline is valid? [True, True] Translation: X:151.53, Y:-8.44, Z:-2.13 [[ 9.99958391e-01 -8.70069208e-03 2.74120417e-03 1.51526418e+02] [ 8.70119588e-03 9.99962129e-01 -1.71914110e-04 -8.43525187e+00] [-2.73960458e-03 1.95758711e-04 9.99996228e-01 -2.12718154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.470371743 meters 0.03913936393756897 Centerline is valid? [True, True] Translation: X:151.56, Y:-8.44, Z:-2.13 [[ 9.99967875e-01 -7.65363400e-03 2.38122530e-03 1.51558064e+02] [ 7.65401080e-03 9.99970697e-01 -1.49167613e-04 -8.43735793e+00] [-2.38001385e-03 1.67388745e-04 9.99997154e-01 -2.12741263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500371743 meters 0.038215817826476955 Centerline is valid? [True, True] Translation: X:151.59, Y:-8.44, Z:-2.13 [[ 9.99987324e-01 -4.24922845e-03 2.70114620e-03 1.51588977e+02] [ 4.24970349e-03 9.99990955e-01 -1.70152190e-04 -8.43739017e+00] [-2.70039875e-03 1.81629103e-04 9.99996337e-01 -2.12761835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.530371743 meters 0.03527709517488023 Centerline is valid? [True, True] Translation: X:151.62, Y:-8.44, Z:-2.13 [[ 9.99992203e-01 -2.67972306e-03 2.90039235e-03 1.51620967e+02] [ 2.68026315e-03 9.99996391e-01 -1.82341144e-04 -8.43506315e+00] [-2.89989326e-03 1.90113538e-04 9.99995777e-01 -2.12738996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560371743 meters 0.03529153558565301 Centerline is valid? [True, True] Translation: X:151.65, Y:-8.44, Z:-2.13 [[ 9.99994561e-01 -9.73269164e-04 3.15132059e-03 1.51652338e+02] [ 9.73899682e-04 9.99999506e-01 -1.98552118e-04 -8.43683222e+00] [-3.15112579e-03 2.01620108e-04 9.99995015e-01 -2.12753917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.590371743 meters 0.038436127790354754 Centerline is valid? [True, True] Translation: X:151.68, Y:-8.44, Z:-2.13 [[ 9.99990230e-01 2.68742399e-03 3.50976182e-03 1.51682138e+02] [-2.68666236e-03 9.99996366e-01 -2.21700286e-04 -8.44223726e+00] [-3.51034487e-03 2.12268574e-04 9.99993816e-01 -2.12891276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620371743 meters 0.034933595047811045 Centerline is valid? [True, True] Translation: X:151.71, Y:-8.44, Z:-2.13 [[ 9.99984063e-01 3.51396970e-03 4.41886428e-03 1.51713104e+02] [-3.51277045e-03 9.99993791e-01 -2.79125344e-04 -8.43921271e+00] [-4.41981769e-03 2.63598439e-04 9.99990198e-01 -2.12823815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.650371743 meters 0.03413047294328303 Centerline is valid? [True, True] Translation: X:151.74, Y:-8.44, Z:-2.13 [[ 9.99968984e-01 5.85654903e-03 5.26619724e-03 1.51743952e+02] [-5.85487893e-03 9.99982805e-01 -3.32495999e-04 -8.43986445e+00] [-5.26805397e-03 3.01652739e-04 9.99986078e-01 -2.12780079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680371743 meters 0.03369364682634697 Centerline is valid? [True, True] Translation: X:151.77, Y:-8.44, Z:-2.13 [[ 9.99960821e-01 6.32738217e-03 6.19039026e-03 1.51774361e+02] [-6.32508165e-03 9.99979920e-01 -3.91134887e-04 -8.44086361e+00] [-6.19274081e-03 3.51964839e-04 9.99980763e-01 -2.12724015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.710371743 meters 0.03469181675448257 Centerline is valid? [True, True] Translation: X:151.80, Y:-8.44, Z:-2.13 [[ 9.99955250e-01 6.75114110e-03 6.62715900e-03 1.51804208e+02] [-6.74851376e-03 9.99977141e-01 -4.18731772e-04 -8.44457628e+00] [-6.62983442e-03 3.73989561e-04 9.99977952e-01 -2.12759030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74037174299997 meters 0.03469181675448257 Centerline is valid? [True, True] Translation: X:151.83, Y:-8.45, Z:-2.13 [[ 9.99955250e-01 6.75114110e-03 6.62715900e-03 1.51834193e+02] [-6.74851376e-03 9.99977141e-01 -4.18731772e-04 -8.44647090e+00] [-6.62983442e-03 3.73989561e-04 9.99977952e-01 -2.12801230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77037174299997 meters 0.03138363840530781 Centerline is valid? [True, True] Translation: X:151.86, Y:-8.44, Z:-2.13 [[ 9.99954619e-01 6.76021980e-03 6.71268597e-03 1.51864901e+02] [-6.75752442e-03 9.99977078e-01 -4.24135726e-04 -8.44378195e+00] [-6.71539935e-03 3.78755339e-04 9.99977380e-01 -2.12768989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80037174299997 meters 0.031112199133401727 Centerline is valid? [True, True] Translation: X:151.90, Y:-8.45, Z:-2.13 [[ 9.99964313e-01 6.55511658e-03 5.32949570e-03 1.51895340e+02] [-6.55341466e-03 9.99978469e-01 -3.36739949e-04 -8.44638222e+00] [-5.33158832e-03 3.01801536e-04 9.99985741e-01 -2.12965528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83037174299997 meters 0.03238393304280304 Centerline is valid? [True, True] Translation: X:151.92, Y:-8.45, Z:-2.13 [[ 9.99971693e-01 6.26402987e-03 4.16840176e-03 1.51924599e+02] [-6.26298549e-03 9.99980353e-01 -2.63553774e-04 -8.45016574e+00] [-4.16997077e-03 2.37439674e-04 9.99991277e-01 -2.13157133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86037174299997 meters 0.03147375967079222 Centerline is valid? [True, True] Translation: X:151.95, Y:-8.45, Z:-2.13 [[ 9.99982340e-01 5.54866328e-03 2.12891341e-03 1.51954885e+02] [-5.54838952e-03 9.99984599e-01 -1.34475515e-04 -8.45194669e+00] [-2.12962678e-03 1.22661100e-04 9.99997725e-01 -2.13384194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89037174299997 meters 0.03144357090158225 Centerline is valid? [True, True] Translation: X:151.98, Y:-8.45, Z:-2.13 [[ 9.99985994e-01 5.07782656e-03 1.49254486e-03 1.51984763e+02] [-5.07769080e-03 9.99987104e-01 -9.47301371e-05 -8.45380953e+00] [-1.49300663e-03 8.71501290e-05 9.99998882e-01 -2.13489189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92037174299998 meters 0.031363971365473156 Centerline is valid? [True, True] Translation: X:152.01, Y:-8.46, Z:-2.14 [[ 9.99987659e-01 4.92941156e-03 6.19463883e-04 1.52014027e+02] [-4.92938798e-03 9.99987850e-01 -3.95902155e-05 -8.45550546e+00] [-6.19651513e-04 3.65361491e-05 9.99999807e-01 -2.13544548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95037174299998 meters 0.03165938243362631 Centerline is valid? [True, True] Translation: X:152.04, Y:-8.46, Z:-2.14 [[ 9.99987492e-01 4.99852404e-03 1.76135647e-04 1.52043004e+02] [-4.99852199e-03 9.99987507e-01 -1.21123455e-05 -8.45680100e+00] [-1.76193990e-04 1.12317761e-05 9.99999984e-01 -2.13551204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98037174299998 meters 0.032172338144806696 Centerline is valid? [True, True] Translation: X:152.07, Y:-8.46, Z:-2.14 [[ 9.99986669e-01 5.11897365e-03 6.76839075e-04 1.52071706e+02] [-5.11894563e-03 9.99986897e-01 -4.31331170e-05 -8.45899046e+00] [-6.77051004e-04 3.96678395e-05 9.99999770e-01 -2.13542028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01037174299998 meters 0.032872319197902275 Centerline is valid? [True, True] Translation: X:152.10, Y:-8.46, Z:-2.13 [[ 9.99977859e-01 5.87542330e-03 3.12424270e-03 1.52100357e+02] [-5.87483525e-03 9.99982724e-01 -1.97363390e-04 -8.46115156e+00] [-3.12534832e-03 1.79004609e-04 9.99995100e-01 -2.13376220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04037174299998 meters 0.03466872786830036 Centerline is valid? [True, True] Translation: X:152.13, Y:-8.47, Z:-2.13 [[ 9.99971419e-01 6.39273226e-03 4.03648863e-03 1.52129333e+02] [-6.39175988e-03 9.99979540e-01 -2.53752349e-04 -8.46521095e+00] [-4.03802821e-03 2.27944831e-04 9.99991821e-01 -2.13325691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07037174299998 meters 0.03114988060607319 Centerline is valid? [True, True] Translation: X:152.16, Y:-8.46, Z:-2.13 [[ 9.99958422e-01 7.28028843e-03 5.49097423e-03 1.52159825e+02] [-7.27849862e-03 9.99973452e-01 -3.45867795e-04 -8.46199356e+00] [-5.49334647e-03 3.05887367e-04 9.99984865e-01 -2.13163432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10037174299998 meters 0.033268940522748515 Centerline is valid? [True, True] Translation: X:152.19, Y:-8.47, Z:-2.13 [[ 9.99930548e-01 8.96482146e-03 7.65058036e-03 1.52188822e+02] [-8.96139785e-03 9.99959730e-01 -4.81660502e-04 -8.46749009e+00] [-7.65459027e-03 4.13067155e-04 9.99970618e-01 -2.13083161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13037174299998 meters 0.03052798638237197 Centerline is valid? [True, True] Translation: X:152.22, Y:-8.47, Z:-2.13 [[ 9.99917216e-01 1.00554610e-02 8.02804351e-03 1.52219319e+02] [-1.00517284e-02 9.99949353e-01 -5.05162828e-04 -8.46551442e+00] [-8.03271656e-03 4.24425296e-04 9.99967647e-01 -2.13060817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16037174299998 meters 0.034352840411030636 Centerline is valid? [True, True] Translation: X:152.25, Y:-8.47, Z:-2.13 [[ 9.99898839e-01 1.17222046e-02 8.05621149e-03 1.52248597e+02] [-1.17184997e-02 9.99931208e-01 -5.06935292e-04 -8.47494224e+00] [-8.06159969e-03 4.12477298e-04 9.99967420e-01 -2.13180244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.190371743 meters 0.033863327377181056 Centerline is valid? [True, True] Translation: X:152.28, Y:-8.48, Z:-2.13 [[ 9.99891111e-01 1.24518522e-02 7.91940563e-03 1.52278580e+02] [-1.24482933e-02 9.99922393e-01 -4.98529810e-04 -8.47660044e+00] [-7.92499865e-03 3.99892441e-04 9.99968517e-01 -2.13212413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220371743 meters 0.03413702336098422 Centerline is valid? [True, True] Translation: X:152.31, Y:-8.48, Z:-2.13 [[ 9.99868550e-01 1.44345998e-02 7.38414525e-03 1.52308780e+02] [-1.44315620e-02 9.99895752e-01 -4.64510328e-04 -8.47859460e+00] [-7.39008049e-03 3.57884518e-04 9.99972629e-01 -2.13301704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.250371743 meters 0.02930345170312689 Centerline is valid? [True, True] Translation: X:152.34, Y:-8.47, Z:-2.13 [[ 9.99857418e-01 1.50878844e-02 7.58281630e-03 1.52338316e+02] [-1.50846990e-02 9.99886106e-01 -4.77109274e-04 -8.47484197e+00] [-7.58915123e-03 3.62656746e-04 9.99971136e-01 -2.13274999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280371743 meters 0.02673114371834743 Centerline is valid? [True, True] Translation: X:152.37, Y:-8.47, Z:-2.13 [[ 9.99797282e-01 1.91382852e-02 6.25469333e-03 1.52368292e+02] [-1.91362000e-02 9.99816809e-01 -3.93071765e-04 -8.47309598e+00] [-6.26107024e-03 2.73301020e-04 9.99980362e-01 -2.13368716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.310371743 meters 0.030594472629208766 Centerline is valid? [True, True] Translation: X:152.40, Y:-8.48, Z:-2.14 [[ 9.99744253e-01 2.18142995e-02 5.96365440e-03 1.52395776e+02] [-2.18124485e-02 9.99762010e-01 -3.75259804e-04 -8.48168361e+00] [-5.97042114e-03 2.45081928e-04 9.99982147e-01 -2.13588622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340371743 meters 0.024178223839658865 Centerline is valid? [True, True] Translation: X:152.43, Y:-8.47, Z:-2.14 [[ 9.99579147e-01 2.86082136e-02 4.80616928e-03 1.52426984e+02] [-2.86070941e-02 9.99590688e-01 -3.01531258e-04 -8.47292823e+00] [-4.81282833e-03 1.63913821e-04 9.99988405e-01 -2.13556089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.370371743 meters 0.024790485235555354 Centerline is valid? [True, True] Translation: X:152.46, Y:-8.48, Z:-2.14 [[ 9.99460887e-01 3.25400204e-02 4.36840370e-03 1.52455584e+02] [-3.25391315e-02 9.99470425e-01 -2.74427575e-04 -8.47708877e+00] [-4.37502018e-03 1.32135565e-04 9.99990421e-01 -2.13788726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400371743 meters 0.022743828176867827 Centerline is valid? [True, True] Translation: X:152.49, Y:-8.47, Z:-2.14 [[ 9.99314458e-01 3.68376252e-02 3.68817699e-03 1.52485056e+02] [-3.68370188e-02 9.99321260e-01 -2.32238179e-04 -8.47433207e+00] [-3.69422878e-03 9.62175244e-05 9.99993172e-01 -2.13796164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.430371743 meters 0.020925811080018477 Centerline is valid? [True, True] Translation: X:152.52, Y:-8.47, Z:-2.14 [[ 9.98872767e-01 4.73916222e-02 2.68871033e-03 1.52515422e+02] [-4.73913407e-02 9.98876385e-01 -1.68334077e-04 -8.47092668e+00] [-2.69366688e-03 4.07227376e-05 9.99996371e-01 -2.13839134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460371743 meters 0.020317928303980232 Centerline is valid? [True, True] Translation: X:152.54, Y:-8.47, Z:-2.14 [[ 9.98572263e-01 5.33605288e-02 2.46766587e-03 1.52543144e+02] [-5.33603080e-02 9.98575312e-01 -1.55284303e-04 -8.47046246e+00] [-2.47243626e-03 2.33871876e-05 9.99996943e-01 -2.13932280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49037174299997 meters 0.0203058210994793 Centerline is valid? [True, True] Translation: X:152.57, Y:-8.47, Z:-2.14 [[ 9.98269309e-01 5.87374826e-02 2.88003830e-03 1.52572124e+02] [-5.87372004e-02 9.98273464e-01 -1.82528882e-04 -8.46847180e+00] [-2.88578710e-03 1.30475941e-05 9.99995836e-01 -2.13866430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52037174299997 meters 0.020538826783661455 Centerline is valid? [True, True] Translation: X:152.60, Y:-8.47, Z:-2.14 [[ 9.97583226e-01 6.93859490e-02 3.64650279e-03 1.52601232e+02] [-6.93855742e-02 9.97589890e-01 -2.29351510e-04 -8.46694026e+00] [-3.65362809e-03 -2.42174700e-05 9.99993325e-01 -2.13764358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55037174299997 meters 0.020783345368626797 Centerline is valid? [True, True] Translation: X:152.63, Y:-8.47, Z:-2.14 [[ 9.97264094e-01 7.37996772e-02 4.23491038e-03 1.52629173e+02] [-7.37992251e-02 9.97273085e-01 -2.63133775e-04 -8.46756886e+00] [-4.24278133e-03 -5.01192383e-05 9.99990998e-01 -2.13832265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58037174299997 meters 0.021341531646207723 Centerline is valid? [True, True] Translation: X:152.66, Y:-8.47, Z:-2.14 [[ 9.96834649e-01 7.93583726e-02 4.78860296e-03 1.52657233e+02] [-7.93578614e-02 9.96846147e-01 -2.96953459e-04 -8.47187008e+00] [-4.79706616e-03 -8.39997929e-05 9.99988490e-01 -2.13794889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61037174299997 meters 0.02144530304913744 Centerline is valid? [True, True] Translation: X:152.68, Y:-8.48, Z:-2.14 [[ 9.96775767e-01 8.00859105e-02 4.93129167e-03 1.52684817e+02] [-8.00853797e-02 9.96787961e-01 -3.05318611e-04 -8.47588927e+00] [-4.93990389e-03 -9.05901739e-05 9.99987794e-01 -2.13857913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64037174299997 meters 0.02129390150537535 Centerline is valid? [True, True] Translation: X:152.71, Y:-8.48, Z:-2.14 [[ 9.96865672e-01 7.89751053e-02 4.66526215e-03 1.52713124e+02] [-7.89746129e-02 9.96876585e-01 -2.89962058e-04 -8.48121090e+00] [-4.67359038e-03 -7.93840503e-05 9.99989076e-01 -2.13956252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67037174299998 meters 0.02048363971910073 Centerline is valid? [True, True] Translation: X:152.74, Y:-8.49, Z:-2.14 [[ 9.97286280e-01 7.35162642e-02 3.92875706e-03 1.52741027e+02] [-7.35158743e-02 9.97294017e-01 -2.43759818e-04 -8.49396020e+00] [-3.93604622e-03 -4.57276881e-05 9.99992253e-01 -2.14100379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70037174299998 meters 0.019905235774657463 Centerline is valid? [True, True] Translation: X:152.77, Y:-8.50, Z:-2.14 [[ 9.97615659e-01 6.89148269e-02 3.70733261e-03 1.52769304e+02] [-6.89144505e-02 9.97622547e-01 -2.29336132e-04 -8.50303951e+00] [-3.71432326e-03 -2.66994725e-05 9.99993102e-01 -2.14153955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73037174299998 meters 0.01963567627987933 Centerline is valid? [True, True] Translation: X:152.80, Y:-8.52, Z:-2.14 [[ 9.98315974e-01 5.79158819e-02 3.31174902e-03 1.52797389e+02] [-5.79155286e-02 9.98321467e-01 -2.02551567e-04 -8.52090869e+00] [-3.31792110e-03 1.04087699e-05 9.99994496e-01 -2.14158417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76037174299998 meters 0.019282125967628343 Centerline is valid? [True, True] Translation: X:152.82, Y:-8.53, Z:-2.14 [[ 9.98639020e-01 5.19628195e-02 4.46903955e-03 1.52824307e+02] [-5.19621188e-02 9.98649019e-01 -2.72827886e-04 -8.53064732e+00] [-4.47717887e-03 4.02358089e-05 9.99989977e-01 -2.14138169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79037174299998 meters 0.019693390907267443 Centerline is valid? [True, True] Translation: X:152.85, Y:-8.54, Z:-2.14 [[ 9.98902669e-01 4.64642731e-02 5.87618308e-03 1.52852864e+02] [-4.64629728e-02 9.98919949e-01 -3.57676600e-04 -8.53968609e+00] [-5.88645569e-03 8.42591752e-05 9.99982671e-01 -2.14023385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82037174299998 meters 0.02120309023475603 Centerline is valid? [True, True] Translation: X:152.88, Y:-8.56, Z:-2.14 [[ 9.99311538e-01 3.61742979e-02 8.23828101e-03 1.52880870e+02] [-3.61714024e-02 9.99345476e-01 -5.00245580e-04 -8.55659927e+00] [-8.25098488e-03 2.01911002e-04 9.99965940e-01 -2.13859505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85037174299998 meters 0.022574218530634873 Centerline is valid? [True, True] Translation: X:152.91, Y:-8.57, Z:-2.14 [[ 9.99471956e-01 3.13098604e-02 8.68912285e-03 1.52910317e+02] [-3.13064585e-02 9.99509694e-01 -5.27280353e-04 -8.56526783e+00] [-8.70137159e-03 2.54976262e-04 9.99962110e-01 -2.13894689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88037174299998 meters 0.025252060529380792 Centerline is valid? [True, True] Translation: X:152.94, Y:-8.58, Z:-2.14 [[ 9.99697531e-01 2.30203874e-02 8.65490726e-03 1.52940049e+02] [-2.30167061e-02 9.99734943e-01 -5.24720705e-04 -8.58069070e+00] [-8.66469249e-03 3.25354537e-04 9.99962408e-01 -2.14016402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91037174299998 meters 0.027042864864713356 Centerline is valid? [True, True] Translation: X:152.97, Y:-8.59, Z:-2.14 [[ 9.99777012e-01 1.92846188e-02 8.60402993e-03 1.52968073e+02] [-1.92808402e-02 9.99813971e-01 -5.21906908e-04 -8.58959077e+00] [-8.61249410e-03 3.55897604e-04 9.99962848e-01 -2.14113607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940371743 meters 0.03024105439832998 Centerline is valid? [True, True] Translation: X:153.00, Y:-8.60, Z:-2.14 [[ 9.99822745e-01 1.65366644e-02 9.00099550e-03 1.52997307e+02] [-1.65324237e-02 9.99863181e-01 -5.45344571e-04 -8.59844580e+00] [-9.00878218e-03 3.96439635e-04 9.99959342e-01 -2.14206294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.970371743 meters 0.03174883555154073 Centerline is valid? [True, True] Translation: X:153.03, Y:-8.61, Z:-2.14 [[ 9.99891431e-01 1.00811632e-02 1.07468844e-02 1.53026101e+02] [-1.00747526e-02 9.99949037e-01 -6.50486403e-04 -8.61142996e+00] [-1.07528944e-02 5.42143579e-04 9.99942039e-01 -2.14141131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000371743 meters 0.03415236627751063 Centerline is valid? [True, True] Translation: X:153.06, Y:-8.62, Z:-2.14 [[ 9.99920290e-01 5.82936243e-03 1.11996496e-02 1.53055676e+02] [-5.82213176e-03 9.99982821e-01 -6.78111140e-04 -8.62287537e+00] [-1.12034102e-02 6.12851252e-04 9.99937052e-01 -2.14244059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.030371743 meters 0.03540359052601366 Centerline is valid? [True, True] Translation: X:153.09, Y:-8.63, Z:-2.14 [[ 9.99936940e-01 4.05577041e-03 1.04722003e-02 1.53087772e+02] [-4.04935288e-03 9.99991600e-01 -6.33946609e-04 -8.62913402e+00] [-1.04746835e-02 5.91500997e-04 9.99944964e-01 -2.14402320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060371743 meters 0.03354752590634913 Centerline is valid? [True, True] Translation: X:153.12, Y:-8.63, Z:-2.15 [[ 9.99951885e-01 2.59481823e-03 9.46020066e-03 1.53119808e+02] [-2.58951085e-03 9.99996483e-01 -5.73227682e-04 -8.63092115e+00] [-9.46165481e-03 5.48702809e-04 9.99955087e-01 -2.14548972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.090371743 meters 0.03828817759353263 Centerline is valid? [True, True] Translation: X:153.15, Y:-8.64, Z:-2.15 [[ 9.99964800e-01 1.15268383e-03 8.31079853e-03 1.53150021e+02] [-1.14853263e-03 9.99999213e-01 -5.04250072e-04 -8.64151409e+00] [-8.31137323e-03 4.94687099e-04 9.99965338e-01 -2.14783147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120371743 meters 0.03931919989408313 Centerline is valid? [True, True] Translation: X:153.18, Y:-8.65, Z:-2.15 [[ 9.99978312e-01 -1.50296135e-04 6.58422728e-03 1.53181714e+02] [ 1.52929087e-04 9.99999909e-01 -3.99386135e-04 -8.64843980e+00] [-6.58416665e-03 4.00384393e-04 9.99978244e-01 -2.15032086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.150371743 meters 0.04154097827115737 Centerline is valid? [True, True] Translation: X:153.21, Y:-8.65, Z:-2.15 [[ 9.99984374e-01 7.19455878e-04 5.54378551e-03 1.53212401e+02] [-7.17600596e-04 9.99999686e-01 -3.36641675e-04 -8.65315650e+00] [-5.54402597e-03 3.32658191e-04 9.99984576e-01 -2.15181837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180371743 meters 0.034363557261298916 Centerline is valid? [True, True] Translation: X:153.24, Y:-8.65, Z:-2.15 [[ 9.99983040e-01 -1.74202830e-04 5.82138452e-03 1.53244458e+02] [ 1.76256913e-04 9.99999922e-01 -3.52340165e-04 -8.64788976e+00] [-5.82132269e-03 3.53360248e-04 9.99982994e-01 -2.15027097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.210371743 meters 0.03347928062643085 Centerline is valid? [True, True] Translation: X:153.28, Y:-8.65, Z:-2.15 [[ 9.99983510e-01 7.26887549e-05 5.74235960e-03 1.53276632e+02] [-7.06792215e-05 9.99999936e-01 -3.50151222e-04 -8.64905250e+00] [-5.74238468e-03 3.49739582e-04 9.99983451e-01 -2.15048942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24037174299997 meters 0.03238896243893169 Centerline is valid? [True, True] Translation: X:153.31, Y:-8.65, Z:-2.15 [[ 9.99979559e-01 9.32090922e-04 6.32550430e-03 1.53308837e+02] [-9.29666156e-04 9.99999493e-01 -3.86261169e-04 -8.65002573e+00] [-6.32586112e-03 3.80372666e-04 9.99979919e-01 -2.14944592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27037174299997 meters 0.032045480704339664 Centerline is valid? [True, True] Translation: X:153.34, Y:-8.65, Z:-2.15 [[ 9.99975130e-01 1.29540083e-03 6.93256559e-03 1.53341419e+02] [-1.29249284e-03 9.99999075e-01 -4.23932521e-04 -8.65175393e+00] [-6.93310834e-03 4.14961687e-04 9.99975880e-01 -2.14968137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30037174299997 meters 0.032811754778574946 Centerline is valid? [True, True] Translation: X:153.37, Y:-8.66, Z:-2.15 [[ 9.99972320e-01 1.76756548e-03 7.22738761e-03 1.53372041e+02] [-1.76441213e-03 9.99998345e-01 -4.42658993e-04 -8.65569966e+00] [-7.22815808e-03 4.29894650e-04 9.99973784e-01 -2.15043544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33037174299997 meters 0.03415842364705895 Centerline is valid? [True, True] Translation: X:153.40, Y:-8.66, Z:-2.15 [[ 9.99971898e-01 2.55190681e-03 7.04925255e-03 1.53404390e+02] [-2.54892470e-03 9.99996658e-01 -4.31991195e-04 -8.65896460e+00] [-7.05033140e-03 4.14011041e-04 9.99975060e-01 -2.15120712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36037174299997 meters 0.03371739245576016 Centerline is valid? [True, True] Translation: X:153.44, Y:-8.66, Z:-2.15 [[ 9.99968677e-01 1.86612703e-03 7.69172287e-03 1.53436072e+02] [-1.86255914e-03 9.99998155e-01 -4.70999054e-04 -8.66173387e+00] [-7.69258762e-03 4.56658012e-04 9.99970307e-01 -2.15140394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39037174299997 meters 0.03362735872694888 Centerline is valid? [True, True] Translation: X:153.47, Y:-8.66, Z:-2.15 [[ 9.99970570e-01 1.38387245e-03 7.54617556e-03 1.53468200e+02] [-1.38041289e-03 9.99998940e-01 -4.63641304e-04 -8.66281316e+00] [-7.54680918e-03 4.53210821e-04 9.99971420e-01 -2.15176477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42037174299998 meters 0.03330996023951387 Centerline is valid? [True, True] Translation: X:153.50, Y:-8.66, Z:-2.15 [[ 9.99975782e-01 -7.80887998e-04 6.91565281e-03 1.53498929e+02] [ 7.83864950e-04 9.99999601e-01 -4.27765834e-04 -8.66444961e+00] [-6.91531601e-03 4.33176412e-04 9.99975995e-01 -2.15224087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45037174299998 meters 0.03625625097329844 Centerline is valid? [True, True] Translation: X:153.53, Y:-8.67, Z:-2.15 [[ 9.99980681e-01 -9.73557587e-04 6.13913539e-03 1.53529745e+02] [ 9.75908413e-04 9.99999452e-01 -3.79940471e-04 -8.67074552e+00] [-6.13876212e-03 3.85924364e-04 9.99981083e-01 -2.15291609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48037174299998 meters 0.03540105434068878 Centerline is valid? [True, True] Translation: X:153.56, Y:-8.67, Z:-2.15 [[ 9.99974757e-01 -3.08585572e-03 6.40025664e-03 1.53560411e+02] [ 3.08845647e-03 9.99995152e-01 -3.96506862e-04 -8.67283309e+00] [-6.39900205e-03 4.16263767e-04 9.99979440e-01 -2.15305084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51037174299998 meters 0.03595112756233217 Centerline is valid? [True, True] Translation: X:153.59, Y:-8.68, Z:-2.15 [[ 9.99962891e-01 -4.76543480e-03 7.17687636e-03 1.53592821e+02] [ 4.76875033e-03 9.99988530e-01 -4.44932967e-04 -8.67571622e+00] [-7.17467374e-03 4.79141188e-04 9.99974147e-01 -2.15163601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54037174299998 meters 0.03620690484980256 Centerline is valid? [True, True] Translation: X:153.63, Y:-8.68, Z:-2.15 [[ 9.99955613e-01 -4.79808259e-03 8.10860818e-03 1.53625433e+02] [ 4.80232174e-03 9.99988342e-01 -5.03406432e-04 -8.67730387e+00] [-8.10609827e-03 5.42324233e-04 9.99966998e-01 -2.15144693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57037174299998 meters 0.03391647012736855 Centerline is valid? [True, True] Translation: X:153.66, Y:-8.67, Z:-2.15 [[ 9.99951379e-01 -4.90585293e-03 8.55405318e-03 1.53658148e+02] [ 4.91058021e-03 9.99987802e-01 -5.31719917e-04 -8.67494114e+00] [-8.55134030e-03 5.73699429e-04 9.99963272e-01 -2.15038251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60037174299998 meters 0.03930833797971871 Centerline is valid? [True, True] Translation: X:153.69, Y:-8.68, Z:-2.15 [[ 9.99954492e-01 -4.26197301e-03 8.53522724e-03 1.53688560e+02] [ 4.26666240e-03 9.99990757e-01 -5.31282855e-04 -8.68489136e+00] [-8.53288403e-03 5.67675611e-04 9.99963433e-01 -2.15132544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63037174299998 meters 0.033052900193209826 Centerline is valid? [True, True] Translation: X:153.72, Y:-8.68, Z:-2.15 [[ 9.99959422e-01 -3.47563513e-03 8.31108942e-03 1.53721307e+02] [ 3.48005717e-03 9.99993811e-01 -5.17661952e-04 -8.67743097e+00] [-8.30923878e-03 5.46564013e-04 9.99965328e-01 -2.15128850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66037174299998 meters 0.033052900193209826 Centerline is valid? [True, True] Translation: X:153.75, Y:-8.68, Z:-2.15 [[ 9.99959676e-01 -3.40197952e-03 8.31105117e-03 1.53752998e+02] [ 3.40640409e-03 9.99994064e-01 -5.18275118e-04 -8.67946725e+00] [-8.30923867e-03 5.46565018e-04 9.99965328e-01 -2.15173426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.690371743 meters 0.0334021248148471 Centerline is valid? [True, True] Translation: X:153.79, Y:-8.68, Z:-2.15 [[ 9.99968286e-01 -1.01720763e-03 7.89888785e-03 1.53785038e+02] [ 1.02113523e-03 9.99999357e-01 -4.93216508e-04 -8.67899261e+00] [-7.89838107e-03 5.01266699e-04 9.99968682e-01 -2.15227266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720371743 meters 0.03261127692779623 Centerline is valid? [True, True] Translation: X:153.82, Y:-8.68, Z:-2.15 [[ 9.99958124e-01 -1.05355290e-03 9.09063047e-03 1.53818291e+02] [ 1.05875980e-03 9.99999278e-01 -5.67982512e-04 -8.68007644e+00] [-9.09002551e-03 5.77583521e-04 9.99958518e-01 -2.15198496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.750371743 meters 0.033077388685929784 Centerline is valid? [True, True] Translation: X:153.85, Y:-8.68, Z:-2.15 [[ 9.99951279e-01 4.60139664e-05 9.87099482e-03 1.53849949e+02] [-3.99143598e-05 9.99999808e-01 -6.18128421e-04 -8.68091341e+00] [-9.87102137e-03 6.17704311e-04 9.99951089e-01 -2.15115937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780371743 meters 0.03410995511219923 Centerline is valid? [True, True] Translation: X:153.88, Y:-8.68, Z:-2.15 [[ 9.99956448e-01 9.66639632e-04 9.28263460e-03 1.53882271e+02] [-9.61279271e-04 9.99999369e-01 -5.81905593e-04 -8.68305373e+00] [-9.28319123e-03 5.72957046e-04 9.99956746e-01 -2.15201200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.810371743 meters 0.03384349231611658 Centerline is valid? [True, True] Translation: X:153.91, Y:-8.69, Z:-2.15 [[ 9.99958260e-01 6.96789230e-05 9.13632983e-03 1.53914577e+02] [-6.44509980e-05 9.99999834e-01 -5.72505999e-04 -8.68520501e+00] [-9.13636820e-03 5.71893257e-04 9.99958099e-01 -2.15299310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840371743 meters 0.03607677090582315 Centerline is valid? [True, True] Translation: X:153.95, Y:-8.69, Z:-2.16 [[ 9.99969118e-01 -9.26801525e-04 7.80415862e-03 1.53945766e+02] [ 9.30658519e-04 9.99999447e-01 -4.90605850e-04 -8.68848715e+00] [-7.80369961e-03 4.97853706e-04 9.99969427e-01 -2.15503711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.870371743 meters 0.037540828758695785 Centerline is valid? [True, True] Translation: X:153.98, Y:-8.69, Z:-2.16 [[ 9.99971941e-01 -1.84512125e-03 7.26036438e-03 1.53977393e+02] [ 1.84849422e-03 9.99998187e-01 -4.57890501e-04 -8.69162035e+00] [-7.25950636e-03 4.71298395e-04 9.99973538e-01 -2.15594987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900371743 meters 0.03861209748806803 Centerline is valid? [True, True] Translation: X:154.01, Y:-8.69, Z:-2.16 [[ 9.99963941e-01 -4.12519693e-03 7.42293722e-03 1.54007866e+02] [ 4.12880893e-03 9.99991365e-01 -4.71341769e-04 -8.69480740e+00] [-7.42092875e-03 5.01972662e-04 9.99972339e-01 -2.15658842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.930371743 meters 0.039355332256206105 Centerline is valid? [True, True] Translation: X:154.04, Y:-8.70, Z:-2.16 [[ 9.99934682e-01 -9.24668857e-03 6.71795125e-03 1.54038605e+02] [ 9.24976198e-03 9.99957129e-01 -4.26565745e-04 -8.69799689e+00] [-6.71371892e-03 4.88677333e-04 9.99977343e-01 -2.15746312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960371743 meters 0.03902561152458808 Centerline is valid? [True, True] Translation: X:154.07, Y:-8.70, Z:-2.16 [[ 9.99907732e-01 -1.19870225e-02 6.39059768e-03 1.54069570e+02] [ 1.19898612e-02 9.99928037e-01 -4.06072394e-04 -8.69913314e+00] [-6.38527019e-03 4.82657306e-04 9.99979497e-01 -2.15839793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99037174299997 meters 0.04379249012581232 Centerline is valid? [True, True] Translation: X:154.10, Y:-8.71, Z:-2.16 [[ 9.99834551e-01 -1.72759919e-02 5.69304352e-03 1.54098931e+02] [ 1.72783277e-02 9.99850653e-01 -3.61356693e-04 -8.70642635e+00] [-5.68595048e-03 4.59663178e-04 9.99983729e-01 -2.15947201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02037174299997 meters 0.04697011434594331 Centerline is valid? [True, True] Translation: X:154.13, Y:-8.71, Z:-2.16 [[ 9.99790316e-01 -1.97023938e-02 5.58025478e-03 1.54128299e+02] [ 1.97046812e-02 9.99805781e-01 -3.55216365e-04 -8.71203374e+00] [-5.57217237e-03 4.65099024e-04 9.99984367e-01 -2.15995673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05037174299997 meters 0.045364166179873225 Centerline is valid? [True, True] Translation: X:154.16, Y:-8.71, Z:-2.16 [[ 9.99745850e-01 -2.17079817e-02 6.08262786e-03 1.54159783e+02] [ 2.17107346e-02 9.99764219e-01 -3.86913100e-04 -8.71082260e+00] [-6.07279460e-03 5.18873085e-04 9.99981426e-01 -2.15973209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08037174299997 meters 0.04609739723586766 Centerline is valid? [True, True] Translation: X:154.19, Y:-8.71, Z:-2.16 [[ 9.99689609e-01 -2.41730976e-02 6.02886104e-03 1.54190828e+02] [ 2.41758478e-02 9.99707648e-01 -3.83700403e-04 -8.71089899e+00] [-6.01782326e-03 5.29334133e-04 9.99981753e-01 -2.16001540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11037174299997 meters 0.045455626155944194 Centerline is valid? [True, True] Translation: X:154.22, Y:-8.71, Z:-2.16 [[ 9.99648422e-01 -2.57774549e-02 6.20933416e-03 1.54222064e+02] [ 2.57804044e-02 9.99667552e-01 -3.95423495e-04 -8.71131837e+00] [-6.19707686e-03 5.55363618e-04 9.99980644e-01 -2.15997948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14037174299997 meters 0.042806262408118086 Centerline is valid? [True, True] Translation: X:154.25, Y:-8.71, Z:-2.16 [[ 9.99638974e-01 -2.61992401e-02 5.96005543e-03 1.54254596e+02] [ 2.62019642e-02 9.99656598e-01 -3.79432312e-04 -8.70832978e+00] [-5.94806789e-03 5.35460486e-04 9.99982167e-01 -2.16047014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17037174299998 meters 0.048077773957711886 Centerline is valid? [True, True] Translation: X:154.29, Y:-8.71, Z:-2.16 [[ 9.99619228e-01 -2.70597168e-02 5.40097061e-03 1.54285030e+02] [ 2.70619696e-02 9.99633698e-01 -3.44467209e-04 -8.71486077e+00] [-5.38967104e-03 4.90496949e-04 9.99985355e-01 -2.16229103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20037174299998 meters 0.04228674399547103 Centerline is valid? [True, True] Translation: X:154.32, Y:-8.71, Z:-2.16 [[ 9.99627786e-01 -2.67992941e-02 5.10758382e-03 1.54317401e+02] [ 2.68013047e-02 9.99640727e-01 -3.25582981e-04 -8.70765724e+00] [-5.09702341e-03 4.62351704e-04 9.99986903e-01 -2.16156732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23037174299998 meters 0.044077230667842915 Centerline is valid? [True, True] Translation: X:154.35, Y:-8.71, Z:-2.16 [[ 9.99638497e-01 -2.62518250e-02 5.80657033e-03 1.54349196e+02] [ 2.62544177e-02 9.99655225e-01 -3.70724231e-04 -8.70819151e+00] [-5.79483618e-03 5.23038336e-04 9.99983073e-01 -2.16111336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26037174299998 meters 0.04232307514193945 Centerline is valid? [True, True] Translation: X:154.38, Y:-8.71, Z:-2.16 [[ 9.99632051e-01 -2.62220954e-02 6.94008077e-03 1.54382040e+02] [ 2.62258034e-02 9.99655946e-01 -4.43807442e-04 -8.70671667e+00] [-6.92605545e-03 6.25653337e-04 9.99975819e-01 -2.16036860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29037174299998 meters 0.04394976981497696 Centerline is valid? [True, True] Translation: X:154.41, Y:-8.71, Z:-2.16 [[ 9.99637914e-01 -2.58724087e-02 7.39319046e-03 1.54413065e+02] [ 2.58766128e-02 9.99665032e-01 -4.73529346e-04 -8.70888007e+00] [-7.37846264e-03 6.64668614e-04 9.99972558e-01 -2.16052877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32037174299998 meters 0.04261264473953547 Centerline is valid? [True, True] Translation: X:154.45, Y:-8.71, Z:-2.16 [[ 9.99642846e-01 -2.55341278e-02 7.88596723e-03 1.54445790e+02] [ 2.55389035e-02 9.99673701e-01 -5.05466015e-04 -8.70806179e+00] [-7.87048741e-03 7.06684441e-04 9.99968778e-01 -2.16048397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35037174299998 meters 0.04174781660099682 Centerline is valid? [True, True] Translation: X:154.48, Y:-8.71, Z:-2.16 [[ 9.99657215e-01 -2.48437501e-02 8.26075796e-03 1.54478396e+02] [ 2.48489726e-02 9.99691076e-01 -5.30153008e-04 -8.70603870e+00] [-8.24503503e-03 7.35242627e-04 9.99965739e-01 -2.16132597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38037174299998 meters 0.04217847174892138 Centerline is valid? [True, True] Translation: X:154.51, Y:-8.71, Z:-2.16 [[ 9.99663711e-01 -2.46421231e-02 8.07650838e-03 1.54510862e+02] [ 2.46471134e-02 9.99696079e-01 -5.18912772e-04 -8.70704019e+00] [-8.06126664e-03 7.17800886e-04 9.99967250e-01 -2.16209273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41037174299998 meters 0.042925520515611486 Centerline is valid? [True, True] Translation: X:154.54, Y:-8.71, Z:-2.16 [[ 9.99691754e-01 -2.38037719e-02 7.05534508e-03 1.54542868e+02] [ 2.38075621e-02 9.99716457e-01 -4.53698941e-04 -8.70664158e+00] [-7.04254484e-03 6.21529657e-04 9.99975008e-01 -2.16401860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440371743 meters 0.04323536361311585 Centerline is valid? [True, True] Translation: X:154.57, Y:-8.71, Z:-2.17 [[ 9.99712328e-01 -2.30251832e-02 6.71586879e-03 1.54574831e+02] [ 2.30286030e-02 9.99734713e-01 -4.32316760e-04 -8.70780334e+00] [-6.70413299e-03 5.86849471e-04 9.99977355e-01 -2.16510236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.470371743 meters 0.04314422378273397 Centerline is valid? [True, True] Translation: X:154.61, Y:-8.71, Z:-2.17 [[ 9.99741252e-01 -2.20762960e-02 5.48319808e-03 1.54606850e+02] [ 2.20785626e-02 9.99756176e-01 -3.53182470e-04 -8.70597138e+00] [-5.47406418e-03 4.74152217e-04 9.99984905e-01 -2.16642870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500371743 meters 0.04415757373596502 Centerline is valid? [True, True] Translation: X:154.64, Y:-8.71, Z:-2.17 [[ 9.99744900e-01 -2.19370907e-02 5.37573179e-03 1.54638971e+02] [ 2.19392685e-02 9.99759245e-01 -3.46477797e-04 -8.70778638e+00] [-5.36683684e-03 4.64329034e-04 9.99985491e-01 -2.16692423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.530371743 meters 0.044735659305282734 Centerline is valid? [True, True] Translation: X:154.67, Y:-8.71, Z:-2.17 [[ 9.99748918e-01 -2.17464779e-02 5.40299694e-03 1.54670839e+02] [ 2.17486786e-02 9.99763409e-01 -3.48896156e-04 -8.70887128e+00] [-5.39413138e-03 4.66316599e-04 9.99985343e-01 -2.16737527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560371743 meters 0.0461446105017781 Centerline is valid? [True, True] Translation: X:154.70, Y:-8.71, Z:-2.17 [[ 9.99743074e-01 -2.19256408e-02 5.74913450e-03 1.54702285e+02] [ 2.19281391e-02 9.99759480e-01 -3.71876054e-04 -8.70974636e+00] [-5.73959810e-03 4.97848330e-04 9.99983404e-01 -2.16713487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.590371743 meters 0.04687036183789415 Centerline is valid? [True, True] Translation: X:154.73, Y:-8.71, Z:-2.17 [[ 9.99737518e-01 -2.20950972e-02 6.05813706e-03 1.54734429e+02] [ 2.20978757e-02 9.99755735e-01 -3.92090030e-04 -8.71095498e+00] [-6.04799400e-03 5.25859073e-04 9.99981572e-01 -2.16731979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620371743 meters 0.04796063799410428 Centerline is valid? [True, True] Translation: X:154.77, Y:-8.71, Z:-2.17 [[ 9.99737211e-01 -2.20441332e-02 6.29011553e-03 1.54766164e+02] [ 2.20471298e-02 9.99756849e-01 -4.07452155e-04 -8.71327764e+00] [-6.27960416e-03 5.46024074e-04 9.99980134e-01 -2.16793390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.650371743 meters 0.04884440420113274 Centerline is valid? [True, True] Translation: X:154.80, Y:-8.71, Z:-2.17 [[ 9.99752699e-01 -2.14197832e-02 5.97772488e-03 1.54797695e+02] [ 2.14224830e-02 9.99770437e-01 -3.87970128e-04 -8.71433558e+00] [-5.96804238e-03 5.15931892e-04 9.99982058e-01 -2.16902347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680371743 meters 0.04955480028320224 Centerline is valid? [True, True] Translation: X:154.83, Y:-8.72, Z:-2.17 [[ 9.99762580e-01 -2.09612405e-02 5.95067926e-03 1.54830067e+02] [ 2.09639089e-02 9.99780158e-01 -3.86388002e-04 -8.71632419e+00] [-5.94127188e-03 5.11045763e-04 9.99982220e-01 -2.16974145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.710371743 meters 0.04984621781312489 Centerline is valid? [True, True] Translation: X:154.86, Y:-8.72, Z:-2.17 [[ 9.99805883e-01 -1.85918383e-02 6.52230564e-03 1.54860226e+02] [ 1.85950008e-02 9.99827008e-01 -4.24561916e-04 -8.71573483e+00] [-6.51328395e-03 5.45761779e-04 9.99978639e-01 -2.16932899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74037174299997 meters 0.049685776262763125 Centerline is valid? [True, True] Translation: X:154.89, Y:-8.72, Z:-2.17 [[ 9.99830900e-01 -1.69809164e-02 7.05839050e-03 1.54892307e+02] [ 1.69845778e-02 9.99855646e-01 -4.59104882e-04 -8.71563644e+00] [-7.04957557e-03 5.78911029e-04 9.99974984e-01 -2.16869181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77037174299997 meters 0.04914561025530869 Centerline is valid? [True, True] Translation: X:154.92, Y:-8.72, Z:-2.17 [[ 9.99855253e-01 -1.51716405e-02 7.70032307e-03 1.54924361e+02] [ 1.51759473e-02 9.99884713e-01 -5.01177946e-04 -8.71506602e+00] [-7.69183163e-03 6.17965099e-04 9.99970226e-01 -2.16873338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80037174299997 meters 0.04858421386494371 Centerline is valid? [True, True] Translation: X:154.96, Y:-8.71, Z:-2.17 [[ 9.99879822e-01 -1.34801974e-02 7.65674139e-03 1.54956398e+02] [ 1.34844116e-02 9.99908957e-01 -4.99028471e-04 -8.71464697e+00] [-7.64931729e-03 6.02215151e-04 9.99970562e-01 -2.16875994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83037174299997 meters 0.03810645242847633 Centerline is valid? [True, True] Translation: X:154.99, Y:-8.70, Z:-2.17 [[ 9.99911086e-01 -1.07726054e-02 7.85950243e-03 1.54988614e+02] [ 1.07769674e-02 9.99941795e-01 -5.12855751e-04 -8.70101663e+00] [-7.85352017e-03 5.97511752e-04 9.99968982e-01 -2.16827941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86037174299997 meters 0.03740519831892997 Centerline is valid? [True, True] Translation: X:155.02, Y:-8.70, Z:-2.17 [[ 9.99916571e-01 -1.03406339e-02 7.74092812e-03 1.55021328e+02] [ 1.03448499e-02 9.99946363e-01 -5.04795637e-04 -8.70129777e+00] [-7.73529302e-03 5.84832262e-04 9.99969911e-01 -2.16902675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89037174299997 meters 0.038852729081615765 Centerline is valid? [True, True] Translation: X:155.05, Y:-8.70, Z:-2.17 [[ 9.99924419e-01 -1.01398020e-02 6.95273764e-03 1.55053364e+02] [ 1.01432018e-02 9.99948453e-01 -4.53903055e-04 -8.70400624e+00] [-6.94777676e-03 5.24391769e-04 9.99975726e-01 -2.16954584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92037174299998 meters 0.03918939717592523 Centerline is valid? [True, True] Translation: X:155.09, Y:-8.71, Z:-2.17 [[ 9.99919164e-01 -1.04960451e-02 7.17628668e-03 1.55085085e+02] [ 1.04996821e-02 9.99944767e-01 -4.69324504e-04 -8.70573059e+00] [-7.17096426e-03 5.44635295e-04 9.99974140e-01 -2.17017092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95037174299998 meters 0.0395964083931023 Centerline is valid? [True, True] Translation: X:155.12, Y:-8.71, Z:-2.17 [[ 9.99918222e-01 -1.05392596e-02 7.24387522e-03 1.55117153e+02] [ 1.05429704e-02 9.99944309e-01 -4.74279040e-04 -8.70821905e+00] [-7.23847325e-03 5.50612216e-04 9.99973650e-01 -2.17035094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98037174299998 meters 0.04048914216836185 Centerline is valid? [True, True] Translation: X:155.15, Y:-8.71, Z:-2.17 [[ 9.99920971e-01 -1.04410537e-02 7.00264591e-03 1.55150213e+02] [ 1.04445206e-02 9.99945349e-01 -4.58705271e-04 -8.71083921e+00] [-6.99747384e-03 5.31808300e-04 9.99975376e-01 -2.17108691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01037174299998 meters 0.04077930262779631 Centerline is valid? [True, True] Translation: X:155.18, Y:-8.71, Z:-2.17 [[ 9.99938007e-01 -8.92200584e-03 6.66184866e-03 1.55180940e+02] [ 8.92511781e-03 9.99960075e-01 -4.37549161e-04 -8.71216694e+00] [-6.65767886e-03 4.96979820e-04 9.99977714e-01 -2.17277813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04037174299998 meters 0.041182152560047335 Centerline is valid? [True, True] Translation: X:155.21, Y:-8.71, Z:-2.17 [[ 9.99950340e-01 -7.70582115e-03 6.31962623e-03 1.55211075e+02] [ 7.70859957e-03 9.99970202e-01 -4.15408490e-04 -8.71379826e+00] [-6.31623685e-03 4.64103329e-04 9.99979945e-01 -2.17396034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07037174299998 meters 0.040482314886920855 Centerline is valid? [True, True] Translation: X:155.24, Y:-8.71, Z:-2.17 [[ 9.99983252e-01 -3.33370968e-03 4.73091464e-03 1.55240676e+02] [ 3.33521965e-03 9.99994390e-01 -3.11316839e-04 -8.71176560e+00] [-4.72985025e-03 3.27090265e-04 9.99988761e-01 -2.17464934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10037174299998 meters 0.039224825874151444 Centerline is valid? [True, True] Translation: X:155.27, Y:-8.71, Z:-2.17 [[ 9.99987814e-01 -1.25780831e-03 4.77381383e-03 1.55272637e+02] [ 1.25931882e-03 9.99999158e-01 -3.13424172e-04 -8.71040931e+00] [-4.77341559e-03 3.19432106e-04 9.99988556e-01 -2.17443498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13037174299998 meters 0.03840290953625122 Centerline is valid? [True, True] Translation: X:155.30, Y:-8.71, Z:-2.17 [[ 9.99984763e-01 1.30541292e-03 5.36375480e-03 1.55303494e+02] [-1.30353914e-03 9.99999088e-01 -3.52822038e-04 -8.70981093e+00] [-5.36421049e-03 3.45824798e-04 9.99985553e-01 -2.17451783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16037174299998 meters 0.036699109514566154 Centerline is valid? [True, True] Translation: X:155.33, Y:-8.71, Z:-2.17 [[ 9.99957306e-01 6.20427976e-03 6.84791706e-03 1.55334217e+02] [-6.20133785e-03 9.99980670e-01 -4.50756490e-04 -8.70739107e+00] [-6.85058131e-03 4.08270998e-04 9.99976451e-01 -2.17351015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.190371743 meters 0.03684396876719657 Centerline is valid? [True, True] Translation: X:155.36, Y:-8.71, Z:-2.17 [[ 9.99933241e-01 8.64049530e-03 7.67167931e-03 1.55364449e+02] [-8.63687534e-03 9.99962574e-01 -5.04865055e-04 -8.70874977e+00] [-7.67575447e-03 4.38572013e-04 9.99970445e-01 -2.17334854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220371743 meters 0.03562645103492735 Centerline is valid? [True, True] Translation: X:155.39, Y:-8.71, Z:-2.17 [[ 9.99881952e-01 1.26977188e-02 8.65161533e-03 1.55393997e+02] [-1.26932637e-02 9.99919275e-01 -5.69661324e-04 -8.70653437e+00] [-8.65815033e-03 4.59776842e-04 9.99962412e-01 -2.17224052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.250371743 meters 0.02965174295476875 Centerline is valid? [True, True] Translation: X:155.42, Y:-8.70, Z:-2.17 [[ 9.99861813e-01 1.42363092e-02 8.58387365e-03 1.55424547e+02] [-1.42319793e-02 9.99898560e-01 -5.65294606e-04 -8.69771837e+00] [-8.59105061e-03 4.43050977e-04 9.99962998e-01 -2.17144361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280371743 meters 0.03577430286349009 Centerline is valid? [True, True] Translation: X:155.45, Y:-8.71, Z:-2.17 [[ 9.99840630e-01 1.61376078e-02 7.63494088e-03 1.55452889e+02] [-1.61342385e-02 9.99869708e-01 -5.02695799e-04 -8.70724964e+00] [-7.64205842e-03 3.79431727e-04 9.99970727e-01 -2.17363552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.310371743 meters 0.03508204991331978 Centerline is valid? [True, True] Translation: X:155.48, Y:-8.71, Z:-2.17 [[ 9.99839564e-01 1.62633631e-02 7.50661782e-03 1.55481720e+02] [-1.62601120e-02 9.99867674e-01 -4.93936067e-04 -8.70849337e+00] [-7.51365756e-03 3.71798375e-04 9.99971703e-01 -2.17457934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340371743 meters 0.028583092085407717 Centerline is valid? [True, True] Translation: X:155.51, Y:-8.70, Z:-2.18 [[ 9.99836165e-01 1.71719749e-02 5.72413570e-03 1.55511523e+02] [-1.71700982e-02 9.99852512e-01 -3.76834972e-04 -8.70055030e+00] [-5.72976246e-03 2.78489261e-04 9.99983546e-01 -2.17606720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.370371743 meters 0.02825915257294312 Centerline is valid? [True, True] Translation: X:155.54, Y:-8.70, Z:-2.18 [[ 9.99841187e-01 1.70025450e-02 5.33978696e-03 1.55540039e+02] [-1.70009136e-02 9.99855413e-01 -3.50768751e-04 -8.70275236e+00] [-5.34497886e-03 2.59931787e-04 9.99985682e-01 -2.17767571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400371743 meters 0.028978212136682304 Centerline is valid? [True, True] Translation: X:155.57, Y:-8.71, Z:-2.18 [[ 9.99851680e-01 1.67466289e-02 4.02101595e-03 1.55567770e+02] [-1.67457012e-02 9.99859746e-01 -2.64271016e-04 -8.70542658e+00] [-4.02487764e-03 1.96897088e-04 9.99991881e-01 -2.17968288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.430371743 meters 0.031179665174635184 Centerline is valid? [True, True] Translation: X:155.60, Y:-8.71, Z:-2.18 [[ 9.99853785e-01 1.68140196e-02 3.11391822e-03 1.55595488e+02] [-1.68134636e-02 9.99858623e-01 -2.04646439e-04 -8.70916288e+00] [-3.11691891e-03 1.52260766e-04 9.99995131e-01 -2.18088273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460371743 meters 0.02868614069100489 Centerline is valid? [True, True] Translation: X:155.62, Y:-8.71, Z:-2.18 [[ 9.99863794e-01 1.61653276e-02 3.32799829e-03 1.55624327e+02] [-1.61646908e-02 9.99869319e-01 -2.18162600e-04 -8.70761695e+00] [-3.33109005e-03 1.64336822e-04 9.99994438e-01 -2.18026021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49037174299997 meters 0.031044012596648657 Centerline is valid? [True, True] Translation: X:155.65, Y:-8.71, Z:-2.18 [[ 9.99873401e-01 1.55300075e-02 3.46413303e-03 1.55651724e+02] [-1.55293141e-02 9.99879387e-01 -2.26979069e-04 -8.71255949e+00] [-3.46724020e-03 1.73154723e-04 9.99993974e-01 -2.18095412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52037174299997 meters 0.027800769491876518 Centerline is valid? [True, True] Translation: X:155.68, Y:-8.71, Z:-2.18 [[ 9.99881221e-01 1.49147945e-02 3.88502222e-03 1.55680394e+02] [-1.49139202e-02 9.99888749e-01 -2.53903759e-04 -8.70966540e+00] [-3.88837693e-03 1.95932689e-04 9.99992421e-01 -2.17997928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55037174299997 meters 0.027800769491876518 Centerline is valid? [True, True] Translation: X:155.71, Y:-8.71, Z:-2.18 [[ 9.99882304e-01 1.48419829e-02 3.88504063e-03 1.55708676e+02] [-1.48411092e-02 9.99889833e-01 -2.53621392e-04 -8.71144807e+00] [-3.88837687e-03 1.95933230e-04 9.99992421e-01 -2.18037766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58037174299997 meters 0.03238221583304357 Centerline is valid? [True, True] Translation: X:155.74, Y:-8.72, Z:-2.18 [[ 9.99896392e-01 1.37546185e-02 4.24440943e-03 1.55735719e+02] [-1.37535669e-02 9.99905377e-01 -2.76848016e-04 -8.72054955e+00] [-4.24781575e-03 2.18443564e-04 9.99990954e-01 -2.18140497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61037174299997 meters 0.029497846636309746 Centerline is valid? [True, True] Translation: X:155.76, Y:-8.72, Z:-2.18 [[ 9.99907348e-01 1.25950699e-02 5.16321252e-03 1.55764591e+02] [-1.25935030e-02 9.99920642e-01 -3.35874042e-04 -8.71801668e+00] [-5.16703313e-03 2.70819990e-04 9.99986614e-01 -2.17986565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64037174299997 meters 0.03020520428078342 Centerline is valid? [True, True] Translation: X:155.79, Y:-8.72, Z:-2.18 [[ 9.99919498e-01 1.14117523e-02 5.54699864e-03 1.55793490e+02] [-1.14099291e-02 9.99934840e-01 -3.60205979e-04 -8.72090620e+00] [-5.55074778e-03 2.96886120e-04 9.99984550e-01 -2.17953314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67037174299998 meters 0.03249900056584697 Centerline is valid? [True, True] Translation: X:155.82, Y:-8.73, Z:-2.18 [[ 9.99923528e-01 1.10335999e-02 5.58552554e-03 1.55821663e+02] [-1.10317472e-02 9.99939083e-01 -3.62394068e-04 -8.72629555e+00] [-5.58918380e-03 3.00748250e-04 9.99984335e-01 -2.18019584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70037174299998 meters 0.030547551317395973 Centerline is valid? [True, True] Translation: X:155.85, Y:-8.72, Z:-2.18 [[ 9.99929911e-01 1.05648588e-02 5.34380180e-03 1.55851092e+02] [-1.05631585e-02 9.99944148e-01 -3.46306630e-04 -8.72486867e+00] [-5.34716202e-03 2.89834933e-04 9.99985662e-01 -2.18030401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73037174299998 meters 0.029354160447745324 Centerline is valid? [True, True] Translation: X:155.88, Y:-8.73, Z:-2.18 [[ 9.99927070e-01 1.08110833e-02 5.38286660e-03 1.55880395e+02] [-1.08093626e-02 9.99941516e-01 -3.48647293e-04 -8.72512218e+00] [-5.38632104e-03 2.90436509e-04 9.99985451e-01 -2.18071639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76037174299998 meters 0.03082045461808752 Centerline is valid? [True, True] Translation: X:155.91, Y:-8.73, Z:-2.18 [[ 9.99922647e-01 1.14131205e-02 4.94375242e-03 1.55909345e+02] [-1.14116772e-02 9.99934833e-01 -3.20064563e-04 -8.72951864e+00] [-4.94708318e-03 2.63623298e-04 9.99987728e-01 -2.18162177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79037174299998 meters 0.029061045635043782 Centerline is valid? [True, True] Translation: X:155.94, Y:-8.73, Z:-2.18 [[ 9.99925515e-01 1.13491249e-02 4.49015286e-03 1.55937982e+02] [-1.13479326e-02 9.99935568e-01 -2.90931458e-04 -8.72781120e+00] [-4.49316537e-03 2.39955836e-04 9.99989877e-01 -2.18191489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82037174299998 meters 0.02990012998418442 Centerline is valid? [True, True] Translation: X:155.97, Y:-8.73, Z:-2.18 [[ 9.99918932e-01 1.20297370e-02 4.17304338e-03 1.55965636e+02] [-1.20287133e-02 9.99927616e-01 -2.70325665e-04 -8.73112625e+00] [-4.17599327e-03 2.20107407e-04 9.99991256e-01 -2.18263487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85037174299998 meters 0.029156784475696196 Centerline is valid? [True, True] Translation: X:155.99, Y:-8.73, Z:-2.18 [[ 9.99901424e-01 1.35943770e-02 3.51222646e-03 1.55994575e+02] [-1.35936626e-02 9.99907576e-01 -2.27205087e-04 -8.73162754e+00] [-3.51499056e-03 1.79438668e-04 9.99993806e-01 -2.18332040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88037174299998 meters 0.028933935732871854 Centerline is valid? [True, True] Translation: X:156.02, Y:-8.73, Z:-2.18 [[ 9.99889288e-01 1.45279851e-02 3.21704851e-03 1.56023727e+02] [-1.45273910e-02 9.99894450e-01 -2.07963218e-04 -8.73318047e+00] [-3.21973023e-03 1.61204872e-04 9.99994804e-01 -2.18351979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91037174299998 meters 0.03147377033494695 Centerline is valid? [True, True] Translation: X:156.05, Y:-8.74, Z:-2.19 [[ 9.99871951e-01 1.57681713e-02 2.72875068e-03 1.56050854e+02] [-1.57677480e-02 9.99875666e-01 -1.76548402e-04 -8.73927213e+00] [-2.73119524e-03 1.33499542e-04 9.99996261e-01 -2.18547110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940371743 meters 0.02682688299400799 Centerline is valid? [True, True] Translation: X:156.08, Y:-8.73, Z:-2.18 [[ 9.99821602e-01 1.87729547e-02 2.08316563e-03 1.56081536e+02] [-1.87727152e-02 9.99823768e-01 -1.34435628e-04 -8.73399951e+00] [-2.08532226e-03 9.53049694e-05 9.99997821e-01 -2.18453569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.970371743 meters 0.027150266888923382 Centerline is valid? [True, True] Translation: X:156.11, Y:-8.74, Z:-2.19 [[ 9.99787263e-01 2.04869515e-02 2.39041659e-03 1.56109679e+02] [-2.04866410e-02 9.99790115e-01 -1.54277667e-04 -8.73571049e+00] [-2.39307556e-03 1.05273240e-04 9.99997131e-01 -2.18534439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000371743 meters 0.02555946301303867 Centerline is valid? [True, True] Translation: X:156.14, Y:-8.73, Z:-2.18 [[ 9.99702392e-01 2.42744213e-02 2.42476295e-03 1.56139585e+02] [-2.42741145e-02 9.99705328e-01 -1.55892361e-04 -8.73398037e+00] [-2.42783264e-03 9.69869929e-05 9.99997048e-01 -2.18473306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.030371743 meters 0.025034027525227525 Centerline is valid? [True, True] Translation: X:156.17, Y:-8.73, Z:-2.18 [[ 9.99646372e-01 2.64817549e-02 2.41825516e-03 1.56168992e+02] [-2.64814559e-02 9.99649293e-01 -1.55597697e-04 -8.73422570e+00] [-2.42152756e-03 9.15037556e-05 9.99997064e-01 -2.18471863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060371743 meters 0.02458143311476881 Centerline is valid? [True, True] Translation: X:156.20, Y:-8.74, Z:-2.19 [[ 9.99589347e-01 2.85861270e-02 1.99244879e-03 1.56196804e+02] [-2.85859273e-02 9.99591331e-01 -1.28651321e-04 -8.73507333e+00] [-1.99531218e-03 7.16424934e-05 9.99998007e-01 -2.18556619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.090371743 meters 0.024664492126604955 Centerline is valid? [True, True] Translation: X:156.23, Y:-8.74, Z:-2.19 [[ 9.99510870e-01 3.12427286e-02 1.38334980e-03 1.56225601e+02] [-3.12426348e-02 9.99511826e-01 -8.93646499e-05 -8.73522169e+00] [-1.38546648e-03 4.61014464e-05 9.99999039e-01 -2.18598026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120371743 meters 0.023160215504041227 Centerline is valid? [True, True] Translation: X:156.25, Y:-8.74, Z:-2.19 [[ 9.99405689e-01 3.44540283e-02 1.09063817e-03 1.56254099e+02] [-3.44539718e-02 9.99406283e-01 -7.05841446e-05 -8.73554018e+00] [-1.09242255e-03 3.29653789e-05 9.99999403e-01 -2.18658327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.150371743 meters 0.0228594701380216 Centerline is valid? [True, True] Translation: X:156.28, Y:-8.74, Z:-2.19 [[ 9.99361063e-01 3.57137143e-02 1.41305998e-03 1.56283023e+02] [-3.57136212e-02 9.99362061e-01 -9.10541509e-05 -8.73706582e+00] [-1.41541042e-03 4.05304842e-05 9.99998997e-01 -2.18698392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180371743 meters 0.02281157494258298 Centerline is valid? [True, True] Translation: X:156.31, Y:-8.74, Z:-2.19 [[ 9.99331621e-01 3.65318094e-02 1.31871877e-03 1.56310977e+02] [-3.65317287e-02 9.99332490e-01 -8.51680634e-05 -8.74004680e+00] [-1.32094985e-03 3.69360626e-05 9.99999127e-01 -2.18720639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.210371743 meters 0.02213875859789396 Centerline is valid? [True, True] Translation: X:156.34, Y:-8.74, Z:-2.19 [[ 9.99349849e-01 3.60227333e-02 1.49762985e-03 1.56339991e+02] [-3.60226295e-02 9.99350970e-01 -9.62130027e-05 -8.74126894e+00] [-1.50012370e-03 4.22018844e-05 9.99998874e-01 -2.18691290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24037174299997 meters 0.02277477373938504 Centerline is valid? [True, True] Translation: X:156.37, Y:-8.75, Z:-2.19 [[ 9.99368811e-01 3.54922242e-02 1.51066431e-03 1.56367497e+02] [-3.54921179e-02 9.99369952e-01 -9.71513577e-05 -8.74520805e+00] [-1.51316064e-03 4.34733609e-05 9.99998854e-01 -2.18740718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27037174299997 meters 0.023056884720494518 Centerline is valid? [True, True] Translation: X:156.40, Y:-8.75, Z:-2.19 [[ 9.99434163e-01 3.35671795e-02 2.14418860e-03 1.56395449e+02] [-3.35669625e-02 9.99436461e-01 -1.37154962e-04 -8.75067315e+00] [-2.14758417e-03 6.51034561e-05 9.99997692e-01 -2.18731251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30037174299997 meters 0.023580912606451038 Centerline is valid? [True, True] Translation: X:156.42, Y:-8.75, Z:-2.19 [[ 9.99481308e-01 3.21089377e-02 2.47591860e-03 1.56424301e+02] [-3.21086453e-02 9.99484372e-01 -1.57750232e-04 -8.75457608e+00] [-2.47970714e-03 7.81700165e-05 9.99996922e-01 -2.18728731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33037174299997 meters 0.02445925552579578 Centerline is valid? [True, True] Translation: X:156.45, Y:-8.76, Z:-2.19 [[ 9.99567054e-01 2.92127005e-02 3.51044611e-03 1.56451938e+02] [-2.92120966e-02 9.99573211e-01 -2.23175172e-04 -8.76076347e+00] [-3.51546744e-03 1.20531058e-04 9.99993813e-01 -2.18688154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36037174299997 meters 0.024873356311804706 Centerline is valid? [True, True] Translation: X:156.48, Y:-8.76, Z:-2.19 [[ 9.99611480e-01 2.75904232e-02 3.95686008e-03 1.56480134e+02] [-2.75896453e-02 9.99619302e-01 -2.51049580e-04 -8.76486705e+00] [-3.96228027e-03 1.41783676e-04 9.99992140e-01 -2.18708662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39037174299997 meters 0.02465883228457379 Centerline is valid? [True, True] Translation: X:156.51, Y:-8.77, Z:-2.19 [[ 9.99657930e-01 2.58078861e-02 4.23988562e-03 1.56508670e+02] [-2.58069796e-02 9.99666908e-01 -2.68385028e-04 -8.76767005e+00] [-4.24539980e-03 1.58874580e-04 9.99990976e-01 -2.18707553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42037174299998 meters 0.027273553353297397 Centerline is valid? [True, True] Translation: X:156.54, Y:-8.78, Z:-2.19 [[ 9.99736719e-01 2.23489556e-02 5.19780839e-03 1.56536317e+02] [-2.23475497e-02 9.99750208e-01 -3.28422114e-04 -8.77644515e+00] [-5.20384992e-03 2.12177365e-04 9.99986437e-01 -2.18752891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45037174299998 meters 0.027933263603971224 Centerline is valid? [True, True] Translation: X:156.56, Y:-8.78, Z:-2.19 [[ 9.99770514e-01 2.06784145e-02 5.59673601e-03 1.56564721e+02] [-2.06767611e-02 9.99786151e-01 -3.53138095e-04 -8.78037513e+00] [-5.60284149e-03 2.37334681e-04 9.99984276e-01 -2.18797432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48037174299998 meters 0.027434654166115444 Centerline is valid? [True, True] Translation: X:156.59, Y:-8.78, Z:-2.19 [[ 9.99796764e-01 1.93734428e-02 5.57670059e-03 1.56593696e+02] [-1.93717829e-02 9.99812288e-01 -3.51516714e-04 -8.78164123e+00] [-5.58246386e-03 2.43414640e-04 9.99984388e-01 -2.18805315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51037174299998 meters 0.03154473906098809 Centerline is valid? [True, True] Translation: X:156.62, Y:-8.79, Z:-2.19 [[ 9.99865433e-01 1.51413775e-02 6.31297596e-03 1.56622218e+02] [-1.51391716e-02 9.99885317e-01 -3.97069284e-04 -8.79282542e+00] [-6.31826415e-03 3.01442626e-04 9.99979994e-01 -2.18925394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54037174299998 meters 0.03268703203191377 Centerline is valid? [True, True] Translation: X:156.65, Y:-8.80, Z:-2.19 [[ 9.99890970e-01 1.31007369e-02 6.81308356e-03 1.56651284e+02] [-1.30981215e-02 9.99914124e-01 -4.28351018e-04 -8.79707170e+00] [-6.81811019e-03 3.39065719e-04 9.99976699e-01 -2.18968972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57037174299998 meters 0.032222698433563055 Centerline is valid? [True, True] Translation: X:156.68, Y:-8.80, Z:-2.19 [[ 9.99927871e-01 9.71537737e-03 7.06139800e-03 1.56681807e+02] [-9.71248886e-03 9.99952734e-01 -4.43234713e-04 -8.79889520e+00] [-7.06537043e-03 3.74618993e-04 9.99974970e-01 -2.18936468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60037174299998 meters 0.035526389605998125 Centerline is valid? [True, True] Translation: X:156.71, Y:-8.81, Z:-2.19 [[ 9.99937931e-01 7.76994468e-03 7.98510702e-03 1.56710930e+02] [-7.76618834e-03 9.99969717e-01 -5.01318814e-04 -8.80628746e+00] [-7.98876043e-03 4.39273853e-04 9.99967993e-01 -2.19012051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63037174299998 meters 0.03781233920143022 Centerline is valid? [True, True] Translation: X:156.74, Y:-8.81, Z:-2.19 [[ 9.99942925e-01 6.30482803e-03 8.62529163e-03 1.56741125e+02] [-6.30039390e-03 9.99980006e-01 -5.41160116e-04 -8.81147957e+00] [-8.62853110e-03 4.86786495e-04 9.99962655e-01 -2.19048273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66037174299998 meters 0.031771111406996726 Centerline is valid? [True, True] Translation: X:156.77, Y:-8.80, Z:-2.19 [[ 9.99935762e-01 5.65162216e-03 9.82497649e-03 1.56773430e+02] [-5.64584426e-03 9.99983873e-01 -6.15718805e-04 -8.80421982e+00] [-9.82829785e-03 5.60208966e-04 9.99951544e-01 -2.18932266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.690371743 meters 0.035916306820355605 Centerline is valid? [True, True] Translation: X:156.80, Y:-8.81, Z:-2.19 [[ 9.99936564e-01 5.47169232e-03 9.84523622e-03 1.56804104e+02] [-5.46585914e-03 9.99984870e-01 -6.19296709e-04 -8.81166905e+00] [-9.84847586e-03 5.65444749e-04 9.99951343e-01 -2.18998313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720371743 meters 0.03669824363470134 Centerline is valid? [True, True] Translation: X:156.84, Y:-8.81, Z:-2.19 [[ 9.99943288e-01 5.10621105e-03 9.34601201e-03 1.56836648e+02] [-5.10092018e-03 9.99986816e-01 -5.89860605e-04 -8.81361094e+00] [-9.34890075e-03 5.42153891e-04 9.99956151e-01 -2.19080116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.750371743 meters 0.03815393990043167 Centerline is valid? [True, True] Translation: X:156.87, Y:-8.82, Z:-2.19 [[ 9.99948942e-01 4.64071651e-03 8.97643038e-03 1.56867779e+02] [-4.63579856e-03 9.99989093e-01 -5.68602998e-04 -8.81659097e+00] [-8.97897120e-03 5.26961044e-04 9.99959549e-01 -2.19167994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780371743 meters 0.035262526502638294 Centerline is valid? [True, True] Translation: X:156.90, Y:-8.81, Z:-2.19 [[ 9.99955570e-01 4.03393691e-03 8.51969525e-03 1.56900323e+02] [-4.02947156e-03 9.99991735e-01 -5.41221420e-04 -8.81349183e+00] [-8.52180809e-03 5.06867504e-04 9.99963560e-01 -2.19206598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.810371743 meters 0.040553472613228926 Centerline is valid? [True, True] Translation: X:156.93, Y:-8.82, Z:-2.19 [[ 9.99960782e-01 2.36628183e-03 8.53435435e-03 1.56931000e+02] [-2.36172205e-03 9.99997063e-01 -5.44323765e-04 -8.82164947e+00] [-8.53561730e-03 5.24146645e-04 9.99963434e-01 -2.19317365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840371743 meters 0.03795954752655038 Centerline is valid? [True, True] Translation: X:156.96, Y:-8.82, Z:-2.19 [[ 9.99960782e-01 1.19012186e-03 8.77603838e-03 1.56963104e+02] [-1.18523008e-03 9.99999139e-01 -5.62581936e-04 -8.81972270e+00] [-8.77670037e-03 5.52158248e-04 9.99961332e-01 -2.19326876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.870371743 meters 0.035472083305035124 Centerline is valid? [True, True] Translation: X:157.00, Y:-8.82, Z:-2.19 [[ 9.99961042e-01 2.59173806e-04 8.82314614e-03 1.56995908e+02] [-2.54195818e-04 9.99999808e-01 -5.65313259e-04 -8.81744091e+00] [-8.82329096e-03 5.63048429e-04 9.99960915e-01 -2.19312455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900371743 meters 0.03608754678273475 Centerline is valid? [True, True] Translation: X:157.03, Y:-8.82, Z:-2.19 [[ 9.99970288e-01 -1.56511527e-04 7.70705676e-03 1.57027802e+02] [ 1.60338271e-04 9.99999864e-01 -4.95909370e-04 -8.81659768e+00] [-7.70697810e-03 4.97130372e-04 9.99970177e-01 -2.19360458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.930371743 meters 0.0345659732982217 Centerline is valid? [True, True] Translation: X:157.06, Y:-8.82, Z:-2.19 [[ 9.99968173e-01 -7.10657131e-04 7.94657108e-03 1.57060143e+02] [ 7.14746012e-04 9.99999614e-01 -5.11718475e-04 -8.81586116e+00] [-7.94620435e-03 5.17381969e-04 9.99968295e-01 -2.19432257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960371743 meters 0.03600697173888763 Centerline is valid? [True, True] Translation: X:157.09, Y:-8.82, Z:-2.20 [[ 9.99971907e-01 6.54767012e-04 7.46709439e-03 1.57091070e+02] [-6.51172427e-04 9.99999671e-01 -4.83811142e-04 -8.81687434e+00] [-7.46740872e-03 4.78935184e-04 9.99972004e-01 -2.19558926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99037174299997 meters 0.03275232568887716 Centerline is valid? [True, True] Translation: X:157.12, Y:-8.81, Z:-2.20 [[ 9.99970237e-01 1.93100678e-03 7.46966553e-03 1.57123787e+02] [-1.92744320e-03 9.99998025e-01 -4.84242820e-04 -8.81241850e+00] [-7.47058586e-03 4.69831052e-04 9.99971984e-01 -2.19575188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02037174299997 meters 0.031028000325090153 Centerline is valid? [True, True] Translation: X:157.16, Y:-8.81, Z:-2.20 [[ 9.99966744e-01 3.35386970e-03 7.43393734e-03 1.57156342e+02] [-3.35037534e-03 9.99994271e-01 -4.82458841e-04 -8.81045607e+00] [-7.43551286e-03 4.57536316e-04 9.99972252e-01 -2.19576303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05037174299997 meters 0.032081941562733265 Centerline is valid? [True, True] Translation: X:157.19, Y:-8.81, Z:-2.20 [[ 9.99946569e-01 7.12868892e-03 7.48609386e-03 1.57186348e+02] [-7.12524300e-03 9.99974497e-01 -4.86880228e-04 -8.80853213e+00] [-7.48937376e-03 4.33513975e-04 9.99971860e-01 -2.19550325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08037174299997 meters 0.032008017617923455 Centerline is valid? [True, True] Translation: X:157.22, Y:-8.81, Z:-2.20 [[ 9.99933190e-01 8.02896599e-03 8.31570972e-03 1.57216839e+02] [-8.02474583e-03 9.99967655e-01 -5.40734248e-04 -8.80885250e+00] [-8.31978228e-03 4.73966665e-04 9.99965278e-01 -2.19536139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11037174299997 meters 0.030730054371815366 Centerline is valid? [True, True] Translation: X:157.25, Y:-8.80, Z:-2.19 [[ 9.99901002e-01 1.12738121e-02 8.41945820e-03 1.57247723e+02] [-1.12695985e-02 9.99936346e-01 -5.47735776e-04 -8.80485202e+00] [-8.42509734e-03 4.52797638e-04 9.99964406e-01 -2.19486346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14037174299997 meters 0.02842093594937705 Centerline is valid? [True, True] Translation: X:157.28, Y:-8.80, Z:-2.20 [[ 9.99878788e-01 1.28647109e-02 8.76972603e-03 1.57277416e+02] [-1.28601987e-02 9.99917141e-01 -5.70714979e-04 -8.80142698e+00] [-8.77634147e-03 4.57865382e-04 9.99961382e-01 -2.19514217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17037174299998 meters 0.02799517694875275 Centerline is valid? [True, True] Translation: X:157.31, Y:-8.80, Z:-2.20 [[ 9.99837187e-01 1.61268953e-02 8.09456275e-03 1.57307370e+02] [-1.61231599e-02 9.99869875e-01 -5.26517977e-04 -8.79880212e+00] [-8.10200054e-03 3.95922324e-04 9.99967100e-01 -2.19597053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20037174299998 meters 0.02812865824895712 Centerline is valid? [True, True] Translation: X:157.34, Y:-8.80, Z:-2.20 [[ 9.99807004e-01 1.77884082e-02 8.33826228e-03 1.57335135e+02] [-1.77845023e-02 9.99841696e-01 -5.42356701e-04 -8.79911491e+00] [-8.34658996e-03 3.93960184e-04 9.99965089e-01 -2.19674687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23037174299998 meters 0.027260207035552333 Centerline is valid? [True, True] Translation: X:157.36, Y:-8.80, Z:-2.20 [[ 9.99783859e-01 1.92528375e-02 7.84623237e-03 1.57364606e+02] [-1.92494306e-02 9.99814583e-01 -5.09497657e-04 -8.79779649e+00] [-7.85458682e-03 3.58352028e-04 9.99969088e-01 -2.19745870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26037174299998 meters 0.026294389906793957 Centerline is valid? [True, True] Translation: X:157.39, Y:-8.80, Z:-2.20 [[ 9.99722716e-01 2.26116862e-02 6.57294856e-03 1.57394481e+02] [-2.26093702e-02 9.99744285e-01 -4.26448051e-04 -8.79502435e+00] [-6.58091047e-03 2.77719576e-04 9.99978307e-01 -2.19832362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29037174299998 meters 0.025625042982758882 Centerline is valid? [True, True] Translation: X:157.42, Y:-8.79, Z:-2.20 [[ 9.99694928e-01 2.39052012e-02 6.21234203e-03 1.57423594e+02] [-2.39031568e-02 9.99714197e-01 -4.03140558e-04 -8.79432883e+00] [-6.22020368e-03 2.54522985e-04 9.99980622e-01 -2.19896023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32037174299998 meters 0.02503051176042665 Centerline is valid? [True, True] Translation: X:157.45, Y:-8.79, Z:-2.20 [[ 9.99647652e-01 2.59490154e-02 5.58760857e-03 1.57452302e+02] [-2.59473951e-02 9.99663244e-01 -3.62297243e-04 -8.79387100e+00] [-5.59512817e-03 2.17185700e-04 9.99984324e-01 -2.20024179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35037174299998 meters 0.025264366580251187 Centerline is valid? [True, True] Translation: X:157.48, Y:-8.79, Z:-2.20 [[ 9.99631774e-01 2.65889062e-02 5.41718145e-03 1.57481358e+02] [-2.65873946e-02 9.99646431e-01 -3.50886185e-04 -8.79482792e+00] [-5.42459578e-03 2.06728239e-04 9.99985265e-01 -2.20080185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38037174299998 meters 0.02578645812496682 Centerline is valid? [True, True] Translation: X:157.51, Y:-8.80, Z:-2.20 [[ 9.99639455e-01 2.63127748e-02 5.34773409e-03 1.57509416e+02] [-2.63112989e-02 9.99653738e-01 -3.46164586e-04 -8.79713057e+00] [-5.35499092e-03 2.05333948e-04 9.99985641e-01 -2.20155722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41037174299998 meters 0.026448618557100435 Centerline is valid? [True, True] Translation: X:157.54, Y:-8.80, Z:-2.20 [[ 9.99664781e-01 2.53419871e-02 5.30187730e-03 1.57537676e+02] [-2.53405253e-02 9.99678819e-01 -3.42713664e-04 -8.79921917e+00] [-5.30885948e-03 2.08246424e-04 9.99985886e-01 -2.20244616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440371743 meters 0.02573478367709986 Centerline is valid? [True, True] Translation: X:157.57, Y:-8.80, Z:-2.20 [[ 9.99683969e-01 2.45665792e-02 5.33333895e-03 1.57566565e+02] [-2.45650924e-02 9.99698173e-01 -3.44127777e-04 -8.80020676e+00] [-5.34018325e-03 2.13005058e-04 9.99985718e-01 -2.20250340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.470371743 meters 0.02573478367709986 Centerline is valid? [True, True] Translation: X:157.59, Y:-8.80, Z:-2.20 [[ 9.99686588e-01 2.44597727e-02 5.33334364e-03 1.57593988e+02] [-2.44582847e-02 9.99700792e-01 -3.44055638e-04 -8.80188090e+00] [-5.34016339e-03 2.13503370e-04 9.99985718e-01 -2.20288966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500371743 meters 0.02652788884349825 Centerline is valid? [True, True] Translation: X:157.62, Y:-8.81, Z:-2.20 [[ 9.99727405e-01 2.28718243e-02 4.68999841e-03 1.57622821e+02] [-2.28706592e-02 9.99738387e-01 -3.01895847e-04 -8.80502324e+00] [-4.69567636e-03 1.94550196e-04 9.99988956e-01 -2.20441694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.530371743 meters 0.02654708920788566 Centerline is valid? [True, True] Translation: X:157.65, Y:-8.81, Z:-2.21 [[ 9.99742842e-01 2.22350627e-02 4.45546738e-03 1.57651973e+02] [-2.22340062e-02 9.99752753e-01 -2.86532633e-04 -8.80732467e+00] [-4.46073685e-03 1.87396059e-04 9.99990033e-01 -2.20502468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560371743 meters 0.027148653731286238 Centerline is valid? [True, True] Translation: X:157.68, Y:-8.81, Z:-2.21 [[ 9.99769352e-01 2.10609167e-02 4.20489485e-03 1.57680688e+02] [-2.10599664e-02 9.99778178e-01 -2.70169728e-04 -8.80993867e+00] [-4.20965214e-03 1.81552469e-04 9.99991123e-01 -2.20577377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.590371743 meters 0.02723403710503406 Centerline is valid? [True, True] Translation: X:157.71, Y:-8.81, Z:-2.21 [[ 9.99819485e-01 1.86265561e-02 3.74814740e-03 1.57710213e+02] [-1.86257859e-02 9.99826496e-01 -2.40305467e-04 -8.81206749e+00] [-3.75197314e-03 1.70449897e-04 9.99992947e-01 -2.20612692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620371743 meters 0.02871892981575395 Centerline is valid? [True, True] Translation: X:157.74, Y:-8.82, Z:-2.21 [[ 9.99852197e-01 1.69214605e-02 3.04104242e-03 1.57737539e+02] [-1.69209438e-02 9.99856811e-01 -1.95534192e-04 -8.81653018e+00] [-3.04391570e-03 1.44047984e-04 9.99995357e-01 -2.20702598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.650371743 meters 0.029649114637231865 Centerline is valid? [True, True] Translation: X:157.77, Y:-8.82, Z:-2.21 [[ 9.99901335e-01 1.36564130e-02 3.28974377e-03 1.57766343e+02] [-1.36557933e-02 9.99906733e-01 -2.10753690e-04 -8.82176040e+00] [-3.29231509e-03 1.65808835e-04 9.99994567e-01 -2.20743633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680371743 meters 0.030462418323878096 Centerline is valid? [True, True] Translation: X:157.80, Y:-8.83, Z:-2.21 [[ 9.99919117e-01 1.22168175e-02 3.53674576e-03 1.57795312e+02] [-1.22160931e-02 9.99925355e-01 -2.26334296e-04 -8.82610696e+00] [-3.53924684e-03 1.83110774e-04 9.99993720e-01 -2.20805729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.710371743 meters 0.031070011138875513 Centerline is valid? [True, True] Translation: X:157.82, Y:-8.83, Z:-2.21 [[ 9.99927669e-01 1.13512242e-02 3.97585806e-03 1.57822929e+02] [-1.13503019e-02 9.99935551e-01 -2.54485922e-04 -8.82999693e+00] [-3.97849054e-03 2.09340326e-04 9.99992064e-01 -2.20832943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74037174299997 meters 0.030021177871508608 Centerline is valid? [True, True] Translation: X:157.85, Y:-8.83, Z:-2.21 [[ 9.99936429e-01 1.05932633e-02 3.86278621e-03 1.57851302e+02] [-1.05923881e-02 9.99943869e-01 -2.46953408e-04 -8.83058192e+00] [-3.86518543e-03 2.06021578e-04 9.99992509e-01 -2.20807334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77037174299997 meters 0.029841418349688852 Centerline is valid? [True, True] Translation: X:157.88, Y:-8.83, Z:-2.21 [[ 9.99928313e-01 1.14909622e-02 3.36548604e-03 1.57880202e+02] [-1.14903041e-02 9.99933961e-01 -2.14821411e-04 -8.83271554e+00] [-3.36773229e-03 1.76135553e-04 9.99994314e-01 -2.20837537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80037174299997 meters 0.02862550701973125 Centerline is valid? [True, True] Translation: X:157.91, Y:-8.83, Z:-2.21 [[ 9.99918892e-01 1.24523005e-02 2.67396451e-03 1.57909593e+02] [-1.24518890e-02 9.99922458e-01 -1.70503117e-04 -8.83252347e+00] [-2.67588032e-03 1.37193379e-04 9.99996410e-01 -2.20926122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83037174299997 meters 0.027524648233804287 Centerline is valid? [True, True] Translation: X:157.94, Y:-8.83, Z:-2.21 [[ 9.99879829e-01 1.53565499e-02 2.12235697e-03 1.57939575e+02] [-1.53562980e-02 9.99882076e-01 -1.34940439e-04 -8.83377324e+00] [-2.12417892e-03 1.02332677e-04 9.99997739e-01 -2.21062725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86037174299997 meters 0.0267859242987156 Centerline is valid? [True, True] Translation: X:157.97, Y:-8.84, Z:-2.21 [[ 9.99845226e-01 1.74570599e-02 2.18541510e-03 1.57968535e+02] [-1.74567965e-02 9.99847609e-01 -1.39550433e-04 -8.83509483e+00] [-2.18751820e-03 1.01378487e-04 9.99997602e-01 -2.21145662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89037174299997 meters 0.026407149021492035 Centerline is valid? [True, True] Translation: X:158.00, Y:-8.84, Z:-2.21 [[ 9.99802289e-01 1.97513450e-02 2.29489730e-03 1.57997758e+02] [-1.97510616e-02 9.99804918e-01 -1.46107091e-04 -8.83627867e+00] [-2.29733542e-03 1.00751546e-04 9.99997356e-01 -2.21186262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92037174299998 meters 0.025158844570404692 Centerline is valid? [True, True] Translation: X:158.03, Y:-8.84, Z:-2.21 [[ 9.99687607e-01 2.48456332e-02 2.71703320e-03 1.58026812e+02] [-2.48452561e-02 9.99691294e-01 -1.72483009e-04 -8.83601160e+00] [-2.72047988e-03 1.04923741e-04 9.99996294e-01 -2.21214766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95037174299998 meters 0.024745746172979685 Centerline is valid? [True, True] Translation: X:158.05, Y:-8.84, Z:-2.21 [[ 9.99617806e-01 2.75031850e-02 2.79572694e-03 1.58054817e+02] [-2.75027947e-02 9.99621711e-01 -1.77955309e-04 -8.83669362e+00] [-2.79956368e-03 1.00996992e-04 9.99996076e-01 -2.21279016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98037174299998 meters 0.023919233738767504 Centerline is valid? [True, True] Translation: X:158.09, Y:-8.84, Z:-2.21 [[ 9.99474461e-01 3.23772952e-02 1.58505506e-03 1.58085195e+02] [-3.23771767e-02 9.99475717e-01 -1.00407580e-04 -8.83556828e+00] [-1.58747497e-03 4.90352043e-05 9.99998739e-01 -2.21405557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01037174299998 meters 0.02323477167304707 Centerline is valid? [True, True] Translation: X:158.11, Y:-8.84, Z:-2.22 [[ 9.99398295e-01 3.46667764e-02 1.12395860e-03 1.58113706e+02] [-3.46667174e-02 9.99398926e-01 -7.19331511e-05 -8.83589161e+00] [-1.12577671e-03 3.29259133e-05 9.99999366e-01 -2.21502171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04037174299998 meters 0.022643901995989767 Centerline is valid? [True, True] Translation: X:158.14, Y:-8.84, Z:-2.22 [[ 9.99278612e-01 3.79765669e-02 -1.89963515e-04 1.58142316e+02] [-3.79765655e-02 9.99278630e-01 1.09913628e-05 -8.83674881e+00] [ 1.90243895e-04 -3.76927194e-06 9.99999982e-01 -2.21757226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07037174299998 meters 0.022758545492962037 Centerline is valid? [True, True] Translation: X:158.17, Y:-8.84, Z:-2.22 [[ 9.99244910e-01 3.88527629e-02 -2.70783157e-04 1.58170422e+02] [-3.88527600e-02 9.99244946e-01 1.60756728e-05 -8.84006049e+00] [ 2.71203285e-04 -5.54286119e-06 9.99999963e-01 -2.21933332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10037174299998 meters 0.02244646048189446 Centerline is valid? [True, True] Translation: X:158.20, Y:-8.84, Z:-2.22 [[ 9.99230525e-01 3.92202575e-02 -3.60590663e-04 1.58199650e+02] [-3.92202522e-02 9.99230590e-01 2.17055614e-05 -8.84143985e+00] [ 3.61164518e-04 -7.54640280e-06 9.99999935e-01 -2.21904927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13037174299998 meters 0.021869055578851212 Centerline is valid? [True, True] Translation: X:158.23, Y:-8.84, Z:-2.22 [[ 9.99242793e-01 3.89076660e-02 -1.83929855e-04 1.58227425e+02] [-3.89076648e-02 9.99242810e-01 1.00459010e-05 -8.84294827e+00] [ 1.84181447e-04 -2.88201305e-06 9.99999983e-01 -2.21872588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16037174299998 meters 0.022485569225551724 Centerline is valid? [True, True] Translation: X:158.26, Y:-8.85, Z:-2.22 [[ 9.99318052e-01 3.69222969e-02 -4.19136611e-04 1.58255033e+02] [-3.69222896e-02 9.99318139e-01 2.50412091e-05 -8.84783225e+00] [ 4.19775398e-04 -9.54864890e-06 9.99999912e-01 -2.21919934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.190371743 meters 0.022238485204571345 Centerline is valid? [True, True] Translation: X:158.28, Y:-8.85, Z:-2.22 [[ 9.99370812e-01 3.54656782e-02 -4.07748122e-04 1.58283282e+02] [-3.54656712e-02 9.99370895e-01 2.42655417e-05 -8.84956378e+00] [ 4.08352200e-04 -9.78921327e-06 9.99999917e-01 -2.21851596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220371743 meters 0.024053460985141637 Centerline is valid? [True, True] Translation: X:158.31, Y:-8.86, Z:-2.22 [[ 9.99448186e-01 3.32078734e-02 7.48143015e-04 1.58310049e+02] [-3.32078461e-02 9.99448466e-01 -4.88786200e-05 -8.85762174e+00] [-7.49353544e-04 2.40074300e-05 9.99999719e-01 -2.21940732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.250371743 meters 0.024770132011835786 Centerline is valid? [True, True] Translation: X:158.34, Y:-8.86, Z:-2.22 [[ 9.99493758e-01 3.17505871e-02 2.03182300e-03 1.58337755e+02] [-3.17503915e-02 9.99495821e-01 -1.28457405e-04 -8.86386690e+00] [-2.03487720e-03 6.38811985e-05 9.99997928e-01 -2.22033133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280371743 meters 0.024102972462804094 Centerline is valid? [True, True] Translation: X:158.37, Y:-8.87, Z:-2.22 [[ 9.99520706e-01 3.08215424e-02 2.89663614e-03 1.58366695e+02] [-3.08211462e-02 9.99524899e-01 -1.81357599e-04 -8.86592135e+00] [-2.90084966e-03 9.19930294e-05 9.99995788e-01 -2.21936099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.310371743 meters 0.026986897869671577 Centerline is valid? [True, True] Translation: X:158.39, Y:-8.88, Z:-2.22 [[ 9.99583267e-01 2.85840518e-02 4.03035973e-03 1.58394106e+02] [-2.85832669e-02 9.99591383e-01 -2.52227671e-04 -8.87533922e+00] [-4.03592255e-03 1.36921712e-04 9.99991846e-01 -2.22014125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340371743 meters 0.026310020749842834 Centerline is valid? [True, True] Translation: X:158.42, Y:-8.88, Z:-2.22 [[ 9.99618128e-01 2.73132432e-02 4.19348461e-03 1.58422891e+02] [-2.73123872e-02 9.99626913e-01 -2.61281670e-04 -8.87735593e+00] [-4.19905652e-03 1.46647818e-04 9.99991173e-01 -2.21982160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.370371743 meters 0.027990994031817873 Centerline is valid? [True, True] Translation: X:158.45, Y:-8.89, Z:-2.22 [[ 9.99712145e-01 2.35836670e-02 4.40883071e-03 1.58451607e+02] [-2.35826868e-02 9.99721852e-01 -2.74189458e-04 -8.88559717e+00] [-4.41407079e-03 1.70138458e-04 9.99990243e-01 -2.22046885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400371743 meters 0.02886249174314245 Centerline is valid? [True, True] Translation: X:158.48, Y:-8.89, Z:-2.22 [[ 9.99762836e-01 2.12958216e-02 4.55624895e-03 1.58481236e+02] [-2.12947529e-02 9.99773201e-01 -2.82947019e-04 -8.89136157e+00] [-4.56124119e-03 1.85855718e-04 9.99989580e-01 -2.22110985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.430371743 meters 0.030281022225119004 Centerline is valid? [True, True] Translation: X:158.51, Y:-8.90, Z:-2.22 [[ 9.99808031e-01 1.89714667e-02 4.89734923e-03 1.58509852e+02] [-1.89702044e-02 9.99820003e-01 -3.04080305e-04 -8.89795875e+00] [-4.90223657e-03 2.11118215e-04 9.99987962e-01 -2.22232810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460371743 meters 0.03213419348029714 Centerline is valid? [True, True] Translation: X:158.54, Y:-8.91, Z:-2.22 [[ 9.99877779e-01 1.49855549e-02 4.45644928e-03 1.58539241e+02] [-1.49844722e-02 9.99887688e-01 -2.76228098e-04 -8.90677194e+00] [-4.46008820e-03 2.09416797e-04 9.99990032e-01 -2.22384020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49037174299997 meters 0.03416150766724002 Centerline is valid? [True, True] Translation: X:158.57, Y:-8.91, Z:-2.23 [[ 9.99900338e-01 1.35167689e-02 4.07571796e-03 1.58567343e+02] [-1.35158501e-02 9.99908625e-01 -2.52905748e-04 -8.91268502e+00] [-4.07876401e-03 1.97793750e-04 9.99991662e-01 -2.22528293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52037174299997 meters 0.02823587796152378 Centerline is valid? [True, True] Translation: X:158.60, Y:-8.91, Z:-2.22 [[ 9.99915883e-01 1.25375588e-02 3.32217615e-03 1.58597060e+02] [-1.25369432e-02 9.99921388e-01 -2.06061698e-04 -8.90625316e+00] [-3.32449850e-03 1.64394432e-04 9.99994460e-01 -2.22379201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55037174299997 meters 0.032651979258746064 Centerline is valid? [True, True] Translation: X:158.62, Y:-8.92, Z:-2.23 [[ 9.99921497e-01 1.20627348e-02 3.38987814e-03 1.58623800e+02] [-1.20620910e-02 9.99927228e-01 -2.10290908e-04 -8.91639620e+00] [-3.39216814e-03 1.69385381e-04 9.99994232e-01 -2.22537297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58037174299997 meters 0.029108000575137134 Centerline is valid? [True, True] Translation: X:158.65, Y:-8.91, Z:-2.22 [[ 9.99915957e-01 1.24226819e-02 3.70892396e-03 1.58652525e+02] [-1.24219146e-02 9.99922819e-01 -2.29848516e-04 -8.91310590e+00] [-3.71149304e-03 1.83757263e-04 9.99993096e-01 -2.22408680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61037174299997 meters 0.028589561909562244 Centerline is valid? [True, True] Translation: X:158.68, Y:-8.92, Z:-2.22 [[ 9.99904119e-01 1.32271759e-02 4.09803217e-03 1.58681250e+02] [-1.32262475e-02 9.99912497e-01 -2.53571733e-04 -8.91526090e+00] [-4.10102761e-03 1.99345833e-04 9.99991571e-01 -2.22407295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64037174299997 meters 0.029935217861846605 Centerline is valid? [True, True] Translation: X:158.71, Y:-8.92, Z:-2.23 [[ 9.99887306e-01 1.44769532e-02 3.97396524e-03 1.58708555e+02] [-1.44760904e-02 9.99895186e-01 -2.45790519e-04 -8.91943588e+00] [-3.97710701e-03 1.88235340e-04 9.99992074e-01 -2.22517414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67037174299998 meters 0.027617240603953257 Centerline is valid? [True, True] Translation: X:158.74, Y:-8.92, Z:-2.23 [[ 9.99857183e-01 1.64546775e-02 3.85442943e-03 1.58738023e+02] [-1.64538828e-02 9.99864597e-01 -2.37780182e-04 -8.91752792e+00] [-3.85782013e-03 1.74325892e-04 9.99992543e-01 -2.22505083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70037174299998 meters 0.02606123380912968 Centerline is valid? [True, True] Translation: X:158.77, Y:-8.92, Z:-2.23 [[ 9.99774805e-01 2.08765322e-02 3.80916252e-03 1.58768258e+02] [-2.08757903e-02 9.99782049e-01 -2.34427916e-04 -8.91614811e+00] [-3.81322636e-03 1.54855846e-04 9.99992718e-01 -2.22517542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73037174299998 meters 0.025369810251208456 Centerline is valid? [True, True] Translation: X:158.80, Y:-8.92, Z:-2.23 [[ 9.99700330e-01 2.41830366e-02 3.79882941e-03 1.58798668e+02] [-2.41823228e-02 9.99707538e-01 -2.33723868e-04 -8.91601518e+00] [-3.80337055e-03 1.41789309e-04 9.99992757e-01 -2.22540100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76037174299998 meters 0.02433349250938215 Centerline is valid? [True, True] Translation: X:158.83, Y:-8.91, Z:-2.23 [[ 9.99522191e-01 3.07331712e-02 3.29576721e-03 1.58829321e+02] [-3.07326695e-02 9.99527619e-01 -2.02746967e-04 -8.91351627e+00] [-3.30044141e-03 1.01362368e-04 9.99994548e-01 -2.22565510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79037174299998 meters 0.022886719514868783 Centerline is valid? [True, True] Translation: X:158.86, Y:-8.91, Z:-2.23 [[ 9.99448717e-01 3.30072328e-02 3.57550944e-03 1.58857895e+02] [-3.30066552e-02 9.99455108e-01 -2.20443323e-04 -8.91228188e+00] [-3.58083739e-03 1.02306190e-04 9.99993584e-01 -2.22545652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82037174299998 meters 0.021893722898885647 Centerline is valid? [True, True] Translation: X:158.89, Y:-8.91, Z:-2.23 [[ 9.99384101e-01 3.48915848e-02 3.74102211e-03 1.58886627e+02] [-3.48909669e-02 9.99391098e-01 -2.30325993e-04 -8.91272905e+00] [-3.74678063e-03 9.96562573e-05 9.99992976e-01 -2.22531812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85037174299998 meters 0.021908236448983417 Centerline is valid? [True, True] Translation: X:158.91, Y:-8.91, Z:-2.23 [[ 9.99260478e-01 3.82126363e-02 4.27682848e-03 1.58914973e+02] [-3.82118611e-02 9.99269626e-01 -2.62857763e-04 -8.91277875e+00] [-4.28374929e-03 9.92377979e-05 9.99990820e-01 -2.22530112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88037174299998 meters 0.021508596626831734 Centerline is valid? [True, True] Translation: X:158.94, Y:-8.91, Z:-2.23 [[ 9.99213136e-01 3.93746383e-02 4.76942002e-03 1.58942411e+02] [-3.93736889e-02 9.99224513e-01 -2.92830253e-04 -8.91438197e+00] [-4.77725148e-03 1.04810175e-04 9.99988583e-01 -2.22540403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91037174299998 meters 0.021739501610639377 Centerline is valid? [True, True] Translation: X:158.97, Y:-8.92, Z:-2.22 [[ 9.99140166e-01 4.11403703e-02 5.13797141e-03 1.58971287e+02] [-4.11392954e-02 9.99153371e-01 -3.14777584e-04 -8.91528874e+00] [-5.14657153e-03 1.03134404e-04 9.99986751e-01 -2.22467835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940371743 meters 0.020744676606232162 Centerline is valid? [True, True] Translation: X:159.00, Y:-8.92, Z:-2.22 [[ 9.99155410e-01 4.06882311e-02 5.73877760e-03 1.58999350e+02] [-4.06868839e-02 9.99171884e-01 -3.51350199e-04 -8.91742596e+00] [-5.74832105e-03 1.17560474e-04 9.99983471e-01 -2.22479884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.970371743 meters 0.02083560609312158 Centerline is valid? [True, True] Translation: X:159.03, Y:-8.92, Z:-2.23 [[ 9.99164233e-01 4.04894506e-02 5.60704614e-03 1.59025882e+02] [-4.04881638e-02 9.99179959e-01 -3.42859596e-04 -8.92025129e+00] [-5.61633033e-03 1.15554043e-04 9.99984222e-01 -2.22557640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000371743 meters 0.02077752654413535 Centerline is valid? [True, True] Translation: X:159.05, Y:-8.92, Z:-2.23 [[ 9.99238824e-01 3.87588896e-02 4.41832626e-03 1.59054432e+02] [-3.87580767e-02 9.99248587e-01 -2.69494115e-04 -8.92432052e+00] [-4.42545157e-03 9.80431546e-05 9.99990203e-01 -2.22624846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.030371743 meters 0.021623155692822863 Centerline is valid? [True, True] Translation: X:159.08, Y:-8.93, Z:-2.23 [[ 9.99289214e-01 3.74949716e-02 3.89781641e-03 1.59081613e+02] [-3.74943293e-02 9.99296812e-01 -2.37759650e-04 -8.92959473e+00] [-3.90399030e-03 9.14446422e-05 9.99992375e-01 -2.22806640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060371743 meters 0.021247092593300185 Centerline is valid? [True, True] Translation: X:159.11, Y:-8.93, Z:-2.23 [[ 9.99347359e-01 3.59825861e-02 3.17967577e-03 1.59110199e+02] [-3.59821518e-02 9.99352414e-01 -1.93707169e-04 -8.93248756e+00] [-3.18458674e-03 7.91691714e-05 9.99994926e-01 -2.22833487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.090371743 meters 0.02232878071869659 Centerline is valid? [True, True] Translation: X:159.14, Y:-8.94, Z:-2.23 [[ 9.99459032e-01 3.27664910e-02 2.82844477e-03 1.59138534e+02] [-3.27661353e-02 9.99463031e-01 -1.72011595e-04 -8.94060362e+00] [-2.83256220e-03 7.92413382e-05 9.99995985e-01 -2.22951832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120371743 meters 0.022804584471747158 Centerline is valid? [True, True] Translation: X:159.17, Y:-8.95, Z:-2.23 [[ 9.99521100e-01 3.07919780e-02 3.06999605e-03 1.59167429e+02] [-3.07915498e-02 9.99525810e-01 -1.86669901e-04 -8.94500591e+00] [-3.07428823e-03 9.20505685e-05 9.99995270e-01 -2.23004385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.150371743 meters 0.02404716895713353 Centerline is valid? [True, True] Translation: X:159.20, Y:-8.95, Z:-2.23 [[ 9.99618042e-01 2.72688098e-02 4.49249890e-03 1.59195871e+02] [-2.72678608e-02 9.99628126e-01 -2.72371942e-04 -8.95311076e+00] [-4.49825552e-03 1.49767072e-04 9.99989872e-01 -2.23008624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180371743 meters 0.024520637871485063 Centerline is valid? [True, True] Translation: X:159.22, Y:-8.96, Z:-2.23 [[ 9.99664392e-01 2.54522882e-02 4.82548774e-03 1.59224826e+02] [-2.54511741e-02 9.99676024e-01 -2.92149237e-04 -8.95748558e+00] [-4.83136026e-03 1.69236861e-04 9.99988315e-01 -2.23013603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.210371743 meters 0.026139156221956186 Centerline is valid? [True, True] Translation: X:159.25, Y:-8.96, Z:-2.23 [[ 9.99710895e-01 2.35359533e-02 4.91781465e-03 1.59251781e+02] [-2.35347733e-02 9.99722975e-01 -2.97687113e-04 -8.96383403e+00] [-4.92345864e-03 1.81861398e-04 9.99987863e-01 -2.23090532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24037174299997 meters 0.024960700141198364 Centerline is valid? [True, True] Translation: X:159.28, Y:-8.97, Z:-2.23 [[ 9.99786005e-01 2.00306644e-02 5.16877569e-03 1.59281633e+02] [-2.00293204e-02 9.99799344e-01 -3.11648793e-04 -8.96603232e+00] [-5.17398107e-03 2.08055037e-04 9.99986593e-01 -2.23003843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27037174299997 meters 0.026707327461957944 Centerline is valid? [True, True] Translation: X:159.31, Y:-8.97, Z:-2.23 [[ 9.99824022e-01 1.79855103e-02 5.33343330e-03 1.59310078e+02] [-1.79840506e-02 9.99838222e-01 -3.21519519e-04 -8.97300068e+00] [-5.33835316e-03 2.25546204e-04 9.99985725e-01 -2.23096223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30037174299997 meters 0.028872731969753977 Centerline is valid? [True, True] Translation: X:159.34, Y:-8.98, Z:-2.23 [[ 9.99883870e-01 1.41629847e-02 5.62638587e-03 1.59339299e+02] [-1.41613036e-02 9.99899666e-01 -3.38516809e-04 -8.98164970e+00] [-5.63061576e-03 2.58800539e-04 9.99984114e-01 -2.23175259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33037174299997 meters 0.02954399226697864 Centerline is valid? [True, True] Translation: X:159.37, Y:-8.99, Z:-2.23 [[ 9.99905088e-01 1.21370601e-02 6.51979472e-03 1.59369033e+02] [-1.21347599e-02 9.99926294e-01 -3.92246491e-04 -8.98561986e+00] [-6.52407489e-03 3.13093118e-04 9.99978669e-01 -2.23207555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36037174299997 meters 0.02954399226697864 Centerline is valid? [True, True] Translation: X:159.40, Y:-8.99, Z:-2.23 [[ 9.99905512e-01 1.21020335e-02 6.51980849e-03 1.59398167e+02] [-1.20997340e-02 9.99926719e-01 -3.92017449e-04 -8.98733951e+00] [-6.52407492e-03 3.13092459e-04 9.99978669e-01 -2.23248561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39037174299997 meters 0.028679611317793424 Centerline is valid? [True, True] Translation: X:159.43, Y:-8.99, Z:-2.23 [[ 9.99931469e-01 8.57719801e-03 7.96794302e-03 1.59428260e+02] [-8.57365590e-03 9.99963131e-01 -4.78597849e-04 -8.99059266e+00] [-7.97175428e-03 4.10250649e-04 9.99968141e-01 -2.23096280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42037174299998 meters 0.03190726472183653 Centerline is valid? [True, True] Translation: X:159.46, Y:-9.00, Z:-2.23 [[ 9.99935903e-01 7.34878601e-03 8.61309610e-03 1.59458459e+02] [-7.34460569e-03 9.99972894e-01 -5.16875340e-04 -8.99882928e+00] [-8.61666104e-03 4.53582415e-04 9.99962773e-01 -2.23137341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45037174299998 meters 0.02955056239642119 Centerline is valid? [True, True] Translation: X:159.49, Y:-9.00, Z:-2.23 [[ 9.99939902e-01 5.94407379e-03 9.21197682e-03 1.59489978e+02] [-5.93922905e-03 9.99982210e-01 -5.53185583e-04 -8.99728802e+00] [-9.21510111e-03 4.98440297e-04 9.99957416e-01 -2.23087884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48037174299998 meters 0.03093301017867007 Centerline is valid? [True, True] Translation: X:159.52, Y:-9.00, Z:-2.23 [[ 9.99947751e-01 4.63949813e-03 9.10879179e-03 1.59520905e+02] [-4.63471328e-03 9.99989110e-01 -5.46338735e-04 -9.00134353e+00] [-9.11122733e-03 5.04093551e-04 9.99958365e-01 -2.23122973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51037174299998 meters 0.031096204098871247 Centerline is valid? [True, True] Translation: X:159.55, Y:-9.00, Z:-2.23 [[ 9.99957276e-01 1.61340193e-03 9.10182321e-03 1.59552375e+02] [-1.60847103e-03 9.99998556e-01 -5.49043174e-04 -9.00348499e+00] [-9.10269590e-03 5.34379698e-04 9.99958427e-01 -2.23169980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54037174299998 meters 0.03420249045117484 Centerline is valid? [True, True] Translation: X:159.58, Y:-9.01, Z:-2.23 [[ 9.99962867e-01 8.33988696e-04 8.57722985e-03 1.59583414e+02] [-8.29588139e-04 9.99999522e-01 -5.16596175e-04 -9.00829579e+00] [-8.57765659e-03 5.09461424e-04 9.99963081e-01 -2.23280564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57037174299998 meters 0.03338401185301733 Centerline is valid? [True, True] Translation: X:159.61, Y:-9.01, Z:-2.23 [[ 9.99965926e-01 -3.06918980e-03 7.66338854e-03 1.59613710e+02] [ 3.07283918e-03 9.99995171e-01 -4.64481166e-04 -9.00843457e+00] [-7.66192596e-03 4.88013699e-04 9.99970528e-01 -2.23327053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60037174299998 meters 0.03298325980447302 Centerline is valid? [True, True] Translation: X:159.65, Y:-9.01, Z:-2.23 [[ 9.99962492e-01 -4.37427338e-03 7.47535796e-03 1.59645865e+02] [ 4.37777910e-03 9.99990315e-01 -4.52671741e-04 -9.00933227e+00] [-7.47330545e-03 4.85380228e-04 9.99971957e-01 -2.23408957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63037174299998 meters 0.03594603804749446 Centerline is valid? [True, True] Translation: X:159.68, Y:-9.01, Z:-2.23 [[ 9.99961089e-01 -5.51780537e-03 6.88294245e-03 1.59676268e+02] [ 5.52080468e-03 9.99984673e-01 -4.16836764e-04 -9.01497086e+00] [-6.88053693e-03 4.54819925e-04 9.99976225e-01 -2.23495858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66037174299998 meters 0.03810111493380375 Centerline is valid? [True, True] Translation: X:159.71, Y:-9.02, Z:-2.24 [[ 9.99940220e-01 -8.76891765e-03 6.53165376e-03 1.59706604e+02] [ 8.77169794e-03 9.99961449e-01 -3.97138105e-04 -9.01762333e+00] [-6.52791948e-03 4.54408058e-04 9.99978590e-01 -2.23545811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.690371743 meters 0.03961407183133248 Centerline is valid? [True, True] Translation: X:159.74, Y:-9.02, Z:-2.24 [[ 9.99933026e-01 -9.58660321e-03 6.48390133e-03 1.59738910e+02] [ 9.58935818e-03 9.99953943e-01 -3.93939203e-04 -9.02000224e+00] [-6.47982617e-03 4.56089271e-04 9.99978902e-01 -2.23630963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720371743 meters 0.038715880152414756 Centerline is valid? [True, True] Translation: X:159.77, Y:-9.02, Z:-2.24 [[ 9.99902909e-01 -1.21904057e-02 6.75026764e-03 1.59769911e+02] [ 1.21934568e-02 9.99925573e-01 -4.11026551e-04 -9.01980243e+00] [-6.74475465e-03 4.93295741e-04 9.99977132e-01 -2.23617018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.750371743 meters 0.03981364823468466 Centerline is valid? [True, True] Translation: X:159.80, Y:-9.02, Z:-2.24 [[ 9.99856350e-01 -1.55101596e-02 6.83483979e-03 1.59800526e+02] [ 1.55133660e-02 9.99879574e-01 -4.16355556e-04 -9.02041045e+00] [-6.82755896e-03 5.22327118e-04 9.99976556e-01 -2.23599955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780371743 meters 0.0411847050239942 Centerline is valid? [True, True] Translation: X:159.83, Y:-9.02, Z:-2.24 [[ 9.99831786e-01 -1.71225944e-02 6.57387774e-03 1.59831670e+02] [ 1.71255944e-02 9.99853266e-01 -4.00332385e-04 -9.02247542e+00] [-6.56605840e-03 5.12846608e-04 9.99978312e-01 -2.23601395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.810371743 meters 0.043188672771670114 Centerline is valid? [True, True] Translation: X:159.86, Y:-9.02, Z:-2.24 [[ 9.99798379e-01 -1.91554942e-02 6.02239532e-03 1.59862119e+02] [ 1.91580506e-02 9.99816400e-01 -3.67065426e-04 -9.02332445e+00] [-6.01425829e-03 4.82368771e-04 9.99981798e-01 -2.23673135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840371743 meters 0.03990239527764626 Centerline is valid? [True, True] Translation: X:159.89, Y:-9.02, Z:-2.24 [[ 9.99787730e-01 -1.98021094e-02 5.68964478e-03 1.59894606e+02] [ 1.98043993e-02 9.99803814e-01 -3.46408011e-04 -9.01889388e+00] [-5.68166894e-03 4.59014476e-04 9.99983754e-01 -2.23626822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.870371743 meters 0.041091298083224634 Centerline is valid? [True, True] Translation: X:159.93, Y:-9.02, Z:-2.24 [[ 9.99776384e-01 -2.03323515e-02 5.81180804e-03 1.59925848e+02] [ 2.03347532e-02 9.99793165e-01 -3.54447425e-04 -9.02020551e+00] [-5.80339920e-03 4.72549847e-04 9.99983048e-01 -2.23674829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900371743 meters 0.040244184402102166 Centerline is valid? [True, True] Translation: X:159.96, Y:-9.02, Z:-2.24 [[ 9.99755655e-01 -2.12221937e-02 6.18450492e-03 1.59958406e+02] [ 2.12249317e-02 9.99774655e-01 -3.77417210e-04 -9.01699340e+00] [-6.17510165e-03 5.08590685e-04 9.99980805e-01 -2.23622359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.930371743 meters 0.04122057398383394 Centerline is valid? [True, True] Translation: X:159.99, Y:-9.02, Z:-2.24 [[ 9.99745299e-01 -2.16891575e-02 6.23834196e-03 1.59990658e+02] [ 2.16919554e-02 9.99764629e-01 -3.81174716e-04 -9.01792626e+00] [-6.22860628e-03 5.16399466e-04 9.99980469e-01 -2.23691327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960371743 meters 0.04401939561909442 Centerline is valid? [True, True] Translation: X:160.02, Y:-9.02, Z:-2.24 [[ 9.99732178e-01 -2.24095238e-02 5.77793494e-03 1.60021271e+02] [ 2.24119353e-02 9.99748759e-01 -3.52949143e-04 -9.01978922e+00] [-5.76857386e-03 4.82349319e-04 9.99983245e-01 -2.23832095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99037174299997 meters 0.045349778717437374 Centerline is valid? [True, True] Translation: X:160.05, Y:-9.02, Z:-2.24 [[ 9.99720403e-01 -2.29239783e-02 5.79720019e-03 1.60052279e+02] [ 2.29264223e-02 9.99737092e-01 -3.55467265e-04 -9.02181704e+00] [-5.78752733e-03 4.88276937e-04 9.99983133e-01 -2.23943102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02037174299997 meters 0.04507835780170101 Centerline is valid? [True, True] Translation: X:160.08, Y:-9.02, Z:-2.24 [[ 9.99708721e-01 -2.35113569e-02 5.44877868e-03 1.60083984e+02] [ 2.35135259e-02 9.99723463e-01 -3.34346615e-04 -9.02108663e+00] [-5.43941095e-03 4.62369225e-04 9.99985099e-01 -2.24071616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05037174299997 meters 0.047603840005116194 Centerline is valid? [True, True] Translation: X:160.11, Y:-9.02, Z:-2.24 [[ 9.99703554e-01 -2.37046345e-02 5.55826951e-03 1.60114732e+02] [ 2.37068963e-02 9.99718894e-01 -3.41381307e-04 -9.02409902e+00] [-5.54861473e-03 4.73049424e-04 9.99984494e-01 -2.24163893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08037174299997 meters 0.04567682375626077 Centerline is valid? [True, True] Translation: X:160.15, Y:-9.02, Z:-2.24 [[ 9.99711226e-01 -2.34521348e-02 5.24042322e-03 1.60147653e+02] [ 2.34541423e-02 9.99724862e-01 -3.21940409e-04 -9.01696053e+00] [-5.23143119e-03 4.44757073e-04 9.99986217e-01 -2.24076855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11037174299997 meters 0.04448027367127533 Centerline is valid? [True, True] Translation: X:160.18, Y:-9.01, Z:-2.24 [[ 9.99722039e-01 -2.29658556e-02 5.33055671e-03 1.60180613e+02] [ 2.29679254e-02 9.99736149e-01 -3.27391546e-04 -9.01424697e+00] [-5.32163141e-03 4.49732372e-04 9.99985739e-01 -2.24092414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14037174299997 meters 0.04187613832583239 Centerline is valid? [True, True] Translation: X:160.21, Y:-9.01, Z:-2.24 [[ 9.99745022e-01 -2.18786792e-02 5.58699791e-03 1.60212570e+02] [ 2.18809447e-02 9.99760524e-01 -3.44687692e-04 -9.00662934e+00] [-5.57811865e-03 4.66848596e-04 9.99984333e-01 -2.24065508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17037174299998 meters 0.043396456658498186 Centerline is valid? [True, True] Translation: X:160.24, Y:-9.01, Z:-2.24 [[ 9.99769748e-01 -2.06867916e-02 5.70149130e-03 1.60242599e+02] [ 2.06891338e-02 9.99785895e-01 -3.52125065e-04 -9.00705817e+00] [-5.69298624e-03 4.70002904e-04 9.99983684e-01 -2.24160542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20037174299998 meters 0.043144061023663305 Centerline is valid? [True, True] Translation: X:160.27, Y:-9.00, Z:-2.24 [[ 9.99777896e-01 -2.00395490e-02 6.52498959e-03 1.60274794e+02] [ 2.00426014e-02 9.99799046e-01 -4.02737721e-04 -9.00319517e+00] [-6.51560769e-03 5.33426036e-04 9.99978631e-01 -2.24236703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23037174299998 meters 0.04295899996569443 Centerline is valid? [True, True] Translation: X:160.31, Y:-9.00, Z:-2.24 [[ 9.99783870e-01 -1.96488861e-02 6.79229821e-03 1.60307010e+02] [ 1.96521883e-02 9.99806789e-01 -4.19762597e-04 -9.00252535e+00] [-6.78273800e-03 5.53155397e-04 9.99976844e-01 -2.24345669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26037174299998 meters 0.042571781190074355 Centerline is valid? [True, True] Translation: X:160.34, Y:-9.00, Z:-2.24 [[ 9.99790902e-01 -1.92860830e-02 6.79697723e-03 1.60338942e+02] [ 1.92893847e-02 9.99813854e-01 -4.20539733e-04 -9.00211397e+00] [-6.78760143e-03 5.51561307e-04 9.99976812e-01 -2.24405559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29037174299998 meters 0.043811687023592415 Centerline is valid? [True, True] Translation: X:160.37, Y:-9.00, Z:-2.25 [[ 9.99789989e-01 -1.95553538e-02 6.12910766e-03 1.60369798e+02] [ 1.95580474e-02 9.99808651e-01 -3.79844437e-04 -9.00068051e+00] [-6.12050687e-03 4.99638043e-04 9.99981145e-01 -2.24558541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32037174299998 meters 0.04274233141078564 Centerline is valid? [True, True] Translation: X:160.40, Y:-9.00, Z:-2.25 [[ 9.99788480e-01 -1.97899907e-02 5.59917084e-03 1.60402271e+02] [ 1.97922415e-02 9.99804054e-01 -3.46855741e-04 -8.99904806e+00] [-5.59120944e-03 4.57602516e-04 9.99984264e-01 -2.24631387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35037174299998 meters 0.04429164884302262 Centerline is valid? [True, True] Translation: X:160.43, Y:-9.00, Z:-2.25 [[ 9.99784225e-01 -2.01724079e-02 4.95763098e-03 1.60433233e+02] [ 2.01741757e-02 9.99796434e-01 -3.06815713e-04 -8.99830892e+00] [-4.95043256e-03 4.06765628e-04 9.99987664e-01 -2.24737904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38037174299998 meters 0.04445265601635934 Centerline is valid? [True, True] Translation: X:160.47, Y:-9.00, Z:-2.25 [[ 9.99793169e-01 -1.99326690e-02 4.03834896e-03 1.60466641e+02] [ 1.99338418e-02 9.99801270e-01 -2.50353469e-04 -8.99808375e+00] [-4.03255621e-03 3.30801498e-04 9.99991814e-01 -2.24804311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41037174299998 meters 0.04368809284538605 Centerline is valid? [True, True] Translation: X:160.50, Y:-9.00, Z:-2.25 [[ 9.99822479e-01 -1.84563989e-02 3.79090528e-03 1.60498755e+02] [ 1.84574251e-02 9.99829619e-01 -2.35873724e-04 -8.99766274e+00] [-3.78590600e-03 3.05802202e-04 9.99992787e-01 -2.24910095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440371743 meters 0.04503617966812257 Centerline is valid? [True, True] Translation: X:160.53, Y:-9.00, Z:-2.25 [[ 9.99843133e-01 -1.72916506e-02 3.83525766e-03 1.60529493e+02] [ 1.72926939e-02 9.99850442e-01 -2.39031326e-04 -9.00007007e+00] [-3.83055082e-03 3.05315767e-04 9.99992617e-01 -2.25055685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.470371743 meters 0.04159410413269202 Centerline is valid? [True, True] Translation: X:160.56, Y:-8.99, Z:-2.25 [[ 9.99888593e-01 -1.44951711e-02 3.56260817e-03 1.60561033e+02] [ 1.44960546e-02 9.99894902e-01 -2.22315467e-04 -8.99341780e+00] [-3.55901125e-03 2.73934462e-04 9.99993629e-01 -2.25093636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500371743 meters 0.04115786992661255 Centerline is valid? [True, True] Translation: X:160.59, Y:-8.99, Z:-2.25 [[ 9.99911668e-01 -1.28719039e-02 3.31210045e-03 1.60593030e+02] [ 1.28726576e-02 9.99917123e-01 -2.06343514e-04 -8.99283783e+00] [-3.30916992e-03 2.48960822e-04 9.99994494e-01 -2.25186619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.530371743 meters 0.037372907795514734 Centerline is valid? [True, True] Translation: X:160.62, Y:-8.99, Z:-2.25 [[ 9.99950039e-01 -9.43830288e-03 3.29200827e-03 1.60623770e+02] [ 9.43903170e-03 9.99955430e-01 -2.05922079e-04 -8.98537064e+00] [-3.28991799e-03 2.36985161e-04 9.99994560e-01 -2.25200624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560371743 meters 0.036993103119753984 Centerline is valid? [True, True] Translation: X:160.66, Y:-8.98, Z:-2.25 [[ 9.99963798e-01 -7.76081301e-03 3.48895449e-03 1.60655342e+02] [ 7.76161971e-03 9.99969854e-01 -2.17734673e-04 -8.98449400e+00] [-3.48715952e-03 2.44806728e-04 9.99993890e-01 -2.25217155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.590371743 meters 0.03855389253481195 Centerline is valid? [True, True] Translation: X:160.69, Y:-8.99, Z:-2.25 [[ 9.99976506e-01 -5.92987309e-03 3.43850128e-03 1.60685513e+02] [ 5.93064365e-03 9.99982391e-01 -2.13943016e-04 -8.98672715e+00] [-3.43717207e-03 2.34330516e-04 9.99994065e-01 -2.25280589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620371743 meters 0.035605683792567316 Centerline is valid? [True, True] Translation: X:160.72, Y:-8.98, Z:-2.25 [[ 9.99986977e-01 -3.71509370e-03 3.49903446e-03 1.60717268e+02] [ 3.71588220e-03 9.99993072e-01 -2.18874368e-04 -8.98088659e+00] [-3.49819708e-03 2.31873518e-04 9.99993854e-01 -2.25275865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.650371743 meters 0.0362174319445878 Centerline is valid? [True, True] Translation: X:160.75, Y:-8.98, Z:-2.25 [[ 9.99988209e-01 -3.11567643e-03 3.72487839e-03 1.60748211e+02] [ 3.11656581e-03 9.99995116e-01 -2.32987011e-04 -8.98294743e+00] [-3.72413429e-03 2.44593093e-04 9.99993035e-01 -2.25323707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680371743 meters 0.03978364219502909 Centerline is valid? [True, True] Translation: X:160.78, Y:-8.99, Z:-2.26 [[ 9.99993058e-01 -1.58886026e-03 3.37042242e-03 1.60777919e+02] [ 1.58957858e-03 9.99998714e-01 -2.10456524e-04 -8.98950575e+00] [-3.37008370e-03 2.15812614e-04 9.99994298e-01 -2.25630462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.710371743 meters 0.03431877916368889 Centerline is valid? [True, True] Translation: X:160.81, Y:-8.98, Z:-2.26 [[ 9.99994201e-01 -9.77657306e-04 3.26216605e-03 1.60810847e+02] [ 9.78328761e-04 9.99999501e-01 -2.04241510e-04 -8.98368503e+00] [-3.26196475e-03 2.07431797e-04 9.99994658e-01 -2.25618985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74037174299997 meters 0.03514499181408461 Centerline is valid? [True, True] Translation: X:160.84, Y:-8.99, Z:-2.26 [[ 9.99993967e-01 -3.97513718e-04 3.45086921e-03 1.60842348e+02] [ 3.98262798e-04 9.99999897e-01 -2.16385565e-04 -8.98711067e+00] [-3.45078284e-03 2.17758613e-04 9.99994022e-01 -2.25750833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77037174299997 meters 0.03458834343273874 Centerline is valid? [True, True] Translation: X:160.87, Y:-8.99, Z:-2.26 [[ 9.99993156e-01 3.66885459e-04 3.68152100e-03 1.60874379e+02] [-3.66036131e-04 9.99999906e-01 -2.31371639e-04 -8.98648640e+00] [-3.68160554e-03 2.30022486e-04 9.99993196e-01 -2.25765043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80037174299997 meters 0.03543363299725249 Centerline is valid? [True, True] Translation: X:160.91, Y:-8.99, Z:-2.26 [[ 9.99992195e-01 8.19941784e-04 3.86499147e-03 1.60905123e+02] [-8.19007398e-04 9.99999635e-01 -2.43332876e-04 -8.98864832e+00] [-3.86518958e-03 2.40165520e-04 9.99992501e-01 -2.25817064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83037174299997 meters 0.03464673299010696 Centerline is valid? [True, True] Translation: X:160.94, Y:-8.99, Z:-2.26 [[ 9.99993244e-01 3.93796565e-04 3.65482305e-03 1.60936859e+02] [-3.92957838e-04 9.99999896e-01 -2.30200291e-04 -8.98789582e+00] [-3.65491333e-03 2.28762544e-04 9.99993295e-01 -2.25839655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86037174299997 meters 0.036071886209358375 Centerline is valid? [True, True] Translation: X:160.97, Y:-8.99, Z:-2.26 [[ 9.99993442e-01 4.00991545e-04 3.59939386e-03 1.60968345e+02] [-4.00185053e-04 9.99999895e-01 -2.24780615e-04 -8.99180913e+00] [-3.59948361e-03 2.23338717e-04 9.99993497e-01 -2.25901277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89037174299997 meters 0.03668823061172022 Centerline is valid? [True, True] Translation: X:161.00, Y:-8.99, Z:-2.26 [[ 9.99994245e-01 -4.46016293e-05 3.39230312e-03 1.60999502e+02] [ 4.53297093e-05 9.99999976e-01 -2.14550456e-04 -8.99428465e+00] [-3.39229347e-03 2.14702993e-04 9.99994223e-01 -2.25962284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92037174299998 meters 0.03764414945351649 Centerline is valid? [True, True] Translation: X:161.03, Y:-9.00, Z:-2.26 [[ 9.99994217e-01 -3.53546411e-04 3.38252366e-03 1.61030270e+02] [ 3.54265496e-04 9.99999915e-01 -2.11991716e-04 -8.99744433e+00] [-3.38244843e-03 2.13188801e-04 9.99994257e-01 -2.26009812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95037174299998 meters 0.03722792949875523 Centerline is valid? [True, True] Translation: X:161.06, Y:-9.00, Z:-2.26 [[ 9.99993310e-01 -1.40248505e-04 3.65518834e-03 1.61062528e+02] [ 1.41096794e-04 9.99999963e-01 -2.31821186e-04 -8.99904560e+00] [-3.65515569e-03 2.32335371e-04 9.99993293e-01 -2.26072309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98037174299998 meters 0.037916193612973645 Centerline is valid? [True, True] Translation: X:161.09, Y:-9.00, Z:-2.26 [[ 9.99989602e-01 3.58844627e-04 4.54606467e-03 1.61093970e+02] [-3.57534270e-04 9.99999894e-01 -2.89049300e-04 -9.00199717e+00] [-4.54616792e-03 2.87420921e-04 9.99989625e-01 -2.26147793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01037174299998 meters 0.039145759693111855 Centerline is valid? [True, True] Translation: X:161.12, Y:-9.01, Z:-2.26 [[ 9.99987829e-01 7.32489892e-04 4.87897203e-03 1.61124987e+02] [-7.30983489e-04 9.99999685e-01 -3.10530244e-04 -9.00589374e+00] [-4.87919795e-03 3.06960017e-04 9.99988050e-01 -2.26239937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04037174299998 meters 0.03840442127785033 Centerline is valid? [True, True] Translation: X:161.16, Y:-9.01, Z:-2.26 [[ 9.99986719e-01 1.16773017e-03 5.01987344e-03 1.61156782e+02] [-1.16614034e-03 9.99999269e-01 -3.19623338e-04 -9.00678330e+00] [-5.02024300e-03 3.13765216e-04 9.99987349e-01 -2.26262387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07037174299998 meters 0.03877732637083431 Centerline is valid? [True, True] Translation: X:161.19, Y:-9.01, Z:-2.26 [[ 9.99982857e-01 1.46699301e-03 5.66857329e-03 1.61189383e+02] [-1.46497563e-03 9.99998862e-01 -3.60023539e-04 -9.00950346e+00] [-5.66909499e-03 3.51713046e-04 9.99983869e-01 -2.26306934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10037174299998 meters 0.035257368764373624 Centerline is valid? [True, True] Translation: X:161.22, Y:-9.01, Z:-2.26 [[ 9.99981306e-01 1.42255273e-03 5.94682830e-03 1.61221495e+02] [-1.42032274e-03 9.99998919e-01 -3.79193942e-04 -9.00664636e+00] [-5.94736130e-03 3.70740438e-04 9.99982246e-01 -2.26264811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13037174299998 meters 0.03534234843230225 Centerline is valid? [True, True] Translation: X:161.25, Y:-9.01, Z:-2.26 [[ 9.99982735e-01 4.72050983e-05 5.87601790e-03 1.61253626e+02] [-4.49873615e-05 9.99999928e-01 -3.77553321e-04 -9.00972322e+00] [-5.87603530e-03 3.77282456e-04 9.99982665e-01 -2.26368409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16037174299998 meters 0.03588915086131404 Centerline is valid? [True, True] Translation: X:161.29, Y:-9.01, Z:-2.26 [[ 9.99983710e-01 -4.94860442e-04 5.68630477e-03 1.61285722e+02] [ 4.96939706e-04 9.99999810e-01 -3.64254625e-04 -9.01366822e+00] [-5.68612344e-03 3.67074442e-04 9.99983766e-01 -2.26450780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.190371743 meters 0.03654286799096846 Centerline is valid? [True, True] Translation: X:161.32, Y:-9.02, Z:-2.27 [[ 9.99985534e-01 -9.31542489e-04 5.29763143e-03 1.61317440e+02] [ 9.33359141e-04 9.99999506e-01 -3.40455657e-04 -9.01769073e+00] [-5.29731167e-03 3.45395324e-04 9.99985909e-01 -2.26545415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220371743 meters 0.038269523605481054 Centerline is valid? [True, True] Translation: X:161.35, Y:-9.02, Z:-2.27 [[ 9.99984462e-01 -2.11786486e-03 5.15663664e-03 1.61347847e+02] [ 2.11961772e-03 9.99997698e-01 -3.34481723e-04 -9.02388096e+00] [-5.15591638e-03 3.45406625e-04 9.99986649e-01 -2.26637297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.250371743 meters 0.03905103064607258 Centerline is valid? [True, True] Translation: X:161.38, Y:-9.03, Z:-2.27 [[ 9.99984718e-01 -2.71854756e-03 4.81393050e-03 1.61379518e+02] [ 2.72008122e-03 9.99996252e-01 -3.12068412e-04 -9.02760187e+00] [-4.81306409e-03 3.25157925e-04 9.99988364e-01 -2.26727570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280371743 meters 0.03905103064607258 Centerline is valid? [True, True] Translation: X:161.41, Y:-9.03, Z:-2.27 [[ 9.99984907e-01 -2.64800621e-03 4.81390862e-03 1.61411217e+02] [ 2.64954067e-03 9.99996441e-01 -3.12405335e-04 -9.02972669e+00] [-4.81306423e-03 3.25155267e-04 9.99988364e-01 -2.26772152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.310371743 meters 0.03662976897373257 Centerline is valid? [True, True] Translation: X:161.44, Y:-9.03, Z:-2.27 [[ 9.99981714e-01 -3.60736494e-03 4.85376872e-03 1.61443197e+02] [ 3.60893519e-03 9.99993438e-01 -3.14792076e-04 -9.02931174e+00] [-4.85260130e-03 3.32303257e-04 9.99988171e-01 -2.26763062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340371743 meters 0.036147330020056614 Centerline is valid? [True, True] Translation: X:161.48, Y:-9.03, Z:-2.27 [[ 9.99980816e-01 -3.79567768e-03 4.89491430e-03 1.61475702e+02] [ 3.79728265e-03 9.99992740e-01 -3.18633301e-04 -9.03158120e+00] [-4.89366933e-03 3.37214562e-04 9.99987969e-01 -2.26816567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.370371743 meters 0.038934474621108855 Centerline is valid? [True, True] Translation: X:161.51, Y:-9.04, Z:-2.27 [[ 9.99982295e-01 -3.87267804e-03 4.51796741e-03 1.61506634e+02] [ 3.87404811e-03 9.99992452e-01 -2.94535867e-04 -9.03836660e+00] [-4.51679267e-03 3.12033475e-04 9.99989751e-01 -2.26981460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400371743 meters 0.0382032271871999 Centerline is valid? [True, True] Translation: X:161.54, Y:-9.04, Z:-2.27 [[ 9.99987865e-01 -2.91948845e-03 3.96828027e-03 1.61538717e+02] [ 2.92053773e-03 9.99995702e-01 -2.58647770e-04 -9.04003281e+00] [-3.96750809e-03 2.70234143e-04 9.99992093e-01 -2.27061798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.430371743 meters 0.03733252466866779 Centerline is valid? [True, True] Translation: X:161.57, Y:-9.04, Z:-2.27 [[ 9.99986397e-01 -2.65905435e-03 4.48728877e-03 1.61570590e+02] [ 2.66039551e-03 9.99996418e-01 -2.92937952e-04 -9.04139074e+00] [-4.48649376e-03 3.04871930e-04 9.99989889e-01 -2.27088173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460371743 meters 0.036382885179449334 Centerline is valid? [True, True] Translation: X:161.60, Y:-9.04, Z:-2.27 [[ 9.99982528e-01 -7.35765161e-04 5.86533189e-03 1.61602325e+02] [ 7.38028770e-04 9.99999654e-01 -3.83775222e-04 -9.04130542e+00] [-5.86504750e-03 3.88097300e-04 9.99982725e-01 -2.27001883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49037174299997 meters 0.0406748553732453 Centerline is valid? [True, True] Translation: X:161.63, Y:-9.05, Z:-2.27 [[ 9.99979428e-01 6.10931760e-04 6.38519687e-03 1.61632461e+02] [-6.08271809e-04 9.99999727e-01 -4.18514577e-04 -9.04908977e+00] [-6.38545081e-03 4.14622032e-04 9.99979527e-01 -2.27065964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52037174299997 meters 0.03576334633453108 Centerline is valid? [True, True] Translation: X:161.67, Y:-9.04, Z:-2.27 [[ 9.99971779e-01 1.44568948e-03 7.37234803e-03 1.61665443e+02] [-1.44216745e-03 9.99998843e-01 -4.83028778e-04 -9.04423093e+00] [-7.37303781e-03 4.72382986e-04 9.99972707e-01 -2.26946038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55037174299997 meters 0.03590730066234258 Centerline is valid? [True, True] Translation: X:161.70, Y:-9.05, Z:-2.27 [[ 9.99964312e-01 2.56573270e-03 8.04938079e-03 1.61696962e+02] [-2.56156472e-03 9.99996580e-01 -5.28068275e-04 -9.04660266e+00] [-8.05070814e-03 5.07430420e-04 9.99967464e-01 -2.26944013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58037174299997 meters 0.03551985074181165 Centerline is valid? [True, True] Translation: X:161.73, Y:-9.05, Z:-2.27 [[ 9.99955680e-01 4.39853736e-03 8.32408326e-03 1.61728437e+02] [-4.39413633e-03 9.99990196e-01 -5.46925118e-04 -9.04860988e+00] [-8.32640732e-03 5.10323722e-04 9.99965205e-01 -2.26985154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61037174299997 meters 0.0361456629987318 Centerline is valid? [True, True] Translation: X:161.76, Y:-9.05, Z:-2.27 [[ 9.99953051e-01 5.17889071e-03 8.18992772e-03 1.61759557e+02] [-5.17465918e-03 9.99986467e-01 -5.37781111e-04 -9.05187499e+00] [-8.19260199e-03 4.95375778e-04 9.99966317e-01 -2.27057606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64037174299997 meters 0.033431511653084826 Centerline is valid? [True, True] Translation: X:161.79, Y:-9.05, Z:-2.27 [[ 9.99952909e-01 6.36551212e-03 7.32524316e-03 1.61791086e+02] [-6.36214752e-03 9.99979645e-01 -4.82526223e-04 -9.04924672e+00] [-7.32816558e-03 4.35899223e-04 9.99973054e-01 -2.27106386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67037174299998 meters 0.03299511964949925 Centerline is valid? [True, True] Translation: X:161.82, Y:-9.05, Z:-2.27 [[ 9.99955891e-01 6.38900610e-03 6.88457169e-03 1.61821858e+02] [-6.38603318e-03 9.99979506e-01 -4.53720235e-04 -9.05188541e+00] [-6.88732942e-03 4.09735119e-04 9.99976198e-01 -2.27207914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70037174299998 meters 0.0372702239334194 Centerline is valid? [True, True] Translation: X:161.85, Y:-9.06, Z:-2.27 [[ 9.99955743e-01 6.86432444e-03 6.43378397e-03 1.61852079e+02] [-6.86173949e-03 9.99976368e-01 -4.23764646e-04 -9.06070610e+00] [-6.43654079e-03 3.79598942e-04 9.99979213e-01 -2.27421283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73037174299998 meters 0.0331749400210574 Centerline is valid? [True, True] Translation: X:161.88, Y:-9.06, Z:-2.27 [[ 9.99951677e-01 7.98206749e-03 5.73851882e-03 1.61882760e+02] [-7.98002256e-03 9.99968087e-01 -3.79161669e-04 -9.05712829e+00] [-5.74136218e-03 3.33349837e-04 9.99983463e-01 -2.27478180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76037174299998 meters 0.03361828605943674 Centerline is valid? [True, True] Translation: X:161.91, Y:-9.06, Z:-2.28 [[ 9.99941591e-01 9.32727208e-03 5.46038729e-03 1.61911877e+02] [-9.32543972e-03 9.99956452e-01 -3.60937002e-04 -9.05988276e+00] [-5.46351606e-03 3.09995408e-04 9.99985027e-01 -2.27527025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79037174299998 meters 0.03204812460179022 Centerline is valid? [True, True] Translation: X:161.94, Y:-9.06, Z:-2.27 [[ 9.99934548e-01 9.80825426e-03 5.89046165e-03 1.61941255e+02] [-9.80613007e-03 9.99951843e-01 -3.89389295e-04 -9.05940758e+00] [-5.89399721e-03 3.31601176e-04 9.99982575e-01 -2.27470856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82037174299998 meters 0.031817985474828274 Centerline is valid? [True, True] Translation: X:161.97, Y:-9.06, Z:-2.27 [[ 9.99930012e-01 1.02022502e-02 5.99048431e-03 1.61970465e+02] [-1.02000617e-02 9.99947900e-01 -3.95777222e-04 -9.06137291e+00] [-5.99421003e-03 3.34646213e-04 9.99981979e-01 -2.27450916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85037174299998 meters 0.03244848053670659 Centerline is valid? [True, True] Translation: X:162.00, Y:-9.06, Z:-2.27 [[ 9.99927323e-01 1.02231887e-02 6.39024146e-03 1.61998983e+02] [-1.02207003e-02 9.99947678e-01 -4.21931727e-04 -9.06495825e+00] [-6.39422060e-03 3.56588320e-04 9.99979493e-01 -2.27453051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88037174299998 meters 0.032171075263675575 Centerline is valid? [True, True] Translation: X:162.03, Y:-9.07, Z:-2.27 [[ 9.99927580e-01 1.00260867e-02 6.65670145e-03 1.62028391e+02] [-1.00233841e-02 9.99949668e-01 -4.39245092e-04 -9.06687651e+00] [-6.66077031e-03 3.72490606e-04 9.99977747e-01 -2.27473591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91037174299998 meters 0.03416949790474708 Centerline is valid? [True, True] Translation: X:162.06, Y:-9.07, Z:-2.28 [[ 9.99928979e-01 1.02149482e-02 6.13943411e-03 1.62057065e+02] [-1.02126539e-02 9.99947768e-01 -4.04935819e-04 -9.07217184e+00] [-6.14324983e-03 3.42207144e-04 9.99981072e-01 -2.27575606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940371743 meters 0.033315479419209315 Centerline is valid? [True, True] Translation: X:162.09, Y:-9.07, Z:-2.28 [[ 9.99942313e-01 8.62060033e-03 6.40753884e-03 1.62086238e+02] [-8.61806944e-03 9.99962775e-01 -4.22492210e-04 -9.07429284e+00] [-6.41094245e-03 3.67247223e-04 9.99979382e-01 -2.27604203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.970371743 meters 0.033811672147881965 Centerline is valid? [True, True] Translation: X:162.12, Y:-9.08, Z:-2.28 [[ 9.99948064e-01 8.02021175e-03 6.28859337e-03 1.62115725e+02] [-8.01776503e-03 9.99967771e-01 -4.14187891e-04 -9.07820806e+00] [-6.29171257e-03 3.63745916e-04 9.99980141e-01 -2.27659783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000371743 meters 0.03544756023368304 Centerline is valid? [True, True] Translation: X:162.15, Y:-9.08, Z:-2.28 [[ 9.99967269e-01 6.14549768e-03 5.26240147e-03 1.62145721e+02] [-6.14376067e-03 9.99981067e-01 -3.46181735e-04 -9.08408060e+00] [-5.26442930e-03 3.13839469e-04 9.99986094e-01 -2.27751214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.030371743 meters 0.03435873411349151 Centerline is valid? [True, True] Translation: X:162.18, Y:-9.09, Z:-2.28 [[ 9.99974861e-01 4.59635130e-03 5.39920883e-03 1.62175854e+02] [-4.59450030e-03 9.99989382e-01 -3.55181469e-04 -9.08625120e+00] [-5.40078404e-03 3.30365873e-04 9.99985361e-01 -2.27765779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060371743 meters 0.03506643462188396 Centerline is valid? [True, True] Translation: X:162.21, Y:-9.09, Z:-2.28 [[ 9.99978562e-01 3.72601990e-03 5.38448529e-03 1.62206592e+02] [-3.72416976e-03 9.99993003e-01 -3.53592722e-04 -9.09042211e+00] [-5.38576511e-03 3.33532404e-04 9.99985441e-01 -2.27818372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.090371743 meters 0.036935731267306635 Centerline is valid? [True, True] Translation: X:162.24, Y:-9.10, Z:-2.28 [[ 9.99980587e-01 2.28032002e-03 5.79878229e-03 1.62236961e+02] [-2.27814961e-03 9.99997332e-01 -3.80866385e-04 -9.09763307e+00] [-5.79963532e-03 3.67648498e-04 9.99983114e-01 -2.27846115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120371743 meters 0.03623951545513647 Centerline is valid? [True, True] Translation: X:162.27, Y:-9.10, Z:-2.28 [[ 9.99982080e-01 1.69032255e-03 5.74311298e-03 1.62269464e+02] [-1.68818585e-03 9.99998504e-01 -3.76874084e-04 -9.10020328e+00] [-5.74374143e-03 3.67171888e-04 9.99983437e-01 -2.27854156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.150371743 meters 0.0382971836849737 Centerline is valid? [True, True] Translation: X:162.30, Y:-9.11, Z:-2.28 [[ 9.99984348e-01 2.24422447e-04 5.59041983e-03 1.62300408e+02] [-2.22366858e-04 9.99999907e-01 -3.68317284e-04 -9.10751298e+00] [-5.59050197e-03 3.67068395e-04 9.99984306e-01 -2.27927979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180371743 meters 0.0360402505087022 Centerline is valid? [True, True] Translation: X:162.33, Y:-9.11, Z:-2.28 [[ 9.99985406e-01 -3.61279619e-04 5.39039097e-03 1.62332638e+02] [ 3.63204123e-04 9.99999871e-01 -3.56050283e-04 -9.10774328e+00] [-5.39026164e-03 3.58002899e-04 9.99985408e-01 -2.27965936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.210371743 meters 0.03606278483610255 Centerline is valid? [True, True] Translation: X:162.36, Y:-9.11, Z:-2.28 [[ 9.99990672e-01 -1.06490926e-03 4.18585279e-03 1.62364170e+02] [ 1.06608195e-03 9.99999393e-01 -2.77933640e-04 -9.11083096e+00] [-4.18555427e-03 2.82393509e-04 9.99991201e-01 -2.28086842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24037174299997 meters 0.04119204227448203 Centerline is valid? [True, True] Translation: X:162.39, Y:-9.12, Z:-2.28 [[ 9.99993234e-01 -1.49693186e-03 3.36018799e-03 1.62394500e+02] [ 1.49768663e-03 9.99998854e-01 -2.22115422e-04 -9.12244859e+00] [-3.35985165e-03 2.27146428e-04 9.99994330e-01 -2.28245011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27037174299997 meters 0.03956706854676787 Centerline is valid? [True, True] Translation: X:162.43, Y:-9.12, Z:-2.28 [[ 9.99994029e-01 -1.06020100e-03 3.28900305e-03 1.62427091e+02] [ 1.06092984e-03 9.99999413e-01 -2.19861946e-04 -9.12313152e+00] [-3.28876802e-03 2.23350034e-04 9.99994567e-01 -2.28231506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30037174299997 meters 0.03697682542006287 Centerline is valid? [True, True] Translation: X:162.46, Y:-9.12, Z:-2.28 [[ 9.99995656e-01 -3.42810692e-04 2.92762462e-03 1.62459668e+02] [ 3.43385318e-04 9.99999922e-01 -1.95776943e-04 -9.12185537e+00] [-2.92755728e-03 1.96781396e-04 9.99995695e-01 -2.28175262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33037174299997 meters 0.034988702193694154 Centerline is valid? [True, True] Translation: X:162.49, Y:-9.12, Z:-2.28 [[ 9.99995622e-01 4.51049748e-04 2.92440756e-03 1.62491018e+02] [-4.50477997e-04 9.99999879e-01 -1.96165778e-04 -9.12183184e+00] [-2.92449569e-03 1.94847538e-04 9.99995705e-01 -2.28172808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36037174299997 meters 0.03629072862691063 Centerline is valid? [True, True] Translation: X:162.52, Y:-9.13, Z:-2.28 [[ 9.99997008e-01 1.41279815e-03 1.99690963e-03 1.62521657e+02] [-1.41253599e-03 9.99998994e-01 -1.32686725e-04 -9.12606580e+00] [-1.99709508e-03 1.29865622e-04 9.99997997e-01 -2.28272901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39037174299997 meters 0.03855015217523876 Centerline is valid? [True, True] Translation: X:162.55, Y:-9.13, Z:-2.28 [[ 9.99992874e-01 3.01686802e-03 2.26950703e-03 1.62551375e+02] [-3.01652915e-03 9.99995439e-01 -1.52725314e-04 -9.13249999e+00] [-2.26995743e-03 1.45878191e-04 9.99997413e-01 -2.28397187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42037174299998 meters 0.03382372257378353 Centerline is valid? [True, True] Translation: X:162.58, Y:-9.13, Z:-2.28 [[ 9.99988485e-01 3.99826114e-03 2.65391139e-03 1.62581928e+02] [-3.99780039e-03 9.99991993e-01 -1.78891479e-04 -9.12782032e+00] [-2.65460539e-03 1.68279611e-04 9.99996462e-01 -2.28273385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45037174299998 meters 0.036007657171348705 Centerline is valid? [True, True] Translation: X:162.61, Y:-9.13, Z:-2.28 [[ 9.99978336e-01 5.98268426e-03 2.74484864e-03 1.62611626e+02] [-5.98219884e-03 9.99982089e-01 -1.85021262e-04 -9.13404542e+00] [-2.74590640e-03 1.68597023e-04 9.99996216e-01 -2.28334315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48037174299998 meters 0.03361503687394789 Centerline is valid? [True, True] Translation: X:162.64, Y:-9.13, Z:-2.28 [[ 9.99974412e-01 6.56013575e-03 2.85293648e-03 1.62641670e+02] [-6.55961254e-03 9.99978467e-01 -1.92709612e-04 -9.13271623e+00] [-2.85413925e-03 1.73990523e-04 9.99995912e-01 -2.28313081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51037174299998 meters 0.03437869008368047 Centerline is valid? [True, True] Translation: X:162.67, Y:-9.14, Z:-2.28 [[ 9.99973138e-01 7.02918558e-03 2.07721569e-03 1.62669865e+02] [-7.02890866e-03 9.99975287e-01 -1.40583818e-04 -9.13598238e+00] [-2.07815255e-03 1.25979482e-04 9.99997833e-01 -2.28380455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54037174299998 meters 0.03496790852104397 Centerline is valid? [True, True] Translation: X:162.70, Y:-9.14, Z:-2.28 [[ 9.99971202e-01 7.45689117e-03 1.41039359e-03 1.62698586e+02] [-7.45676370e-03 9.99972193e-01 -9.56163533e-05 -9.13907642e+00] [-1.41106737e-03 8.50966280e-05 9.99999001e-01 -2.28487001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57037174299998 meters 0.03396423826145495 Centerline is valid? [True, True] Translation: X:162.73, Y:-9.14, Z:-2.29 [[ 9.99972789e-01 7.29886340e-03 1.07166328e-03 1.62727386e+02] [-7.29878933e-03 9.99973361e-01 -7.30136116e-05 -9.14003385e+00] [-1.07216765e-03 6.51897803e-05 9.99999423e-01 -2.28557317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60037174299998 meters 0.03537085941141162 Centerline is valid? [True, True] Translation: X:162.76, Y:-9.15, Z:-2.29 [[ 9.99981600e-01 6.06158094e-03 -2.37508065e-04 1.62755526e+02] [-6.06157750e-03 9.99981628e-01 1.52291545e-05 -9.14522226e+00] [ 2.37596014e-04 -1.37892007e-05 9.99999972e-01 -2.28722186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63037174299998 meters 0.036102146541201106 Centerline is valid? [True, True] Translation: X:162.78, Y:-9.15, Z:-2.29 [[ 9.99988225e-01 4.82802717e-03 -4.89035433e-04 1.62784755e+02] [-4.82801194e-03 9.99988345e-01 3.23255165e-05 -9.14855662e+00] [ 4.89185802e-04 -2.99640669e-05 9.99999880e-01 -2.28788636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66037174299998 meters 0.03699959955650851 Centerline is valid? [True, True] Translation: X:162.81, Y:-9.15, Z:-2.29 [[ 9.99994212e-01 3.25110996e-03 -1.00285538e-03 1.62814403e+02] [-3.25104463e-03 9.99994713e-01 6.67713925e-05 -9.15170077e+00] [ 1.00306716e-03 -6.35106784e-05 9.99999495e-01 -2.28841780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.690371743 meters 0.03846798051711897 Centerline is valid? [True, True] Translation: X:162.84, Y:-9.16, Z:-2.29 [[ 9.99998753e-01 -6.60051216e-04 -1.43496718e-03 1.62844275e+02] [ 6.60189920e-04 9.99999777e-01 9.61889065e-05 -9.15686354e+00] [ 1.43490338e-03 -9.71361374e-05 9.99998966e-01 -2.28869543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720371743 meters 0.03808744946247231 Centerline is valid? [True, True] Translation: X:162.87, Y:-9.16, Z:-2.29 [[ 9.99994419e-01 -3.07155819e-03 -1.31465451e-03 1.62874475e+02] [ 3.07167638e-03 9.99995279e-01 8.78967717e-05 -9.15892559e+00] [ 1.31437832e-03 -9.19344743e-05 9.99999132e-01 -2.28881993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.750371743 meters 0.04253242604270148 Centerline is valid? [True, True] Translation: X:162.90, Y:-9.17, Z:-2.29 [[ 9.99972820e-01 -7.27680287e-03 -1.18626940e-03 1.62903231e+02] [ 7.27690206e-03 9.99973520e-01 7.93142506e-05 -9.16876625e+00] [ 1.18566084e-03 -8.79444611e-05 9.99999293e-01 -2.28930773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780371743 meters 0.04438383455554822 Centerline is valid? [True, True] Translation: X:162.93, Y:-9.17, Z:-2.29 [[ 9.99952471e-01 -9.67220261e-03 -1.22662593e-03 1.62934386e+02] [ 9.67231136e-03 9.99953219e-01 8.27509585e-05 -9.17334384e+00] [ 1.22576816e-03 -9.46113333e-05 9.99999244e-01 -2.28959302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.810371743 meters 0.04435702183539873 Centerline is valid? [True, True] Translation: X:162.97, Y:-9.18, Z:-2.29 [[ 9.99936129e-01 -1.12721264e-02 -8.22412143e-04 1.62965183e+02] [ 1.12721758e-02 9.99936465e-01 5.54157902e-05 -9.17614989e+00] [ 8.21735237e-04 -6.46826250e-05 9.99999660e-01 -2.28938788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840371743 meters 0.04704145081705725 Centerline is valid? [True, True] Translation: X:162.99, Y:-9.18, Z:-2.29 [[ 9.99893729e-01 -1.45670364e-02 -5.76606362e-04 1.62994362e+02] [ 1.45670613e-02 9.99893894e-01 3.89340398e-05 -9.18285283e+00] [ 5.75978026e-04 -4.73293624e-05 9.99999833e-01 -2.28985798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.870371743 meters 0.04787706326890069 Centerline is valid? [True, True] Translation: X:163.03, Y:-9.19, Z:-2.29 [[ 9.99879352e-01 -1.55018303e-02 -9.87694756e-04 1.63026586e+02] [ 1.55019043e-02 9.99879836e-01 6.73104052e-05 -9.18700910e+00] [ 9.86532636e-04 -8.26134339e-05 9.99999510e-01 -2.29069250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900371743 meters 0.0474651924917004 Centerline is valid? [True, True] Translation: X:163.06, Y:-9.19, Z:-2.29 [[ 9.99845686e-01 -1.74543309e-02 -1.98759404e-03 1.63057507e+02] [ 1.74546311e-02 9.99847647e-01 1.33789033e-04 -9.18979668e+00] [ 1.98495603e-03 -1.68461108e-04 9.99998016e-01 -2.29183150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.930371743 meters 0.045693389897080085 Centerline is valid? [True, True] Translation: X:163.09, Y:-9.19, Z:-2.29 [[ 9.99827539e-01 -1.83980275e-02 -2.53092519e-03 1.63090051e+02] [ 1.83985194e-02 9.99830718e-01 1.71227712e-04 -9.19027558e+00] [ 2.52734650e-03 -2.17763458e-04 9.99996783e-01 -2.29224397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960371743 meters 0.045840349971590186 Centerline is valid? [True, True] Translation: X:163.12, Y:-9.19, Z:-2.29 [[ 9.99809877e-01 -1.92620588e-02 -3.03021140e-03 1.63122411e+02] [ 1.92627680e-02 9.99814435e-01 2.05028861e-04 -9.19325235e+00] [ 3.02569982e-03 -2.63360140e-04 9.99995388e-01 -2.29270605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99037174299997 meters 0.0427352106606063 Centerline is valid? [True, True] Translation: X:163.15, Y:-9.19, Z:-2.29 [[ 9.99781905e-01 -2.05588843e-02 -3.67088167e-03 1.63153474e+02] [ 2.05599305e-02 9.99788592e-01 2.47491361e-04 -9.19206365e+00] [ 3.66501747e-03 -3.22910456e-04 9.99993232e-01 -2.29245635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02037174299997 meters 0.04309198193243204 Centerline is valid? [True, True] Translation: X:163.19, Y:-9.20, Z:-2.29 [[ 9.99770705e-01 -2.09655216e-02 -4.35719640e-03 1.63185085e+02] [ 2.09670025e-02 9.99780125e-01 2.94469250e-04 -9.19545401e+00] [ 4.35006466e-03 -3.85759077e-04 9.99990464e-01 -2.29294039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05037174299997 meters 0.044469770874793486 Centerline is valid? [True, True] Translation: X:163.22, Y:-9.20, Z:-2.29 [[ 9.99762568e-01 -2.14539288e-02 -3.81281031e-03 1.63216592e+02] [ 2.14550687e-02 9.99769780e-01 2.58301665e-04 -9.20110044e+00] [ 3.80639094e-03 -3.40044443e-04 9.99992698e-01 -2.29356372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08037174299997 meters 0.04522861341467657 Centerline is valid? [True, True] Translation: X:163.25, Y:-9.20, Z:-2.29 [[ 9.99766040e-01 -2.13389044e-02 -3.53786920e-03 1.63248424e+02] [ 2.13398863e-02 9.99772250e-01 2.40006943e-04 -9.20473877e+00] [ 3.53194197e-03 -3.15448518e-04 9.99993713e-01 -2.29368429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11037174299997 meters 0.0454397855326384 Centerline is valid? [True, True] Translation: X:163.28, Y:-9.21, Z:-2.29 [[ 9.99778511e-01 -2.08370219e-02 -2.95757100e-03 1.63280918e+02] [ 2.08377071e-02 9.99782851e-01 2.01022654e-04 -9.20704992e+00] [ 2.95274005e-03 -2.62607128e-04 9.99995606e-01 -2.29398551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14037174299997 meters 0.042855651147991204 Centerline is valid? [True, True] Translation: X:163.31, Y:-9.21, Z:-2.29 [[ 9.99814514e-01 -1.91216967e-02 -2.30188893e-03 1.63313145e+02] [ 1.91221081e-02 9.99817143e-01 1.56869690e-04 -9.20608279e+00] [ 2.29846840e-03 -2.00857562e-04 9.99997338e-01 -2.29347770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17037174299998 meters 0.042855651147991204 Centerline is valid? [True, True] Translation: X:163.34, Y:-9.21, Z:-2.29 [[ 9.99815919e-01 -1.90480858e-02 -2.30187745e-03 1.63344885e+02] [ 1.90484975e-02 9.99818549e-01 1.57038557e-04 -9.20829289e+00] [ 2.29846849e-03 -2.00856956e-04 9.99997338e-01 -2.29392422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20037174299998 meters 0.042406349181691214 Centerline is valid? [True, True] Translation: X:163.38, Y:-9.21, Z:-2.29 [[ 9.99834817e-01 -1.80430443e-02 -2.18778730e-03 1.63375295e+02] [ 1.80434122e-02 9.99837193e-01 1.48566450e-04 -9.20975929e+00] [ 2.18475052e-03 -1.88017057e-04 9.99997596e-01 -2.29403209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23037174299998 meters 0.04343752771567577 Centerline is valid? [True, True] Translation: X:163.41, Y:-9.21, Z:-2.30 [[ 9.99883966e-01 -1.49628471e-02 -2.85784432e-03 1.63405039e+02] [ 1.49634612e-02 9.99888022e-01 1.93605284e-04 -9.21184097e+00] [ 2.85462742e-03 -2.36346062e-04 9.99995898e-01 -2.29568502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26037174299998 meters 0.04148823627666272 Centerline is valid? [True, True] Translation: X:163.44, Y:-9.21, Z:-2.30 [[ 9.99903865e-01 -1.34531764e-02 -3.35742041e-03 1.63436892e+02] [ 1.34540191e-02 9.99909464e-01 2.28519984e-04 -9.21066558e+00] [ 3.35404212e-03 -2.73668813e-04 9.99994338e-01 -2.29606450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29037174299998 meters 0.04103740484666095 Centerline is valid? [True, True] Translation: X:163.47, Y:-9.21, Z:-2.30 [[ 9.99930872e-01 -1.13437969e-02 -3.09355823e-03 1.63467444e+02] [ 1.13445001e-02 9.99935627e-01 2.09857489e-04 -9.21108511e+00] [ 3.09097850e-03 -2.44937854e-04 9.99995193e-01 -2.29649097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32037174299998 meters 0.03818148563347883 Centerline is valid? [True, True] Translation: X:163.50, Y:-9.21, Z:-2.30 [[ 9.99943137e-01 -1.03063181e-02 -2.73914666e-03 1.63498972e+02] [ 1.03068673e-02 9.99946865e-01 1.86437255e-04 -9.20865817e+00] [ 2.73707963e-03 -2.14658675e-04 9.99996231e-01 -2.29580643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35037174299998 meters 0.041908709718590974 Centerline is valid? [True, True] Translation: X:163.53, Y:-9.22, Z:-2.30 [[ 9.99956276e-01 -8.87905755e-03 -2.93402195e-03 1.63529428e+02] [ 8.87968169e-03 9.99960555e-01 1.99766763e-04 -9.21524566e+00] [ 2.93213247e-03 -2.25811209e-04 9.99995676e-01 -2.29728676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38037174299998 meters 0.041125729029569326 Centerline is valid? [True, True] Translation: X:163.56, Y:-9.21, Z:-2.30 [[ 9.99971043e-01 -7.20481786e-03 -2.45015484e-03 1.63560234e+02] [ 7.20524851e-03 9.99974028e-01 1.66981679e-04 -9.21468610e+00] [ 2.44888813e-03 -1.84630818e-04 9.99996984e-01 -2.29730118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41037174299998 meters 0.04081577855185109 Centerline is valid? [True, True] Translation: X:163.59, Y:-9.22, Z:-2.30 [[ 9.99975475e-01 -6.43301441e-03 -2.76873734e-03 1.63591189e+02] [ 6.43356145e-03 9.99979287e-01 1.88717928e-04 -9.21542168e+00] [ 2.76746597e-03 -2.06526141e-04 9.99996149e-01 -2.29761683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440371743 meters 0.03617153174767489 Centerline is valid? [True, True] Translation: X:163.62, Y:-9.21, Z:-2.30 [[ 9.99978734e-01 -5.92081329e-03 -2.73415118e-03 1.63623349e+02] [ 5.92134520e-03 9.99982451e-01 1.86491545e-04 -9.20998241e+00] [ 2.73299902e-03 -2.02677432e-04 9.99996245e-01 -2.29639908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.470371743 meters 0.037263604909777114 Centerline is valid? [True, True] Translation: X:163.65, Y:-9.21, Z:-2.30 [[ 9.99983904e-01 -5.28522523e-03 -2.06349337e-03 1.63654065e+02] [ 5.28552727e-03 9.99986022e-01 1.40944649e-04 -9.21219955e+00] [ 2.06271960e-03 -1.51849030e-04 9.99997861e-01 -2.29667930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500371743 meters 0.04432582770318251 Centerline is valid? [True, True] Translation: X:163.68, Y:-9.22, Z:-2.30 [[ 9.99986144e-01 -4.90781697e-03 -1.90380628e-03 1.63683313e+02] [ 4.90807303e-03 9.99987947e-01 1.29852316e-04 -9.22392279e+00] [ 1.90314604e-03 -1.39194537e-04 9.99998179e-01 -2.29922624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.530371743 meters 0.04466809332981155 Centerline is valid? [True, True] Translation: X:163.71, Y:-9.23, Z:-2.30 [[ 9.99985542e-01 -5.29576703e-03 -9.32970093e-04 1.63714791e+02] [ 5.29582905e-03 9.99985975e-01 6.40146824e-05 -9.22501358e+00] [ 9.32618001e-04 -6.89546070e-05 9.99999563e-01 -2.29823950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560371743 meters 0.04584946092775877 Centerline is valid? [True, True] Translation: X:163.75, Y:-9.23, Z:-2.30 [[ 9.99983137e-01 -5.80137539e-03 -2.64208870e-04 1.63745596e+02] [ 5.80138047e-03 9.99983172e-01 1.84724187e-05 -9.22804248e+00] [ 2.64097258e-04 -2.00048834e-05 9.99999965e-01 -2.29823884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.590371743 meters 0.040444655158026414 Centerline is valid? [True, True] Translation: X:163.78, Y:-9.22, Z:-2.30 [[ 9.99978943e-01 -6.48919979e-03 -5.58992427e-05 1.63778420e+02] [ 6.48920007e-03 9.99978945e-01 4.81043124e-06 -9.22228660e+00] [ 5.58668498e-05 -5.17307131e-06 9.99999998e-01 -2.29655197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620371743 meters 0.03977812776985009 Centerline is valid? [True, True] Translation: X:163.81, Y:-9.22, Z:-2.30 [[ 9.99965787e-01 -8.25935868e-03 -4.54948839e-04 1.63809955e+02] [ 8.25937389e-03 9.99965890e-01 3.15538797e-05 -9.22292840e+00] [ 4.54672706e-04 -3.53103927e-05 9.99999896e-01 -2.29720512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.650371743 meters 0.039914026490945574 Centerline is valid? [True, True] Translation: X:163.84, Y:-9.23, Z:-2.30 [[ 9.99954807e-01 -9.46636668e-03 -8.78749787e-04 1.63842193e+02] [ 9.46642397e-03 9.99955191e-01 6.10533469e-05 -9.22541554e+00] [ 8.78132457e-04 -6.93692057e-05 9.99999612e-01 -2.29809674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680371743 meters 0.04391698748394016 Centerline is valid? [True, True] Translation: X:163.87, Y:-9.23, Z:-2.30 [[ 9.99944754e-01 -1.03957420e-02 -1.55491815e-03 1.63872752e+02] [ 1.03959210e-02 9.99945955e-01 1.07076459e-04 -9.23313824e+00] [ 1.55372098e-03 -1.23235349e-04 9.99998785e-01 -2.29957142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.710371743 meters 0.041193191601127666 Centerline is valid? [True, True] Translation: X:163.90, Y:-9.23, Z:-2.30 [[ 9.99939075e-01 -1.09125380e-02 -1.66214747e-03 1.63904722e+02] [ 1.09127433e-02 9.99940448e-01 1.14496451e-04 -9.23050364e+00] [ 1.66079904e-03 -1.32628064e-04 9.99998612e-01 -2.29860097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74037174299997 meters 0.04184507153516608 Centerline is valid? [True, True] Translation: X:163.94, Y:-9.23, Z:-2.30 [[ 9.99939974e-01 -1.07974361e-02 -1.86133662e-03 1.63936395e+02] [ 1.07976939e-02 9.99941695e-01 1.28505161e-04 -9.23284091e+00] [ 1.85984057e-03 -1.48595591e-04 9.99998259e-01 -2.29839818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77037174299997 meters 0.04273905786631162 Centerline is valid? [True, True] Translation: X:163.97, Y:-9.23, Z:-2.30 [[ 9.99947775e-01 -1.00780393e-02 -1.69693147e-03 1.63967574e+02] [ 1.00782524e-02 9.99949206e-01 1.17079143e-04 -9.23489154e+00] [ 1.69566535e-03 -1.34175132e-04 9.99998553e-01 -2.29833317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80037174299997 meters 0.04212639005139724 Centerline is valid? [True, True] Translation: X:164.00, Y:-9.24, Z:-2.30 [[ 9.99957660e-01 -9.04030465e-03 -1.71806779e-03 1.63999265e+02] [ 9.04052171e-03 9.99959127e-01 1.18619219e-04 -9.23599989e+00] [ 1.71692521e-03 -1.34146426e-04 9.99998517e-01 -2.29870600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83037174299997 meters 0.03865738989338668 Centerline is valid? [True, True] Translation: X:164.03, Y:-9.23, Z:-2.30 [[ 9.99984246e-01 -5.54975092e-03 -8.40974983e-04 1.64030125e+02] [ 5.54980143e-03 9.99984598e-01 5.77340680e-05 -9.23246383e+00] [ 8.40641621e-04 -6.24004026e-05 9.99999645e-01 -2.29835022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86037174299997 meters 0.037875600776208655 Centerline is valid? [True, True] Translation: X:164.06, Y:-9.23, Z:-2.30 [[ 9.99995129e-01 -3.12118994e-03 6.94738913e-06 1.64061065e+02] [ 3.12118994e-03 9.99995129e-01 -3.33331356e-07 -9.23266220e+00] [-6.94631504e-06 3.55013859e-07 1.00000000e+00 -2.29844579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89037174299997 meters 0.04099719802083917 Centerline is valid? [True, True] Translation: X:164.09, Y:-9.24, Z:-2.30 [[ 9.99999798e-01 -2.42753222e-04 5.87736721e-04 1.64090485e+02] [ 2.42776968e-04 9.99999970e-01 -4.03304301e-05 -9.23784350e+00] [-5.87726913e-04 4.04731109e-05 9.99999826e-01 -2.29939197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92037174299998 meters 0.03934650560689407 Centerline is valid? [True, True] Translation: X:164.12, Y:-9.23, Z:-2.30 [[ 9.99981192e-01 6.10003894e-03 6.36490498e-04 1.64120127e+02] [-6.10001221e-03 9.99981394e-01 -4.39277664e-05 -9.23418914e+00] [-6.36746617e-04 4.00443404e-05 9.99999796e-01 -2.29887674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95037174299998 meters 0.03893273134234376 Centerline is valid? [True, True] Translation: X:164.15, Y:-9.23, Z:-2.30 [[ 9.99959525e-01 8.97091209e-03 6.87081651e-04 1.64149787e+02] [-8.97088151e-03 9.99959760e-01 -4.75807207e-05 -9.23426477e+00] [-6.87480845e-04 4.14150667e-05 9.99999763e-01 -2.29980465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98037174299998 meters 0.03719489304478667 Centerline is valid? [True, True] Translation: X:164.18, Y:-9.23, Z:-2.30 [[ 9.99903667e-01 1.38777127e-02 2.56839468e-04 1.64179303e+02] [-1.38777086e-02 9.99903700e-01 -1.78814507e-05 -9.23196186e+00] [-2.57062888e-04 1.43153848e-05 9.99999967e-01 -2.30116970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01037174299998 meters 0.036833061541715485 Centerline is valid? [True, True] Translation: X:164.21, Y:-9.23, Z:-2.30 [[ 9.99881621e-01 1.53841938e-02 2.65435984e-04 1.64208233e+02] [-1.53841893e-02 9.99881656e-01 -1.90976958e-05 -9.23259899e+00] [-2.65698374e-04 1.50119176e-05 9.99999965e-01 -2.30191897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04037174299998 meters 0.033181401901225864 Centerline is valid? [True, True] Translation: X:164.24, Y:-9.23, Z:-2.30 [[ 9.99865535e-01 1.63953639e-02 3.21665366e-04 1.64237070e+02] [-1.63953574e-02 9.99865587e-01 -2.29670354e-05 -9.22840695e+00] [-3.21998683e-04 1.76901285e-05 9.99999948e-01 -2.30144340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07037174299998 meters 0.03400575878581776 Centerline is valid? [True, True] Translation: X:164.26, Y:-9.23, Z:-2.30 [[ 9.99858157e-01 1.68399843e-02 2.84622118e-04 1.64264469e+02] [-1.68399791e-02 9.99858197e-01 -2.07831526e-05 -9.23087448e+00] [-2.84931745e-04 1.59871742e-05 9.99999959e-01 -2.30294781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10037174299998 meters 0.03229179751244139 Centerline is valid? [True, True] Translation: X:164.29, Y:-9.23, Z:-2.30 [[ 9.99864762e-01 1.64368908e-02 5.34629102e-04 1.64293297e+02] [-1.64368732e-02 9.99864905e-01 -3.74571415e-05 -9.22993761e+00] [-5.35172556e-04 2.86644451e-05 9.99999856e-01 -2.30287321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13037174299998 meters 0.029269568800644418 Centerline is valid? [True, True] Translation: X:164.32, Y:-9.23, Z:-2.30 [[ 9.99880374e-01 1.54288100e-02 1.09023408e-03 1.64322199e+02] [-1.54287370e-02 9.99880967e-01 -7.53511054e-05 -9.22669226e+00] [-1.09126689e-03 5.85211565e-05 9.99999403e-01 -2.30138381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16037174299998 meters 0.036326887551891 Centerline is valid? [True, True] Translation: X:164.35, Y:-9.24, Z:-2.30 [[ 9.99892730e-01 1.45600498e-02 1.59195574e-03 1.64349503e+02] [-1.45598937e-02 9.99893993e-01 -1.09657751e-04 -9.23892939e+00] [-1.59338360e-03 8.64672817e-05 9.99998727e-01 -2.30345570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.190371743 meters 0.032306093277469666 Centerline is valid? [True, True] Translation: X:164.38, Y:-9.23, Z:-2.30 [[ 9.99906138e-01 1.35205376e-02 2.21577187e-03 1.64378802e+02] [-1.35202345e-02 9.99908586e-01 -1.51691700e-04 -9.23447443e+00] [-2.21762027e-03 1.21719706e-04 9.99997534e-01 -2.30190470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220371743 meters 0.03182122804992936 Centerline is valid? [True, True] Translation: X:164.41, Y:-9.24, Z:-2.30 [[ 9.99939770e-01 1.06484601e-02 2.65844430e-03 1.64407934e+02] [-1.06480149e-02 9.99943292e-01 -1.81571295e-04 -9.23539194e+00] [-2.66022700e-03 1.53253204e-04 9.99996450e-01 -2.30127917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.250371743 meters 0.03298963103034387 Centerline is valid? [True, True] Translation: X:164.44, Y:-9.24, Z:-2.30 [[ 9.99958202e-01 8.79908537e-03 2.48410626e-03 1.64437159e+02] [-8.79869209e-03 9.99961276e-01 -1.69203376e-04 -9.23930209e+00] [-2.48549890e-03 1.47339418e-04 9.99996900e-01 -2.30217822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280371743 meters 0.03377647658290781 Centerline is valid? [True, True] Translation: X:164.47, Y:-9.24, Z:-2.30 [[ 9.99984798e-01 5.10756786e-03 2.07771878e-03 1.64467052e+02] [-5.10728521e-03 9.99986948e-01 -1.41319897e-04 -9.24306710e+00] [-2.07841347e-03 1.30706246e-04 9.99997832e-01 -2.30311797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.310371743 meters 0.0369755153595455 Centerline is valid? [True, True] Translation: X:164.50, Y:-9.25, Z:-2.30 [[ 9.99993323e-01 3.05063587e-03 2.01192067e-03 1.64496250e+02] [-3.05036675e-03 9.99995338e-01 -1.36815483e-04 -9.25023844e+00] [-2.01232867e-03 1.30677474e-04 9.99997967e-01 -2.30448932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340371743 meters 0.03634444643839566 Centerline is valid? [True, True] Translation: X:164.53, Y:-9.25, Z:-2.30 [[ 9.99997334e-01 1.02701193e-03 2.06836663e-03 1.64526068e+02] [-1.02672329e-03 9.99999463e-01 -1.40605549e-04 -9.25162061e+00] [-2.06850992e-03 1.38481534e-04 9.99997851e-01 -2.30425836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.370371743 meters 0.03874819329889527 Centerline is valid? [True, True] Translation: X:164.56, Y:-9.26, Z:-2.30 [[ 9.99993602e-01 -2.02209642e-03 2.95068610e-03 1.64556026e+02] [ 2.02269460e-03 9.99997934e-01 -1.99753430e-04 -9.25790661e+00] [-2.95027609e-03 2.05720489e-04 9.99995627e-01 -2.30484367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400371743 meters 0.03938701154708969 Centerline is valid? [True, True] Translation: X:164.59, Y:-9.26, Z:-2.31 [[ 9.99989990e-01 -3.17876687e-03 3.14871913e-03 1.64587567e+02] [ 3.17945147e-03 9.99994923e-01 -2.12439872e-04 -9.26131560e+00] [-3.14802784e-03 2.22448945e-04 9.99995020e-01 -2.30519974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.430371743 meters 0.03930839677395472 Centerline is valid? [True, True] Translation: X:164.62, Y:-9.26, Z:-2.31 [[ 9.99988850e-01 -4.22735883e-03 2.10448289e-03 1.64619480e+02] [ 4.22766764e-03 9.99991053e-01 -1.42308882e-04 -9.26239658e+00] [-2.10386248e-03 1.51204350e-04 9.99997775e-01 -2.30543219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460371743 meters 0.03953333114403375 Centerline is valid? [True, True] Translation: X:164.65, Y:-9.27, Z:-2.31 [[ 9.99980468e-01 -5.66285623e-03 2.64487335e-03 1.64651672e+02] [ 5.66335017e-03 9.99983947e-01 -1.79299427e-04 -9.26544128e+00] [-2.64381554e-03 1.94274769e-04 9.99996486e-01 -2.30539123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49037174299997 meters 0.04375186339331193 Centerline is valid? [True, True] Translation: X:164.68, Y:-9.27, Z:-2.31 [[ 9.99970802e-01 -6.80555686e-03 3.47554538e-03 1.64681912e+02] [ 6.80641990e-03 9.99976808e-01 -2.36550096e-04 -9.27360068e+00] [-3.47385492e-03 2.60199210e-04 9.99993932e-01 -2.30589856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52037174299997 meters 0.038473283813417504 Centerline is valid? [True, True] Translation: X:164.71, Y:-9.27, Z:-2.31 [[ 9.99967685e-01 -7.27379710e-03 3.42356858e-03 1.64714888e+02] [ 7.27463630e-03 9.99973512e-01 -2.32735331e-04 -9.26866752e+00] [-3.42178503e-03 2.57633026e-04 9.99994112e-01 -2.30526453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55037174299997 meters 0.038401521778534585 Centerline is valid? [True, True] Translation: X:164.75, Y:-9.27, Z:-2.31 [[ 9.99967408e-01 -7.29256212e-03 3.46443433e-03 1.64746972e+02] [ 7.29342250e-03 9.99973375e-01 -2.35776771e-04 -9.27113887e+00] [-3.46262267e-03 2.61036669e-04 9.99993971e-01 -2.30586446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58037174299997 meters 0.039431391372552305 Centerline is valid? [True, True] Translation: X:164.78, Y:-9.27, Z:-2.31 [[ 9.99965619e-01 -7.41381933e-03 3.71433773e-03 1.64777861e+02] [ 7.41481113e-03 9.99972478e-01 -2.53320670e-04 -9.27490577e+00] [-3.71235743e-03 2.80853074e-04 9.99993070e-01 -2.30710612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61037174299997 meters 0.04075067083558384 Centerline is valid? [True, True] Translation: X:164.81, Y:-9.28, Z:-2.31 [[ 9.99967377e-01 -7.15144659e-03 3.75514287e-03 1.64809119e+02] [ 7.15245685e-03 9.99974388e-01 -2.55675432e-04 -9.27844579e+00] [-3.75321825e-03 2.82525589e-04 9.99992917e-01 -2.30803821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64037174299997 meters 0.04120080581999346 Centerline is valid? [True, True] Translation: X:164.84, Y:-9.28, Z:-2.31 [[ 9.99968623e-01 -6.77088190e-03 4.11186058e-03 1.64841537e+02] [ 6.77209449e-03 9.99977030e-01 -2.81048302e-04 -9.28075724e+00] [-4.10986318e-03 3.08885392e-04 9.99991507e-01 -2.30904841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67037174299998 meters 0.04119562002867159 Centerline is valid? [True, True] Translation: X:164.87, Y:-9.28, Z:-2.31 [[ 9.99972562e-01 -6.19008446e-03 4.06905902e-03 1.64874030e+02] [ 6.19126829e-03 9.99980795e-01 -2.78404562e-04 -9.28314798e+00] [-4.06725753e-03 3.03589559e-04 9.99991683e-01 -2.30992450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70037174299998 meters 0.041439729949045524 Centerline is valid? [True, True] Translation: X:164.91, Y:-9.29, Z:-2.31 [[ 9.99975124e-01 -5.55204189e-03 4.35046708e-03 1.64905772e+02] [ 5.55339076e-03 9.99984535e-01 -2.98034803e-04 -9.28565399e+00] [-4.34874510e-03 3.22187233e-04 9.99990492e-01 -2.31078019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73037174299998 meters 0.039223229308766726 Centerline is valid? [True, True] Translation: X:164.94, Y:-9.28, Z:-2.31 [[ 9.99979721e-01 -4.83371347e-03 4.14634073e-03 1.64938175e+02] [ 4.83493355e-03 9.99988271e-01 -2.84280800e-04 -9.28467494e+00] [-4.14491797e-03 3.04322317e-04 9.99991363e-01 -2.31119895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76037174299998 meters 0.04303620643838475 Centerline is valid? [True, True] Translation: X:164.97, Y:-9.29, Z:-2.31 [[ 9.99981387e-01 -4.46643818e-03 4.15646994e-03 1.64969070e+02] [ 4.46766050e-03 9.99989979e-01 -2.84839253e-04 -9.29166736e+00] [-4.15515608e-03 3.03403648e-04 9.99991321e-01 -2.31241284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79037174299998 meters 0.04010580544414839 Centerline is valid? [True, True] Translation: X:165.00, Y:-9.29, Z:-2.31 [[ 9.99981844e-01 -4.45626797e-03 4.05620523e-03 1.65001455e+02] [ 4.45743552e-03 9.99990027e-01 -2.78847335e-04 -9.28892553e+00] [-4.05492216e-03 2.96922546e-04 9.99991735e-01 -2.31250209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82037174299998 meters 0.0448959735490354 Centerline is valid? [True, True] Translation: X:165.03, Y:-9.30, Z:-2.31 [[ 9.99980077e-01 -4.63299575e-03 4.28730456e-03 1.65032104e+02] [ 4.63430404e-03 9.99989218e-01 -2.95271325e-04 -9.29787624e+00] [-4.28589035e-03 3.15134115e-04 9.99990766e-01 -2.31375715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85037174299998 meters 0.03881098699690793 Centerline is valid? [True, True] Translation: X:165.06, Y:-9.29, Z:-2.31 [[ 9.99978374e-01 -5.01526942e-03 4.25426125e-03 1.65064785e+02] [ 5.01656121e-03 9.99987374e-01 -2.93029566e-04 -9.29131416e+00] [-4.25273792e-03 3.14364991e-04 9.99990908e-01 -2.31325445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88037174299998 meters 0.03857956308285639 Centerline is valid? [True, True] Translation: X:165.10, Y:-9.29, Z:-2.31 [[ 9.99977394e-01 -5.30544642e-03 4.13077057e-03 1.65097329e+02] [ 5.30666787e-03 9.99985879e-01 -2.84789965e-04 -9.29399565e+00] [-4.12920130e-03 3.06704155e-04 9.99991428e-01 -2.31413942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91037174299998 meters 0.0401501409229294 Centerline is valid? [True, True] Translation: X:165.13, Y:-9.30, Z:-2.32 [[ 9.99977291e-01 -5.40315814e-03 4.02780594e-03 1.65127957e+02] [ 5.40431955e-03 9.99985358e-01 -2.77520102e-04 -9.29859957e+00] [-4.02624748e-03 2.99281351e-04 9.99991850e-01 -2.31513675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940371743 meters 0.04829628805575475 Centerline is valid? [True, True] Translation: X:165.16, Y:-9.31, Z:-2.32 [[ 9.99972010e-01 -5.82174167e-03 4.69960965e-03 1.65158256e+02] [ 5.82333402e-03 9.99982991e-01 -3.25214051e-04 -9.31225717e+00] [-4.69763641e-03 3.52572345e-04 9.99988904e-01 -2.31657160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.970371743 meters 0.03874306344781308 Centerline is valid? [True, True] Translation: X:165.19, Y:-9.30, Z:-2.32 [[ 9.99968477e-01 -6.12680594e-03 5.05045352e-03 1.65191702e+02] [ 6.12864954e-03 9.99981159e-01 -3.49640537e-04 -9.30156366e+00] [-5.04821618e-03 3.80581975e-04 9.99987185e-01 -2.31501444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000371743 meters 0.04008616288429767 Centerline is valid? [True, True] Translation: X:165.22, Y:-9.31, Z:-2.32 [[ 9.99962495e-01 -6.63528853e-03 5.56604150e-03 1.65222714e+02] [ 6.63753929e-03 9.99977897e-01 -3.85998603e-04 -9.30608497e+00] [-5.56335726e-03 4.22928946e-04 9.99984435e-01 -2.31591915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.030371743 meters 0.03950904435237832 Centerline is valid? [True, True] Translation: X:165.25, Y:-9.31, Z:-2.32 [[ 9.99964046e-01 -6.60895262e-03 5.31309250e-03 1.65254857e+02] [ 6.61100357e-03 9.99978079e-01 -3.68548324e-04 -9.30724897e+00] [-5.31054032e-03 4.03659947e-04 9.99985818e-01 -2.31641649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060371743 meters 0.04051770016131108 Centerline is valid? [True, True] Translation: X:165.29, Y:-9.31, Z:-2.32 [[ 9.99967012e-01 -6.28071431e-03 5.15052885e-03 1.65285907e+02] [ 6.28263995e-03 9.99980200e-01 -3.57777784e-04 -9.31110643e+00] [-5.14817977e-03 3.90124900e-04 9.99986672e-01 -2.31709142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.090371743 meters 0.04051770016131108 Centerline is valid? [True, True] Translation: X:165.32, Y:-9.31, Z:-2.32 [[ 9.99967681e-01 -6.17330383e-03 5.15054268e-03 1.65318461e+02] [ 6.17522704e-03 9.99980869e-01 -3.57579864e-04 -9.31346632e+00] [-5.14823669e-03 3.89374078e-04 9.99986672e-01 -2.31754956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120371743 meters 0.038217287474009626 Centerline is valid? [True, True] Translation: X:165.35, Y:-9.31, Z:-2.32 [[ 9.99974664e-01 -5.49627155e-03 4.52363929e-03 1.65350516e+02] [ 5.49775106e-03 9.99984838e-01 -3.14692523e-04 -9.31252563e+00] [-4.52184107e-03 3.39554392e-04 9.99989719e-01 -2.31811131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.150371743 meters 0.038388362859949975 Centerline is valid? [True, True] Translation: X:165.38, Y:-9.31, Z:-2.32 [[ 9.99976184e-01 -5.36508536e-03 4.34137950e-03 1.65383104e+02] [ 5.36644802e-03 9.99985555e-01 -3.02288766e-04 -9.31453411e+00] [-4.33969498e-03 3.25579354e-04 9.99990530e-01 -2.31918645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180371743 meters 0.039442637881026456 Centerline is valid? [True, True] Translation: X:165.41, Y:-9.32, Z:-2.32 [[ 9.99980699e-01 -5.09801970e-03 3.55135344e-03 1.65413736e+02] [ 5.09893081e-03 9.99986970e-01 -2.47545451e-04 -9.31823286e+00] [-3.55004518e-03 2.65648779e-04 9.99993663e-01 -2.32061658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.210371743 meters 0.040114983825400415 Centerline is valid? [True, True] Translation: X:165.44, Y:-9.32, Z:-2.32 [[ 9.99981091e-01 -5.07413067e-03 3.47441131e-03 1.65444379e+02] [ 5.07500322e-03 9.99987093e-01 -2.42363885e-04 -9.32126317e+00] [-3.47313668e-03 2.59991950e-04 9.99993935e-01 -2.32142126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24037174299997 meters 0.04053687186520469 Centerline is valid? [True, True] Translation: X:165.48, Y:-9.32, Z:-2.32 [[ 9.99983322e-01 -4.84748848e-03 3.13959110e-03 1.65476393e+02] [ 4.84819955e-03 9.99988223e-01 -2.18915026e-04 -9.32379141e+00] [-3.13849294e-03 2.34132739e-04 9.99995048e-01 -2.32208534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27037174299997 meters 0.040654663206826445 Centerline is valid? [True, True] Translation: X:165.51, Y:-9.33, Z:-2.32 [[ 9.99986648e-01 -3.23602440e-03 4.02882438e-03 1.65507013e+02] [ 3.23718604e-03 9.99994721e-01 -2.81844187e-04 -9.32562411e+00] [-4.02789106e-03 2.94882477e-04 9.99991845e-01 -2.32240664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30037174299997 meters 0.04391605492510074 Centerline is valid? [True, True] Translation: X:165.54, Y:-9.33, Z:-2.32 [[ 9.99986379e-01 -2.17293427e-03 4.74559958e-03 1.65537860e+02] [ 2.17453461e-03 9.99997581e-01 -3.32092047e-04 -9.33178841e+00] [-4.74486648e-03 3.42406994e-04 9.99988684e-01 -2.32282546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33037174299997 meters 0.04003405594676048 Centerline is valid? [True, True] Translation: X:165.57, Y:-9.33, Z:-2.32 [[ 9.99984678e-01 4.77945105e-04 5.51494468e-03 1.65568874e+02] [-4.75819260e-04 9.99999812e-01 -3.86775380e-04 -9.32666397e+00] [-5.51512850e-03 3.84145337e-04 9.99984718e-01 -2.32160144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36037174299997 meters 0.03643107031448735 Centerline is valid? [True, True] Translation: X:165.60, Y:-9.32, Z:-2.32 [[ 9.99979614e-01 1.71007759e-03 6.15205873e-03 1.65601087e+02] [-1.70745802e-03 9.99998449e-01 -4.31031969e-04 -9.32282842e+00] [-6.15278629e-03 4.20518800e-04 9.99980983e-01 -2.32100576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39037174299997 meters 0.036652063962268146 Centerline is valid? [True, True] Translation: X:165.63, Y:-9.32, Z:-2.32 [[ 9.99976099e-01 2.67919584e-03 6.37370057e-03 1.65633531e+02] [-2.67640218e-03 9.99996319e-01 -4.46799740e-04 -9.32435058e+00] [-6.37487417e-03 4.29730475e-04 9.99979588e-01 -2.32129765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42037174299998 meters 0.03632079082093968 Centerline is valid? [True, True] Translation: X:165.67, Y:-9.33, Z:-2.32 [[ 9.99965742e-01 4.33903156e-03 7.04899592e-03 1.65665134e+02] [-4.33564953e-03 9.99990479e-01 -4.94999757e-04 -9.32531015e+00] [-7.05107663e-03 4.64420823e-04 9.99975033e-01 -2.32133693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45037174299998 meters 0.036604062980488655 Centerline is valid? [True, True] Translation: X:165.70, Y:-9.33, Z:-2.32 [[ 9.99965900e-01 4.55065300e-03 6.89134377e-03 1.65696363e+02] [-4.54742392e-03 9.99989543e-01 -4.84167028e-04 -9.32784679e+00] [-6.89347499e-03 4.52812656e-04 9.99976137e-01 -2.32197717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48037174299998 meters 0.03768074769339963 Centerline is valid? [True, True] Translation: X:165.73, Y:-9.33, Z:-2.32 [[ 9.99963148e-01 5.41658141e-03 6.66063197e-03 1.65727037e+02] [-5.41359210e-03 9.99985237e-01 -4.66749958e-04 -9.33164406e+00] [-6.66306183e-03 4.30674813e-04 9.99977709e-01 -2.32367244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51037174299998 meters 0.038439730913790826 Centerline is valid? [True, True] Translation: X:165.76, Y:-9.33, Z:-2.32 [[ 9.99963627e-01 5.47222032e-03 6.54212395e-03 1.65757075e+02] [-5.46931778e-03 9.99984937e-01 -4.61477879e-04 -9.33477870e+00] [-6.54455071e-03 4.25680138e-04 9.99978494e-01 -2.32460740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54037174299998 meters 0.039225959685753584 Centerline is valid? [True, True] Translation: X:165.79, Y:-9.34, Z:-2.33 [[ 9.99962367e-01 5.89642368e-03 6.36372049e-03 1.65787807e+02] [-5.89368601e-03 9.99982531e-01 -4.48866953e-04 -9.33827539e+00] [-6.36625603e-03 4.11344291e-04 9.99979651e-01 -2.32565980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57037174299998 meters 0.036261957062447524 Centerline is valid? [True, True] Translation: X:165.82, Y:-9.34, Z:-2.33 [[ 9.99958547e-01 6.50797387e-03 6.36791327e-03 1.65818654e+02] [-6.50524189e-03 9.99978740e-01 -4.49641856e-04 -9.33580716e+00] [-6.37070414e-03 4.08198401e-04 9.99979624e-01 -2.32559242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60037174299998 meters 0.03852491830627836 Centerline is valid? [True, True] Translation: X:165.85, Y:-9.34, Z:-2.33 [[ 9.99950969e-01 7.49097649e-03 6.47648290e-03 1.65848330e+02] [-7.48817108e-03 9.99971859e-01 -4.57308017e-04 -9.34086048e+00] [-6.47972632e-03 4.08788583e-04 9.99978923e-01 -2.32654147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63037174299998 meters 0.038011024911370636 Centerline is valid? [True, True] Translation: X:165.88, Y:-9.34, Z:-2.33 [[ 9.99941198e-01 8.50155588e-03 6.73239014e-03 1.65879041e+02] [-8.49854721e-03 9.99963774e-01 -4.75377768e-04 -9.34239447e+00] [-6.73618770e-03 4.18134279e-04 9.99977224e-01 -2.32709835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66037174299998 meters 0.037742557734311066 Centerline is valid? [True, True] Translation: X:165.91, Y:-9.34, Z:-2.33 [[ 9.99933894e-01 9.05272507e-03 7.08919858e-03 1.65909199e+02] [-9.04940198e-03 9.99958928e-01 -5.00691265e-04 -9.34368936e+00] [-7.09344003e-03 4.36505159e-04 9.99974746e-01 -2.32748157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.690371743 meters 0.03469175761459157 Centerline is valid? [True, True] Translation: X:165.94, Y:-9.34, Z:-2.33 [[ 9.99905731e-01 1.16676074e-02 7.23850870e-03 1.65940105e+02] [-1.16642129e-02 9.99931840e-01 -5.10990531e-04 -9.34089005e+00] [-7.24397736e-03 4.26510854e-04 9.99973671e-01 -2.32759669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720371743 meters 0.03677410313631175 Centerline is valid? [True, True] Translation: X:165.97, Y:-9.35, Z:-2.33 [[ 9.99894078e-01 1.27206652e-02 7.07225467e-03 1.65968837e+02] [-1.27174494e-02 9.99919005e-01 -4.99499583e-04 -9.34671113e+00] [-7.07803582e-03 4.09505634e-04 9.99974867e-01 -2.32856650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.750371743 meters 0.032418453246200435 Centerline is valid? [True, True] Translation: X:166.00, Y:-9.34, Z:-2.33 [[ 9.99853495e-01 1.59945643e-02 6.09615274e-03 1.65999407e+02] [-1.59922362e-02 9.99872023e-01 -4.30448262e-04 -9.34142460e+00] [-6.10225741e-03 3.32894085e-04 9.99981326e-01 -2.32842476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780371743 meters 0.03596923896826864 Centerline is valid? [True, True] Translation: X:166.03, Y:-9.35, Z:-2.33 [[ 9.99828350e-01 1.76082938e-02 5.76358202e-03 1.66026482e+02] [-1.76062384e-02 9.99844915e-01 -4.07167141e-04 -9.34866374e+00] [-5.76985769e-03 3.05622252e-04 9.99983308e-01 -2.32984920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.810371743 meters 0.031013497246649594 Centerline is valid? [True, True] Translation: X:166.06, Y:-9.34, Z:-2.33 [[ 9.99767286e-01 2.07907758e-02 5.75471934e-03 1.66056994e+02] [-2.07887856e-02 9.99783808e-01 -4.05447590e-04 -9.34326897e+00] [-5.76190478e-03 2.85719610e-04 9.99983359e-01 -2.32941109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840371743 meters 0.030389597014418013 Centerline is valid? [True, True] Translation: X:166.09, Y:-9.34, Z:-2.33 [[ 9.99743471e-01 2.18850918e-02 5.83398146e-03 1.66086350e+02] [-2.18830615e-02 9.99760452e-01 -4.11631192e-04 -9.34435202e+00] [-5.84159253e-03 2.83860222e-04 9.99982897e-01 -2.32948159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.870371743 meters 0.029193296237871855 Centerline is valid? [True, True] Translation: X:166.11, Y:-9.34, Z:-2.33 [[ 9.99724049e-01 2.27936387e-02 5.68126413e-03 1.66114962e+02] [-2.27917326e-02 9.99740155e-01 -4.00034446e-04 -9.34433018e+00] [-5.68890612e-03 2.70438203e-04 9.99983781e-01 -2.32951317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900371743 meters 0.02966191318224437 Centerline is valid? [True, True] Translation: X:166.14, Y:-9.35, Z:-2.33 [[ 9.99677970e-01 2.49061347e-02 4.86212709e-03 1.66143316e+02] [-2.49047646e-02 9.99689770e-01 -3.42148731e-04 -9.34741812e+00] [-4.86914031e-03 2.20948419e-04 9.99988121e-01 -2.33016388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.930371743 meters 0.027732458011027986 Centerline is valid? [True, True] Translation: X:166.17, Y:-9.35, Z:-2.33 [[ 9.99652090e-01 2.59418538e-02 4.76650532e-03 1.66172449e+02] [-2.59405502e-02 9.99663431e-01 -3.35102666e-04 -9.34929779e+00] [-4.77359425e-03 2.11340310e-04 9.99988584e-01 -2.33010054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960371743 meters 0.027739426112570978 Centerline is valid? [True, True] Translation: X:166.20, Y:-9.35, Z:-2.33 [[ 9.99635136e-01 2.65842298e-02 4.78258502e-03 1.66201029e+02] [-2.65829265e-02 9.99646555e-01 -3.35882376e-04 -9.35195066e+00] [-4.78982382e-03 2.08624718e-04 9.99988507e-01 -2.33026245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99037174299997 meters 0.028029571878856994 Centerline is valid? [True, True] Translation: X:166.23, Y:-9.36, Z:-2.33 [[ 9.99616357e-01 2.72670336e-02 4.86297648e-03 1.66229456e+02] [-2.72656960e-02 9.99628164e-01 -3.41159910e-04 -9.35524865e+00] [-4.87047067e-03 2.08436588e-04 9.99988117e-01 -2.33076482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02037174299997 meters 0.028028009427401638 Centerline is valid? [True, True] Translation: X:166.26, Y:-9.36, Z:-2.33 [[ 9.99619969e-01 2.71706496e-02 4.65556887e-03 1.66257367e+02] [-2.71694224e-02 9.99630790e-01 -3.26651267e-04 -9.35874555e+00] [-4.66272531e-03 2.00038012e-04 9.99989109e-01 -2.33093183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05037174299997 meters 0.027760755025912767 Centerline is valid? [True, True] Translation: X:166.29, Y:-9.36, Z:-2.33 [[ 9.99629874e-01 2.67257668e-02 5.08416970e-03 1.66285714e+02] [-2.67243025e-02 9.99642779e-01 -3.55732019e-04 -9.36364654e+00] [-5.09186074e-03 2.19729464e-04 9.99987012e-01 -2.33095237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08037174299997 meters 0.030996670004041403 Centerline is valid? [True, True] Translation: X:166.31, Y:-9.38, Z:-2.33 [[ 9.99692261e-01 2.44074293e-02 4.43392767e-03 1.66313771e+02] [-2.44062937e-02 9.99702074e-01 -3.10062487e-04 -9.37508595e+00] [-4.44017452e-03 2.01751328e-04 9.99990122e-01 -2.33228997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11037174299997 meters 0.027975979199197 Centerline is valid? [True, True] Translation: X:166.34, Y:-9.37, Z:-2.33 [[ 9.99699630e-01 2.41591789e-02 4.12120279e-03 1.66342328e+02] [-2.41581968e-02 9.99708107e-01 -2.87935539e-04 -9.37365580e+00] [-4.12695612e-03 1.88288224e-04 9.99991466e-01 -2.33150135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14037174299997 meters 0.031631581879913884 Centerline is valid? [True, True] Translation: X:166.37, Y:-9.38, Z:-2.33 [[ 9.99700593e-01 2.44456555e-02 1.06481056e-03 1.66369730e+02] [-2.44455892e-02 9.99701159e-01 -7.52820084e-05 -9.38355694e+00] [-1.06633266e-03 4.92295470e-05 9.99999430e-01 -2.33389749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17037174299998 meters 0.029016431225996453 Centerline is valid? [True, True] Translation: X:166.40, Y:-9.38, Z:-2.33 [[ 9.99679767e-01 2.53033139e-02 3.25744263e-04 1.66398594e+02] [-2.53033076e-02 9.99679820e-01 -2.35975938e-05 -9.38305497e+00] [-3.26237064e-04 1.53476298e-05 9.99999947e-01 -2.33350227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20037174299998 meters 0.02638222078146152 Centerline is valid? [True, True] Translation: X:166.43, Y:-9.38, Z:-2.33 [[ 9.99583171e-01 2.87604389e-02 -2.51434191e-03 1.66427298e+02] [-2.87600934e-02 9.99586328e-01 1.73477819e-04 -9.38213372e+00] [ 2.51829110e-03 -1.01092801e-04 9.99996824e-01 -2.33316594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23037174299998 meters 0.02607368874320267 Centerline is valid? [True, True] Translation: X:166.45, Y:-9.38, Z:-2.33 [[ 9.99500223e-01 3.13965150e-02 -3.68278986e-03 1.66454947e+02] [-3.13957919e-02 9.99506998e-01 2.54003405e-04 -9.38394688e+00] [ 3.68894906e-03 -1.38252356e-04 9.99993186e-01 -2.33368535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26037174299998 meters 0.02446640496488126 Centerline is valid? [True, True] Translation: X:166.48, Y:-9.38, Z:-2.33 [[ 9.99422035e-01 3.37448644e-02 -4.10862795e-03 1.66484225e+02] [-3.37439961e-02 9.99430470e-01 2.80480724e-04 -9.38277280e+00] [ 4.11575275e-03 -1.41677090e-04 9.99991520e-01 -2.33297154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29037174299998 meters 0.02394456812044647 Centerline is valid? [True, True] Translation: X:166.51, Y:-9.38, Z:-2.33 [[ 9.99187287e-01 4.00011641e-02 -4.96704626e-03 1.66512814e+02] [-3.99999575e-02 9.99199623e-01 3.42053307e-04 -9.38360951e+00] [ 4.97675328e-03 -1.43093676e-04 9.99987606e-01 -2.33283480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32037174299998 meters 0.022906955481157187 Centerline is valid? [True, True] Translation: X:166.54, Y:-9.38, Z:-2.33 [[ 9.99104036e-01 4.20899403e-02 -4.42281895e-03 1.66541940e+02] [-4.20890201e-02 9.99113819e-01 3.00970484e-04 -9.38473149e+00] [ 4.43156736e-03 -1.14548709e-04 9.99990174e-01 -2.33245230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35037174299998 meters 0.022428036721309805 Centerline is valid? [True, True] Translation: X:166.57, Y:-9.39, Z:-2.33 [[ 9.98907943e-01 4.65987413e-02 -3.38807402e-03 1.66571388e+02] [-4.65982209e-02 9.98913686e-01 2.32427714e-04 -9.38662414e+00] [ 3.39522435e-03 -7.42956677e-05 9.99994233e-01 -2.33160766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38037174299998 meters 0.022289270902180015 Centerline is valid? [True, True] Translation: X:166.60, Y:-9.39, Z:-2.33 [[ 9.98848883e-01 4.78283770e-02 -3.65454369e-03 1.66598755e+02] [-4.78277834e-02 9.98855566e-01 2.49687460e-04 -9.38957989e+00] [ 3.66230345e-03 -7.46113170e-05 9.99993291e-01 -2.33211035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41037174299998 meters 0.021702689435273682 Centerline is valid? [True, True] Translation: X:166.63, Y:-9.39, Z:-2.33 [[ 9.98826988e-01 4.82827785e-02 -3.66343238e-03 1.66627152e+02] [-4.82821967e-02 9.98833704e-01 2.47135736e-04 -9.39180217e+00] [ 3.67109214e-03 -6.99672804e-05 9.99993259e-01 -2.33131251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440371743 meters 0.022057068739970258 Centerline is valid? [True, True] Translation: X:166.65, Y:-9.40, Z:-2.33 [[ 9.98850537e-01 4.77763279e-02 -3.87641244e-03 1.66654326e+02] [-4.77756645e-02 9.98858056e-01 2.63617245e-04 -9.39704452e+00] [ 3.88458046e-03 -7.81160460e-05 9.99992452e-01 -2.33092717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.470371743 meters 0.022470292685587433 Centerline is valid? [True, True] Translation: X:166.68, Y:-9.40, Z:-2.33 [[ 9.98915781e-01 4.63771553e-02 -4.05232068e-03 1.66682790e+02] [-4.63764318e-02 9.98923997e-01 2.72380158e-04 -9.40138053e+00] [ 4.06059259e-03 -8.41526645e-05 9.99991752e-01 -2.33112839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500371743 meters 0.02307601666886512 Centerline is valid? [True, True] Translation: X:166.71, Y:-9.41, Z:-2.33 [[ 9.99158394e-01 4.08360776e-02 -3.86241373e-03 1.66711058e+02] [-4.08353697e-02 9.99165854e-01 2.61991820e-04 -9.41147012e+00] [ 3.86989063e-03 -1.04048234e-04 9.99992507e-01 -2.33242233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.530371743 meters 0.02387048735659406 Centerline is valid? [True, True] Translation: X:166.74, Y:-9.42, Z:-2.33 [[ 9.99286556e-01 3.74955143e-02 -4.52389304e-03 1.66740170e+02] [-3.74945080e-02 9.99296787e-01 3.07077196e-04 -9.41791163e+00] [ 4.53222579e-03 -1.37236970e-04 9.99989720e-01 -2.33326762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560371743 meters 0.027567357801607215 Centerline is valid? [True, True] Translation: X:166.77, Y:-9.43, Z:-2.34 [[ 9.99520580e-01 3.05071107e-02 -5.28449722e-03 1.66768922e+02] [-3.05056394e-02 9.99534530e-01 3.58815095e-04 -9.43130965e+00] [ 5.29298386e-03 -1.97436105e-04 9.99985973e-01 -2.33639508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.590371743 meters 0.025817191285345032 Centerline is valid? [True, True] Translation: X:166.80, Y:-9.43, Z:-2.33 [[ 9.99629019e-01 2.66901570e-02 -5.42764593e-03 1.66798130e+02] [-2.66885526e-02 9.99643729e-01 3.67824775e-04 -9.43273366e+00] [ 5.43552952e-03 -2.22832305e-04 9.99985203e-01 -2.33479357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620371743 meters 0.026797401818861182 Centerline is valid? [True, True] Translation: X:166.83, Y:-9.44, Z:-2.34 [[ 9.99715131e-01 2.31626812e-02 -5.75733495e-03 1.66826732e+02] [-2.31608191e-02 9.99731676e-01 3.89900326e-04 -9.43840846e+00] [ 5.76482126e-03 -2.56444662e-04 9.99983350e-01 -2.33550387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.650371743 meters 0.03071736484217055 Centerline is valid? [True, True] Translation: X:166.86, Y:-9.45, Z:-2.34 [[ 9.99834748e-01 1.73036254e-02 -5.57319275e-03 1.66855785e+02] [-1.73017879e-02 9.99850242e-01 3.77752989e-04 -9.45051877e+00] [ 5.57889462e-03 -2.81264366e-04 9.99984398e-01 -2.33772751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680371743 meters 0.031602879534467936 Centerline is valid? [True, True] Translation: X:166.88, Y:-9.46, Z:-2.34 [[ 9.99864221e-01 1.53706750e-02 -5.93983287e-03 1.66884530e+02] [-1.53685605e-02 9.99881816e-01 4.01458163e-04 -9.45500827e+00] [ 5.94530156e-03 -3.10116972e-04 9.99982278e-01 -2.33806299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.710371743 meters 0.0362541331745759 Centerline is valid? [True, True] Translation: X:166.91, Y:-9.47, Z:-2.34 [[ 9.99913052e-01 1.21848390e-02 -5.04172246e-03 1.66911816e+02] [-1.21832776e-02 9.99925723e-01 3.40294609e-04 -9.46764619e+00] [ 5.04549441e-03 -2.78840316e-04 9.99987233e-01 -2.33949565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74037174299997 meters 0.030385734916753036 Centerline is valid? [True, True] Translation: X:166.94, Y:-9.46, Z:-2.33 [[ 9.99932460e-01 1.11784629e-02 -3.18074498e-03 1.66940789e+02] [-1.11778384e-02 9.99937503e-01 2.14053709e-04 -9.46170395e+00] [ 3.18293898e-03 -1.78485398e-04 9.99994919e-01 -2.33469034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77037174299997 meters 0.03276326236353929 Centerline is valid? [True, True] Translation: X:166.97, Y:-9.47, Z:-2.34 [[ 9.99924614e-01 1.18613926e-02 -3.17398558e-03 1.66968424e+02] [-1.18607758e-02 9.99929636e-01 2.13068322e-04 -9.46723443e+00] [ 3.17628953e-03 -1.75406328e-04 9.99994940e-01 -2.33509413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80037174299997 meters 0.031081476864402276 Centerline is valid? [True, True] Translation: X:167.00, Y:-9.47, Z:-2.33 [[ 9.99930682e-01 1.15385339e-02 -2.34373284e-03 1.66997643e+02] [-1.15381973e-02 9.99933420e-01 1.57093624e-04 -9.46742535e+00] [ 2.34538942e-03 -1.30040283e-04 9.99997241e-01 -2.33431898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83037174299997 meters 0.03185446190405115 Centerline is valid? [True, True] Translation: X:167.03, Y:-9.47, Z:-2.34 [[ 9.99921439e-01 1.23779441e-02 -1.97554265e-03 1.67025410e+02] [-1.23777076e-02 9.99923385e-01 1.31908778e-04 -9.47188655e+00] [ 1.97702405e-03 -1.07445726e-04 9.99998040e-01 -2.33565733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86037174299997 meters 0.03153644641505464 Centerline is valid? [True, True] Translation: X:167.05, Y:-9.47, Z:-2.34 [[ 9.99914826e-01 1.28048077e-02 -2.52538541e-03 1.67054353e+02] [-1.28044216e-02 9.99918006e-01 1.68968337e-04 -9.47466409e+00] [ 2.52734195e-03 -1.36617846e-04 9.99996797e-01 -2.33763850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89037174299997 meters 0.033275286399148674 Centerline is valid? [True, True] Translation: X:167.08, Y:-9.48, Z:-2.34 [[ 9.99894076e-01 1.41267035e-02 -3.50339021e-03 1.67081960e+02] [-1.41259695e-02 9.99900196e-01 2.34168692e-04 -9.47909565e+00] [ 3.50634859e-03 -1.84655104e-04 9.99993836e-01 -2.33925178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92037174299998 meters 0.0328640566406108 Centerline is valid? [True, True] Translation: X:167.11, Y:-9.48, Z:-2.34 [[ 9.99903710e-01 1.33675270e-02 -3.72555890e-03 1.67110556e+02] [-1.33666912e-02 9.99910631e-01 2.49153740e-04 -9.48046802e+00] [ 3.72855652e-03 -1.99331354e-04 9.99993029e-01 -2.33970226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95037174299998 meters 0.03211029159543901 Centerline is valid? [True, True] Translation: X:167.14, Y:-9.48, Z:-2.34 [[ 9.99922457e-01 1.18450007e-02 -3.84394288e-03 1.67139981e+02] [-1.18440982e-02 9.99929823e-01 2.57448915e-04 -9.48110832e+00] [ 3.84672261e-03 -2.11900915e-04 9.99992579e-01 -2.33973806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98037174299998 meters 0.03211029159543901 Centerline is valid? [True, True] Translation: X:167.17, Y:-9.48, Z:-2.34 [[ 9.99923697e-01 1.17398384e-02 -3.84403586e-03 1.67167429e+02] [-1.17389405e-02 9.99931063e-01 2.56061876e-04 -9.48285673e+00] [ 3.84677699e-03 -2.10917430e-04 9.99992579e-01 -2.34012451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01037174299998 meters 0.03146221643470459 Centerline is valid? [True, True] Translation: X:167.20, Y:-9.48, Z:-2.34 [[ 9.99926473e-01 1.14885889e-02 -3.88079610e-03 1.67196235e+02] [-1.14876710e-02 9.99933981e-01 2.58733999e-04 -9.48362706e+00] [ 3.88351238e-03 -2.14133666e-04 9.99992436e-01 -2.33990021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04037174299998 meters 0.034571488115002665 Centerline is valid? [True, True] Translation: X:167.22, Y:-9.49, Z:-2.34 [[ 9.99894740e-01 1.35528091e-02 -5.17975768e-03 1.67223875e+02] [-1.35512034e-02 9.99908119e-01 3.44973472e-04 -9.48818035e+00] [ 5.18395712e-03 -2.74745211e-04 9.99986525e-01 -2.34215204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07037174299998 meters 0.034643900541487055 Centerline is valid? [True, True] Translation: X:167.25, Y:-9.49, Z:-2.34 [[ 9.99904157e-01 1.31324854e-02 -4.38336661e-03 1.67251090e+02] [-1.31313337e-02 9.99913738e-01 2.91403236e-04 -9.49156203e+00] [ 4.38681534e-03 -2.33815857e-04 9.99990351e-01 -2.34343231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10037174299998 meters 0.029725953873580967 Centerline is valid? [True, True] Translation: X:167.28, Y:-9.48, Z:-2.34 [[ 9.99840206e-01 1.69841279e-02 -5.57691047e-03 1.67281443e+02] [-1.69823189e-02 9.99855721e-01 3.71568359e-04 -9.48283939e+00] [ 5.58241660e-03 -2.76800113e-04 9.99984380e-01 -2.34144009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13037174299998 meters 0.03369485483927277 Centerline is valid? [True, True] Translation: X:167.31, Y:-9.49, Z:-2.34 [[ 9.99805158e-01 1.90610197e-02 -5.13067732e-03 1.67309304e+02] [-1.90595205e-02 9.99818293e-01 3.40938823e-04 -9.49013598e+00] [ 5.13624368e-03 -2.43084144e-04 9.99986780e-01 -2.34495103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16037174299998 meters 0.027428260070716297 Centerline is valid? [True, True] Translation: X:167.34, Y:-9.48, Z:-2.34 [[ 9.99647807e-01 2.61462746e-02 -4.54251798e-03 1.67341057e+02] [-2.61451672e-02 9.99658111e-01 3.03008318e-04 -9.47804959e+00] [ 4.54888748e-03 -1.84136709e-04 9.99989637e-01 -2.34089417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.190371743 meters 0.024399830867377084 Centerline is valid? [True, True] Translation: X:167.37, Y:-9.47, Z:-2.34 [[ 9.99413273e-01 3.40608079e-02 -3.60145041e-03 1.67371982e+02] [-3.40601639e-02 9.99419755e-01 2.40016548e-04 -9.47112016e+00] [ 3.60753584e-03 -1.17209733e-04 9.99993486e-01 -2.34012880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220371743 meters 0.024399830867377084 Centerline is valid? [True, True] Translation: X:167.40, Y:-9.47, Z:-2.34 [[ 9.99416921e-01 3.39535961e-02 -3.60157327e-03 1.67399399e+02] [-3.39529580e-02 9.99423404e-01 2.38171798e-04 -9.47285885e+00] [ 3.60758341e-03 -1.15748859e-04 9.99993486e-01 -2.34051467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.250371743 meters 0.02304426799286637 Centerline is valid? [True, True] Translation: X:167.43, Y:-9.47, Z:-2.34 [[ 9.99173638e-01 4.05911419e-02 -2.09787423e-03 1.67428194e+02] [-4.05909400e-02 9.99175839e-01 1.38752490e-04 -9.46921461e+00] [ 2.10177737e-03 -5.34831427e-05 9.99997790e-01 -2.34093827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280371743 meters 0.022185615253468467 Centerline is valid? [True, True] Translation: X:167.46, Y:-9.47, Z:-2.34 [[ 9.99024899e-01 4.41363683e-02 -1.10979520e-03 1.67457462e+02] [-4.41363175e-02 9.99025515e-01 7.02511470e-05 -9.46709345e+00] [ 1.11181435e-03 -2.12003720e-05 9.99999382e-01 -2.34044559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.310371743 meters 0.02241197035563323 Centerline is valid? [True, True] Translation: X:167.49, Y:-9.47, Z:-2.34 [[ 9.99004210e-01 4.46009103e-02 -1.16095467e-03 1.67485922e+02] [-4.46008522e-02 9.99004884e-01 7.58350477e-05 -9.46855081e+00] [ 1.16318170e-03 -2.39799642e-05 9.99999323e-01 -2.34069307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340371743 meters 0.02227582053557646 Centerline is valid? [True, True] Translation: X:167.51, Y:-9.47, Z:-2.34 [[ 9.99049636e-01 4.35788033e-02 -8.44353989e-04 1.67514471e+02] [-4.35787725e-02 9.99049993e-01 5.48258487e-05 -9.47084871e+00] [ 8.45941092e-04 -1.79778338e-05 9.99999642e-01 -2.34126558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.370371743 meters 0.023783808041064138 Centerline is valid? [True, True] Translation: X:167.54, Y:-9.48, Z:-2.34 [[ 9.99199435e-01 3.99995919e-02 -7.22284744e-04 1.67543748e+02] [-3.99995682e-02 9.99199696e-01 4.72299328e-05 -9.47760958e+00] [ 7.23595874e-04 -1.83010443e-05 9.99999738e-01 -2.34229015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400371743 meters 0.023465765400683142 Centerline is valid? [True, True] Translation: X:167.57, Y:-9.49, Z:-2.34 [[ 9.99446431e-01 3.32683474e-02 -2.20751838e-04 1.67573604e+02] [-3.32683451e-02 9.99446455e-01 1.43313466e-05 -9.48520645e+00] [ 2.21106422e-04 -6.97936492e-06 9.99999976e-01 -2.34299032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.430371743 meters 0.02544607851453923 Centerline is valid? [True, True] Translation: X:167.60, Y:-9.49, Z:-2.34 [[ 9.99530462e-01 3.06316398e-02 -7.47464710e-04 1.67601416e+02] [-3.06316123e-02 9.99530741e-01 4.83242065e-05 -9.49200624e+00] [ 7.48594205e-04 -2.54054673e-05 9.99999719e-01 -2.34407619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460371743 meters 0.025856093043029826 Centerline is valid? [True, True] Translation: X:167.63, Y:-9.50, Z:-2.34 [[ 9.99617436e-01 2.76344862e-02 -1.14789678e-03 1.67630905e+02] [-2.76344180e-02 9.99618094e-01 7.52201920e-05 -9.49638457e+00] [ 1.14953706e-03 -4.34699560e-05 9.99999338e-01 -2.34409933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49037174299997 meters 0.02734003682491326 Centerline is valid? [True, True] Translation: X:167.66, Y:-9.50, Z:-2.34 [[ 9.99706585e-01 2.41702962e-02 -1.59386102e-03 1.67660280e+02] [-2.41701601e-02 9.99707854e-01 1.04574705e-04 -9.50325973e+00] [ 1.59592298e-03 -6.60201451e-05 9.99998724e-01 -2.34415103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52037174299997 meters 0.02707764730033055 Centerline is valid? [True, True] Translation: X:167.69, Y:-9.51, Z:-2.34 [[ 9.99743491e-01 2.26259656e-02 -1.00865638e-03 1.67688499e+02] [-2.26259114e-02 9.99743999e-01 6.51513568e-05 -9.50703859e+00] [ 1.00987228e-03 -4.23128750e-05 9.99999489e-01 -2.34438000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55037174299997 meters 0.027346763203037087 Centerline is valid? [True, True] Translation: X:167.72, Y:-9.51, Z:-2.34 [[ 9.99782929e-01 2.08349482e-02 -6.85561460e-06 1.67716771e+02] [-2.08349482e-02 9.99782929e-01 -5.58407360e-07 -9.51363204e+00] [ 6.84249192e-06 7.01122528e-07 1.00000000e+00 -2.34466862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58037174299997 meters 0.02869523947800004 Centerline is valid? [True, True] Translation: X:167.74, Y:-9.52, Z:-2.35 [[ 9.99809279e-01 1.95170885e-02 6.99640915e-04 1.67744339e+02] [-1.95170603e-02 9.99809523e-01 -4.72000723e-05 -9.51982492e+00] [-7.00428857e-04 3.35361363e-05 9.99999754e-01 -2.34570360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61037174299997 meters 0.029058518329489195 Centerline is valid? [True, True] Translation: X:167.77, Y:-9.52, Z:-2.35 [[ 9.99823274e-01 1.87914913e-02 5.48029047e-04 1.67772771e+02] [-1.87914738e-02 9.99823424e-01 -3.69371985e-05 -9.52374477e+00] [-5.48626383e-04 2.66323973e-05 9.99999849e-01 -2.34550074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64037174299997 meters 0.029836106149646376 Centerline is valid? [True, True] Translation: X:167.80, Y:-9.53, Z:-2.35 [[ 9.99828127e-01 1.85373357e-02 2.88837718e-04 1.67801026e+02] [-1.85373307e-02 9.99828169e-01 -1.99162556e-05 -9.52649547e+00] [-2.89157281e-04 1.45585523e-05 9.99999958e-01 -2.34599048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67037174299998 meters 0.029855216679195915 Centerline is valid? [True, True] Translation: X:167.83, Y:-9.53, Z:-2.35 [[ 9.99848624e-01 1.73990974e-02 -2.77465332e-08 1.67829964e+02] [-1.73990974e-02 9.99848624e-01 -9.87183964e-07 -9.52986544e+00] [ 1.05660829e-08 9.87517299e-07 1.00000000e+00 -2.34659441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70037174299998 meters 0.030545167978991674 Centerline is valid? [True, True] Translation: X:167.86, Y:-9.54, Z:-2.35 [[ 9.99889246e-01 1.48826094e-02 5.29564744e-05 1.67858772e+02] [-1.48826092e-02 9.99889248e-01 -4.20215871e-06 -9.53629806e+00] [-5.30131486e-05 3.41356281e-06 9.99999999e-01 -2.34802338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73037174299998 meters 0.02905744106882316 Centerline is valid? [True, True] Translation: X:167.89, Y:-9.54, Z:-2.35 [[ 9.99937930e-01 1.11366983e-02 3.30728014e-04 1.67888933e+02] [-1.11366916e-02 9.99937985e-01 -2.18813032e-05 -9.53983826e+00] [-3.30951190e-04 1.81967291e-05 9.99999945e-01 -2.34794280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76037174299998 meters 0.03212337730923069 Centerline is valid? [True, True] Translation: X:167.92, Y:-9.55, Z:-2.35 [[ 9.99958452e-01 9.11021067e-03 3.14346321e-04 1.67916856e+02] [-9.11020443e-03 9.99958501e-01 -2.12981735e-05 -9.54756651e+00] [-3.14527307e-04 1.84335293e-05 9.99999950e-01 -2.34898332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79037174299998 meters 0.03343408340640707 Centerline is valid? [True, True] Translation: X:167.95, Y:-9.55, Z:-2.35 [[ 9.99974882e-01 7.08748030e-03 5.57112292e-05 1.67945931e+02] [-7.08748007e-03 9.99974883e-01 -4.36069972e-06 -9.55186579e+00] [-5.57407364e-05 3.96573797e-06 9.99999998e-01 -2.34908423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82037174299998 meters 0.03507010981254503 Centerline is valid? [True, True] Translation: X:167.98, Y:-9.56, Z:-2.35 [[ 9.99997577e-01 2.14716214e-03 -4.84885756e-04 1.67976002e+02] [-2.14714705e-03 9.99997694e-01 3.16482676e-05 -9.55642723e+00] [ 4.84952592e-04 -3.06070699e-05 9.99999882e-01 -2.34867384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85037174299998 meters 0.03605430302388984 Centerline is valid? [True, True] Translation: X:168.01, Y:-9.56, Z:-2.35 [[ 9.99999868e-01 4.23738027e-04 -2.91680782e-04 1.68005679e+02] [-4.23732637e-04 9.99999910e-01 1.85387190e-05 -9.56032705e+00] [ 2.91688611e-04 -1.84151219e-05 9.99999957e-01 -2.34874939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88037174299998 meters 0.039622179432476 Centerline is valid? [True, True] Translation: X:168.04, Y:-9.57, Z:-2.35 [[ 9.99998055e-01 -1.94826726e-03 -3.05433688e-04 1.68035310e+02] [ 1.94827381e-03 9.99998102e-01 2.11466430e-05 -9.56734104e+00] [ 3.05391909e-04 -2.17416703e-05 9.99999953e-01 -2.34910064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91037174299998 meters 0.03765718185362449 Centerline is valid? [True, True] Translation: X:168.07, Y:-9.57, Z:-2.35 [[ 9.99991977e-01 -3.97111454e-03 5.24904151e-04 1.68066086e+02] [ 3.97113308e-03 9.99992114e-01 -3.42932743e-05 -9.56798146e+00] [-5.24763830e-04 3.63774634e-05 9.99999862e-01 -2.34883378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940371743 meters 0.038449931752190795 Centerline is valid? [True, True] Translation: X:168.10, Y:-9.57, Z:-2.35 [[ 9.99979779e-01 -6.29191920e-03 9.24048507e-04 1.68097464e+02] [ 6.29197723e-03 9.99980204e-01 -5.99076359e-05 -9.57083059e+00] [-9.23653280e-04 6.57205167e-05 9.99999571e-01 -2.34859733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.970371743 meters 0.039224043081943986 Centerline is valid? [True, True] Translation: X:168.13, Y:-9.57, Z:-2.35 [[ 9.99974877e-01 -6.96188401e-03 1.33306608e-03 1.68129663e+02] [ 6.96200514e-03 9.99975761e-01 -8.62444711e-05 -9.57405843e+00] [-1.33243334e-03 9.55231173e-05 9.99999108e-01 -2.34866038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000371743 meters 0.038479830370167806 Centerline is valid? [True, True] Translation: X:168.16, Y:-9.57, Z:-2.35 [[ 9.99967852e-01 -7.94086768e-03 1.11246762e-03 1.68161953e+02] [ 7.94095253e-03 9.99968468e-01 -7.18741316e-05 -9.57454765e+00] [-1.11186180e-03 8.07058736e-05 9.99999379e-01 -2.34882966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.030371743 meters 0.03918392892151677 Centerline is valid? [True, True] Translation: X:168.19, Y:-9.58, Z:-2.35 [[ 9.99955972e-01 -9.32611957e-03 1.03835916e-03 1.68194034e+02] [ 9.32619424e-03 9.99956508e-01 -6.70937530e-05 -9.57842815e+00] [-1.03768828e-03 7.67747382e-05 9.99999459e-01 -2.34979828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060371743 meters 0.04034755667277272 Centerline is valid? [True, True] Translation: X:168.23, Y:-9.58, Z:-2.35 [[ 9.99951580e-01 -9.81802444e-03 6.66014326e-04 1.68225805e+02] [ 9.81805506e-03 9.99951801e-01 -4.27280410e-05 -9.58205415e+00] [-6.65562720e-04 4.92649374e-05 9.99999777e-01 -2.35101106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.090371743 meters 0.03994620399800692 Centerline is valid? [True, True] Translation: X:168.26, Y:-9.58, Z:-2.35 [[ 9.99941757e-01 -1.07870099e-02 -3.50880686e-04 1.68257647e+02] [ 1.07870189e-02 9.99941818e-01 2.38110273e-05 -9.58258741e+00] [ 3.50603421e-04 -2.75945970e-05 9.99999938e-01 -2.35142826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120371743 meters 0.04269658018147551 Centerline is valid? [True, True] Translation: X:168.29, Y:-9.59, Z:-2.35 [[ 9.99936872e-01 -1.12150125e-02 -6.88965977e-04 1.68288756e+02] [ 1.12150468e-02 9.99937108e-01 4.60555751e-05 -9.58762415e+00] [ 6.88406133e-04 -5.37794534e-05 9.99999762e-01 -2.35277802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.150371743 meters 0.040060160180739955 Centerline is valid? [True, True] Translation: X:168.32, Y:-9.59, Z:-2.35 [[ 9.99937560e-01 -1.11134295e-02 -1.16948271e-03 1.68321651e+02] [ 1.11135283e-02 9.99938240e-01 7.79957036e-05 -9.58518887e+00] [ 1.16854368e-03 -9.09879127e-05 9.99999313e-01 -2.35268963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180371743 meters 0.04485449746507996 Centerline is valid? [True, True] Translation: X:168.35, Y:-9.59, Z:-2.36 [[ 9.99954185e-01 -9.25858543e-03 -2.43048348e-03 1.68351934e+02] [ 9.25900296e-03 9.99957122e-01 1.60591753e-04 -9.59152194e+00] [ 2.42889241e-03 -1.83088249e-04 9.99997033e-01 -2.35503171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.210371743 meters 0.04464059277337315 Centerline is valid? [True, True] Translation: X:168.38, Y:-9.59, Z:-2.36 [[ 9.99959022e-01 -8.64111350e-03 -2.69919792e-03 1.68383843e+02] [ 8.64162780e-03 9.99962644e-01 1.78931142e-04 -9.59304474e+00] [ 2.69755092e-03 -2.02249274e-04 9.99996341e-01 -2.35599693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24037174299997 meters 0.03930379206303379 Centerline is valid? [True, True] Translation: X:168.42, Y:-9.58, Z:-2.35 [[ 9.99986424e-01 -4.69564254e-03 -2.25878776e-03 1.68415138e+02] [ 4.69599091e-03 9.99988963e-01 1.48950461e-04 -9.58367948e+00] [ 2.25806342e-03 -1.59555686e-04 9.99997438e-01 -2.35387185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27037174299997 meters 0.04248237524204772 Centerline is valid? [True, True] Translation: X:168.44, Y:-9.59, Z:-2.36 [[ 9.99993700e-01 -3.09245434e-03 -1.74259581e-03 1.68444902e+02] [ 3.09265973e-03 9.99995211e-01 1.15183103e-04 -9.58918924e+00] [ 1.74223126e-03 -1.20571633e-04 9.99998475e-01 -2.35533229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30037174299997 meters 0.03387459676664544 Centerline is valid? [True, True] Translation: X:168.48, Y:-9.58, Z:-2.35 [[ 9.99996427e-01 2.67302230e-03 -2.66903115e-05 1.68476675e+02] [-2.67302225e-03 9.99996427e-01 1.97054113e-06 -9.57526200e+00] [ 2.66954833e-05 -1.89919029e-06 1.00000000e+00 -2.35197118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33037174299997 meters 0.03168298554960274 Centerline is valid? [True, True] Translation: X:168.51, Y:-9.57, Z:-2.35 [[ 9.99984707e-01 5.52734143e-03 1.83645135e-04 1.68506946e+02] [-5.52733925e-03 9.99984724e-01 -1.23667515e-05 -9.57216856e+00] [-1.83710685e-04 1.13514934e-05 9.99999983e-01 -2.35165785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36037174299997 meters 0.03125038730225288 Centerline is valid? [True, True] Translation: X:168.54, Y:-9.57, Z:-2.35 [[ 9.99941515e-01 1.08086371e-02 3.75064577e-04 1.68536606e+02] [-1.08086285e-02 9.99941585e-01 -2.50286813e-05 -9.57000383e+00] [-3.75313193e-04 2.09732838e-05 9.99999929e-01 -2.35224555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39037174299997 meters 0.030426947891812474 Centerline is valid? [True, True] Translation: X:168.57, Y:-9.57, Z:-2.35 [[ 9.99910555e-01 1.33747129e-02 -4.17469804e-06 1.68566739e+02] [-1.33747129e-02 9.99910555e-01 -4.36122953e-07 -9.56839909e+00] [ 4.16849148e-06 4.91919337e-07 1.00000000e+00 -2.35206427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42037174299998 meters 0.029724614317886366 Centerline is valid? [True, True] Translation: X:168.60, Y:-9.57, Z:-2.35 [[ 9.99852580e-01 1.71634415e-02 4.84092271e-04 1.68595596e+02] [-1.71634277e-02 9.99852697e-01 -3.26166573e-05 -9.56693390e+00] [-4.84580777e-04 2.43031663e-05 9.99999882e-01 -2.35219843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45037174299998 meters 0.028613054798232458 Centerline is valid? [True, True] Translation: X:168.62, Y:-9.56, Z:-2.35 [[ 9.99819117e-01 1.90147133e-02 4.17381003e-04 1.68624627e+02] [-1.90147030e-02 9.99819204e-01 -2.84650107e-05 -9.56455639e+00] [-4.17846797e-04 2.05234860e-05 9.99999912e-01 -2.35208126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48037174299998 meters 0.027820219156325942 Centerline is valid? [True, True] Translation: X:168.65, Y:-9.57, Z:-2.35 [[ 9.99779655e-01 2.09652876e-02 1.04801127e-03 1.68652511e+02] [-2.09652254e-02 9.99780203e-01 -7.02650839e-05 -9.56617200e+00] [-1.04925405e-03 4.82778088e-05 9.99999448e-01 -2.35341940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51037174299998 meters 0.02675108281326965 Centerline is valid? [True, True] Translation: X:168.68, Y:-9.57, Z:-2.35 [[ 9.99744301e-01 2.25800683e-02 1.21395381e-03 1.68681764e+02] [-2.25799863e-02 9.99745036e-01 -8.12238930e-05 -9.56619333e+00] [-1.21547833e-03 5.37920638e-05 9.99999260e-01 -2.35330131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54037174299998 meters 0.026748170018018675 Centerline is valid? [True, True] Translation: X:168.71, Y:-9.57, Z:-2.35 [[ 9.99681702e-01 2.51361398e-02 2.16076209e-03 1.68710894e+02] [-2.51358914e-02 9.99684033e-01 -1.42015736e-04 -9.56759537e+00] [-2.16364909e-03 8.76578516e-05 9.99997655e-01 -2.35331880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57037174299998 meters 0.026226085272248546 Centerline is valid? [True, True] Translation: X:168.74, Y:-9.57, Z:-2.35 [[ 9.99648146e-01 2.64160879e-02 2.40295153e-03 1.68739315e+02] [-2.64157838e-02 9.99651030e-01 -1.58196778e-04 -9.56866873e+00] [-2.40629191e-03 9.46652683e-05 9.99997100e-01 -2.35353870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60037174299998 meters 0.026787867142347172 Centerline is valid? [True, True] Translation: X:168.77, Y:-9.57, Z:-2.35 [[ 9.99590617e-01 2.85386477e-02 2.03588671e-03 1.68768250e+02] [-2.85384338e-02 9.99592687e-01 -1.34040173e-04 -9.56966198e+00] [-2.03888279e-03 7.58842807e-05 9.99997919e-01 -2.35427400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63037174299998 meters 0.025758902187102466 Centerline is valid? [True, True] Translation: X:168.80, Y:-9.57, Z:-2.36 [[ 9.99581442e-01 2.88464624e-02 2.19609117e-03 1.68797134e+02] [-2.88462147e-02 9.99583851e-01 -1.44352683e-04 -9.57179408e+00] [-2.19934133e-03 8.09433454e-05 9.99997578e-01 -2.35530694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66037174299998 meters 0.025768024228584457 Centerline is valid? [True, True] Translation: X:168.83, Y:-9.57, Z:-2.36 [[ 9.99569910e-01 2.92673626e-02 1.84824894e-03 1.68826254e+02] [-2.92671879e-02 9.99571617e-01 -1.21515708e-04 -9.57425767e+00] [-1.85101362e-03 6.73703960e-05 9.99998285e-01 -2.35622960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.690371743 meters 0.02659382449536768 Centerline is valid? [True, True] Translation: X:168.85, Y:-9.58, Z:-2.36 [[ 9.99555454e-01 2.97388249e-02 2.12069210e-03 1.68854282e+02] [-2.97385966e-02 9.99557700e-01 -1.39125054e-04 -9.57907519e+00] [-2.12389154e-03 7.59968000e-05 9.99997742e-01 -2.35725623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720371743 meters 0.026236079885134156 Centerline is valid? [True, True] Translation: X:168.88, Y:-9.58, Z:-2.36 [[ 9.99569558e-01 2.92455883e-02 2.32237732e-03 1.68882512e+02] [-2.92453137e-02 9.99572253e-01 -1.52090075e-04 -9.58203341e+00] [-2.32583190e-03 8.41059557e-05 9.99997292e-01 -2.35740482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.750371743 meters 0.024020413816312782 Centerline is valid? [True, True] Translation: X:168.91, Y:-9.58, Z:-2.36 [[ 9.99519743e-01 3.08074328e-02 3.34448724e-03 1.68911792e+02] [-3.08068749e-02 9.99525332e-01 -2.18214201e-04 -9.58198915e+00] [-3.34962234e-03 1.15076202e-04 9.99994383e-01 -2.35579065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780371743 meters 0.02447514825506326 Centerline is valid? [True, True] Translation: X:168.94, Y:-9.58, Z:-2.36 [[ 9.99472061e-01 3.23021874e-02 3.48827368e-03 1.68940172e+02] [-3.23015897e-02 9.99478142e-01 -2.27570696e-04 -9.58417396e+00] [-3.49380433e-03 1.14773768e-04 9.99993890e-01 -2.35558648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.810371743 meters 0.024032938843934454 Centerline is valid? [True, True] Translation: X:168.97, Y:-9.59, Z:-2.36 [[ 9.99446017e-01 3.29972152e-02 4.34078755e-03 1.68967752e+02] [-3.29962979e-02 9.99455434e-01 -2.82785819e-04 -9.58760918e+00] [-4.34775485e-03 1.39399241e-04 9.99990539e-01 -2.35631086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840371743 meters 0.02384825479980192 Centerline is valid? [True, True] Translation: X:169.00, Y:-9.59, Z:-2.36 [[ 9.99397411e-01 3.43575785e-02 4.93675217e-03 1.68996509e+02] [-3.43564126e-02 9.99409593e-01 -3.20809378e-04 -9.59254126e+00] [-4.94485971e-03 1.51006967e-04 9.99987763e-01 -2.35624082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.870371743 meters 0.023873997199962853 Centerline is valid? [True, True] Translation: X:169.02, Y:-9.60, Z:-2.36 [[ 9.99410976e-01 3.39313930e-02 5.13435488e-03 1.69024880e+02] [-3.39301283e-02 9.99424152e-01 -3.33238786e-04 -9.59655791e+00] [-5.14270552e-03 1.58833180e-04 9.99986764e-01 -2.35682759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900371743 meters 0.023873997199962853 Centerline is valid? [True, True] Translation: X:169.05, Y:-9.60, Z:-2.36 [[ 9.99414594e-01 3.38246497e-02 5.13435821e-03 1.69052297e+02] [-3.38233839e-02 9.99427770e-01 -3.33188112e-04 -9.59824262e+00] [-5.14269014e-03 1.59331693e-04 9.99986764e-01 -2.35721375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.930371743 meters 0.02416152539868831 Centerline is valid? [True, True] Translation: X:169.08, Y:-9.61, Z:-2.36 [[ 9.99493153e-01 3.14875946e-02 4.68704196e-03 1.69080240e+02] [-3.14865151e-02 9.99504131e-01 -3.03946778e-04 -9.60541272e+00] [-4.69428835e-03 1.56214106e-04 9.99988970e-01 -2.35872042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96037174299997 meters 0.025679398948494515 Centerline is valid? [True, True] Translation: X:169.11, Y:-9.61, Z:-2.36 [[ 9.99543779e-01 2.99753939e-02 3.70267283e-03 1.69107490e+02] [-2.99747116e-02 9.99550629e-01 -2.39655985e-04 -9.61183472e+00] [-3.70819274e-03 1.28560099e-04 9.99993116e-01 -2.36034549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99037174299997 meters 0.026381315376149548 Centerline is valid? [True, True] Translation: X:169.14, Y:-9.62, Z:-2.36 [[ 9.99692940e-01 2.46914521e-02 2.08776971e-03 1.69137063e+02] [-2.46912247e-02 9.99695116e-01 -1.34641288e-04 -9.61993607e+00] [-2.09045767e-03 8.30503544e-05 9.99997812e-01 -2.36258617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02037174299997 meters 0.028213568557537736 Centerline is valid? [True, True] Translation: X:169.17, Y:-9.63, Z:-2.36 [[ 9.99777843e-01 2.10378787e-02 1.29335935e-03 1.69165444e+02] [-2.10377877e-02 9.99778678e-01 -8.39313254e-05 -9.62813744e+00] [-1.29483884e-03 5.67032601e-05 9.99999160e-01 -2.36480855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05037174299997 meters 0.027745629441616786 Centerline is valid? [True, True] Translation: X:169.19, Y:-9.63, Z:-2.37 [[ 9.99844135e-01 1.76314484e-02 9.14782966e-04 1.69194633e+02] [-1.76314010e-02 9.99844553e-01 -5.98188646e-05 -9.63115348e+00] [-9.15695459e-04 4.36806356e-05 9.99999580e-01 -2.36505996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08037174299997 meters 0.03167750424547941 Centerline is valid? [True, True] Translation: X:169.22, Y:-9.64, Z:-2.37 [[ 9.99938058e-01 1.11135476e-02 6.08343780e-04 1.69223119e+02] [-1.11135257e-02 9.99938242e-01 -3.93209949e-05 -9.64360616e+00] [-6.08743206e-04 3.25577150e-05 9.99999814e-01 -2.36663021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11037174299997 meters 0.03063025356585598 Centerline is valid? [True, True] Translation: X:169.25, Y:-9.65, Z:-2.37 [[ 9.99969065e-01 7.76712146e-03 1.24171436e-03 1.69253276e+02] [-7.76702812e-03 9.99969833e-01 -7.99792196e-05 -9.64520150e+00] [-1.24229811e-03 7.03323151e-05 9.99999226e-01 -2.36594387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14037174299997 meters 0.034266423574231736 Centerline is valid? [True, True] Translation: X:169.28, Y:-9.65, Z:-2.37 [[ 9.99997447e-01 2.06124553e-03 9.26082033e-04 1.69282738e+02] [-2.06119114e-03 9.99997874e-01 -5.96880244e-05 -9.65376738e+00] [-9.26203096e-04 5.77790400e-05 9.99999569e-01 -2.36546905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17037174299998 meters 0.03693831610529179 Centerline is valid? [True, True] Translation: X:169.31, Y:-9.66, Z:-2.37 [[ 9.99999217e-01 -9.01670512e-04 8.67228353e-04 1.69312445e+02] [ 9.01718223e-04 9.99999592e-01 -5.46259719e-05 -9.66112313e+00] [-8.67178745e-04 5.54079248e-05 9.99999622e-01 -2.36633060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20037174299998 meters 0.04023572059842439 Centerline is valid? [True, True] Translation: X:169.34, Y:-9.67, Z:-2.37 [[ 9.99975498e-01 -6.94086925e-03 9.10323662e-04 1.69342535e+02] [ 6.94092494e-03 9.99975910e-01 -5.80297386e-05 -9.67009494e+00] [-9.09898955e-04 6.43468050e-05 9.99999584e-01 -2.36760641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23037174299998 meters 0.040666526231767086 Centerline is valid? [True, True] Translation: X:169.37, Y:-9.67, Z:-2.37 [[ 9.99945537e-01 -1.03662746e-02 1.20958711e-03 1.69373250e+02] [ 1.03663761e-02 9.99946265e-01 -7.77313133e-05 -9.67493136e+00] [-1.20871633e-03 9.02661148e-05 9.99999265e-01 -2.36815681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26037174299998 meters 0.04305103624077728 Centerline is valid? [True, True] Translation: X:169.40, Y:-9.68, Z:-2.37 [[ 9.99916483e-01 -1.28600214e-02 1.28305149e-03 1.69403129e+02] [ 1.28601378e-02 9.99917302e-01 -8.25087809e-05 -9.68115615e+00] [-1.28188432e-03 9.90021090e-05 9.99999173e-01 -2.36872375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29037174299998 meters 0.04251179410628326 Centerline is valid? [True, True] Translation: X:169.43, Y:-9.68, Z:-2.37 [[ 9.99869297e-01 -1.59556117e-02 2.60900148e-03 1.69433779e+02] [ 1.59561026e-02 9.99872679e-01 -1.67450046e-04 -9.68301405e+00] [-2.60599754e-03 2.09057655e-04 9.99996583e-01 -2.36707725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32037174299998 meters 0.042938890260307574 Centerline is valid? [True, True] Translation: X:169.47, Y:-9.69, Z:-2.37 [[ 9.99854337e-01 -1.66735294e-02 3.64678523e-03 1.69465994e+02] [ 1.66744926e-02 9.99860944e-01 -2.33877213e-04 -9.68566567e+00] [-3.64237857e-03 2.94651439e-04 9.99993323e-01 -2.36639424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35037174299998 meters 0.043702294370261525 Centerline is valid? [True, True] Translation: X:169.50, Y:-9.69, Z:-2.36 [[ 9.99823644e-01 -1.79678822e-02 5.46231814e-03 1.69497624e+02] [ 1.79700681e-02 9.99838464e-01 -3.51351627e-04 -9.68808601e+00] [-5.45512274e-03 4.49447893e-04 9.99985020e-01 -2.36446651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38037174299998 meters 0.043243651898308644 Centerline is valid? [True, True] Translation: X:169.53, Y:-9.69, Z:-2.36 [[ 9.99803134e-01 -1.88331496e-02 6.24548359e-03 1.69529825e+02] [ 1.88360259e-02 9.99822506e-01 -4.02025819e-04 -9.68935750e+00] [-6.23680364e-03 5.19586764e-04 9.99980416e-01 -2.36411377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41037174299998 meters 0.044272174210295834 Centerline is valid? [True, True] Translation: X:169.56, Y:-9.69, Z:-2.36 [[ 9.99783590e-01 -1.96781099e-02 6.74864475e-03 1.69562048e+02] [ 1.96814912e-02 9.99806206e-01 -4.34982725e-04 -9.69267077e+00] [-6.73877726e-03 5.67711983e-04 9.99977133e-01 -2.36443566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440371743 meters 0.043419441815999694 Centerline is valid? [True, True] Translation: X:169.59, Y:-9.69, Z:-2.36 [[ 9.99723720e-01 -2.26559322e-02 6.26034971e-03 1.69592257e+02] [ 2.26589055e-02 9.99743172e-01 -4.04413452e-04 -9.69299532e+00] [-6.24957951e-03 5.46154393e-04 9.99980322e-01 -2.36484199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.470371743 meters 0.04445434868217046 Centerline is valid? [True, True] Translation: X:169.62, Y:-9.70, Z:-2.37 [[ 9.99696251e-01 -2.40446711e-02 5.40919877e-03 1.69623468e+02] [ 2.40469096e-02 9.99710770e-01 -3.49164131e-04 -9.69631087e+00] [-5.39923873e-03 4.79132586e-04 9.99985309e-01 -2.36607960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500371743 meters 0.04227263488257073 Centerline is valid? [True, True] Translation: X:169.65, Y:-9.69, Z:-2.37 [[ 9.99635036e-01 -2.67285640e-02 3.92161244e-03 1.69654258e+02] [ 2.67297623e-02 9.99642664e-01 -2.53462878e-04 -9.69470138e+00] [-3.91343641e-03 3.58194141e-04 9.99992278e-01 -2.36767449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.530371743 meters 0.04736497146502688 Centerline is valid? [True, True] Translation: X:169.68, Y:-9.70, Z:-2.37 [[ 9.99622583e-01 -2.72371843e-02 3.58139780e-03 1.69684373e+02] [ 2.72381823e-02 9.99628945e-01 -2.30172991e-04 -9.70351192e+00] [-3.57379964e-03 3.27636886e-04 9.99993560e-01 -2.36883591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560371743 meters 0.04656025195652669 Centerline is valid? [True, True] Translation: X:169.72, Y:-9.70, Z:-2.37 [[ 9.99595092e-01 -2.82545413e-02 3.36649114e-03 1.69716661e+02] [ 2.82554320e-02 9.99600712e-01 -2.17304884e-04 -9.70362329e+00] [-3.35900709e-03 3.12338557e-04 9.99994310e-01 -2.36944491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.590371743 meters 0.04732534908497688 Centerline is valid? [True, True] Translation: X:169.75, Y:-9.71, Z:-2.37 [[ 9.99590562e-01 -2.85397941e-02 2.04666859e-03 1.69748339e+02] [ 2.85401238e-02 9.99592639e-01 -1.32075968e-04 -9.70510117e+00] [-2.04206543e-03 1.90434066e-04 9.99997897e-01 -2.37092223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620371743 meters 0.047342262804988114 Centerline is valid? [True, True] Translation: X:169.78, Y:-9.71, Z:-2.37 [[ 9.99600539e-01 -2.82260782e-02 1.43219673e-03 1.69780247e+02] [ 2.82262387e-02 9.99601556e-01 -9.20422070e-05 -9.70661501e+00] [-1.42902809e-03 1.32430967e-04 9.99998970e-01 -2.37273622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.650371743 meters 0.04495076662998152 Centerline is valid? [True, True] Translation: X:169.81, Y:-9.70, Z:-2.37 [[ 9.99614869e-01 -2.77313321e-02 1.04265381e-03 1.69813020e+02] [ 2.77314167e-02 9.99615408e-01 -6.67889941e-05 -9.70469718e+00] [-1.04040066e-03 9.56775389e-05 9.99999454e-01 -2.37308524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680371743 meters 0.04677146985869222 Centerline is valid? [True, True] Translation: X:169.84, Y:-9.71, Z:-2.37 [[ 9.99640879e-01 -2.67896966e-02 6.51644408e-04 1.69843760e+02] [ 2.67897294e-02 9.99641090e-01 -4.16544222e-05 -9.70805771e+00] [-6.50294617e-04 5.90968406e-05 9.99999787e-01 -2.37344755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71037174299997 meters 0.04629593321123683 Centerline is valid? [True, True] Translation: X:169.87, Y:-9.71, Z:-2.37 [[ 9.99671609e-01 -2.55697582e-02 1.69141285e-03 1.69874188e+02] [ 2.55699805e-02 9.99673029e-01 -1.09900600e-04 -9.70741551e+00] [-1.68804968e-03 1.53113904e-04 9.99998564e-01 -2.37259780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74037174299997 meters 0.0478396277274409 Centerline is valid? [True, True] Translation: X:169.90, Y:-9.71, Z:-2.37 [[ 9.99724508e-01 -2.34271667e-02 1.44048498e-03 1.69904117e+02] [ 2.34273260e-02 9.99725538e-01 -9.38139093e-05 -9.71010044e+00] [-1.43789182e-03 1.27534775e-04 9.99998958e-01 -2.37276118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77037174299997 meters 0.04830034267623345 Centerline is valid? [True, True] Translation: X:169.93, Y:-9.71, Z:-2.37 [[ 9.99761207e-01 -2.16725562e-02 2.79820594e-03 1.69933857e+02] [ 2.16731506e-02 9.99765093e-01 -1.82237679e-04 -9.71133718e+00] [-2.79359907e-03 2.42840100e-04 9.99996068e-01 -2.37216325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80037174299997 meters 0.04355781743520831 Centerline is valid? [True, True] Translation: X:169.97, Y:-9.71, Z:-2.37 [[ 9.99783981e-01 -2.05654446e-02 3.00889720e-03 1.69965573e+02] [ 2.05661256e-02 9.99788476e-01 -1.95558661e-04 -9.70605682e+00] [-3.00423900e-03 2.57397775e-04 9.99995454e-01 -2.37128588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83037174299997 meters 0.04247716465944179 Centerline is valid? [True, True] Translation: X:170.00, Y:-9.70, Z:-2.37 [[ 9.99845521e-01 -1.72294497e-02 3.47579558e-03 1.69996646e+02] [ 1.72303403e-02 9.99851521e-01 -2.26436022e-04 -9.70467575e+00] [-3.47137813e-03 2.86290183e-04 9.99993934e-01 -2.37146532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86037174299997 meters 0.04245958956535746 Centerline is valid? [True, True] Translation: X:170.03, Y:-9.71, Z:-2.37 [[ 9.99862160e-01 -1.62144130e-02 3.57125886e-03 1.70028926e+02] [ 1.62153443e-02 9.99868496e-01 -2.31985244e-04 -9.70602402e+00] [-3.56702772e-03 2.89862459e-04 9.99993596e-01 -2.37221341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89037174299997 meters 0.040397198292731466 Centerline is valid? [True, True] Translation: X:170.06, Y:-9.70, Z:-2.37 [[ 9.99910833e-01 -1.31912584e-02 2.07746063e-03 1.70059933e+02] [ 1.31915678e-02 9.99912978e-01 -1.35319234e-04 -9.70212096e+00] [-2.07549481e-03 1.62712131e-04 9.99997833e-01 -2.37343729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92037174299998 meters 0.04261472923421658 Centerline is valid? [True, True] Translation: X:170.09, Y:-9.70, Z:-2.38 [[ 9.99948502e-01 -1.00700268e-02 1.26030130e-03 1.70089991e+02] [ 1.00701384e-02 9.99949291e-01 -8.22448475e-05 -9.70478475e+00] [-1.25940918e-03 9.49320205e-05 9.99999202e-01 -2.37533462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95037174299998 meters 0.04033803396798619 Centerline is valid? [True, True] Translation: X:170.12, Y:-9.70, Z:-2.38 [[ 9.99961351e-01 -8.73588624e-03 9.90602747e-04 1.70121440e+02] [ 8.73595408e-03 9.99961839e-01 -6.41814534e-05 -9.70309411e+00] [-9.90004262e-04 7.28328329e-05 9.99999507e-01 -2.37592000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98037174299998 meters 0.0392780237366001 Centerline is valid? [True, True] Translation: X:170.15, Y:-9.70, Z:-2.38 [[ 9.99988030e-01 -4.85372341e-03 6.18210092e-04 1.70151614e+02] [ 4.85374941e-03 9.99988220e-01 -4.05701963e-05 -9.70097423e+00] [-6.18005892e-04 4.35703475e-05 9.99999808e-01 -2.37668765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01037174299998 meters 0.03920806699437089 Centerline is valid? [True, True] Translation: X:170.18, Y:-9.70, Z:-2.38 [[ 9.99993549e-01 -3.46128072e-03 9.59464740e-04 1.70181974e+02] [ 3.46134218e-03 9.99994008e-01 -6.24056684e-05 -9.70154463e+00] [-9.59242987e-04 6.57263017e-05 9.99999538e-01 -2.37681483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04037174299998 meters 0.033451934813536505 Centerline is valid? [True, True] Translation: X:170.21, Y:-9.69, Z:-2.37 [[ 9.99994748e-01 9.33229777e-04 3.10386726e-03 1.70213354e+02] [-9.32605368e-04 9.99999545e-01 -2.02612564e-04 -9.69128629e+00] [-3.10405493e-03 1.99716817e-04 9.99995162e-01 -2.37394775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07037174299998 meters 0.032946542311858305 Centerline is valid? [True, True] Translation: X:170.24, Y:-9.69, Z:-2.37 [[ 9.99987901e-01 2.06104860e-03 4.46661808e-03 1.70244471e+02] [-2.05976782e-03 9.99997836e-01 -2.91324435e-04 -9.69167253e+00] [-4.46720885e-03 2.82120714e-04 9.99989982e-01 -2.37344787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10037174299998 meters 0.03425911055400875 Centerline is valid? [True, True] Translation: X:170.28, Y:-9.69, Z:-2.37 [[ 9.99976075e-01 4.20842427e-03 5.48978881e-03 1.70275273e+02] [-4.20651998e-03 9.99991088e-01 -3.58379284e-04 -9.69436853e+00] [-5.49124810e-03 3.35277804e-04 9.99984867e-01 -2.37372782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13037174299998 meters 0.03300241643924304 Centerline is valid? [True, True] Translation: X:170.31, Y:-9.69, Z:-2.37 [[ 9.99953062e-01 7.37922779e-03 6.27857918e-03 1.70306493e+02] [-7.37679624e-03 9.99972707e-01 -4.10348078e-04 -9.69230936e+00] [-6.28143587e-03 3.64013018e-04 9.99980205e-01 -2.37406631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16037174299998 meters 0.03141937045273178 Centerline is valid? [True, True] Translation: X:170.34, Y:-9.69, Z:-2.37 [[ 9.99940113e-01 9.43053525e-03 5.55291204e-03 1.70337653e+02] [-9.42866472e-03 9.99955483e-01 -3.62939500e-04 -9.68980492e+00] [-5.55608756e-03 3.10561219e-04 9.99984517e-01 -2.37450999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.190371743 meters 0.033418417052631946 Centerline is valid? [True, True] Translation: X:170.37, Y:-9.69, Z:-2.38 [[ 9.99928762e-01 1.09129619e-02 4.83505196e-03 1.70367217e+02] [-1.09115616e-02 9.99940417e-01 -3.15903782e-04 -9.69392116e+00] [-4.83821132e-03 2.63123311e-04 9.99988261e-01 -2.37618332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220371743 meters 0.032184616734607735 Centerline is valid? [True, True] Translation: X:170.40, Y:-9.69, Z:-2.38 [[ 9.99927261e-01 1.16098143e-02 3.26872408e-03 1.70396228e+02] [-1.16091744e-02 9.99932588e-01 -2.14667293e-04 -9.69353617e+00] [-3.27099598e-03 1.76704491e-04 9.99994635e-01 -2.37829940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.250371743 meters 0.033070760814302956 Centerline is valid? [True, True] Translation: X:170.42, Y:-9.70, Z:-2.38 [[ 9.99930743e-01 1.14422731e-02 2.75395135e-03 1.70423760e+02] [-1.14418176e-02 9.99934524e-01 -1.81103499e-04 -9.69619428e+00] [-2.75584327e-03 1.49580747e-04 9.99996191e-01 -2.37974857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280371743 meters 0.03297671618358148 Centerline is valid? [True, True] Translation: X:170.45, Y:-9.70, Z:-2.38 [[ 9.99930578e-01 1.16176946e-02 1.96698972e-03 1.70452547e+02] [-1.16174628e-02 9.99932507e-01 -1.29232297e-04 -9.69734944e+00] [-1.96835834e-03 1.06371896e-04 9.99998057e-01 -2.38057384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.310371743 meters 0.03119607121560343 Centerline is valid? [True, True] Translation: X:170.48, Y:-9.70, Z:-2.38 [[ 9.99930149e-01 1.18068417e-02 5.43656115e-04 1.70481461e+02] [-1.18068237e-02 9.99930296e-01 -3.64084715e-05 -9.69576202e+00] [-5.44048089e-04 2.99870765e-05 9.99999852e-01 -2.38139885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340371743 meters 0.03254804996388946 Centerline is valid? [True, True] Translation: X:170.51, Y:-9.70, Z:-2.38 [[ 9.99923984e-01 1.23225378e-02 4.24784758e-04 1.70508959e+02] [-1.23225267e-02 9.99924074e-01 -2.88671361e-05 -9.69838388e+00] [-4.25108222e-04 2.36305203e-05 9.99999909e-01 -2.38228824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.370371743 meters 0.029699949605967058 Centerline is valid? [True, True] Translation: X:170.54, Y:-9.69, Z:-2.38 [[ 9.99913083e-01 1.31819983e-02 2.46865513e-04 1.70537963e+02] [-1.31819945e-02 9.99913114e-01 -1.70599748e-05 -9.69453631e+00] [-2.47068949e-04 1.38043122e-05 9.99999969e-01 -2.38134852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400371743 meters 0.030912798683435286 Centerline is valid? [True, True] Translation: X:170.57, Y:-9.70, Z:-2.38 [[ 9.99904654e-01 1.37937156e-02 6.44788171e-04 1.70565895e+02] [-1.37936907e-02 9.99904862e-01 -4.31019469e-05 -9.69807771e+00] [-6.45321363e-04 3.42038288e-05 9.99999791e-01 -2.38213170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.430371743 meters 0.029564276530615014 Centerline is valid? [True, True] Translation: X:170.60, Y:-9.70, Z:-2.38 [[ 9.99878873e-01 1.55250249e-02 1.10090078e-03 1.70595245e+02] [-1.55249549e-02 9.99879478e-01 -7.21257701e-05 -9.69757332e+00] [-1.10188785e-03 5.50255989e-05 9.99999391e-01 -2.38215097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46037174299997 meters 0.02849154932873485 Centerline is valid? [True, True] Translation: X:170.63, Y:-9.70, Z:-2.38 [[ 9.99788434e-01 2.05406493e-02 1.08078834e-03 1.70625368e+02] [-2.05405854e-02 9.99789017e-01 -7.01758286e-05 -9.69550072e+00] [-1.08200177e-03 4.79609567e-05 9.99999413e-01 -2.38186726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49037174299997 meters 0.026291744150104383 Centerline is valid? [True, True] Translation: X:170.66, Y:-9.69, Z:-2.38 [[ 9.99682746e-01 2.50059713e-02 3.01818220e-03 1.70655813e+02] [-2.50054938e-02 9.99687295e-01 -1.95849534e-04 -9.69418428e+00] [-3.02213581e-03 1.20316264e-04 9.99995426e-01 -2.38144405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52037174299997 meters 0.026249341007846757 Centerline is valid? [True, True] Translation: X:170.68, Y:-9.69, Z:-2.38 [[ 9.99628063e-01 2.69917497e-02 3.89622694e-03 1.70683670e+02] [-2.69909667e-02 9.99635645e-01 -2.53401453e-04 -9.69486857e+00] [-3.90164708e-03 1.48144272e-04 9.99992378e-01 -2.38115606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55037174299997 meters 0.025910985279757045 Centerline is valid? [True, True] Translation: X:170.71, Y:-9.70, Z:-2.38 [[ 9.99574998e-01 2.86907350e-02 5.16388990e-03 1.70712555e+02] [-2.86893876e-02 9.99588319e-01 -3.34824112e-04 -9.69537276e+00] [-5.17137037e-03 1.86532972e-04 9.99986611e-01 -2.38034183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58037174299997 meters 0.025170618725492703 Centerline is valid? [True, True] Translation: X:170.74, Y:-9.70, Z:-2.38 [[ 9.99529500e-01 3.00853276e-02 5.97084275e-03 1.70741701e+02] [-3.00835545e-02 9.99547313e-01 -3.86572847e-04 -9.69537686e+00] [-5.97977000e-03 2.06766792e-04 9.99982100e-01 -2.37979063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61037174299997 meters 0.024900551200553973 Centerline is valid? [True, True] Translation: X:170.77, Y:-9.70, Z:-2.38 [[ 9.99485908e-01 3.12985156e-02 6.95145095e-03 1.70770410e+02] [-3.12961462e-02 9.99510055e-01 -4.49393930e-04 -9.69767617e+00] [-6.96211048e-03 2.31609275e-04 9.99975737e-01 -2.38005014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64037174299997 meters 0.02472480752145511 Centerline is valid? [True, True] Translation: X:170.80, Y:-9.70, Z:-2.38 [[ 9.99506536e-01 3.07227938e-02 6.54174894e-03 1.70799015e+02] [-3.07206857e-02 9.99527919e-01 -4.22507283e-04 -9.70004061e+00] [-6.55164131e-03 2.21331777e-04 9.99978513e-01 -2.38088884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67037174299998 meters 0.025899363369667437 Centerline is valid? [True, True] Translation: X:170.83, Y:-9.71, Z:-2.38 [[ 9.99565745e-01 2.88180054e-02 6.15169753e-03 1.70826936e+02] [-2.88161068e-02 9.99584651e-01 -3.97075387e-04 -9.70594571e+00] [-6.16058535e-03 2.19634982e-04 9.99980999e-01 -2.38301608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70037174299998 meters 0.026613737374824274 Centerline is valid? [True, True] Translation: X:170.85, Y:-9.71, Z:-2.38 [[ 9.99614693e-01 2.71299689e-02 5.86772213e-03 1.70854483e+02] [-2.71282152e-02 9.99631891e-01 -3.78263746e-04 -9.71125079e+00] [-5.87582445e-03 2.18937169e-04 9.99982713e-01 -2.38428650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73037174299998 meters 0.026010373853251015 Centerline is valid? [True, True] Translation: X:170.88, Y:-9.72, Z:-2.38 [[ 9.99688717e-01 2.42643212e-02 5.80623502e-03 1.70883295e+02] [-2.42625605e-02 9.99705551e-01 -3.73496265e-04 -9.71554578e+00] [-5.81358801e-03 2.32505873e-04 9.99983074e-01 -2.38491046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76037174299998 meters 0.02759981141024395 Centerline is valid? [True, True] Translation: X:170.91, Y:-9.72, Z:-2.39 [[ 9.99786012e-01 2.00132065e-02 5.23476481e-03 1.70911853e+02] [-2.00117191e-02 9.99799689e-01 -3.36364164e-04 -9.72395719e+00] [-5.24044795e-03 2.31535543e-04 9.99986242e-01 -2.38643378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79037174299998 meters 0.02759981141024395 Centerline is valid? [True, True] Translation: X:170.94, Y:-9.73, Z:-2.39 [[ 9.99787438e-01 1.99418060e-02 5.23475681e-03 1.70940130e+02] [-1.99403170e-02 9.99801115e-01 -3.36489107e-04 -9.72571141e+00] [-5.24042590e-03 2.32034872e-04 9.99986242e-01 -2.38683188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82037174299998 meters 0.02687528358843455 Centerline is valid? [True, True] Translation: X:170.97, Y:-9.73, Z:-2.39 [[ 9.99824879e-01 1.81763321e-02 4.45342836e-03 1.70969095e+02] [-1.81752379e-02 9.99834776e-01 -2.86053269e-04 -9.72804911e+00] [-4.45789194e-03 2.05061055e-04 9.99990043e-01 -2.38675212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85037174299998 meters 0.02841441182823906 Centerline is valid? [True, True] Translation: X:171.00, Y:-9.73, Z:-2.39 [[ 9.99877857e-01 1.50274068e-02 4.29517489e-03 1.70997143e+02] [-1.50263609e-02 9.99887060e-01 -2.75685634e-04 -9.73496173e+00] [-4.29883263e-03 2.11111113e-04 9.99990738e-01 -2.38741094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88037174299998 meters 0.028602834634053997 Centerline is valid? [True, True] Translation: X:171.03, Y:-9.74, Z:-2.39 [[ 9.99892760e-01 1.39794658e-02 4.36374472e-03 1.71025345e+02] [-1.39783769e-02 9.99902259e-01 -2.79931961e-04 -9.73814971e+00] [-4.36723150e-03 2.18903873e-04 9.99990440e-01 -2.38750781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91037174299998 meters 0.030454882428419774 Centerline is valid? [True, True] Translation: X:171.05, Y:-9.75, Z:-2.39 [[ 9.99912938e-01 1.19424944e-02 5.61188421e-03 1.71053444e+02] [-1.19406682e-02 9.99928643e-01 -3.58814868e-04 -9.74502116e+00] [-5.61576891e-03 2.91773981e-04 9.99984189e-01 -2.38687508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940371743 meters 0.030610116292045634 Centerline is valid? [True, True] Translation: X:171.08, Y:-9.75, Z:-2.39 [[ 9.99922877e-01 1.05427244e-02 6.56436592e-03 1.71082755e+02] [-1.05401996e-02 9.99944363e-01 -4.19090297e-04 -9.74832162e+00] [-6.56841905e-03 3.49868248e-04 9.99978366e-01 -2.38652473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.970371743 meters 0.030900137402338976 Centerline is valid? [True, True] Translation: X:171.11, Y:-9.75, Z:-2.39 [[ 9.99931255e-01 8.99080910e-03 7.52668489e-03 1.71111816e+02] [-8.98744950e-03 9.99959497e-01 -4.80064138e-04 -9.75327467e+00] [-7.53069620e-03 4.12385436e-04 9.99971559e-01 -2.38641621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000371743 meters 0.03142533222213742 Centerline is valid? [True, True] Translation: X:171.14, Y:-9.76, Z:-2.39 [[ 9.99936577e-01 7.94360554e-03 7.98379795e-03 1.71142469e+02] [-7.93979430e-03 9.99968350e-01 -5.08953237e-04 -9.75690330e+00] [-7.98758818e-03 4.45531244e-04 9.99967999e-01 -2.38633524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.030371743 meters 0.03275790588603734 Centerline is valid? [True, True] Translation: X:171.17, Y:-9.76, Z:-2.39 [[ 9.99938691e-01 7.28979953e-03 8.33505932e-03 1.71172359e+02] [-7.28562629e-03 9.99973319e-01 -5.30939598e-04 -9.76310814e+00] [-8.33870738e-03 4.70180919e-04 9.99965122e-01 -2.38671372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060371743 meters 0.03345180759954005 Centerline is valid? [True, True] Translation: X:171.20, Y:-9.77, Z:-2.39 [[ 9.99931713e-01 8.71554717e-03 7.78512788e-03 1.71203330e+02] [-8.71194397e-03 9.99961927e-01 -4.96623209e-04 -9.76553553e+00] [-7.78915982e-03 4.28765698e-04 9.99969572e-01 -2.38765318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.090371743 meters 0.02871803022320727 Centerline is valid? [True, True] Translation: X:171.23, Y:-9.76, Z:-2.39 [[ 9.99908599e-01 1.14139541e-02 7.24672208e-03 1.71234707e+02] [-1.14108997e-02 9.99934787e-01 -4.62693786e-04 -9.76256178e+00] [-7.25153067e-03 3.79959876e-04 9.99973635e-01 -2.38810002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120371743 meters 0.028257662295339193 Centerline is valid? [True, True] Translation: X:171.26, Y:-9.76, Z:-2.39 [[ 9.99886666e-01 1.35445127e-02 6.57269727e-03 1.71264203e+02] [-1.35420445e-02 9.99908214e-01 -4.19884423e-04 -9.76427092e+00] [-6.57778112e-03 3.30829077e-04 9.99978311e-01 -2.38862873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.150371743 meters 0.02811749090023501 Centerline is valid? [True, True] Translation: X:171.29, Y:-9.77, Z:-2.39 [[ 9.99771831e-01 2.07031494e-02 5.25971482e-03 1.71293978e+02] [-2.07016686e-02 9.99785641e-01 -3.35830369e-04 -9.76605955e+00] [-5.26554010e-03 2.26868870e-04 9.99986111e-01 -2.38931804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180371743 meters 0.02528893028770805 Centerline is valid? [True, True] Translation: X:171.32, Y:-9.76, Z:-2.39 [[ 9.99670787e-01 2.52409914e-02 4.60536334e-03 1.71324069e+02] [-2.52399036e-02 9.99681380e-01 -2.94178394e-04 -9.76325261e+00] [-4.61132133e-03 1.77842620e-04 9.99989352e-01 -2.38928707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21037174299997 meters 0.02561162125358287 Centerline is valid? [True, True] Translation: X:171.35, Y:-9.76, Z:-2.39 [[ 9.99517252e-01 3.08268307e-02 3.86896183e-03 1.71354013e+02] [-3.08261049e-02 9.99524732e-01 -2.47108287e-04 -9.76319863e+00] [-3.87474060e-03 1.27723972e-04 9.99992485e-01 -2.39033682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24037174299997 meters 0.022305020183197136 Centerline is valid? [True, True] Translation: X:171.38, Y:-9.76, Z:-2.39 [[ 9.99367368e-01 3.53414375e-02 3.98086370e-03 1.71384095e+02] [-3.53407044e-02 9.99375290e-01 -2.54367961e-04 -9.76039240e+00] [-3.98736654e-03 1.13520512e-04 9.99992044e-01 -2.38995252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27037174299997 meters 0.02159834198125242 Centerline is valid? [True, True] Translation: X:171.41, Y:-9.76, Z:-2.39 [[ 9.98846531e-01 4.79234678e-02 2.99144322e-03 1.71413972e+02] [-4.79231106e-02 9.98851009e-01 -1.91001514e-04 -9.75721778e+00] [-2.99715953e-03 4.74219357e-05 9.99995507e-01 -2.39024715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30037174299997 meters 0.020156423534459074 Centerline is valid? [True, True] Translation: X:171.44, Y:-9.76, Z:-2.39 [[ 9.98582530e-01 5.31471595e-02 2.88262143e-03 1.71443308e+02] [-5.31468463e-02 9.98586690e-01 -1.85181247e-04 -9.75540082e+00] [-2.88838925e-03 3.17165200e-05 9.99995828e-01 -2.39001981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33037174299997 meters 0.019981022452480394 Centerline is valid? [True, True] Translation: X:171.47, Y:-9.75, Z:-2.39 [[ 9.97932103e-01 6.42524048e-02 1.77384300e-03 1.71472349e+02] [-6.42523001e-02 9.97933679e-01 -1.15974058e-04 -9.75282237e+00] [-1.77762928e-03 1.76074339e-06 9.99998420e-01 -2.38948593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36037174299997 meters 0.019821157035465678 Centerline is valid? [True, True] Translation: X:171.50, Y:-9.75, Z:-2.39 [[ 9.97634149e-01 6.87190088e-02 1.94987052e-03 1.71500675e+02] [-6.87188926e-02 9.97636055e-01 -1.26624661e-04 -9.75400802e+00] [-1.95396265e-03 -7.66785674e-06 9.99998091e-01 -2.38995219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39037174299997 meters 0.020304979225817817 Centerline is valid? [True, True] Translation: X:171.53, Y:-9.76, Z:-2.39 [[ 9.97339764e-01 7.28680836e-02 1.90711730e-03 1.71528649e+02] [-7.28679846e-02 9.97341587e-01 -1.21444856e-04 -9.75546295e+00] [-1.91089685e-03 -1.78460105e-05 9.99998174e-01 -2.39104788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42037174299998 meters 0.021152158533902593 Centerline is valid? [True, True] Translation: X:171.56, Y:-9.76, Z:-2.39 [[ 9.96879550e-01 7.89011195e-02 2.40336575e-03 1.71557378e+02] [-7.89009765e-02 9.96882446e-01 -1.54377804e-04 -9.76023680e+00] [-2.40805371e-03 -3.57318285e-05 9.99997100e-01 -2.39089058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45037174299998 meters 0.02200058159237352 Centerline is valid? [True, True] Translation: X:171.59, Y:-9.77, Z:-2.39 [[ 9.96744238e-01 8.05940006e-02 2.35203243e-03 1.71585674e+02] [-8.05938696e-02 9.96747012e-01 -1.50576338e-04 -9.76500662e+00] [-2.35651685e-03 -3.94732977e-05 9.99997223e-01 -2.39099383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48037174299998 meters 0.021758887605363677 Centerline is valid? [True, True] Translation: X:171.61, Y:-9.77, Z:-2.39 [[ 9.96745102e-01 8.05621880e-02 2.98931671e-03 1.71612810e+02] [-8.05619868e-02 9.96749583e-01 -1.87856195e-04 -9.77483571e+00] [-2.99473429e-03 -5.35805510e-05 9.99995514e-01 -2.39111235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51037174299998 meters 0.020445683151510567 Centerline is valid? [True, True] Translation: X:171.64, Y:-9.78, Z:-2.39 [[ 9.96919577e-01 7.83601015e-02 3.32433321e-03 1.71640200e+02] [-7.83598419e-02 9.96925118e-01 -2.08460698e-04 -9.78136152e+00] [-3.33044628e-03 -5.26756737e-05 9.99994453e-01 -2.39168983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54037174299998 meters 0.021440223111323927 Centerline is valid? [True, True] Translation: X:171.67, Y:-9.79, Z:-2.39 [[ 9.97032921e-01 7.69202940e-02 2.93646772e-03 1.71668374e+02] [-7.69200804e-02 9.97037244e-01 -1.85780636e-04 -9.78997929e+00] [-2.94205799e-03 -4.06439235e-05 9.99995671e-01 -2.39230274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57037174299998 meters 0.02050714831378098 Centerline is valid? [True, True] Translation: X:171.70, Y:-9.81, Z:-2.39 [[ 9.97434015e-01 7.15609688e-02 2.10065684e-03 1.71695751e+02] [-7.15608465e-02 9.97436227e-01 -1.33416785e-04 -9.80666980e+00] [-2.10481866e-03 -1.72503418e-05 9.99997785e-01 -2.39422667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60037174299998 meters 0.01948375834161174 Centerline is valid? [True, True] Translation: X:171.72, Y:-9.82, Z:-2.40 [[ 9.97655373e-01 6.84124263e-02 1.87007048e-03 1.71722572e+02] [-6.84123277e-02 9.97657125e-01 -1.16719522e-04 -9.81569485e+00] [-1.87367421e-03 -1.14900166e-05 9.99998245e-01 -2.39571927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63037174299998 meters 0.019629283474581132 Centerline is valid? [True, True] Translation: X:171.75, Y:-9.83, Z:-2.40 [[ 9.97907324e-01 6.45764968e-02 3.29387176e-03 1.71750847e+02] [-6.45761746e-02 9.97912760e-01 -2.04183798e-04 -9.83198585e+00] [-3.30018213e-03 -8.94913072e-06 9.99994554e-01 -2.39582496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66037174299998 meters 0.02090078025024855 Centerline is valid? [True, True] Translation: X:171.78, Y:-9.84, Z:-2.40 [[ 9.97942187e-01 6.40056641e-02 3.82979203e-03 1.71777712e+02] [-6.40052254e-02 9.97949535e-01 -2.37134395e-04 -9.84026615e+00] [-3.83711712e-03 -8.48028488e-06 9.99992638e-01 -2.39570968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.690371743 meters 0.019965095611634835 Centerline is valid? [True, True] Translation: X:171.81, Y:-9.85, Z:-2.40 [[ 9.98024876e-01 6.26155155e-02 5.06394693e-03 1.71806546e+02] [-6.26147284e-02 9.98037723e-01 -3.13986830e-04 -9.84804676e+00] [-5.07367051e-03 -3.71099419e-06 9.99987129e-01 -2.39575938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720371743 meters 0.02105828291902717 Centerline is valid? [True, True] Translation: X:171.83, Y:-9.86, Z:-2.40 [[ 9.98060176e-01 6.19889414e-02 5.76690534e-03 1.71833270e+02] [-6.19879277e-02 9.98076836e-01 -3.54514561e-04 -9.86165148e+00] [-5.77779062e-03 -3.65164682e-06 9.99983308e-01 -2.39598420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.750371743 meters 0.02171220865267168 Centerline is valid? [True, True] Translation: X:171.86, Y:-9.87, Z:-2.40 [[ 9.98120961e-01 6.10339271e-02 5.42289634e-03 1.71859494e+02] [-6.10330174e-02 9.98135692e-01 -3.33253308e-04 -9.86947381e+00] [-5.43312614e-03 1.65138551e-06 9.99985240e-01 -2.39661939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780371743 meters 0.020880757839019243 Centerline is valid? [True, True] Translation: X:171.89, Y:-9.88, Z:-2.40 [[ 9.98385694e-01 5.64406393e-02 6.36079602e-03 1.71886613e+02] [-5.64393023e-02 9.98405956e-01 -3.89638890e-04 -9.88394457e+00] [-6.37264810e-03 3.00110048e-05 9.99979694e-01 -2.39791519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.810371743 meters 0.021469381094703248 Centerline is valid? [True, True] Translation: X:171.91, Y:-9.89, Z:-2.40 [[ 9.98511760e-01 5.41395076e-02 6.57105009e-03 1.71914845e+02] [-5.41380377e-02 9.98533380e-01 -4.01486622e-04 -9.89265393e+00] [-6.58314915e-03 4.51453562e-05 9.99978330e-01 -2.39872186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840371743 meters 0.02276020918302077 Centerline is valid? [True, True] Translation: X:171.94, Y:-9.90, Z:-2.40 [[ 9.98655057e-01 5.14598776e-02 6.32118770e-03 1.71943318e+02] [-5.14584663e-02 9.98675061e-01 -3.85802047e-04 -9.90160509e+00] [-6.33266584e-03 6.00045416e-05 9.99979947e-01 -2.39917764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.870371743 meters 0.02322514688821131 Centerline is valid? [True, True] Translation: X:171.97, Y:-9.92, Z:-2.40 [[ 9.98978421e-01 4.47543919e-02 6.25765541e-03 1.71971204e+02] [-4.47528810e-02 9.98998015e-01 -3.81346581e-04 -9.91736113e+00] [-6.26845227e-03 1.00908898e-04 9.99980348e-01 -2.40002811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900371743 meters 0.024428092877604477 Centerline is valid? [True, True] Translation: X:172.00, Y:-9.93, Z:-2.40 [[ 9.99112930e-01 4.16935055e-02 5.91643605e-03 1.71999228e+02] [-4.16921020e-02 9.99130441e-01 -3.60421963e-04 -9.92525725e+00] [-5.92631862e-03 1.13433588e-04 9.99982433e-01 -2.40041962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.930371743 meters 0.024532899164801784 Centerline is valid? [True, True] Translation: X:172.03, Y:-9.94, Z:-2.40 [[ 9.99336925e-01 3.57703203e-02 6.79672892e-03 1.72027807e+02] [-3.57683360e-02 9.99360023e-01 -4.13314859e-04 -9.93670858e+00] [-6.80716357e-03 1.69933117e-04 9.99976817e-01 -2.39890793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96037174299997 meters 0.024715347089353024 Centerline is valid? [True, True] Translation: X:172.06, Y:-9.95, Z:-2.40 [[ 9.99441811e-01 3.25105987e-02 7.68943675e-03 1.72055406e+02] [-3.25079658e-02 9.99471367e-01 -4.67180424e-04 -9.94525597e+00] [-7.70056018e-03 2.16951702e-04 9.99970327e-01 -2.39954821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99037174299997 meters 0.02658745542520998 Centerline is valid? [True, True] Translation: X:172.08, Y:-9.95, Z:-2.40 [[ 9.99494374e-01 3.09570395e-02 7.25657044e-03 1.72084177e+02] [-3.09546582e-02 9.99520693e-01 -4.40270127e-04 -9.95208788e+00] [-7.26672177e-03 2.15422857e-04 9.99973574e-01 -2.39982873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02037174299997 meters 0.02544117649253463 Centerline is valid? [True, True] Translation: X:172.11, Y:-9.96, Z:-2.40 [[ 9.99569984e-01 2.82685468e-02 7.79332248e-03 1.72113596e+02] [-2.82657232e-02 9.99600333e-01 -4.72232386e-04 -9.95856963e+00] [-7.80355707e-03 2.51745422e-04 9.99969520e-01 -2.40099322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05037174299997 meters 0.027006130523768396 Centerline is valid? [True, True] Translation: X:172.14, Y:-9.97, Z:-2.40 [[ 9.99656429e-01 2.50405765e-02 7.74549120e-03 1.72142433e+02] [-2.50376938e-02 9.99686398e-01 -4.68938635e-04 -9.96884219e+00] [-7.75480469e-03 2.74848285e-04 9.99969893e-01 -2.40225028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08037174299997 meters 0.029634537201181078 Centerline is valid? [True, True] Translation: X:172.17, Y:-9.98, Z:-2.40 [[ 9.99716320e-01 2.28147564e-02 6.83853423e-03 1.72171382e+02] [-2.28124579e-02 9.99739676e-01 -4.13932852e-04 -9.97826412e+00] [-6.84619778e-03 2.57811653e-04 9.99976531e-01 -2.40263087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11037174299997 meters 0.029945118267246305 Centerline is valid? [True, True] Translation: X:172.20, Y:-9.98, Z:-2.40 [[ 9.99759655e-01 2.07108192e-02 7.18990306e-03 1.72201110e+02] [-2.07082243e-02 9.99785467e-01 -4.35178562e-04 -9.98401086e+00] [-7.19737349e-03 2.86183844e-04 9.99974058e-01 -2.40271920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14037174299997 meters 0.027769465613568377 Centerline is valid? [True, True] Translation: X:172.23, Y:-9.99, Z:-2.40 [[ 9.99807412e-01 1.80432147e-02 7.71885743e-03 1.72231430e+02] [-1.80401487e-02 9.99837154e-01 -4.66661583e-04 -9.98614117e+00] [-7.72602053e-03 3.27322374e-04 9.99970100e-01 -2.40280726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17037174299998 meters 0.030791267621629606 Centerline is valid? [True, True] Translation: X:172.26, Y:-10.00, Z:-2.40 [[ 9.99837233e-01 1.59374781e-02 8.45598716e-03 1.72260720e+02] [-1.59337233e-02 9.99872919e-01 -5.11226485e-04 -9.99560422e+00] [-8.46306023e-03 3.76407915e-04 9.99964117e-01 -2.40374276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20037174299998 meters 0.030293510843941572 Centerline is valid? [True, True] Translation: X:172.29, Y:-10.00, Z:-2.40 [[ 9.99881412e-01 1.28442438e-02 8.49627949e-03 1.72291413e+02] [-1.28403426e-02 9.99917428e-01 -5.13561151e-04 -9.99908655e+00] [-8.50217423e-03 4.04405109e-04 9.99963774e-01 -2.40227252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23037174299998 meters 0.03225062766347928 Centerline is valid? [True, True] Translation: X:172.32, Y:-10.00, Z:-2.40 [[ 9.99902524e-01 1.11962895e-02 8.34174324e-03 1.72321939e+02] [-1.11924713e-02 9.99937235e-01 -5.04264324e-04 -1.00032642e+01] [-8.34686556e-03 4.10850449e-04 9.99965080e-01 -2.40105247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26037174299998 meters 0.03183281381199107 Centerline is valid? [True, True] Translation: X:172.35, Y:-10.01, Z:-2.40 [[ 9.99906784e-01 1.05784200e-02 8.63253932e-03 1.72353563e+02] [-1.05743144e-02 9.99943955e-01 -5.21103683e-04 -1.00051014e+01] [-8.63756796e-03 4.29771923e-04 9.99962603e-01 -2.40143907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29037174299998 meters 0.03280377720081211 Centerline is valid? [True, True] Translation: X:172.39, Y:-10.01, Z:-2.40 [[ 9.99904043e-01 1.14936636e-02 7.73307590e-03 1.72386210e+02] [-1.14903778e-02 9.99933873e-01 -4.69199101e-04 -1.00068993e+01] [-7.73795735e-03 3.80298115e-04 9.99969989e-01 -2.40194682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32037174299998 meters 0.03345580753094723 Centerline is valid? [True, True] Translation: X:172.42, Y:-10.01, Z:-2.40 [[ 9.99903046e-01 1.18593921e-02 7.29753049e-03 1.72417438e+02] [-1.18564784e-02 9.99929612e-01 -4.42402806e-04 -1.00100039e+01] [-7.30226346e-03 3.55836900e-04 9.99973275e-01 -2.40312743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35037174299998 meters 0.032599233075682174 Centerline is valid? [True, True] Translation: X:172.45, Y:-10.01, Z:-2.40 [[ 9.99879609e-01 1.29803277e-02 8.50162405e-03 1.72448741e+02] [-1.29763826e-02 9.99915668e-01 -5.19036504e-04 -1.00101287e+01] [-8.50764436e-03 4.08653691e-04 9.99963726e-01 -2.40228124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38037174299998 meters 0.03058607022055005 Centerline is valid? [True, True] Translation: X:172.48, Y:-10.01, Z:-2.40 [[ 9.99829468e-01 1.59098965e-02 9.37608934e-03 1.72480279e+02] [-1.59052230e-02 9.99873340e-01 -5.72808271e-04 -1.00066810e+01] [-9.38401509e-03 4.23581796e-04 9.99955879e-01 -2.40230895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41037174299998 meters 0.032119895783440794 Centerline is valid? [True, True] Translation: X:172.51, Y:-10.01, Z:-2.40 [[ 9.99795615e-01 1.80751712e-02 9.05625161e-03 1.72511071e+02] [-1.80708969e-02 9.99836555e-01 -5.53583135e-04 -1.00095095e+01] [-9.06477752e-03 3.89815402e-04 9.99958838e-01 -2.40311500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440371743 meters 0.02858751959368068 Centerline is valid? [True, True] Translation: X:172.54, Y:-10.00, Z:-2.40 [[ 9.99760674e-01 1.99283084e-02 9.02533331e-03 1.72542464e+02] [-1.99241349e-02 9.99801342e-01 -5.52106414e-04 -1.00033177e+01] [-9.03454290e-03 3.72152323e-04 9.99959118e-01 -2.40361330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.470371743 meters 0.02858683968574217 Centerline is valid? [True, True] Translation: X:172.57, Y:-10.00, Z:-2.40 [[ 9.99636040e-01 2.58118729e-02 7.84446531e-03 1.72573068e+02] [-2.58088992e-02 9.99666780e-01 -4.80093800e-04 -9.99886510e+00] [-7.85424349e-03 2.77462050e-04 9.99969116e-01 -2.40388894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500371743 meters 0.027296369138061903 Centerline is valid? [True, True] Translation: X:172.60, Y:-10.00, Z:-2.40 [[ 9.99554143e-01 2.88974227e-02 7.51357333e-03 1.72602972e+02] [-2.88947798e-02 9.99582353e-01 -4.60081128e-04 -9.99679569e+00] [-7.52373047e-03 2.42772950e-04 9.99971667e-01 -2.40396503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.530371743 meters 0.026260078171922337 Centerline is valid? [True, True] Translation: X:172.63, Y:-10.00, Z:-2.40 [[ 9.99471490e-01 3.17120075e-02 7.14764290e-03 1.72632032e+02] [-3.17096901e-02 9.99497026e-01 -4.37342321e-04 -9.99587703e+00] [-7.15791682e-03 2.10461640e-04 9.99974360e-01 -2.40476888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560371743 meters 0.025883289294103894 Centerline is valid? [True, True] Translation: X:172.66, Y:-9.99, Z:-2.40 [[ 9.99267670e-01 3.76153791e-02 7.01472710e-03 1.72662219e+02] [-3.76132937e-02 9.99292278e-01 -4.29020215e-04 -9.99246267e+00] [-7.02590038e-03 1.64859040e-04 9.99975304e-01 -2.40438147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.590371743 meters 0.023698688314762052 Centerline is valid? [True, True] Translation: X:172.69, Y:-9.99, Z:-2.40 [[ 9.99184640e-01 3.95884237e-02 7.92536419e-03 1.72691457e+02] [-3.95858225e-02 9.99216056e-01 -4.84877775e-04 -9.99078908e+00] [-7.93834670e-03 1.70750365e-04 9.99968476e-01 -2.40390388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620371743 meters 0.02466056379706208 Centerline is valid? [True, True] Translation: X:172.72, Y:-9.99, Z:-2.40 [[ 9.98946634e-01 4.50092445e-02 8.93259611e-03 1.72720703e+02] [-4.50061637e-02 9.98986560e-01 -5.45712685e-04 -9.98919140e+00] [-8.94810558e-03 1.43115967e-04 9.99959955e-01 -2.40235305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.650371743 meters 0.02282853054338112 Centerline is valid? [True, True] Translation: X:172.75, Y:-9.99, Z:-2.40 [[ 9.98892245e-01 4.58737561e-02 1.04824680e-02 1.72749456e+02] [-4.58695708e-02 9.98947233e-01 -6.39461182e-04 -9.98849312e+00] [-1.05007669e-02 1.57926508e-04 9.99944853e-01 -2.40208516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680371743 meters 0.024809095492959298 Centerline is valid? [True, True] Translation: X:172.78, Y:-9.99, Z:-2.40 [[ 9.98783166e-01 4.81621380e-02 1.06111501e-02 1.72777645e+02] [-4.81579863e-02 9.98839522e-01 -6.46573097e-04 -9.98963421e+00] [-1.06299765e-02 1.34774703e-04 9.99943491e-01 -2.40199362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71037174299997 meters 0.024809095492959298 Centerline is valid? [True, True] Translation: X:172.81, Y:-9.99, Z:-2.40 [[ 9.98786590e-01 4.80910488e-02 1.06112132e-02 1.72805913e+02] [-4.80869041e-02 9.98842947e-01 -6.45536041e-04 -9.99129476e+00] [-1.06299800e-02 1.34492350e-04 9.99943491e-01 -2.40239156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74037174299997 meters 0.022356258208627394 Centerline is valid? [True, True] Translation: X:172.83, Y:-9.99, Z:-2.40 [[ 9.98750381e-01 4.87047988e-02 1.12035326e-02 1.72834766e+02] [-4.87002266e-02 9.98813208e-01 -6.80720953e-04 -9.99095389e+00] [-1.12233907e-02 1.34255733e-04 9.99937007e-01 -2.40249724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77037174299997 meters 0.024369616773179455 Centerline is valid? [True, True] Translation: X:172.86, Y:-9.99, Z:-2.40 [[ 9.98620640e-01 5.14553834e-02 1.04480491e-02 1.72862954e+02] [-5.14515650e-02 9.98675290e-01 -6.34112647e-04 -9.99404285e+00] [-1.04668370e-02 9.56694978e-05 9.99945217e-01 -2.40312006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80037174299997 meters 0.022365764726759146 Centerline is valid? [True, True] Translation: X:172.89, Y:-10.00, Z:-2.40 [[ 9.98664429e-01 5.05698648e-02 1.05851997e-02 1.72890302e+02] [-5.05659031e-02 9.98720520e-01 -6.41742735e-04 -9.99708215e+00] [-1.06041090e-02 1.05635459e-04 9.99943769e-01 -2.40457476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83037174299997 meters 0.023554209520441266 Centerline is valid? [True, True] Translation: X:172.92, Y:-10.00, Z:-2.40 [[ 9.98676256e-01 5.02440978e-02 1.10121162e-02 1.72918841e+02] [-5.02398041e-02 9.98736961e-01 -6.66372787e-04 -1.00016398e+01] [-1.10316887e-02 1.12244121e-04 9.99939143e-01 -2.40499368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86037174299997 meters 0.024699986760757207 Centerline is valid? [True, True] Translation: X:172.95, Y:-10.01, Z:-2.40 [[ 9.98677742e-01 5.00892201e-02 1.15688037e-02 1.72946738e+02] [-5.00844807e-02 9.98744740e-01 -6.99207256e-04 -1.00053806e+01] [-1.15893045e-02 1.18865201e-04 9.99932835e-01 -2.40459255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89037174299997 meters 0.02408680272826002 Centerline is valid? [True, True] Translation: X:172.98, Y:-10.01, Z:-2.40 [[ 9.98703983e-01 4.93452229e-02 1.24660971e-02 1.72975599e+02] [-4.93396777e-02 9.98781773e-01 -7.52162486e-04 -1.00083049e+01] [-1.24880262e-02 1.36114459e-04 9.99922012e-01 -2.40389225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92037174299998 meters 0.023381187499164728 Centerline is valid? [True, True] Translation: X:173.00, Y:-10.01, Z:-2.40 [[ 9.98731835e-01 4.84095331e-02 1.38289154e-02 1.73002751e+02] [-4.84026352e-02 9.98827558e-01 -8.33261124e-04 -1.00141401e+01] [-1.38530395e-02 1.62848466e-04 9.99904029e-01 -2.40251247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95037174299998 meters 0.02276113886337247 Centerline is valid? [True, True] Translation: X:173.03, Y:-10.02, Z:-2.40 [[ 9.98811393e-01 4.66556466e-02 1.41085406e-02 1.73031940e+02] [-4.66483104e-02 9.98911014e-01 -8.48798463e-04 -1.00182143e+01] [-1.41327779e-02 1.89649992e-04 9.99900109e-01 -2.40286192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98037174299998 meters 0.024909799723575852 Centerline is valid? [True, True] Translation: X:173.06, Y:-10.02, Z:-2.40 [[ 9.98982397e-01 4.30099515e-02 1.35762533e-02 1.73061124e+02] [-4.30028280e-02 9.99074617e-01 -8.16319805e-04 -1.00249035e+01] [-1.35988000e-02 2.31671828e-04 9.99907505e-01 -2.40366305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01037174299998 meters 0.02529640292425013 Centerline is valid? [True, True] Translation: X:173.09, Y:-10.03, Z:-2.40 [[ 9.99113930e-01 4.02104067e-02 1.24289050e-02 1.73089723e+02] [-4.02042248e-02 9.99191204e-01 -7.46945668e-04 -1.00306650e+01] [-1.24488876e-02 2.46589331e-04 9.99922479e-01 -2.40418342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04037174299998 meters 0.026509670686467472 Centerline is valid? [True, True] Translation: X:173.12, Y:-10.04, Z:-2.41 [[ 9.99265524e-01 3.62843908e-02 1.23229452e-02 1.73118911e+02] [-3.62780244e-02 9.99341462e-01 -7.39845223e-04 -1.00390851e+01] [-1.23416750e-02 2.92249716e-04 9.99923796e-01 -2.40539454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07037174299998 meters 0.028165711217382778 Centerline is valid? [True, True] Translation: X:173.15, Y:-10.05, Z:-2.41 [[ 9.99542935e-01 2.81783975e-02 1.09498393e-02 1.73149278e+02] [-2.81728875e-02 9.99602849e-01 -6.57163231e-04 -1.00485159e+01] [-1.09640084e-02 3.48374274e-04 9.99939833e-01 -2.40660421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10037174299998 meters 0.030192703678447896 Centerline is valid? [True, True] Translation: X:173.18, Y:-10.06, Z:-2.41 [[ 9.99671166e-01 2.36835567e-02 9.83105689e-03 1.73179314e+02] [-2.36788981e-02 9.99719441e-01 -5.90016417e-04 -1.00560774e+01] [-9.84227239e-03 3.57033806e-04 9.99951500e-01 -2.40742968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13037174299998 meters 0.03018079051261344 Centerline is valid? [True, True] Translation: X:173.21, Y:-10.07, Z:-2.41 [[ 9.99882031e-01 1.22641955e-02 9.24739457e-03 1.73209613e+02] [-1.22595846e-02 9.99924694e-01 -5.55142337e-04 -1.00673629e+01] [-9.25350656e-03 4.41707632e-04 9.99957088e-01 -2.40920427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16037174299998 meters 0.030735076293510025 Centerline is valid? [True, True] Translation: X:173.24, Y:-10.07, Z:-2.41 [[ 9.99929894e-01 7.40202332e-03 9.24217637e-03 1.73240054e+02] [-7.39720847e-03 9.99972486e-01 -5.55040149e-04 -1.00728364e+01] [-9.24603050e-03 4.86634931e-04 9.99957136e-01 -2.40909665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.190371743 meters 0.034551803572742026 Centerline is valid? [True, True] Translation: X:173.27, Y:-10.08, Z:-2.41 [[ 9.99952212e-01 4.03396125e-03 8.90508572e-03 1.73271120e+02] [-4.02935905e-03 9.99991739e-01 -5.34686744e-04 -1.00797618e+01] [-8.90716906e-03 4.98779405e-04 9.99960206e-01 -2.40848655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220371743 meters 0.034102070166691145 Centerline is valid? [True, True] Translation: X:173.30, Y:-10.09, Z:-2.41 [[ 9.99925636e-01 -5.19632094e-03 1.10327056e-02 1.73301580e+02] [ 5.20395160e-03 9.99986240e-01 -6.63044948e-04 -1.00865237e+01] [-1.10291084e-02 7.20409307e-04 9.99938918e-01 -2.40677513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.250371743 meters 0.03617915351945197 Centerline is valid? [True, True] Translation: X:173.33, Y:-10.09, Z:-2.41 [[ 9.99897943e-01 -8.79670335e-03 1.12570532e-02 1.73330855e+02] [ 8.80487604e-03 9.99961007e-01 -6.76651221e-04 -1.00920499e+01] [-1.12506619e-02 7.75699121e-04 9.99936408e-01 -2.40661627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280371743 meters 0.03767549882304829 Centerline is valid? [True, True] Translation: X:173.36, Y:-10.10, Z:-2.41 [[ 9.99862017e-01 -1.20620829e-02 1.14215710e-02 1.73361307e+02] [ 1.20707057e-02 9.99926911e-01 -6.86327594e-04 -1.00959274e+01] [-1.14124577e-02 8.24099316e-04 9.99934536e-01 -2.40642781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.310371743 meters 0.04075386945088059 Centerline is valid? [True, True] Translation: X:173.39, Y:-10.10, Z:-2.41 [[ 9.99849407e-01 -1.34810095e-02 1.09281817e-02 1.73391761e+02] [ 1.34889891e-02 9.99908804e-01 -6.56806285e-04 -1.01011025e+01] [-1.09183307e-02 8.04117499e-04 9.99940070e-01 -2.40577705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340371743 meters 0.04110619223955559 Centerline is valid? [True, True] Translation: X:173.42, Y:-10.10, Z:-2.41 [[ 9.99762327e-01 -1.75531780e-02 1.29296299e-02 1.73422703e+02] [ 1.75646948e-02 9.99845426e-01 -7.77704468e-04 -1.01035186e+01] [-1.29139801e-02 1.00462463e-03 9.99916106e-01 -2.40578271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.370371743 meters 0.04234991952137127 Centerline is valid? [True, True] Translation: X:173.45, Y:-10.10, Z:-2.41 [[ 9.99750536e-01 -1.86341005e-02 1.23140489e-02 1.73454572e+02] [ 1.86446276e-02 9.99825900e-01 -7.40626354e-04 -1.01041311e+01] [-1.22981041e-02 9.70032451e-04 9.99923905e-01 -2.40664867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400371743 meters 0.04378323124487212 Centerline is valid? [True, True] Translation: X:173.49, Y:-10.11, Z:-2.41 [[ 9.99750668e-01 -1.89077929e-02 1.18784325e-02 1.73485537e+02] [ 1.89176129e-02 9.99820790e-01 -7.14889348e-04 -1.01055967e+01] [-1.18627868e-02 9.39422692e-04 9.99929193e-01 -2.40821754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.430371743 meters 0.04462295514737805 Centerline is valid? [True, True] Translation: X:173.52, Y:-10.11, Z:-2.41 [[ 9.99753426e-01 -1.93702562e-02 1.08572919e-02 1.73517996e+02] [ 1.93785026e-02 9.99812005e-01 -6.54825556e-04 -1.01060236e+01] [-1.08425667e-02 8.65062153e-04 9.99940843e-01 -2.40970831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46037174299997 meters 0.04542239547862986 Centerline is valid? [True, True] Translation: X:173.55, Y:-10.11, Z:-2.41 [[ 9.99755592e-01 -1.97961733e-02 9.84210443e-03 1.73549950e+02] [ 1.98029760e-02 9.99803725e-01 -5.94206005e-04 -1.01066651e+01] [-9.82840967e-03 7.88963735e-04 9.99951389e-01 -2.41114114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49037174299997 meters 0.04762092131511098 Centerline is valid? [True, True] Translation: X:173.58, Y:-10.11, Z:-2.41 [[ 9.99754559e-01 -2.06927917e-02 7.91395687e-03 1.73582264e+02] [ 2.06972208e-02 9.99785675e-01 -4.78164153e-04 -1.01063527e+01] [-7.90236616e-03 6.41843705e-04 9.99968570e-01 -2.41358946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52037174299997 meters 0.04798156713736967 Centerline is valid? [True, True] Translation: X:173.61, Y:-10.11, Z:-2.41 [[ 9.99716918e-01 -2.23501695e-02 8.15810661e-03 1.73612798e+02] [ 2.23549370e-02 9.99749975e-01 -4.93658486e-04 -1.01074163e+01] [-8.14503353e-03 6.75892700e-04 9.99966600e-01 -2.41469052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55037174299997 meters 0.04856974897728691 Centerline is valid? [True, True] Translation: X:173.65, Y:-10.10, Z:-2.41 [[ 9.99696688e-01 -2.35005145e-02 7.36600418e-03 1.73645221e+02] [ 2.35044331e-02 9.99723633e-01 -4.45855185e-04 -1.01017636e+01] [-7.35349063e-03 6.18853705e-04 9.99972771e-01 -2.41457867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58037174299997 meters 0.042653571428997 Centerline is valid? [True, True] Translation: X:173.68, Y:-10.09, Z:-2.41 [[ 9.99672321e-01 -2.44332819e-02 7.63315900e-03 1.73678097e+02] [ 2.44375211e-02 9.99701252e-01 -4.62576265e-04 -1.00917689e+01] [-7.61957636e-03 6.48960172e-04 9.99970760e-01 -2.41392054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61037174299997 meters 0.05285280676584502 Centerline is valid? [True, True] Translation: X:173.71, Y:-10.10, Z:-2.42 [[ 9.99619173e-01 -2.63247168e-02 8.27757662e-03 1.73707913e+02] [ 2.63297736e-02 9.99653185e-01 -5.02501617e-04 -1.01022181e+01] [-8.26147763e-03 7.20256970e-04 9.99965614e-01 -2.41570990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64037174299997 meters 0.043804559411471225 Centerline is valid? [True, True] Translation: X:173.74, Y:-10.09, Z:-2.41 [[ 9.99621388e-01 -2.61961831e-02 8.41674309e-03 1.73741582e+02] [ 2.62014073e-02 9.99656554e-01 -5.11006391e-04 -1.00882654e+01] [-8.40046598e-03 7.31343431e-04 9.99964448e-01 -2.41481185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67037174299998 meters 0.0437931444306526 Centerline is valid? [True, True] Translation: X:173.77, Y:-10.08, Z:-2.42 [[ 9.99659203e-01 -2.49271431e-02 7.75342502e-03 1.73773756e+02] [ 2.49315469e-02 9.99689049e-01 -4.71825129e-04 -1.00844377e+01] [-7.73925284e-03 6.64969212e-04 9.99969830e-01 -2.41514479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70037174299998 meters 0.04173520965892954 Centerline is valid? [True, True] Translation: X:173.81, Y:-10.08, Z:-2.42 [[ 9.99712711e-01 -2.26446075e-02 7.85605605e-03 1.73805492e+02] [ 2.26490640e-02 9.99743362e-01 -4.78754441e-04 -1.00764216e+01] [-7.84319869e-03 6.56549216e-04 9.99969026e-01 -2.41523276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73037174299998 meters 0.04194581486932349 Centerline is valid? [True, True] Translation: X:173.84, Y:-10.07, Z:-2.42 [[ 9.99768709e-01 -2.00953176e-02 7.66207383e-03 1.73835094e+02] [ 2.00994852e-02 9.99797876e-01 -4.67304780e-04 -1.00740163e+01] [-7.65113450e-03 6.21200436e-04 9.99970537e-01 -2.41514183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76037174299998 meters 0.04420996468183584 Centerline is valid? [True, True] Translation: X:173.86, Y:-10.07, Z:-2.41 [[ 9.99832796e-01 -1.66576427e-02 7.54345536e-03 1.73864436e+02] [ 1.66615838e-02 9.99861080e-01 -4.59906399e-04 -1.00731244e+01] [-7.53474647e-03 5.85515414e-04 9.99971442e-01 -2.41474378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79037174299998 meters 0.03945646299754871 Centerline is valid? [True, True] Translation: X:173.90, Y:-10.06, Z:-2.41 [[ 9.99895419e-01 -1.08490530e-02 9.56294901e-03 1.73895678e+02] [ 1.08551204e-02 9.99940912e-01 -5.82788127e-04 -1.00596661e+01] [-9.55606125e-03 6.86534141e-04 9.99954104e-01 -2.41167939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82037174299998 meters 0.0384056927017041 Centerline is valid? [True, True] Translation: X:173.93, Y:-10.06, Z:-2.41 [[ 9.99916442e-01 -7.13372660e-03 1.07804788e-02 1.73927030e+02] [ 7.14122207e-03 9.99974285e-01 -6.56946602e-04 -1.00551623e+01] [-1.07755151e-02 7.33877503e-04 9.99941673e-01 -2.41062282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85037174299998 meters 0.03537555960527111 Centerline is valid? [True, True] Translation: X:173.96, Y:-10.04, Z:-2.41 [[ 9.99932308e-01 7.10109216e-04 1.16135578e-02 1.73958070e+02] [-7.01936266e-04 9.99999503e-01 -7.07803148e-04 -1.00434364e+01] [-1.16140547e-02 6.99603258e-04 9.99932310e-01 -2.40877204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88037174299998 meters 0.031534192558604325 Centerline is valid? [True, True] Translation: X:173.99, Y:-10.03, Z:-2.41 [[ 9.99920832e-01 5.35072429e-03 1.13885949e-02 1.73989175e+02] [-5.34316632e-03 9.99985484e-01 -6.93966981e-04 -1.00342419e+01] [-1.13921428e-02 6.33060884e-04 9.99934907e-01 -2.40861429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91037174299998 meters 0.03130170061557997 Centerline is valid? [True, True] Translation: X:174.02, Y:-10.03, Z:-2.41 [[ 9.99884100e-01 9.90079971e-03 1.15654923e-02 1.74019323e+02] [-9.89330685e-03 9.99950812e-01 -7.04897830e-04 -1.00316951e+01] [-1.15719025e-02 5.90395168e-04 9.99932869e-01 -2.40901347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940371743 meters 0.03244158370636013 Centerline is valid? [True, True] Translation: X:174.05, Y:-10.03, Z:-2.41 [[ 9.99847441e-01 1.31639502e-02 1.14806290e-02 1.74049853e+02] [-1.31567826e-02 9.99913201e-01 -6.99630214e-04 -1.00339825e+01] [-1.14888424e-02 5.48475341e-04 9.99933851e-01 -2.41016112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.970371743 meters 0.028939121612941175 Centerline is valid? [True, True] Translation: X:174.08, Y:-10.02, Z:-2.41 [[ 9.99720489e-01 2.10543266e-02 1.07545131e-02 1.74081094e+02] [-2.10484876e-02 9.99778241e-01 -6.55842822e-04 -1.00239091e+01] [-1.07659365e-02 4.29293272e-04 9.99941953e-01 -2.41157690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000371743 meters 0.025466418105370914 Centerline is valid? [True, True] Translation: X:174.11, Y:-10.01, Z:-2.41 [[ 9.99550369e-01 2.84402698e-02 9.49797504e-03 1.74112362e+02] [-2.84360477e-02 9.99595446e-01 -5.79311733e-04 -1.00130839e+01] [-9.51060837e-03 3.08966386e-04 9.99954725e-01 -2.41323906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.030371743 meters 0.026113283758249676 Centerline is valid? [True, True] Translation: X:174.14, Y:-10.01, Z:-2.41 [[ 9.99436537e-01 3.23612000e-02 8.90853234e-03 1.74142800e+02] [-3.23576408e-02 9.99476207e-01 -5.43407080e-04 -1.00115440e+01] [-8.92145141e-03 2.54841801e-04 9.99960171e-01 -2.41456673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060371743 meters 0.02439384619665617 Centerline is valid? [True, True] Translation: X:174.17, Y:-10.01, Z:-2.41 [[ 9.99377459e-01 3.41564231e-02 8.83366906e-03 1.74171616e+02] [-3.41529924e-02 9.99416471e-01 -5.38971040e-04 -1.00093131e+01] [-8.84692368e-03 2.36939276e-04 9.99960837e-01 -2.41495768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.090371743 meters 0.02408577855071702 Centerline is valid? [True, True] Translation: X:174.20, Y:-10.01, Z:-2.42 [[ 9.99300619e-01 3.63210037e-02 8.89145320e-03 1.74200787e+02] [-3.63176194e-02 9.99340151e-01 -5.41840843e-04 -1.00083376e+01] [-8.90526639e-03 2.18545477e-04 9.99960323e-01 -2.41614605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120371743 meters 0.024475541699749956 Centerline is valid? [True, True] Translation: X:174.23, Y:-10.01, Z:-2.42 [[ 9.99298283e-01 3.62957702e-02 9.24979676e-03 1.74228546e+02] [-3.62921124e-02 9.99341066e-01 -5.63048249e-04 -1.00102351e+01] [-9.26413802e-03 2.26958485e-04 9.99957061e-01 -2.41634840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.150371743 meters 0.024427652985463767 Centerline is valid? [True, True] Translation: X:174.26, Y:-10.01, Z:-2.42 [[ 9.99346840e-01 3.46858079e-02 1.01384172e-02 1.74257517e+02] [-3.46813419e-02 9.99398231e-01 -6.16033928e-04 -1.00119452e+01] [-1.01536838e-02 2.64017646e-04 9.99948415e-01 -2.41612653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180371743 meters 0.025720907654110302 Centerline is valid? [True, True] Translation: X:174.29, Y:-10.02, Z:-2.42 [[ 9.99386673e-01 3.34813039e-02 1.02606081e-02 1.74286381e+02] [-3.34766738e-02 9.99439305e-01 -6.22719828e-04 -1.00152209e+01] [-1.02757045e-02 2.78846867e-04 9.99947165e-01 -2.41688624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21037174299997 meters 0.025382443209673575 Centerline is valid? [True, True] Translation: X:174.31, Y:-10.02, Z:-2.42 [[ 9.99450631e-01 3.12694463e-02 1.09844820e-02 1.74314010e+02] [-3.12640151e-02 9.99510939e-01 -6.65854836e-04 -1.00192645e+01] [-1.09999308e-02 3.22070025e-04 9.99939447e-01 -2.41735211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24037174299997 meters 0.02627037454202521 Centerline is valid? [True, True] Translation: X:174.34, Y:-10.03, Z:-2.42 [[ 9.99585238e-01 2.64074001e-02 1.14891450e-02 1.74343587e+02] [-2.64011518e-02 9.99651187e-01 -6.95198543e-04 -1.00262308e+01] [-1.15034958e-02 3.91583540e-04 9.99933756e-01 -2.41818596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27037174299997 meters 0.02679670243845614 Centerline is valid? [True, True] Translation: X:174.37, Y:-10.03, Z:-2.42 [[ 9.99650001e-01 2.38849378e-02 1.13747688e-02 1.74372864e+02] [-2.38786518e-02 9.99714628e-01 -6.88135416e-04 -1.00298421e+01] [-1.13879588e-02 4.16280426e-04 9.99935068e-01 -2.41950414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30037174299997 meters 0.027688705873750948 Centerline is valid? [True, True] Translation: X:174.40, Y:-10.03, Z:-2.42 [[ 9.99686434e-01 2.26973137e-02 1.05766160e-02 1.74402537e+02] [-2.26918162e-02 9.99742303e-01 -6.39510480e-04 -1.00334576e+01] [-1.05884056e-02 3.99307325e-04 9.99943862e-01 -2.41973363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33037174299997 meters 0.029011275663173196 Centerline is valid? [True, True] Translation: X:174.43, Y:-10.04, Z:-2.42 [[ 9.99800900e-01 1.66288572e-02 1.10290748e-02 1.74430994e+02] [-1.66225159e-02 9.99861614e-01 -6.66391273e-04 -1.00434805e+01] [-1.10386299e-02 4.82927624e-04 9.99938956e-01 -2.42057767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36037174299997 meters 0.028864664264858293 Centerline is valid? [True, True] Translation: X:174.46, Y:-10.05, Z:-2.42 [[ 9.99832160e-01 1.42419837e-02 1.15246588e-02 1.74462091e+02] [-1.42349059e-02 9.99898436e-01 -6.95942555e-04 -1.00461631e+01] [-1.15333999e-02 5.31773315e-04 9.99933347e-01 -2.42088634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39037174299997 meters 0.03523740181554769 Centerline is valid? [True, True] Translation: X:174.49, Y:-10.06, Z:-2.42 [[ 9.99877914e-01 9.62603151e-03 1.23084100e-02 1.74490705e+02] [-9.61760259e-03 9.99953473e-01 -7.43819159e-04 -1.00622496e+01] [-1.23149974e-02 6.25350953e-04 9.99923972e-01 -2.42088018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42037174299998 meters 0.0336358528329937 Centerline is valid? [True, True] Translation: X:174.52, Y:-10.06, Z:-2.42 [[ 9.99885483e-01 8.70230145e-03 1.23810569e-02 1.74523441e+02] [-8.69370718e-03 9.99961929e-01 -7.47799090e-04 -1.00609210e+01] [-1.23870931e-02 6.40076172e-04 9.99923072e-01 -2.42138810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45037174299998 meters 0.033412680399609165 Centerline is valid? [True, True] Translation: X:174.55, Y:-10.06, Z:-2.42 [[ 9.99906839e-01 6.22004389e-03 1.21501097e-02 1.74554586e+02] [-6.21154356e-03 9.99980436e-01 -7.37221525e-04 -1.00649793e+01] [-1.21544576e-02 6.61681909e-04 9.99925913e-01 -2.42187587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48037174299998 meters 0.032268244338568154 Centerline is valid? [True, True] Translation: X:174.59, Y:-10.06, Z:-2.42 [[ 9.99909296e-01 6.87307648e-03 1.15827538e-02 1.74586554e+02] [-6.86539703e-03 9.99976186e-01 -7.02638918e-04 -1.00648575e+01] [-1.15873073e-02 6.23054983e-04 9.99932671e-01 -2.42229727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51037174299998 meters 0.03134698817423916 Centerline is valid? [True, True] Translation: X:174.62, Y:-10.07, Z:-2.42 [[ 9.99899400e-01 7.86025760e-03 1.18070158e-02 1.74618448e+02] [-7.85230951e-03 9.99968911e-01 -7.19374467e-04 -1.00666542e+01] [-1.18123032e-02 6.26589756e-04 9.99930036e-01 -2.42295032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54037174299998 meters 0.033002293416164355 Centerline is valid? [True, True] Translation: X:174.65, Y:-10.07, Z:-2.42 [[ 9.99863759e-01 1.13611506e-02 1.19744284e-02 1.74647602e+02] [-1.13531813e-02 9.99935282e-01 -7.33295636e-04 -1.00720038e+01] [-1.19819845e-02 5.97247875e-04 9.99928035e-01 -2.42308914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57037174299998 meters 0.03207595512769685 Centerline is valid? [True, True] Translation: X:174.68, Y:-10.07, Z:-2.42 [[ 9.99818707e-01 1.52950199e-02 1.13408846e-02 1.74678985e+02] [-1.52881273e-02 9.99882889e-01 -6.94207327e-04 -1.00706070e+01] [-1.13501743e-02 5.20700584e-04 9.99935449e-01 -2.42318483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60037174299998 meters 0.03207595512769685 Centerline is valid? [True, True] Translation: X:174.71, Y:-10.07, Z:-2.42 [[ 9.99818168e-01 1.53301995e-02 1.13408752e-02 1.74709798e+02] [-1.53233075e-02 9.99882350e-01 -6.94360070e-04 -1.00725246e+01] [-1.13501856e-02 5.20454095e-04 9.99935449e-01 -2.42361839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63037174299998 meters 0.0318261389746194 Centerline is valid? [True, True] Translation: X:174.74, Y:-10.07, Z:-2.42 [[ 9.99755244e-01 1.86963968e-02 1.18278268e-02 1.74741284e+02] [-1.86891301e-02 9.99825080e-01 -7.24613172e-04 -1.00730643e+01] [-1.18393055e-02 5.03384024e-04 9.99929786e-01 -2.42367371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66037174299998 meters 0.02742674833722013 Centerline is valid? [True, True] Translation: X:174.77, Y:-10.07, Z:-2.42 [[ 9.99713984e-01 2.04674351e-02 1.23707170e-02 1.74772116e+02] [-2.04596149e-02 9.99790393e-01 -7.58391383e-04 -1.00691528e+01] [-1.23836464e-02 5.05074364e-04 9.99923192e-01 -2.42367705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.690371743 meters 0.02584317581872379 Centerline is valid? [True, True] Translation: X:174.80, Y:-10.07, Z:-2.42 [[ 9.99581012e-01 2.60089292e-02 1.27018209e-02 1.74803494e+02] [-2.60011318e-02 9.99661610e-01 -7.78664316e-04 -1.00682049e+01] [-1.27177749e-02 4.48076346e-04 9.99919025e-01 -2.42354673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720371743 meters 0.02740985204802182 Centerline is valid? [True, True] Translation: X:174.83, Y:-10.07, Z:-2.42 [[ 9.99482327e-01 3.00067808e-02 1.16047780e-02 1.74833200e+02] [-3.00005374e-02 9.99549629e-01 -7.11749355e-04 -1.00706518e+01] [-1.16209089e-02 3.63231325e-04 9.99932409e-01 -2.42455946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.750371743 meters 0.026462882956503456 Centerline is valid? [True, True] Translation: X:174.86, Y:-10.08, Z:-2.43 [[ 9.99498560e-01 2.96003060e-02 1.12450311e-02 1.74861745e+02] [-2.95944219e-02 9.99561751e-01 -6.89335334e-04 -1.00750237e+01] [-1.12605075e-02 3.56199479e-04 9.99936535e-01 -2.42555006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780371743 meters 0.025523507882194263 Centerline is valid? [True, True] Translation: X:174.89, Y:-10.08, Z:-2.43 [[ 9.99492661e-01 2.97642141e-02 1.13363043e-02 1.74891032e+02] [-2.97582513e-02 9.99556884e-01 -6.94351973e-04 -1.00751461e+01] [-1.13519479e-02 3.56651108e-04 9.99935501e-01 -2.42611798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.810371743 meters 0.02643181264446041 Centerline is valid? [True, True] Translation: X:174.92, Y:-10.08, Z:-2.43 [[ 9.99461222e-01 3.09928042e-02 1.08033638e-02 1.74919275e+02] [-3.09874685e-02 9.99519555e-01 -6.60971248e-04 -1.00785538e+01] [-1.08186587e-02 3.25846235e-04 9.99941424e-01 -2.42689379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840371743 meters 0.026154058334873522 Centerline is valid? [True, True] Translation: X:174.95, Y:-10.08, Z:-2.43 [[ 9.99499825e-01 2.95710141e-02 1.12095811e-02 1.74947863e+02] [-2.95651908e-02 9.99562620e-01 -6.84890179e-04 -1.00833928e+01] [-1.12249311e-02 3.53134212e-04 9.99936936e-01 -2.42758260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.870371743 meters 0.026024195893991825 Centerline is valid? [True, True] Translation: X:174.98, Y:-10.09, Z:-2.43 [[ 9.99534188e-01 2.84096851e-02 1.11488333e-02 1.74976837e+02] [-2.84038595e-02 9.99596297e-01 -6.80557355e-04 -1.00880083e+01] [-1.11636669e-02 3.63570448e-04 9.99937618e-01 -2.42768226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900371743 meters 0.02689269810090495 Centerline is valid? [True, True] Translation: X:175.01, Y:-10.09, Z:-2.43 [[ 9.99548863e-01 2.80414517e-02 1.07585707e-02 1.75005462e+02] [-2.80360108e-02 9.99606698e-01 -6.56236623e-04 -1.00914254e+01] [-1.07727411e-02 3.54313167e-04 9.99941910e-01 -2.42804718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.930371743 meters 0.02783295172135913 Centerline is valid? [True, True] Translation: X:175.03, Y:-10.10, Z:-2.43 [[ 9.99578858e-01 2.70201956e-02 1.05837328e-02 1.75034378e+02] [-2.70148821e-02 9.99634824e-01 -6.44711556e-04 -1.00959027e+01] [-1.05972881e-02 3.58521746e-04 9.99943783e-01 -2.42901053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96037174299997 meters 0.029960357399650504 Centerline is valid? [True, True] Translation: X:175.06, Y:-10.11, Z:-2.43 [[ 9.99652620e-01 2.43590579e-02 1.00636228e-02 1.75063654e+02] [-2.43541244e-02 9.99703207e-01 -6.12508791e-04 -1.01051964e+01] [-1.00755562e-02 3.67205295e-04 9.99949173e-01 -2.42958635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99037174299997 meters 0.030343847567800678 Centerline is valid? [True, True] Translation: X:175.09, Y:-10.11, Z:-2.43 [[ 9.99696526e-01 2.24522372e-02 1.01367270e-02 1.75093467e+02] [-2.24471351e-02 9.99747841e-01 -6.16841043e-04 -1.01087442e+01] [-1.01480204e-02 3.89113368e-04 9.99948432e-01 -2.43040400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02037174299997 meters 0.030922507543606217 Centerline is valid? [True, True] Translation: X:175.12, Y:-10.12, Z:-2.43 [[ 9.99800194e-01 1.73863096e-02 9.86344391e-03 1.75122591e+02] [-1.73812368e-02 9.99848755e-01 -5.99797192e-04 -1.01173594e+01] [-9.87238038e-03 4.28238495e-04 9.99951175e-01 -2.43149521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05037174299997 meters 0.030553048931617918 Centerline is valid? [True, True] Translation: X:175.15, Y:-10.12, Z:-2.43 [[ 9.99844749e-01 1.49363676e-02 9.34789975e-03 1.75153490e+02] [-1.49317074e-02 9.99888354e-01 -5.68127874e-04 -1.01201672e+01] [-9.35534186e-03 4.28459568e-04 9.99956146e-01 -2.43243448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08037174299997 meters 0.032540323494283395 Centerline is valid? [True, True] Translation: X:175.18, Y:-10.13, Z:-2.43 [[ 9.99875896e-01 1.29938661e-02 8.90798417e-03 1.75184462e+02] [-1.29895568e-02 9.99915486e-01 -5.41449247e-04 -1.01265141e+01] [-8.91426684e-03 4.25671285e-04 9.99960177e-01 -2.43346085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11037174299997 meters 0.03505531632148503 Centerline is valid? [True, True] Translation: X:175.21, Y:-10.14, Z:-2.43 [[ 9.99935915e-01 6.74222279e-03 9.09442236e-03 1.75213050e+02] [-6.73746798e-03 9.99977150e-01 -5.53363677e-04 -1.01368754e+01] [-9.09794546e-03 4.92054835e-04 9.99958492e-01 -2.43404692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14037174299997 meters 0.03565669536258697 Centerline is valid? [True, True] Translation: X:175.24, Y:-10.14, Z:-2.43 [[ 9.99950676e-01 4.29390880e-03 8.95591604e-03 1.75243627e+02] [-4.28920246e-03 9.99990653e-01 -5.44641352e-04 -1.01401715e+01] [-8.95817097e-03 5.06200751e-04 9.99959747e-01 -2.43438651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17037174299998 meters 0.037566862768172775 Centerline is valid? [True, True] Translation: X:175.27, Y:-10.15, Z:-2.43 [[ 9.99966898e-01 4.57332400e-04 8.12366817e-03 1.75274063e+02] [-4.53332933e-04 9.99999775e-01 -4.94157409e-04 -1.01462872e+01] [-8.12389233e-03 4.90458325e-04 9.99966880e-01 -2.43498523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20037174299998 meters 0.039256750667873055 Centerline is valid? [True, True] Translation: X:175.31, Y:-10.15, Z:-2.44 [[ 9.99976254e-01 -2.38727796e-04 6.88727811e-03 1.75306399e+02] [ 2.41608294e-04 9.99999884e-01 -4.17405643e-04 -1.01501463e+01] [-6.88717766e-03 4.19059755e-04 9.99976195e-01 -2.43565021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23037174299998 meters 0.03817392276925693 Centerline is valid? [True, True] Translation: X:175.34, Y:-10.15, Z:-2.44 [[ 9.99971757e-01 -1.17193757e-03 7.42368332e-03 1.75338834e+02] [ 1.17532513e-03 9.99999207e-01 -4.51971738e-04 -1.01514728e+01] [-7.42314775e-03 4.60684215e-04 9.99972342e-01 -2.43586206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26037174299998 meters 0.0359908879086129 Centerline is valid? [True, True] Translation: X:175.37, Y:-10.15, Z:-2.43 [[ 9.99963026e-01 -6.65693879e-04 8.57347394e-03 1.75371429e+02] [ 6.70224269e-04 9.99999637e-01 -5.25557209e-04 -1.01494061e+01] [-8.57312097e-03 5.31283928e-04 9.99963109e-01 -2.43496181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29037174299998 meters 0.038861409105185894 Centerline is valid? [True, True] Translation: X:175.40, Y:-10.15, Z:-2.44 [[ 9.99966511e-01 1.47718587e-04 8.18264052e-03 1.75402597e+02] [-1.43613640e-04 9.99999864e-01 -5.02250646e-04 -1.01547071e+01] [-8.18271360e-03 5.01058687e-04 9.99966396e-01 -2.43545582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32037174299998 meters 0.03505891367513533 Centerline is valid? [True, True] Translation: X:175.43, Y:-10.15, Z:-2.43 [[ 9.99952837e-01 2.73161469e-03 9.31996704e-03 1.75434650e+02] [-2.72639546e-03 9.99996119e-01 -5.72664361e-04 -1.01491455e+01] [-9.32149517e-03 5.47227436e-04 9.99956404e-01 -2.43430880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35037174299998 meters 0.03777435709620683 Centerline is valid? [True, True] Translation: X:175.46, Y:-10.15, Z:-2.43 [[ 9.99938092e-01 4.10031549e-03 1.03440425e-02 1.75464528e+02] [-4.09395120e-03 9.99991417e-01 -6.36361382e-04 -1.01536532e+01] [-1.03465630e-02 5.93973981e-04 9.99946296e-01 -2.43489853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38037174299998 meters 0.034908035069756496 Centerline is valid? [True, True] Translation: X:175.50, Y:-10.15, Z:-2.43 [[ 9.99932327e-01 6.21139268e-03 9.83667582e-03 1.75496185e+02] [-6.20573840e-03 9.99980561e-01 -6.05235243e-04 -1.01492551e+01] [-9.84024396e-03 5.44150448e-04 9.99951436e-01 -2.43417803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41037174299998 meters 0.03530068821320609 Centerline is valid? [True, True] Translation: X:175.53, Y:-10.15, Z:-2.43 [[ 9.99910401e-01 7.95382934e-03 1.07669454e-02 1.75527333e+02] [-7.94715776e-03 9.99968202e-01 -6.62279059e-04 -1.01475715e+01] [-1.07718707e-02 5.76653106e-04 9.99941815e-01 -2.43448446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440371743 meters 0.03314886406219587 Centerline is valid? [True, True] Translation: X:175.56, Y:-10.14, Z:-2.43 [[ 9.99901146e-01 9.30015430e-03 1.05454088e-02 1.75560141e+02] [-9.29380549e-03 9.99956600e-01 -6.50891884e-04 -1.01430956e+01] [-1.05510045e-02 5.52820562e-04 9.99944184e-01 -2.43435884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.470371743 meters 0.035533986236266184 Centerline is valid? [True, True] Translation: X:175.59, Y:-10.15, Z:-2.44 [[ 9.99900803e-01 8.14350588e-03 1.14920546e-02 1.75590482e+02] [-8.13584521e-03 9.99966649e-01 -7.13199225e-04 -1.01502151e+01] [-1.14974793e-02 6.19630900e-04 9.99933710e-01 -2.43554956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500371743 meters 0.03135430712751315 Centerline is valid? [True, True] Translation: X:175.62, Y:-10.14, Z:-2.44 [[ 9.99903691e-01 9.23990220e-03 1.03553237e-02 1.75622827e+02] [-9.23374569e-03 9.99957162e-01 -6.42180368e-04 -1.01428664e+01] [-1.03608138e-02 5.46500095e-04 9.99946176e-01 -2.43605110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.530371743 meters 0.03290942439227152 Centerline is valid? [True, True] Translation: X:175.65, Y:-10.14, Z:-2.44 [[ 9.99903437e-01 1.07172057e-02 8.84636483e-03 1.75653938e+02] [-1.07127540e-02 9.99942465e-01 -5.50458335e-04 -1.01449144e+01] [-8.85175523e-03 4.55636251e-04 9.99960719e-01 -2.43688231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560371743 meters 0.03266968872075959 Centerline is valid? [True, True] Translation: X:175.69, Y:-10.14, Z:-2.44 [[ 9.99885718e-01 1.28065001e-02 8.03396855e-03 1.75685857e+02] [-1.28028742e-02 9.99917914e-01 -5.02596443e-04 -1.01417898e+01] [-8.03974557e-03 3.99681117e-04 9.99967601e-01 -2.43692983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.590371743 meters 0.03210178525610061 Centerline is valid? [True, True] Translation: X:175.72, Y:-10.14, Z:-2.44 [[ 9.99866631e-01 1.38233646e-02 8.69684453e-03 1.75716521e+02] [-1.38191468e-02 9.99904363e-01 -5.44887956e-04 -1.01415403e+01] [-8.70354497e-03 4.24632314e-04 9.99962033e-01 -2.43671637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620371743 meters 0.030845071300347127 Centerline is valid? [True, True] Translation: X:175.75, Y:-10.14, Z:-2.44 [[ 9.99848847e-01 1.45307151e-02 9.54675960e-03 1.75747496e+02] [-1.45256648e-02 9.99894318e-01 -5.98138130e-04 -1.01408338e+01] [-9.55444205e-03 4.59374690e-04 9.99954250e-01 -2.43665507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.650371743 meters 0.03101518356021199 Centerline is valid? [True, True] Translation: X:175.78, Y:-10.14, Z:-2.44 [[ 9.99813386e-01 1.62223476e-02 1.04894899e-02 1.75778102e+02] [-1.62163441e-02 9.99868291e-01 -6.57141029e-04 -1.01403755e+01] [-1.04987687e-02 4.86917219e-04 9.99944768e-01 -2.43637144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680371743 meters 0.031140136465770147 Centerline is valid? [True, True] Translation: X:175.81, Y:-10.14, Z:-2.44 [[ 9.99797410e-01 1.68197484e-02 1.10559987e-02 1.75808065e+02] [-1.68131130e-02 9.99858410e-01 -6.92841575e-04 -1.01412197e+01] [-1.10660867e-02 5.06815457e-04 9.99938641e-01 -2.43632868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71037174299997 meters 0.03399354287318576 Centerline is valid? [True, True] Translation: X:175.84, Y:-10.14, Z:-2.44 [[ 9.99803310e-01 1.71614096e-02 9.94120952e-03 1.75838447e+02] [-1.71560603e-02 9.99852630e-01 -6.23130647e-04 -1.01439238e+01] [-9.95043829e-03 4.52456093e-04 9.99950391e-01 -2.43715898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74037174299997 meters 0.03294685829395728 Centerline is valid? [True, True] Translation: X:175.87, Y:-10.14, Z:-2.44 [[ 9.99823568e-01 1.64312072e-02 9.10214473e-03 1.75869322e+02] [-1.64266906e-02 9.99864910e-01 -5.70758501e-04 -1.01429033e+01] [-9.11029337e-03 4.21139686e-04 9.99958412e-01 -2.43772086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77037174299997 meters 0.03285019444471449 Centerline is valid? [True, True] Translation: X:175.90, Y:-10.14, Z:-2.44 [[ 9.99841269e-01 1.54326798e-02 8.90330312e-03 1.75900146e+02] [-1.54283189e-02 9.99880821e-01 -5.58289952e-04 -1.01440197e+01] [-8.91085794e-03 4.20838335e-04 9.99960209e-01 -2.43872059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80037174299997 meters 0.03411880339502136 Centerline is valid? [True, True] Translation: X:175.93, Y:-10.14, Z:-2.44 [[ 9.99851089e-01 1.49647896e-02 8.59394077e-03 1.75930825e+02] [-1.49607093e-02 9.99887937e-01 -5.38891097e-04 -1.01436228e+01] [-8.60104210e-03 4.10239400e-04 9.99962926e-01 -2.43817750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83037174299997 meters 0.03382775251924474 Centerline is valid? [True, True] Translation: X:175.96, Y:-10.15, Z:-2.44 [[ 9.99867273e-01 1.35155962e-02 9.09757480e-03 1.75961649e+02] [-1.35109644e-02 9.99908560e-01 -5.70388838e-04 -1.01450089e+01] [-9.10445207e-03 4.47396123e-04 9.99958454e-01 -2.43827598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86037174299997 meters 0.030095800634773132 Centerline is valid? [True, True] Translation: X:175.99, Y:-10.14, Z:-2.44 [[ 9.99884022e-01 1.24107723e-02 8.82695497e-03 1.75992959e+02] [-1.24063679e-02 9.99922885e-01 -5.53557169e-04 -1.01393806e+01] [-8.83314435e-03 4.43982518e-04 9.99960888e-01 -2.43760424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89037174299997 meters 0.038690255263769235 Centerline is valid? [True, True] Translation: X:176.02, Y:-10.15, Z:-2.44 [[ 9.99901528e-01 1.07364273e-02 9.03679807e-03 1.76022612e+02] [-1.07317412e-02 9.99942253e-01 -5.66888017e-04 -1.01526821e+01] [-9.04236257e-03 4.69851616e-04 9.99959007e-01 -2.43836928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92037174299998 meters 0.03212280085442071 Centerline is valid? [True, True] Translation: X:176.05, Y:-10.14, Z:-2.44 [[ 9.99902809e-01 1.11887187e-02 8.31772711e-03 1.76054395e+02] [-1.11847641e-02 9.99937312e-01 -5.21806334e-04 -1.01413979e+01] [-8.32304404e-03 4.28723803e-04 9.99965271e-01 -2.43667669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95037174299998 meters 0.032454283236041534 Centerline is valid? [True, True] Translation: X:176.08, Y:-10.14, Z:-2.44 [[ 9.99895677e-01 1.13133303e-02 8.98017479e-03 1.76084610e+02] [-1.13087216e-02 9.99935895e-01 -5.63822974e-04 -1.01420848e+01] [-8.98597784e-03 4.62209858e-04 9.99959518e-01 -2.43655473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98037174299998 meters 0.03125927894598702 Centerline is valid? [True, True] Translation: X:176.12, Y:-10.14, Z:-2.44 [[ 9.99889115e-01 1.17796064e-02 9.11034273e-03 1.76116520e+02] [-1.17748817e-02 9.99930510e-01 -5.72076020e-04 -1.01408613e+01] [-9.11644848e-03 4.64739378e-04 9.99958336e-01 -2.43658025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01037174299998 meters 0.03272655428525133 Centerline is valid? [True, True] Translation: X:176.15, Y:-10.14, Z:-2.44 [[ 9.99876783e-01 1.30931102e-02 8.65964612e-03 1.76146823e+02] [-1.30888873e-02 9.99914189e-01 -5.44155993e-04 -1.01435364e+01] [-8.66602772e-03 4.30743812e-04 9.99962357e-01 -2.43708922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04037174299998 meters 0.028403447042376153 Centerline is valid? [True, True] Translation: X:176.18, Y:-10.14, Z:-2.44 [[ 9.99840428e-01 1.64036512e-02 7.07377705e-03 1.76177627e+02] [-1.64009146e-02 9.99865397e-01 -4.44705854e-04 -1.01357220e+01] [-7.08011970e-03 3.28618479e-04 9.99974882e-01 -2.43729987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07037174299998 meters 0.028076642055428723 Centerline is valid? [True, True] Translation: X:176.21, Y:-10.13, Z:-2.44 [[ 9.99818455e-01 1.80420353e-02 6.12712602e-03 1.76207202e+02] [-1.80400111e-02 9.99837191e-01 -3.85483127e-04 -1.01347291e+01] [-6.13308337e-03 2.74879723e-04 9.99981155e-01 -2.43747362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10037174299998 meters 0.028281603644891736 Centerline is valid? [True, True] Translation: X:176.23, Y:-10.14, Z:-2.44 [[ 9.99794774e-01 1.93375068e-02 6.03911854e-03 1.76234815e+02] [-1.93355625e-02 9.99812978e-01 -3.80164896e-04 -1.01354640e+01] [-6.04534054e-03 2.63317122e-04 9.99981692e-01 -2.43883239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13037174299998 meters 0.02899809744614954 Centerline is valid? [True, True] Translation: X:176.26, Y:-10.14, Z:-2.44 [[ 9.99778333e-01 2.03921533e-02 5.23870232e-03 1.76263579e+02] [-2.03907073e-02 9.99792034e-01 -3.29290274e-04 -1.01367341e+01] [-5.24432778e-03 2.22396435e-04 9.99986224e-01 -2.43887604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16037174299998 meters 0.028992108418464946 Centerline is valid? [True, True] Translation: X:176.29, Y:-10.14, Z:-2.44 [[ 9.99771312e-01 2.07405875e-02 5.21071436e-03 1.76292087e+02] [-2.07391635e-02 9.99784867e-01 -3.27168332e-04 -1.01373436e+01] [-5.21637902e-03 2.19027656e-04 9.99986371e-01 -2.43935018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.190371743 meters 0.02608916546076113 Centerline is valid? [True, True] Translation: X:176.32, Y:-10.13, Z:-2.44 [[ 9.99769002e-01 2.05067945e-02 6.43544901e-03 1.76320687e+02] [-2.05046219e-02 9.99789677e-01 -4.03403388e-04 -1.01341931e+01] [-6.44236800e-03 2.71353754e-04 9.99979211e-01 -2.43854637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220371743 meters 0.027586794634179946 Centerline is valid? [True, True] Translation: X:176.35, Y:-10.13, Z:-2.44 [[ 9.99729623e-01 2.25497978e-02 5.67334246e-03 1.76349357e+02] [-2.25481447e-02 9.99745695e-01 -3.55177445e-04 -1.01344567e+01] [-5.67990888e-03 2.27158067e-04 9.99983843e-01 -2.43833745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.250371743 meters 0.026563725948802845 Centerline is valid? [True, True] Translation: X:176.38, Y:-10.13, Z:-2.44 [[ 9.99728588e-01 2.25643931e-02 5.79644890e-03 1.76378045e+02] [-2.25626689e-02 9.99745365e-01 -3.62695702e-04 -1.01347445e+01] [-5.80315693e-03 2.31813904e-04 9.99983135e-01 -2.43860990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280371743 meters 0.02616840743225505 Centerline is valid? [True, True] Translation: X:176.41, Y:-10.14, Z:-2.44 [[ 9.99699951e-01 2.37637459e-02 5.94079332e-03 1.76406232e+02] [-2.37619578e-02 9.99717576e-01 -3.71410872e-04 -1.01355282e+01] [-5.94794161e-03 2.30134551e-04 9.99982284e-01 -2.43939204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.310371743 meters 0.026075492659120635 Centerline is valid? [True, True] Translation: X:176.44, Y:-10.14, Z:-2.44 [[ 9.99695865e-01 2.39682702e-02 5.80507746e-03 1.76435266e+02] [-2.39665700e-02 9.99712695e-01 -3.62284560e-04 -1.01367098e+01] [-5.81209296e-03 2.23046581e-04 9.99983085e-01 -2.44016866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340371743 meters 0.025904606993908386 Centerline is valid? [True, True] Translation: X:176.46, Y:-10.14, Z:-2.44 [[ 9.99684549e-01 2.44220046e-02 5.86241352e-03 1.76463674e+02] [-2.44202810e-02 9.99701714e-01 -3.65428906e-04 -1.01383555e+01] [-5.86958935e-03 2.22151846e-04 9.99982749e-01 -2.44070654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.370371743 meters 0.027094168762490586 Centerline is valid? [True, True] Translation: X:176.49, Y:-10.14, Z:-2.44 [[ 9.99690191e-01 2.43092419e-02 5.34625426e-03 1.76491756e+02] [-2.43078076e-02 9.99704466e-01 -3.33108202e-04 -1.01418402e+01] [-5.35277186e-03 2.03049283e-04 9.99985653e-01 -2.44146040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400371743 meters 0.027695158576491036 Centerline is valid? [True, True] Translation: X:176.52, Y:-10.14, Z:-2.44 [[ 9.99739117e-01 2.24969856e-02 3.94750683e-03 1.76521423e+02] [-2.24961918e-02 9.99746899e-01 -2.45384122e-04 -1.01446043e+01] [-3.95202811e-03 1.56516235e-04 9.99992178e-01 -2.44242828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.430371743 meters 0.029139456034261015 Centerline is valid? [True, True] Translation: X:176.55, Y:-10.15, Z:-2.44 [[ 9.99762235e-01 2.15528703e-02 3.30868101e-03 1.76549533e+02] [-2.15523057e-02 9.99767701e-01 -2.06192964e-04 -1.01481664e+01] [-3.31235646e-03 1.34834234e-04 9.99994505e-01 -2.44373789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46037174299997 meters 0.027095333736016605 Centerline is valid? [True, True] Translation: X:176.58, Y:-10.15, Z:-2.44 [[ 9.99807706e-01 1.94732670e-02 2.31158755e-03 1.76579308e+02] [-1.94729868e-02 9.99810373e-01 -1.43639208e-04 -1.01468895e+01] [-2.31394634e-03 9.85980726e-05 9.99997318e-01 -2.44363405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49037174299997 meters 0.02828427246378124 Centerline is valid? [True, True] Translation: X:176.61, Y:-10.15, Z:-2.45 [[ 9.99891670e-01 1.46419546e-02 1.50398886e-03 1.76607789e+02] [-1.46418303e-02 9.99892798e-01 -9.35783065e-05 -1.01532290e+01] [-1.50519780e-03 7.15470194e-05 9.99998865e-01 -2.44513534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52037174299997 meters 0.02828427246378124 Centerline is valid? [True, True] Translation: X:176.64, Y:-10.15, Z:-2.45 [[ 9.99892734e-01 1.45691185e-02 1.50396427e-03 1.76636080e+02] [-1.45689936e-02 9.99893862e-01 -9.39761776e-05 -1.01549206e+01] [-1.50517380e-03 7.20548512e-05 9.99998865e-01 -2.44553354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55037174299997 meters 0.03247871606073576 Centerline is valid? [True, True] Translation: X:176.66, Y:-10.16, Z:-2.45 [[ 9.99921221e-01 1.24765239e-02 1.37401263e-03 1.76663976e+02] [-1.24764180e-02 9.99922163e-01 -8.56076034e-05 -1.01643278e+01] [-1.37497377e-03 6.84581034e-05 9.99999052e-01 -2.44694399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58037174299997 meters 0.03161683492586447 Centerline is valid? [True, True] Translation: X:176.69, Y:-10.16, Z:-2.45 [[ 9.99948856e-01 9.75354869e-03 2.67455348e-03 1.76693646e+02] [-9.75314065e-03 9.99952423e-01 -1.65561152e-04 -1.01642459e+01] [-2.67604105e-03 1.39467388e-04 9.99996410e-01 -2.44521960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61037174299997 meters 0.031016054594708242 Centerline is valid? [True, True] Translation: X:176.72, Y:-10.17, Z:-2.44 [[ 9.99960014e-01 8.21386932e-03 3.53597114e-03 1.76723390e+02] [-8.21314754e-03 9.99966248e-01 -2.18596709e-04 -1.01659038e+01] [-3.53764732e-03 1.89546516e-04 9.99993725e-01 -2.44461593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64037174299997 meters 0.03214729664828414 Centerline is valid? [True, True] Translation: X:176.75, Y:-10.17, Z:-2.44 [[ 9.99960371e-01 8.15265872e-03 3.57628552e-03 1.76753427e+02] [-8.15192049e-03 9.99966748e-01 -2.20952032e-04 -1.01686553e+01] [-3.57796795e-03 1.91789681e-04 9.99993581e-01 -2.44419171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67037174299998 meters 0.03382750631399898 Centerline is valid? [True, True] Translation: X:176.78, Y:-10.17, Z:-2.44 [[ 9.99961969e-01 7.54555208e-03 4.37328721e-03 1.76782239e+02] [-7.54444355e-03 9.99971504e-01 -2.69920429e-04 -1.01728109e+01] [-4.37519928e-03 2.36916145e-04 9.99990401e-01 -2.44377183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70037174299998 meters 0.03154424308477915 Centerline is valid? [True, True] Translation: X:176.81, Y:-10.17, Z:-2.44 [[ 9.99967632e-01 6.12188097e-03 5.22083297e-03 1.76813093e+02] [-6.12028489e-03 9.99981219e-01 -3.21634274e-04 -1.01727687e+01] [-5.22270393e-03 2.89670878e-04 9.99986320e-01 -2.44325443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73037174299998 meters 0.03254945215547152 Centerline is valid? [True, True] Translation: X:176.84, Y:-10.18, Z:-2.44 [[ 9.99968711e-01 4.99325742e-03 6.13545139e-03 1.76843461e+02] [-4.99103523e-03 9.99987473e-01 -3.77447708e-04 -1.01776887e+01] [-6.13725922e-03 3.46813644e-04 9.99981107e-01 -2.44340215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76037174299998 meters 0.03294352745710238 Centerline is valid? [True, True] Translation: X:176.87, Y:-10.18, Z:-2.44 [[ 9.99972333e-01 4.22002555e-03 6.12568618e-03 1.76874641e+02] [-4.21779190e-03 9.99991034e-01 -3.77509820e-04 -1.01808149e+01] [-6.12722436e-03 3.51662506e-04 9.99981167e-01 -2.44417048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79037174299998 meters 0.032463804048519194 Centerline is valid? [True, True] Translation: X:176.91, Y:-10.18, Z:-2.44 [[ 9.99977350e-01 3.46908504e-03 5.76754418e-03 1.76906295e+02] [-3.46709617e-03 9.99993927e-01 -3.54801131e-04 -1.01824535e+01] [-5.76873999e-03 3.34796465e-04 9.99983305e-01 -2.44452631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82037174299998 meters 0.03217538655949844 Centerline is valid? [True, True] Translation: X:176.94, Y:-10.18, Z:-2.45 [[ 9.99984992e-01 1.89763384e-03 5.13958502e-03 1.76937565e+02] [-1.89602684e-03 9.99998152e-01 -3.17524941e-04 -1.01847895e+01] [-5.14017807e-03 3.07775385e-04 9.99986742e-01 -2.44545995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85037174299998 meters 0.032546275863252434 Centerline is valid? [True, True] Translation: X:176.97, Y:-10.19, Z:-2.45 [[ 9.99986084e-01 2.35837707e-03 4.71901653e-03 1.76969787e+02] [-2.35703669e-03 9.99997180e-01 -2.89579290e-04 -1.01864788e+01] [-4.71968616e-03 2.78452366e-04 9.99988823e-01 -2.44646997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88037174299998 meters 0.03130682048900602 Centerline is valid? [True, True] Translation: X:177.00, Y:-10.19, Z:-2.45 [[ 9.99990166e-01 1.10481872e-03 4.29493832e-03 1.77001307e+02] [-1.10368819e-03 9.99999356e-01 -2.65585727e-04 -1.01890250e+01] [-4.29522898e-03 2.60842843e-04 9.99990741e-01 -2.44799603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91037174299998 meters 0.03497566926524647 Centerline is valid? [True, True] Translation: X:177.03, Y:-10.20, Z:-2.45 [[ 9.99991008e-01 2.23791540e-03 3.60231180e-03 1.77032328e+02] [-2.23712382e-03 9.99997473e-01 -2.23757939e-04 -1.01959593e+01] [-3.60280345e-03 2.15697109e-04 9.99993487e-01 -2.44945243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940371743 meters 0.032927990335763935 Centerline is valid? [True, True] Translation: X:177.06, Y:-10.19, Z:-2.45 [[ 9.99989128e-01 2.56104780e-03 3.89672429e-03 1.77064168e+02] [-2.56012211e-03 9.99996693e-01 -2.42525663e-04 -1.01948456e+01] [-3.89733253e-03 2.32546936e-04 9.99992378e-01 -2.44952328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.970371743 meters 0.0331445598935189 Centerline is valid? [True, True] Translation: X:177.10, Y:-10.20, Z:-2.45 [[ 9.99984348e-01 3.80632741e-03 4.10068246e-03 1.77095289e+02] [-3.80531197e-03 9.99992727e-01 -2.55399281e-04 -1.01965883e+01] [-4.10162477e-03 2.39790908e-04 9.99991560e-01 -2.44905741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000371743 meters 0.03350793006605065 Centerline is valid? [True, True] Translation: X:177.13, Y:-10.20, Z:-2.45 [[ 9.99978029e-01 4.19668405e-03 5.13119817e-03 1.77125627e+02] [-4.19509676e-03 9.99991149e-01 -3.20065706e-04 -1.01984157e+01] [-5.13249597e-03 2.98532801e-04 9.99986784e-01 -2.44919403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.030371743 meters 0.0333417386956584 Centerline is valid? [True, True] Translation: X:177.16, Y:-10.20, Z:-2.45 [[ 9.99969510e-01 4.74968242e-03 6.19842871e-03 1.77156291e+02] [-4.74737572e-03 9.99988656e-01 -3.86803014e-04 -1.01993398e+01] [-6.20019559e-03 3.57364950e-04 9.99980715e-01 -2.44861992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060371743 meters 0.033614849680396935 Centerline is valid? [True, True] Translation: X:177.19, Y:-10.20, Z:-2.45 [[ 9.99964806e-01 4.74755027e-03 6.91717617e-03 1.77187181e+02] [-4.74467734e-03 9.99988651e-01 -4.31683389e-04 -1.02019216e+01] [-6.91914711e-03 3.98848427e-04 9.99975983e-01 -2.44928103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.090371743 meters 0.03482231657180725 Centerline is valid? [True, True] Translation: X:177.22, Y:-10.21, Z:-2.45 [[ 9.99970599e-01 2.22763871e-03 7.33753050e-03 1.77217035e+02] [-2.22433446e-03 9.99997421e-01 -4.58451405e-04 -1.02066728e+01] [-7.33853285e-03 4.42116804e-04 9.99972975e-01 -2.44997504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120371743 meters 0.03486948312355984 Centerline is valid? [True, True] Translation: X:177.25, Y:-10.21, Z:-2.45 [[ 9.99971041e-01 1.42645554e-04 7.60895622e-03 1.77248196e+02] [-1.39033937e-04 9.99999877e-01 -4.75180226e-04 -1.02086404e+01] [-7.60902307e-03 4.74108563e-04 9.99970939e-01 -2.45012227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.150371743 meters 0.037325080053417586 Centerline is valid? [True, True] Translation: X:177.28, Y:-10.21, Z:-2.45 [[ 9.99967796e-01 -2.18109968e-03 7.72334809e-03 1.77278170e+02] [ 2.18489282e-03 9.99997497e-01 -4.82722413e-04 -1.02140064e+01] [-7.72227589e-03 4.99581555e-04 9.99970058e-01 -2.45069965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180371743 meters 0.039217668452499535 Centerline is valid? [True, True] Translation: X:177.31, Y:-10.22, Z:-2.45 [[ 9.99963908e-01 -4.64717280e-03 7.11243338e-03 1.77307593e+02] [ 4.65045333e-03 9.99989088e-01 -4.44769312e-04 -1.02183899e+01] [-7.11028885e-03 4.77829299e-04 9.99974607e-01 -2.45159229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21037174299997 meters 0.042902926958245706 Centerline is valid? [True, True] Translation: X:177.34, Y:-10.23, Z:-2.45 [[ 9.99933835e-01 -1.00702608e-02 5.56016804e-03 1.77338702e+02] [ 1.00723477e-02 9.99949212e-01 -3.47452285e-04 -1.02251760e+01] [-5.55638672e-03 4.03433241e-04 9.99984482e-01 -2.45277929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24037174299997 meters 0.045874479201392586 Centerline is valid? [True, True] Translation: X:177.37, Y:-10.23, Z:-2.45 [[ 9.99832350e-01 -1.75486613e-02 5.22658303e-03 1.77369053e+02] [ 1.75506087e-02 9.99845923e-01 -3.26956350e-04 -1.02315409e+01] [-5.22004009e-03 4.18631250e-04 9.99986288e-01 -2.45426916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27037174299997 meters 0.03882741353941716 Centerline is valid? [True, True] Translation: X:177.40, Y:-10.22, Z:-2.45 [[ 9.99788941e-01 -2.00662522e-02 4.40679015e-03 1.77401172e+02] [ 2.00676595e-02 9.99798586e-01 -2.75360505e-04 -1.02228174e+01] [-4.40037710e-03 3.63736352e-04 9.99990252e-01 -2.45346837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30037174299997 meters 0.04455085191664105 Centerline is valid? [True, True] Translation: X:177.43, Y:-10.23, Z:-2.45 [[ 9.99752013e-01 -2.19664133e-02 3.65922120e-03 1.77431226e+02] [ 2.19673972e-02 9.99758661e-01 -2.28892618e-04 -1.02318103e+01] [-3.65331014e-03 3.09219422e-04 9.99993279e-01 -2.45492446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33037174299997 meters 0.04172409248768865 Centerline is valid? [True, True] Translation: X:177.46, Y:-10.23, Z:-2.46 [[ 9.99738195e-01 -2.27346973e-02 2.58346442e-03 1.77463253e+02] [ 2.27351890e-02 9.99741509e-01 -1.61142968e-04 -1.02278308e+01] [-2.57913308e-03 2.19836333e-04 9.99996650e-01 -2.45514475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36037174299997 meters 0.04159428610692895 Centerline is valid? [True, True] Translation: X:177.49, Y:-10.23, Z:-2.46 [[ 9.99709654e-01 -2.39659861e-02 2.49764765e-03 1.77494899e+02] [ 2.39664499e-02 9.99712751e-01 -1.55902614e-04 -1.02267574e+01] [-2.49319384e-03 2.15717095e-04 9.99996869e-01 -2.45606400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39037174299997 meters 0.04258400196751509 Centerline is valid? [True, True] Translation: X:177.53, Y:-10.23, Z:-2.46 [[ 9.99710521e-01 -2.36176197e-02 4.59155436e-03 1.77525969e+02] [ 2.36191875e-02 9.99720987e-01 -2.87530579e-04 -1.02280565e+01] [-4.58348247e-03 3.95896128e-04 9.99989417e-01 -2.45570946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42037174299998 meters 0.04173898246778409 Centerline is valid? [True, True] Translation: X:177.56, Y:-10.23, Z:-2.45 [[ 9.99731006e-01 -2.24965274e-02 5.64112076e-03 1.77557875e+02] [ 2.24988791e-02 9.99746806e-01 -3.53754949e-04 -1.02273808e+01] [-5.63173420e-03 4.80578684e-04 9.99984026e-01 -2.45491529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45037174299998 meters 0.03995475226232673 Centerline is valid? [True, True] Translation: X:177.59, Y:-10.22, Z:-2.45 [[ 9.99752945e-01 -2.13239776e-02 6.27183962e-03 1.77589198e+02] [ 2.13268651e-02 9.99772479e-01 -3.93878955e-04 -1.02245741e+01] [-6.26201358e-03 5.27540323e-04 9.99980254e-01 -2.45368731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48037174299998 meters 0.04331503467379387 Centerline is valid? [True, True] Translation: X:177.62, Y:-10.23, Z:-2.45 [[ 9.99775472e-01 -1.99338778e-02 7.18652127e-03 1.77619868e+02] [ 1.99376359e-02 9.99801124e-01 -4.51670143e-04 -1.02282289e+01] [-7.17608850e-03 5.94850975e-04 9.99974075e-01 -2.45387972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51037174299998 meters 0.04354238820137551 Centerline is valid? [True, True] Translation: X:177.65, Y:-10.22, Z:-2.45 [[ 9.99829001e-01 -1.70418810e-02 7.17938133e-03 1.77649590e+02] [ 1.70455622e-02 9.99854612e-01 -4.51868732e-04 -1.02249535e+01] [-7.17063684e-03 5.74168054e-04 9.99974126e-01 -2.45316786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54037174299998 meters 0.039126112696594405 Centerline is valid? [True, True] Translation: X:177.68, Y:-10.22, Z:-2.45 [[ 9.99849641e-01 -1.58607986e-02 7.00930533e-03 1.77681281e+02] [ 1.58642751e-02 9.99874057e-01 -4.40654836e-04 -1.02185815e+01] [-7.00143342e-03 5.51786127e-04 9.99975337e-01 -2.45299208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57037174299998 meters 0.04081344628003719 Centerline is valid? [True, True] Translation: X:177.71, Y:-10.22, Z:-2.45 [[ 9.99883084e-01 -1.33724295e-02 7.41592655e-03 1.77711461e+02] [ 1.33762571e-02 9.99910425e-01 -4.66766464e-04 -1.02192626e+01] [-7.40902047e-03 5.65909232e-04 9.99972393e-01 -2.45382623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60037174299998 meters 0.041721567346971834 Centerline is valid? [True, True] Translation: X:177.74, Y:-10.22, Z:-2.45 [[ 9.99900702e-01 -1.22460008e-02 6.97295620e-03 1.77743739e+02] [ 1.22493540e-02 9.99924878e-01 -4.38379621e-04 -1.02197439e+01] [-6.96706398e-03 5.23750299e-04 9.99975593e-01 -2.45471143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63037174299998 meters 0.04073846001248517 Centerline is valid? [True, True] Translation: X:177.78, Y:-10.22, Z:-2.46 [[ 9.99909428e-01 -1.14370813e-02 7.09434568e-03 1.77776458e+02] [ 1.14405348e-02 9.99934455e-01 -4.46413643e-04 -1.02195978e+01] [-7.08877501e-03 5.27536319e-04 9.99974735e-01 -2.45553236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66037174299998 meters 0.03955506645060989 Centerline is valid? [True, True] Translation: X:177.81, Y:-10.22, Z:-2.46 [[ 9.99930056e-01 -1.00965065e-02 6.15990101e-03 1.77808204e+02] [ 1.00990899e-02 9.99948927e-01 -3.88423893e-04 -1.02170349e+01] [-6.15566469e-03 4.50606119e-04 9.99980952e-01 -2.45712945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.690371743 meters 0.04020280671822338 Centerline is valid? [True, True] Translation: X:177.84, Y:-10.22, Z:-2.46 [[ 9.99957021e-01 -7.65781690e-03 5.22622326e-03 1.77840300e+02] [ 7.65964221e-03 9.99970610e-01 -3.29333285e-04 -1.02171637e+01] [-5.22354769e-03 3.69350131e-04 9.99986289e-01 -2.45827498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720371743 meters 0.03886058549214638 Centerline is valid? [True, True] Translation: X:177.87, Y:-10.21, Z:-2.46 [[ 9.99983199e-01 -4.64243832e-03 3.47114680e-03 1.77870041e+02] [ 4.64322845e-03 9.99989196e-01 -2.19603238e-04 -1.02130955e+01] [-3.47008980e-03 2.35716877e-04 9.99993951e-01 -2.46049207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.750371743 meters 0.03720946636053778 Centerline is valid? [True, True] Translation: X:177.90, Y:-10.21, Z:-2.46 [[ 9.99993114e-01 -2.37363546e-03 2.85282502e-03 1.77901968e+02] [ 2.37415771e-03 9.99997166e-01 -1.79690981e-04 -1.02109311e+01] [-2.85239041e-03 1.86462801e-04 9.99995915e-01 -2.46194192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780371743 meters 0.03319695457595284 Centerline is valid? [True, True] Translation: X:177.93, Y:-10.20, Z:-2.46 [[ 9.99992210e-01 3.49882484e-03 1.82711960e-03 1.77933664e+02] [-3.49861959e-03 9.99993873e-01 -1.15519003e-04 -1.02019955e+01] [-1.82751259e-03 1.09125707e-04 9.99998324e-01 -2.46153781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.810371743 meters 0.03340967599446507 Centerline is valid? [True, True] Translation: X:177.96, Y:-10.20, Z:-2.46 [[ 9.99972509e-01 7.20044595e-03 1.77073364e-03 1.77963511e+02] [-7.20025799e-03 9.99974071e-01 -1.12500429e-04 -1.02007021e+01] [-1.77149778e-03 9.97475970e-05 9.99998426e-01 -2.46115487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840371743 meters 0.031096514581277077 Centerline is valid? [True, True] Translation: X:177.99, Y:-10.20, Z:-2.46 [[ 9.99950917e-01 9.47523750e-03 2.89544691e-03 1.77992561e+02] [-9.47474542e-03 9.99955097e-01 -1.83618433e-04 -1.01977810e+01] [-2.89705673e-03 1.56175798e-04 9.99995791e-01 -2.46039492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.870371743 meters 0.028176536997892708 Centerline is valid? [True, True] Translation: X:178.02, Y:-10.19, Z:-2.46 [[ 9.99807596e-01 1.90683348e-02 4.60112074e-03 1.78023757e+02] [-1.90671992e-02 9.99818162e-01 -2.90563506e-04 -1.01884066e+01] [-4.60582465e-03 2.02777114e-04 9.99989373e-01 -2.45745882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900371743 meters 0.026311175142253226 Centerline is valid? [True, True] Translation: X:178.05, Y:-10.19, Z:-2.46 [[ 9.99705405e-01 2.33903506e-02 6.48027089e-03 1.78053432e+02] [-2.33881865e-02 9.99726375e-01 -4.09556816e-04 -1.01854398e+01] [-6.48807740e-03 2.57874379e-04 9.99978919e-01 -2.45666877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.930371743 meters 0.025011049835716552 Centerline is valid? [True, True] Translation: X:178.08, Y:-10.18, Z:-2.46 [[ 9.99561988e-01 2.86086056e-02 7.57495273e-03 1.78083317e+02] [-2.86058008e-02 9.99590656e-01 -4.78384192e-04 -1.01823189e+01] [-7.58553787e-03 2.61487065e-04 9.99971195e-01 -2.45572791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96037174299997 meters 0.02343990530070979 Centerline is valid? [True, True] Translation: X:178.11, Y:-10.18, Z:-2.46 [[ 9.99390825e-01 3.38768283e-02 8.38683315e-03 1.78114010e+02] [-3.38735791e-02 9.99425986e-01 -5.29204902e-04 -1.01783157e+01] [-8.39994677e-03 2.44790468e-04 9.99964690e-01 -2.45536303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99037174299997 meters 0.021388414449012155 Centerline is valid? [True, True] Translation: X:178.14, Y:-10.17, Z:-2.46 [[ 9.98978326e-01 4.43621048e-02 8.62025326e-03 1.78143651e+02] [-4.43590634e-02 9.99015504e-01 -5.43792906e-04 -1.01727670e+01] [-8.63589046e-03 1.60850966e-04 9.99962697e-01 -2.45627528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02037174299997 meters 0.021006996802974413 Centerline is valid? [True, True] Translation: X:178.17, Y:-10.17, Z:-2.46 [[ 9.98768653e-01 4.89142390e-02 8.28096413e-03 1.78172906e+02] [-4.89115878e-02 9.98802975e-01 -5.22494180e-04 -1.01712710e+01] [-8.29660902e-03 1.16815705e-04 9.99965576e-01 -2.45729989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05037174299997 meters 0.020411095481732824 Centerline is valid? [True, True] Translation: X:178.20, Y:-10.17, Z:-2.46 [[ 9.98364667e-01 5.66824202e-02 7.42259461e-03 1.78201310e+02] [-5.66805079e-02 9.98392258e-01 -4.67906658e-04 -1.01680283e+01] [-7.43718307e-03 4.64250420e-05 9.99972343e-01 -2.45905138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08037174299997 meters 0.019967340627838736 Centerline is valid? [True, True] Translation: X:178.23, Y:-10.17, Z:-2.46 [[ 9.98176364e-01 5.99719357e-02 6.87841969e-03 1.78229832e+02] [-5.99703744e-02 9.98200063e-01 -4.33200273e-04 -1.01682293e+01] [-6.89201883e-03 1.99088695e-05 9.99976250e-01 -2.45947847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11037174299997 meters 0.02034924317597895 Centerline is valid? [True, True] Translation: X:178.26, Y:-10.17, Z:-2.46 [[ 9.98015075e-01 6.26199802e-02 6.68191456e-03 1.78256952e+02] [-6.26185666e-02 9.98037443e-01 -4.20760068e-04 -1.01692458e+01] [-6.69514891e-03 1.51297894e-06 9.99977587e-01 -2.46133715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14037174299997 meters 0.019979722889091035 Centerline is valid? [True, True] Translation: X:178.28, Y:-10.17, Z:-2.46 [[ 9.97714742e-01 6.72680877e-02 6.34808303e-03 1.78284786e+02] [-6.72669123e-02 9.97734937e-01 -3.98728638e-04 -1.01705302e+01] [-6.36052593e-03 -2.91985044e-05 9.99979771e-01 -2.46221876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17037174299998 meters 0.019968322745076112 Centerline is valid? [True, True] Translation: X:178.31, Y:-10.17, Z:-2.46 [[ 9.97599912e-01 6.90015756e-02 5.76180018e-03 1.78313754e+02] [-6.90006308e-02 9.97616550e-01 -3.62851959e-04 -1.01731434e+01] [-5.77310457e-03 -3.55867639e-05 9.99983335e-01 -2.46227973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20037174299998 meters 0.020119653461818838 Centerline is valid? [True, True] Translation: X:178.34, Y:-10.18, Z:-2.46 [[ 9.97489592e-01 7.06102850e-02 5.35746918e-03 1.78342765e+02] [-7.06094970e-02 9.97503978e-01 -3.36331597e-04 -1.01761876e+01] [-5.36784529e-03 -4.28009368e-05 9.99985592e-01 -2.46345579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23037174299998 meters 0.02052804543278255 Centerline is valid? [True, True] Translation: X:178.37, Y:-10.18, Z:-2.47 [[ 9.97211250e-01 7.44986714e-02 4.43522197e-03 1.78371236e+02] [-7.44981721e-02 9.97221111e-01 -2.77907909e-04 -1.01815252e+01] [-4.44360075e-03 -5.32830360e-05 9.99990126e-01 -2.46538348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26037174299998 meters 0.020673174472453038 Centerline is valid? [True, True] Translation: X:178.40, Y:-10.19, Z:-2.47 [[ 9.97047191e-01 7.66838674e-02 4.05995826e-03 1.78399364e+02] [-7.66834698e-02 9.97055455e-01 -2.53738012e-04 -1.01858985e+01] [-4.06746115e-03 -5.83429146e-05 9.99991726e-01 -2.46570350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29037174299998 meters 0.020903784496808006 Centerline is valid? [True, True] Translation: X:178.43, Y:-10.19, Z:-2.47 [[ 9.96882725e-01 7.87846070e-02 4.22114405e-03 1.78426485e+02] [-7.87842052e-02 9.96891659e-01 -2.61645592e-04 -1.01894073e+01] [-4.22863695e-03 -7.17295081e-05 9.99991057e-01 -2.46620659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32037174299998 meters 0.022645560059549263 Centerline is valid? [True, True] Translation: X:178.45, Y:-10.20, Z:-2.47 [[ 9.96477803e-01 8.37188920e-02 4.80989899e-03 1.78454965e+02] [-8.37184375e-02 9.96489406e-01 -2.96113588e-04 -1.01960498e+01] [-4.81780369e-03 -1.07606611e-04 9.99988389e-01 -2.46659976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35037174299998 meters 0.022923008765333208 Centerline is valid? [True, True] Translation: X:178.48, Y:-10.20, Z:-2.47 [[ 9.96339808e-01 8.53107439e-02 5.39102124e-03 1.78483427e+02] [-8.53101893e-02 9.96354385e-01 -3.33181879e-04 -1.02011071e+01] [-5.39979165e-03 -1.27946673e-04 9.99985413e-01 -2.46709529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38037174299998 meters 0.023488167214243173 Centerline is valid? [True, True] Translation: X:178.51, Y:-10.21, Z:-2.47 [[ 9.96184029e-01 8.70801331e-02 5.86771998e-03 1.78511384e+02] [-8.70795246e-02 9.96201298e-01 -3.59584392e-04 -1.02066338e+01] [-5.87674292e-03 -1.52746038e-04 9.99982720e-01 -2.46779121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41037174299998 meters 0.023488167214243173 Centerline is valid? [True, True] Translation: X:178.54, Y:-10.21, Z:-2.47 [[ 9.96208405e-01 8.68008282e-02 5.86765571e-03 1.78538739e+02] [-8.68002086e-02 9.96225674e-01 -3.60642013e-04 -1.02082382e+01] [-5.87681329e-03 -1.50039135e-04 9.99982720e-01 -2.46817646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440371743 meters 0.023371648589625354 Centerline is valid? [True, True] Translation: X:178.57, Y:-10.22, Z:-2.47 [[ 9.96081339e-01 8.82004306e-02 6.53078315e-03 1.78566949e+02] [-8.81997099e-02 9.96102732e-01 -3.98847185e-04 -1.02189785e+01] [-6.54050943e-03 -1.78728941e-04 9.99978595e-01 -2.46929076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.470371743 meters 0.023144904185835605 Centerline is valid? [True, True] Translation: X:178.60, Y:-10.23, Z:-2.47 [[ 9.96026904e-01 8.87729328e-02 7.05499926e-03 1.78595311e+02] [-8.87721196e-02 9.96051870e-01 -4.28945909e-04 -1.02292329e+01] [-7.06522399e-03 -1.99045573e-04 9.99975021e-01 -2.46874149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500371743 meters 0.02356119889502012 Centerline is valid? [True, True] Translation: X:178.62, Y:-10.23, Z:-2.47 [[ 9.96018985e-01 8.87496048e-02 8.34796654e-03 1.78622874e+02] [-8.87484970e-02 9.96053940e-01 -5.03783668e-04 -1.02331626e+01] [-8.35973556e-03 -2.39091385e-04 9.99965028e-01 -2.46981314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.530371743 meters 0.023821795724430772 Centerline is valid? [True, True] Translation: X:178.65, Y:-10.25, Z:-2.47 [[ 9.95967675e-01 8.92876676e-02 8.72365040e-03 1.78650799e+02] [-8.92864784e-02 9.96005847e-01 -5.26466447e-04 -1.02500137e+01] [-8.73581377e-03 -2.54560460e-04 9.99961810e-01 -2.46958210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560371743 meters 0.022983573584395046 Centerline is valid? [True, True] Translation: X:178.68, Y:-10.26, Z:-2.47 [[ 9.96057010e-01 8.82076999e-02 9.47814042e-03 1.78679073e+02] [-8.82062731e-02 9.96102068e-01 -5.69270652e-04 -1.02576041e+01] [-9.49140932e-03 -2.69005418e-04 9.99954919e-01 -2.46990815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.590371743 meters 0.023599219118561096 Centerline is valid? [True, True] Translation: X:178.71, Y:-10.27, Z:-2.47 [[ 9.96117549e-01 8.75594579e-02 9.11977799e-03 1.78706649e+02] [-8.75581372e-02 9.96159262e-01 -5.44748234e-04 -1.02653532e+01] [-9.13244918e-03 -2.55877498e-04 9.99958266e-01 -2.47099147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620371743 meters 0.024114748958222403 Centerline is valid? [True, True] Translation: X:178.73, Y:-10.27, Z:-2.47 [[ 9.96145794e-01 8.72428133e-02 9.06907119e-03 1.78733911e+02] [-8.72414927e-02 9.96187045e-01 -5.41879557e-04 -1.02740694e+01] [-9.08176633e-03 -2.51408266e-04 9.99958728e-01 -2.47147978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.650371743 meters 0.024096535534766917 Centerline is valid? [True, True] Translation: X:178.76, Y:-10.29, Z:-2.47 [[ 9.96193284e-01 8.66021753e-02 9.95012047e-03 1.78760594e+02] [-8.66005940e-02 9.96242936e-01 -5.90477296e-04 -1.02903641e+01] [-9.96387385e-03 -2.73456827e-04 9.99950322e-01 -2.47260858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680371743 meters 0.02397270689498064 Centerline is valid? [True, True] Translation: X:178.79, Y:-10.30, Z:-2.47 [[ 9.96231293e-01 8.61050079e-02 1.04469699e-02 1.78789056e+02] [-8.61032484e-02 9.96286027e-01 -6.18913555e-04 -1.03006819e+01] [-1.04614617e-02 -2.82936995e-04 9.99945237e-01 -2.47276773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71037174299997 meters 0.024176591860815142 Centerline is valid? [True, True] Translation: X:178.82, Y:-10.32, Z:-2.47 [[ 9.96297832e-01 8.53490699e-02 1.03036997e-02 1.78817164e+02] [-8.53473254e-02 9.96351074e-01 -6.09704054e-04 -1.03175404e+01] [-1.03181399e-02 -2.71946385e-04 9.99946730e-01 -2.47341260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74037174299997 meters 0.024464466187444755 Centerline is valid? [True, True] Translation: X:178.84, Y:-10.33, Z:-2.47 [[ 9.96392992e-01 8.42899958e-02 9.80823915e-03 1.78844340e+02] [-8.42883695e-02 9.96441235e-01 -5.79798392e-04 -1.03254848e+01] [-9.82220514e-03 -2.49013431e-04 9.99951730e-01 -2.47385806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77037174299997 meters 0.025266954089851166 Centerline is valid? [True, True] Translation: X:178.87, Y:-10.34, Z:-2.47 [[ 9.96441727e-01 8.37720536e-02 9.28054685e-03 1.78872473e+02] [-8.37705831e-02 9.96484917e-01 -5.47752069e-04 -1.03355028e+01] [-9.29381127e-03 -2.31633803e-04 9.99956785e-01 -2.47384530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80037174299997 meters 0.024008173518125175 Centerline is valid? [True, True] Translation: X:178.90, Y:-10.34, Z:-2.47 [[ 9.96643776e-01 8.12520791e-02 9.96410111e-03 1.78899786e+02] [-8.12502652e-02 9.96693558e-01 -5.87380926e-04 -1.03445763e+01] [-9.97888131e-03 -2.24176313e-04 9.99950185e-01 -2.47437287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83037174299997 meters 0.02428686986096655 Centerline is valid? [True, True] Translation: X:178.93, Y:-10.37, Z:-2.47 [[ 9.96978921e-01 7.69605980e-02 1.04927558e-02 1.78927490e+02] [-7.69583600e-02 9.97034117e-01 -6.17489749e-04 -1.03660287e+01] [-1.05091579e-02 -1.91881018e-04 9.99944759e-01 -2.47341373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86037174299997 meters 0.023338355840702284 Centerline is valid? [True, True] Translation: X:178.95, Y:-10.38, Z:-2.47 [[ 9.97236047e-01 7.34172913e-02 1.14091317e-02 1.78954465e+02] [-7.34144233e-02 9.97301295e-01 -6.70549434e-04 -1.03761631e+01] [-1.14275717e-02 -1.68898754e-04 9.99934689e-01 -2.47343208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89037174299997 meters 0.024632337867424327 Centerline is valid? [True, True] Translation: X:178.98, Y:-10.40, Z:-2.47 [[ 9.97715434e-01 6.65061837e-02 1.18675795e-02 1.78981800e+02] [-6.65026053e-02 9.97786008e-01 -6.96336453e-04 -1.03986780e+01] [-1.18876154e-02 -9.44793264e-05 9.99929335e-01 -2.47204832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92037174299998 meters 0.024420996026298457 Centerline is valid? [True, True] Translation: X:179.01, Y:-10.41, Z:-2.47 [[ 9.98025034e-01 6.17192466e-02 1.16946845e-02 1.79009011e+02] [-6.17154521e-02 9.98093549e-01 -6.85422156e-04 -1.04101525e+01] [-1.17146929e-02 -3.76742679e-05 9.99931380e-01 -2.47199271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95037174299998 meters 0.023441524135408308 Centerline is valid? [True, True] Translation: X:179.04, Y:-10.42, Z:-2.47 [[ 9.98337737e-01 5.63357707e-02 1.21673000e-02 1.79037361e+02] [-5.63312772e-02 9.98411879e-01 -7.11980111e-04 -1.04216490e+01] [-1.21880868e-02 2.53970619e-05 9.99925722e-01 -2.47161413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98037174299998 meters 0.022190187451144153 Centerline is valid? [True, True] Translation: X:179.07, Y:-10.43, Z:-2.47 [[ 9.98616772e-01 5.10754895e-02 1.24834981e-02 1.79065538e+02] [-5.10703605e-02 9.98694791e-01 -7.29507723e-04 -1.04324330e+01] [-1.25044645e-02 9.09618991e-05 9.99921812e-01 -2.47184626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01037174299998 meters 0.023440729051532168 Centerline is valid? [True, True] Translation: X:179.09, Y:-10.45, Z:-2.47 [[ 9.99086510e-01 4.11309823e-02 1.15925579e-02 1.79094297e+02] [-4.11258975e-02 9.99153743e-01 -6.76771721e-04 -1.04524268e+01] [-1.16105839e-02 1.99399151e-04 9.99932575e-01 -2.47126291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04037174299998 meters 0.02438691798646555 Centerline is valid? [True, True] Translation: X:179.12, Y:-10.46, Z:-2.47 [[ 9.99261529e-01 3.65020968e-02 1.19997306e-02 1.79124389e+02] [-3.64963184e-02 9.99333542e-01 -7.00243059e-04 -1.04636839e+01] [-1.20172936e-02 2.61779963e-04 9.99927755e-01 -2.47087994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07037174299998 meters 0.024376227477556245 Centerline is valid? [True, True] Translation: X:179.16, Y:-10.47, Z:-2.47 [[ 9.99389317e-01 3.26745337e-02 1.23842008e-02 1.79155029e+02] [-3.26680828e-02 9.99465994e-01 -7.22880975e-04 -1.04724232e+01] [-1.24012074e-02 3.17871425e-04 9.99923052e-01 -2.47047697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10037174299998 meters 0.025146457971919844 Centerline is valid? [True, True] Translation: X:179.19, Y:-10.48, Z:-2.47 [[ 9.99554023e-01 2.75375953e-02 1.15514394e-02 1.79185839e+02] [-2.75316357e-02 9.99620705e-01 -6.74649341e-04 -1.04842945e+01] [-1.15656362e-02 3.56318443e-04 9.99933052e-01 -2.46992445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13037174299998 meters 0.02626749407190221 Centerline is valid? [True, True] Translation: X:179.22, Y:-10.49, Z:-2.47 [[ 9.99608022e-01 2.57711350e-02 1.09385328e-02 1.79216095e+02] [-2.57656844e-02 9.99667805e-01 -6.38946963e-04 -1.04940052e+01] [-1.09513655e-02 3.56857726e-04 9.99939968e-01 -2.47095455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16037174299998 meters 0.026009442969833523 Centerline is valid? [True, True] Translation: X:179.25, Y:-10.50, Z:-2.47 [[ 9.99655368e-01 2.43808483e-02 9.73239428e-03 1.79247544e+02] [-2.43764576e-02 9.99702688e-01 -5.69527820e-04 -1.04996360e+01] [-9.74338629e-03 3.32090246e-04 9.99952477e-01 -2.47150362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.190371743 meters 0.025436569723675858 Centerline is valid? [True, True] Translation: X:179.28, Y:-10.51, Z:-2.47 [[ 9.99645785e-01 2.47262222e-02 9.84474943e-03 1.79278960e+02] [-2.47217378e-02 9.99694205e-01 -5.76955929e-04 -1.05053432e+01] [-9.85600489e-03 3.33372248e-04 9.99951373e-01 -2.47194395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220371743 meters 0.02343673038164111 Centerline is valid? [True, True] Translation: X:179.31, Y:-10.51, Z:-2.47 [[ 9.99637533e-01 2.50494076e-02 9.86559428e-03 1.79311035e+02] [-2.50448955e-02 9.99686159e-01 -5.80654954e-04 -1.05075748e+01] [-9.87704312e-03 3.33361708e-04 9.99951165e-01 -2.47231657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.250371743 meters 0.026012662777456 Centerline is valid? [True, True] Translation: X:179.34, Y:-10.52, Z:-2.47 [[ 9.99627136e-01 2.59051747e-02 8.63202729e-03 1.79341890e+02] [-2.59017362e-02 9.99664364e-01 -5.09927629e-04 -1.05154755e+01] [-8.64233983e-03 2.86153002e-04 9.99962613e-01 -2.47352198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280371743 meters 0.022096136795831334 Centerline is valid? [True, True] Translation: X:179.37, Y:-10.52, Z:-2.47 [[ 9.99624109e-01 2.55321591e-02 9.98748193e-03 1.79374349e+02] [-2.55275090e-02 9.99673944e-01 -5.92817143e-04 -1.05186879e+01] [-9.99936135e-03 3.37638774e-04 9.99949948e-01 -2.47369262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.310371743 meters 0.02363434652418467 Centerline is valid? [True, True] Translation: X:179.41, Y:-10.52, Z:-2.47 [[ 9.99629828e-01 2.56978443e-02 8.93458656e-03 1.79406315e+02] [-2.56941128e-02 9.99669710e-01 -5.32206365e-04 -1.05222001e+01] [-8.94531212e-03 3.02443082e-04 9.99959944e-01 -2.47453574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340371743 meters 0.025304541855088875 Centerline is valid? [True, True] Translation: X:179.44, Y:-10.53, Z:-2.48 [[ 9.99637594e-01 2.56068804e-02 8.30471698e-03 1.79438165e+02] [-2.56036379e-02 9.99672050e-01 -4.96537234e-04 -1.05265505e+01] [-8.31470821e-03 2.83726320e-04 9.99965392e-01 -2.47602599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.370371743 meters 0.02328177112638603 Centerline is valid? [True, True] Translation: X:179.47, Y:-10.53, Z:-2.48 [[ 9.99636257e-01 2.54997114e-02 8.78166316e-03 1.79470082e+02] [-2.54960602e-02 9.99674783e-01 -5.27495716e-04 -1.05291641e+01] [-8.79225821e-03 3.03406031e-04 9.99961301e-01 -2.47654619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400371743 meters 0.025497317478200002 Centerline is valid? [True, True] Translation: X:179.50, Y:-10.53, Z:-2.48 [[ 9.99611924e-01 2.67202632e-02 7.87582163e-03 1.79501622e+02] [-2.67173512e-02 9.99642915e-01 -4.74736814e-04 -1.05324829e+01] [-7.88569438e-03 2.64131488e-04 9.99968873e-01 -2.47774112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.430371743 meters 0.02323266911503999 Centerline is valid? [True, True] Translation: X:179.53, Y:-10.53, Z:-2.48 [[ 9.99518131e-01 2.99846983e-02 8.02647970e-03 1.79533501e+02] [-2.99817525e-02 9.99550328e-01 -4.87104928e-04 -1.05335956e+01] [-8.03747611e-03 2.46222279e-04 9.99967669e-01 -2.47760962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46037174299997 meters 0.024512807945692088 Centerline is valid? [True, True] Translation: X:179.57, Y:-10.54, Z:-2.48 [[ 9.99436163e-01 3.26140941e-02 7.97976107e-03 1.79565332e+02] [-3.26112628e-02 9.99467994e-01 -4.84707560e-04 -1.05351552e+01] [-7.99132409e-03 2.24204179e-04 9.99968044e-01 -2.47835106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49037174299997 meters 0.023160590952910787 Centerline is valid? [True, True] Translation: X:179.60, Y:-10.54, Z:-2.48 [[ 9.99257647e-01 3.74484239e-02 9.04273839e-03 1.79596134e+02] [-3.74449795e-02 9.99298540e-01 -5.49964920e-04 -1.05354531e+01] [-9.05699058e-03 2.10951498e-04 9.99958962e-01 -2.47794317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52037174299997 meters 0.022312195226852773 Centerline is valid? [True, True] Translation: X:179.63, Y:-10.54, Z:-2.48 [[ 9.99167967e-01 3.95707324e-02 9.87582225e-03 1.79627817e+02] [-3.95667237e-02 9.99216750e-01 -6.01040661e-04 -1.05361541e+01] [-9.89187063e-03 2.09786644e-04 9.99951052e-01 -2.47811810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55037174299997 meters 0.02215830801097472 Centerline is valid? [True, True] Translation: X:179.66, Y:-10.54, Z:-2.48 [[ 9.99086974e-01 4.14041997e-02 1.05314205e-02 1.79659008e+02] [-4.13997386e-02 9.99142457e-01 -6.41345990e-04 -1.05366164e+01] [-1.05489438e-02 2.04762366e-04 9.99944337e-01 -2.47811905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58037174299997 meters 0.022372817582902063 Centerline is valid? [True, True] Translation: X:179.69, Y:-10.54, Z:-2.48 [[ 9.98991754e-01 4.35322591e-02 1.09734734e-02 1.79689687e+02] [-4.35275393e-02 9.99052004e-01 -6.68688194e-04 -1.05393565e+01] [-1.09921801e-02 1.90365699e-04 9.99939566e-01 -2.47900863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61037174299997 meters 0.02243926168897583 Centerline is valid? [True, True] Translation: X:179.72, Y:-10.54, Z:-2.48 [[ 9.98959896e-01 4.41950690e-02 1.12214890e-02 1.79721393e+02] [-4.41901706e-02 9.99022903e-01 -6.84218403e-04 -1.05405651e+01] [-1.12407636e-02 1.87627231e-04 9.99936803e-01 -2.47925276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64037174299997 meters 0.018104100262674155 Centerline is valid? [True, True] Translation: X:179.75, Y:-10.54, Z:-2.48 [[ 9.98958854e-01 4.38867509e-02 1.24563696e-02 1.79752777e+02] [-4.38806847e-02 9.99036490e-01 -7.60016599e-04 -1.05422570e+01] [-1.24777224e-02 2.12631284e-04 9.99922128e-01 -2.47860671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67037174299998 meters 0.021702583246531914 Centerline is valid? [True, True] Translation: X:179.78, Y:-10.55, Z:-2.48 [[ 9.98914400e-01 4.50871896e-02 1.17118521e-02 1.79783451e+02] [-4.50819101e-02 9.98983038e-01 -7.14530718e-04 -1.05450497e+01] [-1.17321577e-02 1.85762362e-04 9.99931159e-01 -2.48018121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70037174299998 meters 0.023338757678911342 Centerline is valid? [True, True] Translation: X:179.81, Y:-10.55, Z:-2.48 [[ 9.98890458e-01 4.56489002e-02 1.15771644e-02 1.79814322e+02] [-4.56437429e-02 9.98957529e-01 -7.09445162e-04 -1.05488484e+01] [-1.15974809e-02 1.80232888e-04 9.99932731e-01 -2.48106486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73037174299998 meters 0.021268548117299474 Centerline is valid? [True, True] Translation: X:179.85, Y:-10.55, Z:-2.48 [[ 9.98870833e-01 4.59915078e-02 1.19096343e-02 1.79845262e+02] [-4.59860739e-02 9.98941814e-01 -7.29848504e-04 -1.05520315e+01] [-1.19305985e-02 1.81347060e-04 9.99928811e-01 -2.48099217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76037174299998 meters 0.021362720838914422 Centerline is valid? [True, True] Translation: X:179.88, Y:-10.56, Z:-2.48 [[ 9.98817418e-01 4.71117283e-02 1.20104142e-02 1.79877799e+02] [-4.71062501e-02 9.98889611e-01 -7.38758421e-04 -1.05553292e+01] [-1.20318822e-02 1.72119201e-04 9.99927599e-01 -2.48029648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79037174299998 meters 0.021692259089405905 Centerline is valid? [True, True] Translation: X:179.91, Y:-10.56, Z:-2.48 [[ 9.98779866e-01 4.78449751e-02 1.22326797e-02 1.79910335e+02] [-4.78393086e-02 9.98854759e-01 -7.55591002e-04 -1.05578971e+01] [-1.22548216e-02 1.69466140e-04 9.99924892e-01 -2.48028591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82037174299998 meters 0.02120585548226436 Centerline is valid? [True, True] Translation: X:179.94, Y:-10.56, Z:-2.48 [[ 9.98734760e-01 4.86257880e-02 1.28222869e-02 1.79941394e+02] [-4.86195816e-02 9.98817052e-01 -7.95490139e-04 -1.05612505e+01] [-1.28458001e-02 1.71069431e-04 9.99917475e-01 -2.48027049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85037174299998 meters 0.021167994777721435 Centerline is valid? [True, True] Translation: X:179.97, Y:-10.57, Z:-2.48 [[ 9.98663234e-01 5.00412016e-02 1.29469270e-02 1.79973446e+02] [-5.00349531e-02 9.98747142e-01 -8.06289532e-04 -1.05656408e+01] [-1.29710540e-02 1.57412826e-04 9.99915860e-01 -2.48095781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88037174299998 meters 0.019953665285666784 Centerline is valid? [True, True] Translation: X:180.01, Y:-10.57, Z:-2.48 [[ 9.98626600e-01 5.08981779e-02 1.24212982e-02 1.80005407e+02] [-5.08924562e-02 9.98703837e-01 -7.76495340e-04 -1.05684786e+01] [-1.24447204e-02 1.43278526e-04 9.99922551e-01 -2.48150460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91037174299998 meters 0.018845404311754094 Centerline is valid? [True, True] Translation: X:180.04, Y:-10.57, Z:-2.48 [[ 9.98593804e-01 5.15115955e-02 1.25287934e-02 1.80037421e+02] [-5.15057830e-02 9.98672387e-01 -7.86365743e-04 -1.05709016e+01] [-1.25526670e-02 1.39954643e-04 9.99921202e-01 -2.48216492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940371743 meters 0.020279783589425452 Centerline is valid? [True, True] Translation: X:180.07, Y:-10.58, Z:-2.48 [[ 9.98541700e-01 5.30084402e-02 1.02264149e-02 1.80068138e+02] [-5.30046252e-02 9.98594059e-01 -6.43918885e-04 -1.05757249e+01] [-1.02461703e-02 1.00932570e-04 9.99947502e-01 -2.48486444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.970371743 meters 0.020279637009973418 Centerline is valid? [True, True] Translation: X:180.10, Y:-10.58, Z:-2.49 [[ 9.98515332e-01 5.36057903e-02 9.67217860e-03 1.80099732e+02] [-5.36023765e-02 9.98562172e-01 -6.12024452e-04 -1.05790086e+01] [-9.69107973e-03 9.26640397e-05 9.99953036e-01 -2.48582347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000371743 meters 0.020640586267377012 Centerline is valid? [True, True] Translation: X:180.13, Y:-10.58, Z:-2.49 [[ 9.98531317e-01 5.33568112e-02 9.39462764e-03 1.80130996e+02] [-5.33535765e-02 9.98575506e-01 -5.94788962e-04 -1.05838283e+01] [-9.41298109e-03 9.26784214e-05 9.99955693e-01 -2.48642629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.030371743 meters 0.016547508074404006 Centerline is valid? [True, True] Translation: X:180.16, Y:-10.59, Z:-2.49 [[ 9.98571899e-01 5.20853092e-02 1.18862258e-02 1.80161676e+02] [-5.20800342e-02 9.98642630e-01 -7.53101636e-04 -1.05879334e+01] [-1.19093174e-02 1.32991083e-04 9.99929073e-01 -2.48508975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060371743 meters 0.020637894164673886 Centerline is valid? [True, True] Translation: X:180.19, Y:-10.59, Z:-2.49 [[ 9.98568587e-01 5.23634110e-02 1.09018370e-02 1.80193142e+02] [-5.23589938e-02 9.98628088e-01 -6.90403583e-04 -1.05928126e+01] [-1.09230325e-02 1.18606117e-04 9.99940335e-01 -2.48566623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.090371743 meters 0.019513059744281833 Centerline is valid? [True, True] Translation: X:180.22, Y:-10.60, Z:-2.48 [[ 9.98602322e-01 5.16619631e-02 1.11554140e-02 1.80224166e+02] [-5.16572609e-02 9.98664620e-01 -7.09440694e-04 -1.05973434e+01] [-1.11771684e-02 1.32190995e-04 9.99937525e-01 -2.48485916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120371743 meters 0.021070179290450044 Centerline is valid? [True, True] Translation: X:180.26, Y:-10.60, Z:-2.48 [[ 9.98646111e-01 5.05614897e-02 1.22262482e-02 1.80255885e+02] [-5.05557202e-02 9.98720937e-01 -7.80698166e-04 -1.06031429e+01] [-1.22500834e-02 1.61534402e-04 9.99924952e-01 -2.48402817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.150371743 meters 0.020132428794635157 Centerline is valid? [True, True] Translation: X:180.29, Y:-10.61, Z:-2.48 [[ 9.98700014e-01 4.94834060e-02 1.22341554e-02 1.80287709e+02] [-4.94775101e-02 9.98774930e-01 -7.84301438e-04 -1.06070317e+01] [-1.22579776e-02 1.77966310e-04 9.99924852e-01 -2.48351392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180371743 meters 0.019948983831291407 Centerline is valid? [True, True] Translation: X:180.32, Y:-10.61, Z:-2.48 [[ 9.98819410e-01 4.71095282e-02 1.18523832e-02 1.80319366e+02] [-4.71037933e-02 9.98889709e-01 -7.62708989e-04 -1.06144222e+01] [-1.18751545e-02 2.03516334e-04 9.99929467e-01 -2.48452974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21037174299997 meters 0.020473364017674408 Centerline is valid? [True, True] Translation: X:180.35, Y:-10.62, Z:-2.49 [[ 9.98883327e-01 4.58587992e-02 1.13609079e-02 1.80350483e+02] [-4.58534182e-02 9.98947909e-01 -7.33807783e-04 -1.06196855e+01] [-1.13826067e-02 2.12051899e-04 9.99935194e-01 -2.48558005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24037174299997 meters 0.019391991933103796 Centerline is valid? [True, True] Translation: X:180.38, Y:-10.62, Z:-2.49 [[ 9.98966400e-01 4.39922165e-02 1.14375335e-02 1.80382417e+02] [-4.39866103e-02 9.99031846e-01 -7.41369697e-04 -1.06245774e+01] [-1.14590747e-02 2.37505086e-04 9.99934314e-01 -2.48568008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27037174299997 meters 0.021992044781051996 Centerline is valid? [True, True] Translation: X:180.41, Y:-10.63, Z:-2.49 [[ 9.99146844e-01 3.99038276e-02 1.06427971e-02 1.80412508e+02] [-3.98987117e-02 9.99203489e-01 -6.92662161e-04 -1.06333823e+01] [-1.06619598e-02 2.67437319e-04 9.99943124e-01 -2.48703022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30037174299997 meters 0.02081109255516839 Centerline is valid? [True, True] Translation: X:180.44, Y:-10.64, Z:-2.49 [[ 9.99247626e-01 3.69687331e-02 1.17258394e-02 1.80444415e+02] [-3.69623008e-02 9.99316368e-01 -7.64872479e-04 -1.06387792e+01] [-1.17460996e-02 3.30883005e-04 9.99930957e-01 -2.48665572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33037174299997 meters 0.02081109255516839 Centerline is valid? [True, True] Translation: X:180.48, Y:-10.64, Z:-2.49 [[ 9.99237358e-01 3.72452471e-02 1.17258176e-02 1.80476871e+02] [-3.72388299e-02 9.99306101e-01 -7.65207828e-04 -1.06409845e+01] [-1.17461814e-02 3.27968521e-04 9.99930957e-01 -2.48711260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36037174299997 meters 0.024584223559351023 Centerline is valid? [True, True] Translation: X:180.51, Y:-10.65, Z:-2.49 [[ 9.99444945e-01 3.14570903e-02 1.09659924e-02 1.80506730e+02] [-3.14510903e-02 9.99505033e-01 -7.19212949e-04 -1.06487121e+01] [-1.09831890e-02 3.73921329e-04 9.99939613e-01 -2.48823685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39037174299997 meters 0.026118696299511815 Centerline is valid? [True, True] Translation: X:180.54, Y:-10.66, Z:-2.49 [[ 9.99545849e-01 2.79388914e-02 1.12922311e-02 1.80537342e+02] [-2.79323031e-02 9.99609543e-01 -7.40765566e-04 -1.06551936e+01] [-1.13085181e-02 4.25011124e-04 9.99935966e-01 -2.48861592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42037174299998 meters 0.027645511591292905 Centerline is valid? [True, True] Translation: X:180.57, Y:-10.66, Z:-2.49 [[ 9.99641493e-01 2.43743045e-02 1.10805959e-02 1.80568520e+02] [-2.43677380e-02 9.99702798e-01 -7.27249148e-04 -1.06611947e+01] [-1.10950289e-02 4.56979366e-04 9.99938344e-01 -2.48848820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45037174299998 meters 0.03033178580797916 Centerline is valid? [True, True] Translation: X:180.60, Y:-10.67, Z:-2.49 [[ 9.99731743e-01 2.06728152e-02 1.04439355e-02 1.80599346e+02] [-2.06667760e-02 9.99786184e-01 -6.85852699e-04 -1.06667860e+01] [-1.04558809e-02 4.69826239e-04 9.99945225e-01 -2.48949731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48037174299998 meters 0.0324595877918314 Centerline is valid? [True, True] Translation: X:180.63, Y:-10.68, Z:-2.49 [[ 9.99854508e-01 1.26773223e-02 1.14126081e-02 1.80629008e+02] [-1.26695886e-02 9.99919457e-01 -7.49696602e-04 -1.06764501e+01] [-1.14211930e-02 6.04994479e-04 9.99934593e-01 -2.48722919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51037174299998 meters 0.035508498171108294 Centerline is valid? [True, True] Translation: X:180.66, Y:-10.68, Z:-2.49 [[ 9.99905584e-01 9.28872382e-03 1.01263365e-02 1.80659821e+02] [-9.28246190e-03 9.99956696e-01 -6.65204664e-04 -1.06806198e+01] [-1.01320769e-02 5.71144526e-04 9.99948506e-01 -2.48960827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54037174299998 meters 0.03934373510024745 Centerline is valid? [True, True] Translation: X:180.69, Y:-10.69, Z:-2.49 [[ 9.99947254e-01 3.27275808e-03 9.73543106e-03 1.80690793e+02] [-3.26668268e-03 9.99994460e-01 -6.39886354e-04 -1.06857644e+01] [-9.73747132e-03 6.08050038e-04 9.99952405e-01 -2.49100029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57037174299998 meters 0.04067502777398652 Centerline is valid? [True, True] Translation: X:180.72, Y:-10.69, Z:-2.49 [[ 9.99943310e-01 6.77604600e-04 1.06263148e-02 1.80720710e+02] [-6.70216080e-04 9.99999531e-01 -6.98849736e-04 -1.06892828e+01] [-1.06267834e-02 6.91688191e-04 9.99943295e-01 -2.48987756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60037174299998 meters 0.03188143552947386 Centerline is valid? [True, True] Translation: X:180.75, Y:-10.68, Z:-2.49 [[ 9.99936593e-01 -1.27139277e-03 1.11890346e-02 1.80752680e+02] [ 1.27970491e-03 9.99998911e-01 -7.35754484e-04 -1.06780666e+01] [-1.11880870e-02 7.50026494e-04 9.99937130e-01 -2.48925508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63037174299998 meters 0.04614841475654979 Centerline is valid? [True, True] Translation: X:180.78, Y:-10.69, Z:-2.49 [[ 9.99934783e-01 -4.14271507e-03 1.06427459e-02 1.80781932e+02] [ 4.15040237e-03 9.99991142e-01 -7.00318657e-04 -1.06938791e+01] [-1.06397505e-02 7.44444662e-04 9.99943119e-01 -2.49118493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66037174299998 meters 0.048049516455141356 Centerline is valid? [True, True] Translation: X:180.81, Y:-10.69, Z:-2.49 [[ 9.99932109e-01 -4.64705236e-03 1.06855851e-02 1.80813394e+02] [ 4.65482860e-03 9.99988919e-01 -7.02976431e-04 -1.06949859e+01] [-1.06821999e-02 7.52668272e-04 9.99942660e-01 -2.49229771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.690371743 meters 0.047730235744675595 Centerline is valid? [True, True] Translation: X:180.85, Y:-10.69, Z:-2.49 [[ 9.99910677e-01 -5.68759135e-03 1.20949756e-02 1.80845843e+02] [ 5.69763789e-03 9.99983451e-01 -7.96341367e-04 -1.06948810e+01] [-1.20902461e-02 8.65183027e-04 9.99926536e-01 -2.49061527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720371743 meters 0.04917663868185712 Centerline is valid? [True, True] Translation: X:180.88, Y:-10.69, Z:-2.49 [[ 9.99916699e-01 -5.51718176e-03 1.16685773e-02 1.80877877e+02] [ 5.52652921e-03 9.99984433e-01 -7.68985377e-04 -1.06947606e+01] [-1.16641530e-02 8.33408053e-04 9.99931624e-01 -2.49267981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.750371743 meters 0.03782093737811712 Centerline is valid? [True, True] Translation: X:180.91, Y:-10.67, Z:-2.49 [[ 9.99913107e-01 -6.47798875e-03 1.14810156e-02 1.80911087e+02] [ 6.48710962e-03 9.99978672e-01 -7.57367650e-04 -1.06735735e+01] [-1.14758645e-02 8.31780447e-04 9.99933804e-01 -2.49336722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780371743 meters 0.03566111587674909 Centerline is valid? [True, True] Translation: X:180.94, Y:-10.67, Z:-2.49 [[ 9.99907212e-01 -6.99834653e-03 1.16871999e-02 1.80944056e+02] [ 7.00784037e-03 9.99975147e-01 -7.71573102e-04 -1.06691142e+01] [-1.16815097e-02 8.53403541e-04 9.99931405e-01 -2.49428824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.810371743 meters 0.035757561401377744 Centerline is valid? [True, True] Translation: X:180.98, Y:-10.67, Z:-2.49 [[ 9.99898192e-01 -7.89632899e-03 1.18849754e-02 1.80976187e+02] [ 7.90622077e-03 9.99968437e-01 -7.85538173e-04 -1.06687355e+01] [-1.18783974e-02 8.79423439e-04 9.99929063e-01 -2.49499087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840371743 meters 0.037062665534820426 Centerline is valid? [True, True] Translation: X:181.01, Y:-10.66, Z:-2.50 [[ 9.99866863e-01 -1.13374260e-02 1.17353357e-02 1.81006750e+02] [ 1.13473178e-02 9.99935315e-01 -7.76671939e-04 -1.06645924e+01] [-1.17257711e-02 9.09733120e-04 9.99930837e-01 -2.49645754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.870371743 meters 0.03588907393185893 Centerline is valid? [True, True] Translation: X:181.04, Y:-10.66, Z:-2.50 [[ 9.99810308e-01 -1.37435957e-02 1.38007691e-02 1.81037460e+02] [ 1.37575050e-02 9.99904944e-01 -9.13429337e-04 -1.06645664e+01] [-1.37869035e-02 1.10312022e-03 9.99904348e-01 -2.49596629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900371743 meters 0.036975077765232296 Centerline is valid? [True, True] Translation: X:181.07, Y:-10.66, Z:-2.50 [[ 9.99803561e-01 -1.56867870e-02 1.21145920e-02 1.81068872e+02] [ 1.56976485e-02 9.99876463e-01 -8.01984449e-04 -1.06621322e+01] [-1.21005149e-02 9.91997515e-04 9.99926294e-01 -2.49813199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.930371743 meters 0.03978439030140246 Centerline is valid? [True, True] Translation: X:181.10, Y:-10.66, Z:-2.50 [[ 9.99722109e-01 -2.06938114e-02 1.12902783e-02 1.81099261e+02] [ 2.07035662e-02 9.99785379e-01 -7.47800479e-04 -1.06602998e+01] [-1.12723803e-02 9.81341698e-04 9.99935983e-01 -2.50056547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96037174299997 meters 0.0417282243567919 Centerline is valid? [True, True] Translation: X:181.13, Y:-10.66, Z:-2.50 [[ 9.99654629e-01 -2.32940114e-02 1.21659958e-02 1.81129072e+02] [ 2.33055368e-02 9.99728064e-01 -8.06409045e-04 -1.06623715e+01] [-1.21439029e-02 1.08966560e-03 9.99925666e-01 -2.50091984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99037174299997 meters 0.046289873843010095 Centerline is valid? [True, True] Translation: X:181.16, Y:-10.66, Z:-2.50 [[ 9.99545706e-01 -2.79681171e-02 1.12323634e-02 1.81159653e+02] [ 2.79782334e-02 9.99608255e-01 -7.44486924e-04 -1.06599817e+01] [-1.12071413e-02 1.05841039e-03 9.99936638e-01 -2.50286454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02037174299997 meters 0.04369195876709779 Centerline is valid? [True, True] Translation: X:181.19, Y:-10.65, Z:-2.50 [[ 9.99525849e-01 -2.90825132e-02 1.01135476e-02 1.81191764e+02] [ 2.90907704e-02 9.99576549e-01 -6.70275577e-04 -1.06520884e+01] [-1.00897717e-02 9.64168657e-04 9.99948632e-01 -2.50363821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05037174299997 meters 0.0454619504260918 Centerline is valid? [True, True] Translation: X:181.22, Y:-10.65, Z:-2.50 [[ 9.99469375e-01 -3.05080229e-02 1.14118140e-02 1.81222035e+02] [ 3.05186381e-02 9.99533911e-01 -7.57170084e-04 -1.06518515e+01] [-1.13833953e-02 1.10504133e-03 9.99934596e-01 -2.50381268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08037174299997 meters 0.045617081555383854 Centerline is valid? [True, True] Translation: X:181.25, Y:-10.64, Z:-2.50 [[ 9.99463596e-01 -3.03798529e-02 1.22304879e-02 1.81254854e+02] [ 3.03920382e-02 9.99537726e-01 -8.11637082e-04 -1.06424389e+01] [-1.22001767e-02 1.18291117e-03 9.99924875e-01 -2.50423080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11037174299997 meters 0.047162265762199895 Centerline is valid? [True, True] Translation: X:181.29, Y:-10.64, Z:-2.50 [[ 9.99491860e-01 -2.93252824e-02 1.24919559e-02 1.81285822e+02] [ 2.93379232e-02 9.99569206e-01 -8.29832251e-04 -1.06414300e+01] [-1.24622393e-02 1.19589862e-03 9.99921628e-01 -2.50487291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14037174299997 meters 0.04809313569546623 Centerline is valid? [True, True] Translation: X:181.32, Y:-10.64, Z:-2.51 [[ 9.99512826e-01 -2.85140831e-02 1.26908139e-02 1.81318487e+02] [ 2.85270901e-02 9.99592663e-01 -8.45039557e-04 -1.06395126e+01] [-1.26615489e-02 1.20665987e-03 9.99919111e-01 -2.50542586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17037174299998 meters 0.048720139790307815 Centerline is valid? [True, True] Translation: X:181.35, Y:-10.64, Z:-2.51 [[ 9.99541147e-01 -2.73353386e-02 1.30489275e-02 1.81349958e+02] [ 2.73490038e-02 9.99625568e-01 -8.69903203e-04 -1.06374231e+01] [-1.30202624e-02 1.22637921e-03 9.99914481e-01 -2.50606336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20037174299998 meters 0.050047477922579346 Centerline is valid? [True, True] Translation: X:181.38, Y:-10.63, Z:-2.51 [[ 9.99621753e-01 -2.41875485e-02 1.30887036e-02 1.81380929e+02] [ 2.42010363e-02 9.99706731e-01 -8.73064552e-04 -1.06287076e+01] [-1.30637478e-02 1.18949451e-03 9.99913958e-01 -2.50625574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23037174299998 meters 0.050619447229322094 Centerline is valid? [True, True] Translation: X:181.41, Y:-10.63, Z:-2.51 [[ 9.99640854e-01 -2.31867963e-02 1.34363629e-02 1.81411225e+02] [ 2.32009207e-02 9.99730421e-01 -8.96266385e-04 -1.06263991e+01] [-1.34119591e-02 1.20768048e-03 9.99909326e-01 -2.50617005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26037174299998 meters 0.05064011812049048 Centerline is valid? [True, True] Translation: X:181.44, Y:-10.62, Z:-2.51 [[ 9.99667325e-01 -2.19069048e-02 1.36134451e-02 1.81443231e+02] [ 2.19212894e-02 9.99759287e-01 -9.08310794e-04 -1.06232262e+01] [-1.35902699e-02 1.20643289e-03 9.99906920e-01 -2.50726902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29037174299998 meters 0.04409938267068004 Centerline is valid? [True, True] Translation: X:181.48, Y:-10.61, Z:-2.51 [[ 9.99734710e-01 -1.95914450e-02 1.21113288e-02 1.81475393e+02] [ 1.96026691e-02 9.99807522e-01 -8.08718274e-04 -1.06068399e+01] [-1.20931537e-02 1.04591810e-03 9.99926328e-01 -2.50969384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32037174299998 meters 0.04438120557323823 Centerline is valid? [True, True] Translation: X:181.51, Y:-10.60, Z:-2.51 [[ 9.99794059e-01 -1.70797756e-02 1.09599343e-02 1.81507035e+02] [ 1.70888191e-02 9.99853708e-01 -7.32013182e-04 -1.06022687e+01] [-1.09458283e-02 9.19154765e-04 9.99939670e-01 -2.51104061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35037174299998 meters 0.04420433591900763 Centerline is valid? [True, True] Translation: X:181.54, Y:-10.60, Z:-2.51 [[ 9.99832833e-01 -1.51910045e-02 1.01754394e-02 1.81537813e+02] [ 1.51987035e-02 9.99884262e-01 -6.79716424e-04 -1.05996889e+01] [-1.01639361e-02 8.34256285e-04 9.99947998e-01 -2.51231431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38037174299998 meters 0.040870001740281416 Centerline is valid? [True, True] Translation: X:181.57, Y:-10.59, Z:-2.51 [[ 9.99917632e-01 -8.69866394e-03 9.43728052e-03 1.81569525e+02] [ 8.70500280e-03 9.99961912e-01 -6.30813789e-04 -1.05860127e+01] [-9.43143383e-03 7.12913384e-04 9.99955269e-01 -2.51263102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41037174299998 meters 0.04081250670449865 Centerline is valid? [True, True] Translation: X:181.60, Y:-10.58, Z:-2.51 [[ 9.99941654e-01 -5.17403936e-03 9.48246940e-03 1.81599549e+02] [ 5.18028413e-03 9.99986381e-01 -6.34115917e-04 -1.05826867e+01] [-9.47905932e-03 6.83200805e-04 9.99954839e-01 -2.51292424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440371743 meters 0.04039147001960258 Centerline is valid? [True, True] Translation: X:181.63, Y:-10.58, Z:-2.51 [[ 9.99942576e-01 -2.00846467e-03 1.05266919e-02 1.81629945e+02] [ 2.01598437e-03 9.99997720e-01 -7.03784121e-04 -1.05806431e+01] [-1.05252544e-02 7.24965353e-04 9.99944345e-01 -2.51342310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.470371743 meters 0.035964623157733425 Centerline is valid? [True, True] Translation: X:181.66, Y:-10.56, Z:-2.51 [[ 9.99916338e-01 7.25041012e-03 1.07120955e-02 1.81661993e+02] [-7.24315245e-03 9.99973512e-01 -7.16162037e-04 -1.05640629e+01] [-1.07170042e-02 6.38512781e-04 9.99942367e-01 -2.51255596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500371743 meters 0.03624459260605171 Centerline is valid? [True, True] Translation: X:181.69, Y:-10.56, Z:-2.51 [[ 9.99872598e-01 1.15501402e-02 1.10173568e-02 1.81692261e+02] [-1.15427223e-02 9.99933109e-01 -7.36649600e-04 -1.05609037e+01] [-1.10251283e-02 6.09385459e-04 9.99939036e-01 -2.51304935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.530371743 meters 0.0334843123169445 Centerline is valid? [True, True] Translation: X:181.72, Y:-10.55, Z:-2.51 [[ 9.99738943e-01 1.97449150e-02 1.14971751e-02 1.81722471e+02] [-1.97373767e-02 9.99804903e-01 -7.68770760e-04 -1.05513920e+01] [-1.15101113e-02 5.41645991e-04 9.99933610e-01 -2.51385535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560371743 meters 0.03236298440949652 Centerline is valid? [True, True] Translation: X:181.75, Y:-10.55, Z:-2.51 [[ 9.99650208e-01 2.37794067e-02 1.15758629e-02 1.81753733e+02] [-2.37720386e-02 9.99717106e-01 -7.73708556e-04 -1.05481404e+01] [-1.15909865e-02 4.98256060e-04 9.99932698e-01 -2.51442622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.590371743 meters 0.03182759795611926 Centerline is valid? [True, True] Translation: X:181.78, Y:-10.55, Z:-2.52 [[ 9.99574361e-01 2.69517019e-02 1.11670577e-02 1.81783928e+02] [-2.69450399e-02 9.99636638e-01 -7.46627810e-04 -1.05468503e+01] [-1.11831229e-02 4.45413200e-04 9.99937368e-01 -2.51572992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620371743 meters 0.03139681750928602 Centerline is valid? [True, True] Translation: X:181.81, Y:-10.55, Z:-2.52 [[ 9.99500260e-01 2.96078737e-02 1.10726869e-02 1.81813067e+02] [-2.96014854e-02 9.99561506e-01 -7.40420269e-04 -1.05459764e+01] [-1.10897539e-02 4.12282270e-04 9.99938422e-01 -2.51608647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.650371743 meters 0.02945995369091697 Centerline is valid? [True, True] Translation: X:181.84, Y:-10.54, Z:-2.52 [[ 9.99387791e-01 3.35349764e-02 9.97239213e-03 1.81843661e+02] [-3.35299936e-02 9.99437489e-01 -6.66476880e-04 -1.05389280e+01] [-9.98913284e-03 3.31694613e-04 9.99950052e-01 -2.51619220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680371743 meters 0.029080350687070513 Centerline is valid? [True, True] Translation: X:181.87, Y:-10.54, Z:-2.52 [[ 9.99356075e-01 3.43818561e-02 1.02627551e-02 1.81872074e+02] [-3.43766234e-02 9.99408714e-01 -6.85890371e-04 -1.05390900e+01] [-1.02802691e-02 3.32649841e-04 9.99947101e-01 -2.51651151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71037174299997 meters 0.029555922702523905 Centerline is valid? [True, True] Translation: X:181.90, Y:-10.54, Z:-2.52 [[ 9.99336849e-01 3.49339264e-02 1.02704506e-02 1.81899605e+02] [-3.49287217e-02 9.99389571e-01 -6.85753652e-04 -1.05401435e+01] [-1.02881372e-02 3.26565185e-04 9.99947022e-01 -2.51694235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74037174299997 meters 0.027864975907259767 Centerline is valid? [True, True] Translation: X:181.93, Y:-10.54, Z:-2.52 [[ 9.99329953e-01 3.48402967e-02 1.12160453e-02 1.81928224e+02] [-3.48340961e-02 9.99392829e-01 -7.47773826e-04 -1.05406423e+01] [-1.12352879e-02 3.56571984e-04 9.99936819e-01 -2.51713763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77037174299997 meters 0.027708379854489748 Centerline is valid? [True, True] Translation: X:181.96, Y:-10.54, Z:-2.52 [[ 9.99247010e-01 3.72706146e-02 1.07848697e-02 1.81957630e+02] [-3.72650310e-02 9.99305159e-01 -7.18287293e-04 -1.05383324e+01] [-1.08041470e-02 3.15847925e-04 9.99941584e-01 -2.51691777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80037174299997 meters 0.02870064480155341 Centerline is valid? [True, True] Translation: X:181.99, Y:-10.54, Z:-2.52 [[ 9.99175860e-01 3.91781494e-02 1.06147653e-02 1.81986013e+02] [-3.91728534e-02 9.99232199e-01 -7.06466816e-04 -1.05397504e+01] [-1.06342934e-02 2.90073942e-04 9.99943412e-01 -2.51745403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83037174299997 meters 0.026400409797448628 Centerline is valid? [True, True] Translation: X:182.01, Y:-10.54, Z:-2.52 [[ 9.99138798e-01 4.00349011e-02 1.09027335e-02 1.82014861e+02] [-4.00293734e-02 9.99198241e-01 -7.24835571e-04 -1.05408521e+01] [-1.09230109e-02 2.87781749e-04 9.99940301e-01 -2.51831106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86037174299997 meters 0.025323207461065297 Centerline is valid? [True, True] Translation: X:182.04, Y:-10.54, Z:-2.52 [[ 9.98952124e-01 4.44831863e-02 1.07656869e-02 1.82043122e+02] [-4.44780629e-02 9.99010105e-01 -7.14978129e-04 -1.05408202e+01] [-1.07868345e-02 2.35392021e-04 9.99941793e-01 -2.51940994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89037174299997 meters 0.026317924927277556 Centerline is valid? [True, True] Translation: X:182.07, Y:-10.54, Z:-2.52 [[ 9.98774960e-01 4.85255030e-02 9.68788613e-03 1.82072231e+02] [-4.85215497e-02 9.98821929e-01 -6.42829517e-04 -1.05407401e+01] [-9.70766673e-03 1.71970777e-04 9.99952865e-01 -2.51967621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92037174299998 meters 0.02557659668410696 Centerline is valid? [True, True] Translation: X:182.10, Y:-10.54, Z:-2.52 [[ 9.98482741e-01 5.43225988e-02 9.01503536e-03 1.82100179e+02] [-5.43194157e-02 9.98523432e-01 -5.97747247e-04 -1.05418210e+01] [-9.03419523e-03 1.07148856e-04 9.99959185e-01 -2.52072320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95037174299998 meters 0.02335810414026163 Centerline is valid? [True, True] Translation: X:182.13, Y:-10.54, Z:-2.52 [[ 9.98374168e-01 5.62121183e-02 9.44556864e-03 1.82128632e+02] [-5.62087192e-02 9.98418845e-01 -6.25154882e-04 -1.05431262e+01] [-9.46577501e-03 9.32151695e-05 9.99955194e-01 -2.52100559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98037174299998 meters 0.02373363592318039 Centerline is valid? [True, True] Translation: X:182.16, Y:-10.55, Z:-2.52 [[ 9.98204411e-01 5.91773642e-02 9.27328342e-03 1.82156862e+02] [-5.91742217e-02 9.98247482e-01 -6.13123869e-04 -1.05452687e+01] [-9.29331488e-03 6.32836209e-05 9.99956814e-01 -2.52104073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01037174299998 meters 0.023418264815693344 Centerline is valid? [True, True] Translation: X:182.19, Y:-10.55, Z:-2.52 [[ 9.97962431e-01 6.30044348e-02 1.00711043e-02 1.82185112e+02] [-6.30009310e-02 9.98013247e-01 -6.65096069e-04 -1.05496184e+01] [-1.00929995e-02 2.92519439e-05 9.99949064e-01 -2.52010349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04037174299998 meters 0.023532649862411395 Centerline is valid? [True, True] Translation: X:182.21, Y:-10.55, Z:-2.52 [[ 9.97919519e-01 6.36063875e-02 1.05290973e-02 1.82211960e+02] [-6.36025962e-02 9.97975063e-01 -6.94869470e-04 -1.05535300e+01] [-1.05519747e-02 2.37458813e-05 9.99944326e-01 -2.52017541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07037174299998 meters 0.022946589005517954 Centerline is valid? [True, True] Translation: X:182.24, Y:-10.56, Z:-2.52 [[ 9.97865374e-01 6.42729467e-02 1.15621339e-02 1.82240902e+02] [-6.42684449e-02 9.97932356e-01 -7.60873175e-04 -1.05580419e+01] [-1.15871311e-02 1.61686318e-05 9.99932867e-01 -2.52032804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10037174299998 meters 0.024839716707496722 Centerline is valid? [True, True] Translation: X:182.27, Y:-10.56, Z:-2.52 [[ 9.97778285e-01 6.56793743e-02 1.11675195e-02 1.82268800e+02] [-6.56752696e-02 9.97840779e-01 -7.34275539e-04 -1.05633167e+01] [-1.11916331e-02 -7.85665842e-07 9.99937372e-01 -2.52005075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13037174299998 meters 0.02312993641152118 Centerline is valid? [True, True] Translation: X:182.30, Y:-10.57, Z:-2.52 [[ 9.97819033e-01 6.49035956e-02 1.20291515e-02 1.82296086e+02] [-6.48987926e-02 9.97891539e-01 -7.89615320e-04 -1.05727903e+01] [-1.20550373e-02 7.21579031e-06 9.99927335e-01 -2.52004111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16037174299998 meters 0.02480704349349542 Centerline is valid? [True, True] Translation: X:182.32, Y:-10.58, Z:-2.52 [[ 9.97807726e-01 6.52412481e-02 1.11050259e-02 1.82323936e+02] [-6.52371883e-02 9.97869520e-01 -7.27821932e-04 -1.05794519e+01] [-1.11288509e-02 1.76567794e-06 9.99938072e-01 -2.52116321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.190371743 meters 0.025098224057148486 Centerline is valid? [True, True] Translation: X:182.35, Y:-10.59, Z:-2.52 [[ 9.97994725e-01 6.24469994e-02 1.03393285e-02 1.82351904e+02] [-6.24433404e-02 9.98048281e-01 -6.76653184e-04 -1.05912055e+01] [-1.03614039e-02 2.96741030e-05 9.99946319e-01 -2.52176574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220371743 meters 0.025098224057148486 Centerline is valid? [True, True] Translation: X:182.38, Y:-10.59, Z:-2.52 [[ 9.97999209e-01 6.23752882e-02 1.03393770e-02 1.82380162e+02] [-6.23716330e-02 9.98052765e-01 -6.75910713e-04 -1.05929951e+01] [-1.03614039e-02 2.96745302e-05 9.99946319e-01 -2.52216360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.250371743 meters 0.02493829329371257 Centerline is valid? [True, True] Translation: X:182.41, Y:-10.60, Z:-2.52 [[ 9.98175856e-01 5.96291584e-02 9.45108700e-03 1.82408379e+02] [-5.96259868e-02 9.98220597e-01 -6.17244102e-04 -1.06004136e+01] [-9.47107545e-03 5.25877717e-05 9.99955147e-01 -2.52301442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280371743 meters 0.024070053850029235 Centerline is valid? [True, True] Translation: X:182.44, Y:-10.61, Z:-2.52 [[ 9.98416407e-01 5.55525601e-02 8.86517486e-03 1.82436839e+02] [-5.55496139e-02 9.98455761e-01 -5.78412087e-04 -1.06082054e+01] [-8.88361718e-03 8.50390770e-05 9.99960536e-01 -2.52389596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.310371743 meters 0.02398268382943067 Centerline is valid? [True, True] Translation: X:182.46, Y:-10.62, Z:-2.52 [[ 9.98907771e-01 4.60024048e-02 8.18804763e-03 1.82464837e+02] [-4.59995758e-02 9.98941317e-01 -5.33602746e-04 -1.06235640e+01] [-8.20392609e-03 1.56373212e-04 9.99966335e-01 -2.52466148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340371743 meters 0.02628871755950846 Centerline is valid? [True, True] Translation: X:182.49, Y:-10.63, Z:-2.52 [[ 9.99128912e-01 4.10457546e-02 7.52754088e-03 1.82494285e+02] [-4.10432265e-02 9.99157252e-01 -4.90091749e-04 -1.06327629e+01] [-7.54131324e-03 1.80710271e-04 9.99971548e-01 -2.52430437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.370371743 meters 0.02589774357387093 Centerline is valid? [True, True] Translation: X:182.52, Y:-10.64, Z:-2.52 [[ 9.99338901e-01 3.53452316e-02 8.51329993e-03 1.82522968e+02] [-3.53417936e-02 9.99375130e-01 -5.53996134e-04 -1.06413002e+01] [-8.52756135e-03 2.52754598e-04 9.99963608e-01 -2.52427898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400371743 meters 0.03079626997369778 Centerline is valid? [True, True] Translation: X:182.55, Y:-10.66, Z:-2.52 [[ 9.99639805e-01 2.55230313e-02 8.29663766e-03 1.82551690e+02] [-2.55194334e-02 9.99674181e-01 -5.39241546e-04 -1.06577239e+01] [-8.30769753e-03 3.27321822e-04 9.99965437e-01 -2.52317456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.430371743 meters 0.03022790115520257 Centerline is valid? [True, True] Translation: X:182.58, Y:-10.66, Z:-2.52 [[ 9.99753747e-01 2.04962314e-02 8.50584849e-03 1.82581993e+02] [-2.04922701e-02 9.99789859e-01 -5.52614599e-04 -1.06638085e+01] [-8.51538758e-03 3.78174371e-04 9.99963672e-01 -2.52292444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46037174299997 meters 0.033691162573596195 Centerline is valid? [True, True] Translation: X:182.61, Y:-10.68, Z:-2.52 [[ 9.99825252e-01 1.61381182e-02 9.43540029e-03 1.82610982e+02] [-1.61330533e-02 9.99869666e-01 -6.12678219e-04 -1.06771095e+01] [-9.44405801e-03 4.60349340e-04 9.99955298e-01 -2.52340881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49037174299997 meters 0.032954234688506 Centerline is valid? [True, True] Translation: X:182.64, Y:-10.68, Z:-2.52 [[ 9.99913242e-01 1.01059947e-02 8.44848929e-03 1.82641184e+02] [-1.01017116e-02 9.99948825e-01 -5.49477270e-04 -1.06824313e+01] [-8.45360996e-03 4.64085396e-04 9.99964160e-01 -2.52328564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52037174299997 meters 0.03872974580216559 Centerline is valid? [True, True] Translation: X:182.67, Y:-10.70, Z:-2.52 [[ 9.99935425e-01 7.69943484e-03 8.35848347e-03 1.82670711e+02] [-7.69515931e-03 9.99970244e-01 -5.43560879e-04 -1.06961008e+01] [-8.36241987e-03 4.79205917e-04 9.99964920e-01 -2.52467535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55037174299997 meters 0.034771542695029474 Centerline is valid? [True, True] Translation: X:182.70, Y:-10.70, Z:-2.52 [[ 9.99962105e-01 3.91518988e-03 7.77554435e-03 1.82701519e+02] [-3.91137498e-03 9.99992223e-01 -5.05775054e-04 -1.06960171e+01] [-7.77746408e-03 4.75342819e-04 9.99969642e-01 -2.52429174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58037174299997 meters 0.03568425827777183 Centerline is valid? [True, True] Translation: X:182.73, Y:-10.70, Z:-2.52 [[ 9.99967834e-01 2.45086157e-03 7.63707670e-03 1.82732720e+02] [-2.44714853e-03 9.99996883e-01 -4.95492782e-04 -1.07020699e+01] [-7.63826728e-03 4.76787783e-04 9.99970714e-01 -2.52459619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61037174299997 meters 0.034035322024108756 Centerline is valid? [True, True] Translation: X:182.77, Y:-10.70, Z:-2.52 [[ 9.99970371e-01 1.53219032e-03 7.54382729e-03 1.82765062e+02] [-1.52852919e-03 9.99998711e-01 -4.91055971e-04 -1.07029652e+01] [-7.54456996e-03 4.79510462e-04 9.99971424e-01 -2.52412543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64037174299997 meters 0.032657137907082676 Centerline is valid? [True, True] Translation: X:182.80, Y:-10.71, Z:-2.52 [[ 9.99960822e-01 -1.75156576e-04 8.85009800e-03 1.82797266e+02] [ 1.80296952e-04 9.99999816e-01 -5.80032502e-04 -1.07083487e+01] [-8.84999477e-03 5.81605423e-04 9.99960669e-01 -2.52429340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67037174299998 meters 0.038327711695747384 Centerline is valid? [True, True] Translation: X:182.83, Y:-10.72, Z:-2.53 [[ 9.99970149e-01 6.46756133e-04 7.69947954e-03 1.82827918e+02] [-6.42885445e-04 9.99999666e-01 -5.05185132e-04 -1.07181159e+01] [-7.69980370e-03 5.00220168e-04 9.99970231e-01 -2.52545206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70037174299998 meters 0.0358943539869744 Centerline is valid? [True, True] Translation: X:182.86, Y:-10.72, Z:-2.53 [[ 9.99968335e-01 9.13415707e-04 7.90537903e-03 1.82859966e+02] [-9.09340694e-04 9.99999452e-01 -5.19052420e-04 -1.07172997e+01] [-7.90584880e-03 5.11847302e-04 9.99968617e-01 -2.52509743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73037174299998 meters 0.03918136711235163 Centerline is valid? [True, True] Translation: X:182.89, Y:-10.72, Z:-2.53 [[ 9.99965323e-01 2.08892251e-03 8.06163926e-03 1.82890491e+02] [-2.08471699e-03 9.99997687e-01 -5.30038474e-04 -1.07247097e+01] [-8.06272782e-03 5.13213857e-04 9.99967364e-01 -2.52634590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76037174299998 meters 0.03527245898450877 Centerline is valid? [True, True] Translation: X:182.92, Y:-10.72, Z:-2.53 [[ 9.99956746e-01 5.68558327e-03 7.36068686e-03 1.82921890e+02] [-5.68217009e-03 9.99983739e-01 -4.84533048e-04 -1.07193821e+01] [-7.36332202e-03 4.42687416e-04 9.99972792e-01 -2.52615447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79037174299998 meters 0.034469329876534546 Centerline is valid? [True, True] Translation: X:182.95, Y:-10.72, Z:-2.53 [[ 9.99934521e-01 8.26066376e-03 7.91933786e-03 1.82952427e+02] [-8.25679287e-03 9.99965776e-01 -5.21360748e-04 -1.07206572e+01] [-7.92337361e-03 4.55938277e-04 9.99968506e-01 -2.52678991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82037174299998 meters 0.03376162794461069 Centerline is valid? [True, True] Translation: X:182.98, Y:-10.72, Z:-2.53 [[ 9.99902369e-01 1.12735823e-02 8.25589294e-03 1.82982212e+02] [-1.12694734e-02 9.99936349e-01 -5.44050785e-04 -1.07214940e+01] [-8.26150085e-03 4.50958103e-04 9.99965772e-01 -2.52686829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85037174299998 meters 0.030347867302583435 Centerline is valid? [True, True] Translation: X:183.01, Y:-10.72, Z:-2.53 [[ 9.99793042e-01 1.79558156e-02 9.56360769e-03 1.83012999e+02] [-1.79506066e-02 9.99838676e-01 -6.30230101e-04 -1.07155864e+01] [-9.57338115e-03 4.58427111e-04 9.99954069e-01 -2.52619097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88037174299998 meters 0.02973867758391784 Centerline is valid? [True, True] Translation: X:183.04, Y:-10.72, Z:-2.53 [[ 9.99726713e-01 2.09187141e-02 1.04358744e-02 1.83043305e+02] [-2.09126734e-02 9.99781070e-01 -6.87634871e-04 -1.07182074e+01] [-1.04479741e-02 4.69204916e-04 9.99945308e-01 -2.52646091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91037174299998 meters 0.02915825830486667 Centerline is valid? [True, True] Translation: X:183.08, Y:-10.72, Z:-2.53 [[ 9.99654171e-01 2.41307289e-02 1.04520740e-02 1.83075531e+02] [-2.41248440e-02 9.99708716e-01 -6.88766450e-04 -1.07161349e+01] [-1.04656500e-02 4.36373599e-04 9.99945138e-01 -2.52619578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940371743 meters 0.02858728782308351 Centerline is valid? [True, True] Translation: X:183.11, Y:-10.72, Z:-2.53 [[ 9.99543109e-01 2.80984031e-02 1.11379167e-02 1.83106527e+02] [-2.80919584e-02 9.99605073e-01 -7.34682410e-04 -1.07158148e+01] [-1.11541615e-02 4.21460848e-04 9.99937702e-01 -2.52624180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.970371743 meters 0.02879302587078344 Centerline is valid? [True, True] Translation: X:183.14, Y:-10.72, Z:-2.53 [[ 9.99492854e-01 2.99980872e-02 1.06840703e-02 1.83137696e+02] [-2.99922615e-02 9.99549882e-01 -7.05119195e-04 -1.07171001e+01] [-1.07004135e-02 3.84322166e-04 9.99942675e-01 -2.52645914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000371743 meters 0.027697008509511376 Centerline is valid? [True, True] Translation: X:183.17, Y:-10.72, Z:-2.53 [[ 9.99432188e-01 3.22107772e-02 9.88770690e-03 1.83169080e+02] [-3.22058926e-02 9.99481042e-01 -6.52876550e-04 -1.07171492e+01] [-9.90360526e-03 3.34063413e-04 9.99950902e-01 -2.52727808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.030371743 meters 0.028180729654706856 Centerline is valid? [True, True] Translation: X:183.20, Y:-10.72, Z:-2.53 [[ 9.99400809e-01 3.31957677e-02 9.80123992e-03 1.83199120e+02] [-3.31910145e-02 9.99448817e-01 -6.47262861e-04 -1.07203004e+01] [-9.81732403e-03 3.21561930e-04 9.99951757e-01 -2.52835199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060371743 meters 0.027487562561349294 Centerline is valid? [True, True] Translation: X:183.23, Y:-10.72, Z:-2.53 [[ 9.99375358e-01 3.40792237e-02 9.35415016e-03 1.83229366e+02] [-3.40749201e-02 9.99419090e-01 -6.19105869e-04 -1.07202558e+01] [-9.36981489e-03 2.99977230e-04 9.99956057e-01 -2.52808436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.090371743 meters 0.024620198348430107 Centerline is valid? [True, True] Translation: X:183.26, Y:-10.72, Z:-2.53 [[ 9.99360683e-01 3.39990786e-02 1.10583433e-02 1.83260345e+02] [-3.39930624e-02 9.99421801e-01 -7.31601685e-04 -1.07207610e+01] [-1.10768231e-02 3.55227007e-04 9.99938587e-01 -2.52862687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120371743 meters 0.023749773550077204 Centerline is valid? [True, True] Translation: X:183.29, Y:-10.72, Z:-2.53 [[ 9.99316593e-01 3.51484641e-02 1.14425676e-02 1.83290564e+02] [-3.51420978e-02 9.99382039e-01 -7.57021328e-04 -1.07218641e+01] [-1.14621046e-02 3.54388146e-04 9.99934245e-01 -2.52805360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.150371743 meters 0.026479979627817153 Centerline is valid? [True, True] Translation: X:183.32, Y:-10.72, Z:-2.53 [[ 9.99300531e-01 3.59015494e-02 1.04655607e-02 1.83320573e+02] [-3.58962651e-02 9.99355282e-01 -6.92384169e-04 -1.07248452e+01] [-1.04836710e-02 3.16225327e-04 9.99944995e-01 -2.52834420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180371743 meters 0.02602290834842096 Centerline is valid? [True, True] Translation: X:183.35, Y:-10.73, Z:-2.53 [[ 9.99369892e-01 3.39873175e-02 1.02313435e-02 1.83350821e+02] [-3.39821670e-02 9.99422210e-01 -6.76888748e-04 -1.07284452e+01] [-1.02484376e-02 3.28779012e-04 9.99947429e-01 -2.52930747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21037174299997 meters 0.026024399113910742 Centerline is valid? [True, True] Translation: X:183.38, Y:-10.73, Z:-2.53 [[ 9.99428117e-01 3.23903052e-02 9.71122953e-03 1.83381023e+02] [-3.23855896e-02 9.99475243e-01 -6.42478869e-04 -1.07321797e+01] [-9.72694358e-03 3.27607552e-04 9.99952638e-01 -2.53028449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24037174299997 meters 0.027623059895067886 Centerline is valid? [True, True] Translation: X:183.41, Y:-10.74, Z:-2.53 [[ 9.99497108e-01 3.04079063e-02 8.99395746e-03 1.83411550e+02] [-3.04037815e-02 9.99537521e-01 -5.95025337e-04 -1.07364564e+01] [-9.00789142e-03 3.21275785e-04 9.99959377e-01 -2.53149189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27037174299997 meters 0.02976664813717915 Centerline is valid? [True, True] Translation: X:183.44, Y:-10.75, Z:-2.53 [[ 9.99670376e-01 2.37110298e-02 9.84509971e-03 1.83440092e+02] [-2.37057639e-02 9.99718767e-01 -6.51243885e-04 -1.07477879e+01] [-9.85777260e-03 4.17643610e-04 9.99951324e-01 -2.53334564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30037174299997 meters 0.029038065648783064 Centerline is valid? [True, True] Translation: X:183.47, Y:-10.75, Z:-2.53 [[ 9.99746814e-01 2.04693191e-02 9.34427533e-03 1.83471518e+02] [-2.04644329e-02 9.99790390e-01 -6.18241643e-04 -1.07491291e+01] [-9.35497167e-03 4.26859818e-04 9.99956150e-01 -2.53402935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33037174299997 meters 0.03212543629538669 Centerline is valid? [True, True] Translation: X:183.50, Y:-10.75, Z:-2.53 [[ 9.99807182e-01 1.78027736e-02 8.28612328e-03 1.83502530e+02] [-1.77988381e-02 9.99841438e-01 -5.48467411e-04 -1.07538818e+01] [-8.29457366e-03 4.00878291e-04 9.99965519e-01 -2.53430381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36037174299997 meters 0.03600892274291067 Centerline is valid? [True, True] Translation: X:183.53, Y:-10.76, Z:-2.54 [[ 9.99911133e-01 1.11337754e-02 7.33241587e-03 1.83531850e+02] [-1.11305135e-02 9.99937936e-01 -4.85510518e-04 -1.07625852e+01] [-7.33736636e-03 4.03853818e-04 9.99973000e-01 -2.53540394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39037174299997 meters 0.03243059679173222 Centerline is valid? [True, True] Translation: X:183.56, Y:-10.76, Z:-2.54 [[ 9.99939271e-01 8.00992951e-03 7.56932019e-03 1.83563058e+02] [-8.00636069e-03 9.99967823e-01 -5.01669042e-04 -1.07605084e+01] [-7.57309497e-03 4.41035868e-04 9.99971226e-01 -2.53506860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42037174299998 meters 0.036895273953783725 Centerline is valid? [True, True] Translation: X:183.59, Y:-10.77, Z:-2.54 [[ 9.99959099e-01 5.39939590e-03 7.25581340e-03 1.83592695e+02] [-5.39604631e-03 9.99985325e-01 -4.81140018e-04 -1.07691361e+01] [-7.25830479e-03 4.41967633e-04 9.99973560e-01 -2.53615724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45037174299998 meters 0.03307933093572214 Centerline is valid? [True, True] Translation: X:183.62, Y:-10.77, Z:-2.54 [[ 9.99966557e-01 6.82910572e-04 8.14976288e-03 1.83623598e+02] [-6.78528898e-04 9.99999624e-01 -5.40397248e-04 -1.07676620e+01] [-8.15012886e-03 5.34849326e-04 9.99966644e-01 -2.53565937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48037174299998 meters 0.03382737941882826 Centerline is valid? [True, True] Translation: X:183.66, Y:-10.77, Z:-2.54 [[ 9.99965571e-01 -8.67925640e-04 8.25246083e-03 1.83655297e+02] [ 8.72459933e-04 9.99999470e-01 -5.45863324e-04 -1.07711535e+01] [-8.25198270e-03 5.53044472e-04 9.99965799e-01 -2.53579142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51037174299998 meters 0.03452525001577895 Centerline is valid? [True, True] Translation: X:183.69, Y:-10.77, Z:-2.54 [[ 9.99950866e-01 -3.85971353e-03 9.13057377e-03 1.83686022e+02] [ 3.86542175e-03 9.99992345e-01 -6.07611238e-04 -1.07738903e+01] [-9.12815866e-03 6.42874903e-04 9.99958131e-01 -2.53527736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54037174299998 meters 0.03934908955463601 Centerline is valid? [True, True] Translation: X:183.72, Y:-10.78, Z:-2.54 [[ 9.99953819e-01 -4.31122269e-03 8.58909769e-03 1.83717132e+02] [ 4.31629001e-03 9.99990521e-01 -5.71521359e-04 -1.07805273e+01] [-8.58655232e-03 6.08568002e-04 9.99962950e-01 -2.53592288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57037174299998 meters 0.03612610404687265 Centerline is valid? [True, True] Translation: X:183.75, Y:-10.78, Z:-2.54 [[ 9.99935557e-01 -5.50014380e-03 9.93127919e-03 1.83749741e+02] [ 5.50698295e-03 9.99984618e-01 -6.61432444e-04 -1.07794704e+01] [-9.92748845e-03 7.16081204e-04 9.99950465e-01 -2.53580880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60037174299998 meters 0.044978155977817486 Centerline is valid? [True, True] Translation: X:183.78, Y:-10.79, Z:-2.54 [[ 9.99933673e-01 -5.82848960e-03 9.93372282e-03 1.83780465e+02] [ 5.83535632e-03 9.99982755e-01 -6.62409137e-04 -1.07930409e+01] [-9.92969067e-03 7.20332013e-04 9.99950440e-01 -2.53711153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63037174299998 meters 0.04003001416782044 Centerline is valid? [True, True] Translation: X:183.81, Y:-10.79, Z:-2.54 [[ 9.99919524e-01 -6.94616772e-03 1.06158897e-02 1.83812762e+02] [ 6.95407722e-03 9.99975569e-01 -7.08330454e-04 -1.07869974e+01] [-1.06107102e-02 7.82097167e-04 9.99943399e-01 -2.53650197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66037174299998 meters 0.038662788000921544 Centerline is valid? [True, True] Translation: X:183.85, Y:-10.78, Z:-2.54 [[ 9.99938797e-01 -6.33732851e-03 9.06867444e-03 1.83845380e+02] [ 6.34308476e-03 9.99979699e-01 -6.06118832e-04 -1.07839488e+01] [-9.06464916e-03 6.63605106e-04 9.99958695e-01 -2.53661628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.690371743 meters 0.03761186277204883 Centerline is valid? [True, True] Translation: X:183.88, Y:-10.79, Z:-2.54 [[ 9.99927681e-01 -7.07519704e-03 9.72493993e-03 1.83877226e+02] [ 7.08185912e-03 9.99974712e-01 -6.50785458e-04 -1.07850841e+01] [-9.72008956e-03 7.19609048e-04 9.99952500e-01 -2.53802851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720371743 meters 0.03622390323705675 Centerline is valid? [True, True] Translation: X:183.91, Y:-10.78, Z:-2.54 [[ 9.99930833e-01 -6.65498258e-03 9.69741095e-03 1.83909215e+02] [ 6.66159425e-03 9.99977600e-01 -6.49656173e-04 -1.07845010e+01] [-9.69287028e-03 7.14211456e-04 9.99952768e-01 -2.53838402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.750371743 meters 0.03979078294728364 Centerline is valid? [True, True] Translation: X:183.94, Y:-10.79, Z:-2.54 [[ 9.99951905e-01 -5.63574755e-03 8.02661085e-03 1.83940649e+02] [ 5.64024787e-03 9.99983949e-01 -5.38149300e-04 -1.07878035e+01] [-8.02344914e-03 5.83395492e-04 9.99967641e-01 -2.53842057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780371743 meters 0.03843376018984045 Centerline is valid? [True, True] Translation: X:183.97, Y:-10.79, Z:-2.54 [[ 9.99947967e-01 -4.16829130e-03 9.31063618e-03 1.83971032e+02] [ 4.17429388e-03 9.99991092e-01 -6.25360317e-04 -1.07869088e+01] [-9.30794656e-03 6.64193110e-04 9.99956460e-01 -2.53889876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.810371743 meters 0.03708376782919751 Centerline is valid? [True, True] Translation: X:184.00, Y:-10.79, Z:-2.54 [[ 9.99952251e-01 -2.24096984e-03 9.51181564e-03 1.84002853e+02] [ 2.24714802e-03 9.99997271e-01 -6.38889579e-04 -1.07855208e+01] [-9.51035795e-03 6.60233530e-04 9.99954558e-01 -2.53892581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840371743 meters 0.03431676955002137 Centerline is valid? [True, True] Translation: X:184.03, Y:-10.78, Z:-2.54 [[ 9.99951239e-01 -1.98315720e-04 9.87322107e-03 1.84034436e+02] [ 2.04879576e-04 9.99999759e-01 -6.63807059e-04 -1.07815860e+01] [-9.87308705e-03 6.65797513e-04 9.99951038e-01 -2.53916878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.870371743 meters 0.03685664096472732 Centerline is valid? [True, True] Translation: X:184.06, Y:-10.78, Z:-2.54 [[ 9.99946525e-01 5.27797696e-03 8.89321882e-03 1.84063797e+02] [-5.27286207e-03 9.99985919e-01 -5.98493346e-04 -1.07796852e+01] [-8.89625243e-03 5.51568626e-04 9.99960275e-01 -2.54027210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900371743 meters 0.033761312620585716 Centerline is valid? [True, True] Translation: X:184.10, Y:-10.78, Z:-2.54 [[ 9.99929763e-01 8.14353629e-03 8.61118825e-03 1.84095317e+02] [-8.13885054e-03 9.99966711e-01 -5.79050746e-04 -1.07751074e+01] [-8.61561712e-03 5.08924901e-04 9.99962755e-01 -2.54147799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.930371743 meters 0.03232429589482666 Centerline is valid? [True, True] Translation: X:184.13, Y:-10.77, Z:-2.54 [[ 9.99866652e-01 1.42415582e-02 7.99105535e-03 1.84126314e+02] [-1.42377133e-02 9.99898494e-01 -5.37831573e-04 -1.07687452e+01] [-7.99790377e-03 4.23985499e-04 9.99967926e-01 -2.54308817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96037174299997 meters 0.03337039033620306 Centerline is valid? [True, True] Translation: X:184.16, Y:-10.77, Z:-2.55 [[ 9.99827085e-01 1.63008698e-02 8.94885834e-03 1.84156600e+02] [-1.62961311e-02 9.99867028e-01 -6.02198075e-04 -1.07736325e+01] [-8.95748474e-03 4.56262177e-04 9.99959777e-01 -2.54509040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99037174299997 meters 0.03121788760561104 Centerline is valid? [True, True] Translation: X:184.19, Y:-10.77, Z:-2.55 [[ 9.99779748e-01 1.89517097e-02 9.01596567e-03 1.84188003e+02] [-1.89470064e-02 9.99820305e-01 -6.06799780e-04 -1.07695478e+01] [-9.02584544e-03 4.35840572e-04 9.99959171e-01 -2.54520080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02037174299997 meters 0.030747151785266727 Centerline is valid? [True, True] Translation: X:184.22, Y:-10.77, Z:-2.54 [[ 9.99694384e-01 2.27481842e-02 9.67771675e-03 1.84219306e+02] [-2.27429384e-02 9.99741133e-01 -6.51767379e-04 -1.07654010e+01] [-9.69003804e-03 4.31468473e-04 9.99952957e-01 -2.54424728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05037174299997 meters 0.03216040487273915 Centerline is valid? [True, True] Translation: X:184.25, Y:-10.77, Z:-2.54 [[ 9.99663560e-01 2.39116324e-02 1.00498962e-02 1.84250579e+02] [-2.39060315e-02 9.99713981e-01 -6.77085076e-04 -1.07663540e+01] [-1.00632119e-02 4.36604142e-04 9.99949269e-01 -2.54443395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08037174299997 meters 0.031063833918210392 Centerline is valid? [True, True] Translation: X:184.28, Y:-10.77, Z:-2.54 [[ 9.99649957e-01 2.45099873e-02 9.96114837e-03 1.84282221e+02] [-2.45045110e-02 9.99699494e-01 -6.71466773e-04 -1.07662212e+01] [-9.97461263e-03 4.27138661e-04 9.99950161e-01 -2.54470955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11037174299997 meters 0.03179036219439485 Centerline is valid? [True, True] Translation: X:184.31, Y:-10.77, Z:-2.55 [[ 9.99612672e-01 2.62643525e-02 9.20273368e-03 1.84312535e+02] [-2.62597490e-02 9.99654961e-01 -6.20733422e-04 -1.07656718e+01] [-9.21586154e-03 3.78831517e-04 9.99957461e-01 -2.54525841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14037174299997 meters 0.03179036219439485 Centerline is valid? [True, True] Translation: X:184.34, Y:-10.77, Z:-2.55 [[ 9.99612672e-01 2.62643561e-02 9.20271644e-03 1.84342489e+02] [-2.62597502e-02 9.99654960e-01 -6.20988937e-04 -1.07676930e+01] [-9.21585101e-03 3.79087375e-04 9.99957461e-01 -2.54568005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17037174299998 meters 0.029406553050171865 Centerline is valid? [True, True] Translation: X:184.37, Y:-10.77, Z:-2.55 [[ 9.99614097e-01 2.59845229e-02 9.82153979e-03 1.84373260e+02] [-2.59792633e-02 9.99662262e-01 -6.62746440e-04 -1.07677348e+01] [-9.83544384e-03 4.07334315e-04 9.99951548e-01 -2.54679196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20037174299998 meters 0.029557928791856636 Centerline is valid? [True, True] Translation: X:184.40, Y:-10.77, Z:-2.55 [[ 9.99605800e-01 2.65308780e-02 9.18458472e-03 1.84403184e+02] [-2.65263023e-02 9.99647924e-01 -6.19677817e-04 -1.07696261e+01] [-9.19779165e-03 3.75800469e-04 9.99957629e-01 -2.54877294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23037174299998 meters 0.029310309670163535 Centerline is valid? [True, True] Translation: X:184.43, Y:-10.77, Z:-2.55 [[ 9.99601483e-01 2.67520964e-02 9.01116479e-03 1.84433988e+02] [-2.67476986e-02 9.99642031e-01 -6.08226796e-04 -1.07705137e+01] [-9.02421042e-03 3.66956487e-04 9.99959214e-01 -2.55003904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26037174299998 meters 0.031960619103303355 Centerline is valid? [True, True] Translation: X:184.46, Y:-10.77, Z:-2.55 [[ 9.99586227e-01 2.77374085e-02 7.61654118e-03 1.84464440e+02] [-2.77342952e-02 9.99615198e-01 -5.14093854e-04 -1.07729773e+01] [-7.62786995e-03 3.02641735e-04 9.99970862e-01 -2.55063262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29037174299998 meters 0.030341695433099655 Centerline is valid? [True, True] Translation: X:184.49, Y:-10.77, Z:-2.55 [[ 9.99620231e-01 2.64165051e-02 7.84610699e-03 1.84494522e+02] [-2.64131589e-02 9.99650971e-01 -5.29816803e-04 -1.07711094e+01] [-7.85736438e-03 3.22375124e-04 9.99969078e-01 -2.55130003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32037174299998 meters 0.03048514496983347 Centerline is valid? [True, True] Translation: X:184.52, Y:-10.77, Z:-2.55 [[ 9.99639768e-01 2.55837369e-02 8.11214126e-03 1.84524268e+02] [-2.55801351e-02 9.99672625e-01 -5.47465949e-04 -1.07715071e+01] [-8.12349178e-03 3.39759065e-04 9.99966946e-01 -2.55125337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35037174299998 meters 0.03076239826963528 Centerline is valid? [True, True] Translation: X:184.55, Y:-10.77, Z:-2.55 [[ 9.99686079e-01 2.35177104e-02 8.64066781e-03 1.84553229e+02] [-2.35135500e-02 9.99723348e-01 -5.82776140e-04 -1.07733225e+01] [-8.65198292e-03 3.79420420e-04 9.99962499e-01 -2.55169841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38037174299998 meters 0.029780897458604405 Centerline is valid? [True, True] Translation: X:184.58, Y:-10.78, Z:-2.55 [[ 9.99708051e-01 2.20829041e-02 9.80598850e-03 1.84583178e+02] [-2.20774820e-02 9.99756044e-01 -6.60859658e-04 -1.07751227e+01] [-9.81818998e-03 4.44175186e-04 9.99951702e-01 -2.55210401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41037174299998 meters 0.0313523711299671 Centerline is valid? [True, True] Translation: X:184.61, Y:-10.78, Z:-2.55 [[ 9.99712471e-01 2.20342975e-02 9.45864712e-03 1.84613668e+02] [-2.20292529e-02 9.99757124e-01 -6.37203271e-04 -1.07758316e+01] [-9.47039017e-03 4.28653126e-04 9.99955063e-01 -2.55174944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440371743 meters 0.032925896753002504 Centerline is valid? [True, True] Translation: X:184.64, Y:-10.78, Z:-2.55 [[ 9.99721015e-01 2.11398120e-02 1.05356634e-02 1.84643896e+02] [-2.11335042e-02 9.99776411e-01 -7.09694582e-04 -1.07780212e+01] [-1.05483105e-02 4.86841102e-04 9.99944247e-01 -2.55100340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.470371743 meters 0.032616683079396254 Centerline is valid? [True, True] Translation: X:184.68, Y:-10.78, Z:-2.55 [[ 9.99714793e-01 2.11509813e-02 1.10891587e-02 1.84675509e+02] [-2.11439922e-02 9.99776162e-01 -7.47143566e-04 -1.07777588e+01] [-1.11024794e-02 5.12461390e-04 9.99938234e-01 -2.55048702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500371743 meters 0.03083038653485651 Centerline is valid? [True, True] Translation: X:184.71, Y:-10.78, Z:-2.55 [[ 9.99707852e-01 2.04270372e-02 1.29208010e-02 1.84706707e+02] [-2.04174835e-02 9.99791162e-01 -8.70895928e-04 -1.07784892e+01] [-1.29358924e-02 6.06831257e-04 9.99916144e-01 -2.55123087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.530371743 meters 0.03164847453947495 Centerline is valid? [True, True] Translation: X:184.74, Y:-10.78, Z:-2.55 [[ 9.99682728e-01 2.18884865e-02 1.24634600e-02 1.84739114e+02] [-2.18796753e-02 9.99760256e-01 -8.42888232e-04 -1.07777445e+01] [-1.24789215e-02 5.69924349e-04 9.99921973e-01 -2.55065182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560371743 meters 0.03186734272738837 Centerline is valid? [True, True] Translation: X:184.77, Y:-10.78, Z:-2.55 [[ 9.99694305e-01 2.12640381e-02 1.26149970e-02 1.84770561e+02] [-2.12549159e-02 9.99773722e-01 -8.56764761e-04 -1.07787990e+01] [-1.26303608e-02 5.88372150e-04 9.99920061e-01 -2.55139839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.590371743 meters 0.032834026515034864 Centerline is valid? [True, True] Translation: X:184.80, Y:-10.78, Z:-2.55 [[ 9.99727223e-01 1.99839083e-02 1.20881089e-02 1.84802781e+02] [-1.99754389e-02 9.99800134e-01 -8.20981986e-04 -1.07816719e+01] [-1.21020993e-02 5.79292760e-04 9.99926599e-01 -2.55275542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620371743 meters 0.033863495194780664 Centerline is valid? [True, True] Translation: X:184.83, Y:-10.79, Z:-2.55 [[ 9.99741084e-01 1.96289948e-02 1.15094937e-02 1.84833767e+02] [-1.96212604e-02 9.99807177e-01 -7.84551325e-04 -1.07864579e+01] [-1.15226743e-02 5.58517420e-04 9.99933456e-01 -2.55401539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.650371743 meters 0.03302778129664744 Centerline is valid? [True, True] Translation: X:184.87, Y:-10.79, Z:-2.56 [[ 9.99758827e-01 1.90411184e-02 1.09418599e-02 1.84865064e+02] [-1.90340592e-02 9.99818555e-01 -7.48937170e-04 -1.07865097e+01] [-1.09541351e-02 5.40488538e-04 9.99939856e-01 -2.55517392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680371743 meters 0.03213211594144798 Centerline is valid? [True, True] Translation: X:184.90, Y:-10.79, Z:-2.56 [[ 9.99772119e-01 1.89926709e-02 9.74616720e-03 1.84895774e+02] [-1.89870719e-02 9.99819507e-01 -6.66693521e-04 -1.07870276e+01] [-9.75707037e-03 4.81490416e-04 9.99952283e-01 -2.55728014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71037174299997 meters 0.03067797276906358 Centerline is valid? [True, True] Translation: X:184.93, Y:-10.79, Z:-2.56 [[ 9.99755673e-01 1.99069188e-02 9.60777275e-03 1.84927540e+02] [-1.99014946e-02 9.99801728e-01 -6.59849085e-04 -1.07853576e+01] [-9.61900336e-03 4.68478828e-04 9.99953627e-01 -2.55757274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74037174299997 meters 0.032861889457804785 Centerline is valid? [True, True] Translation: X:184.96, Y:-10.79, Z:-2.56 [[ 9.99705394e-01 2.25430130e-02 8.99651851e-03 1.84957387e+02] [-2.25383592e-02 9.99745788e-01 -6.18355240e-04 -1.07869425e+01] [-9.00817108e-03 4.15406303e-04 9.99959339e-01 -2.55757721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77037174299997 meters 0.03149558208345105 Centerline is valid? [True, True] Translation: X:184.99, Y:-10.79, Z:-2.56 [[ 9.99620963e-01 2.56376877e-02 1.00319073e-02 1.84986829e+02] [-2.56320591e-02 9.99671207e-01 -6.89263702e-04 -1.07877873e+01] [-1.00462800e-02 4.31864004e-04 9.99949442e-01 -2.55868649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80037174299997 meters 0.029648973090641333 Centerline is valid? [True, True] Translation: X:185.02, Y:-10.78, Z:-2.56 [[ 9.99529571e-01 2.90848752e-02 9.73175677e-03 1.85017475e+02] [-2.90797322e-02 9.99576871e-01 -6.69596361e-04 -1.07839465e+01] [-9.74711411e-03 3.86284482e-04 9.99952421e-01 -2.55850377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83037174299997 meters 0.029162812783905482 Centerline is valid? [True, True] Translation: X:185.05, Y:-10.78, Z:-2.56 [[ 9.99333272e-01 3.51579043e-02 9.84549566e-03 1.85046953e+02] [-3.51529357e-02 9.99381715e-01 -6.77309956e-04 -1.07812308e+01] [-9.86322113e-03 3.30760299e-04 9.99951303e-01 -2.55877968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86037174299997 meters 0.026378550311920185 Centerline is valid? [True, True] Translation: X:185.08, Y:-10.78, Z:-2.56 [[ 9.99255514e-01 3.70847196e-02 1.06367609e-02 1.85075805e+02] [-3.70790324e-02 9.99312069e-01 -7.31456068e-04 -1.07791433e+01] [-1.06565694e-02 3.36510708e-04 9.99943161e-01 -2.55941804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89037174299997 meters 0.02902578921119338 Centerline is valid? [True, True] Translation: X:185.10, Y:-10.78, Z:-2.56 [[ 9.99129357e-01 4.04205696e-02 1.03298790e-02 1.85104137e+02] [-4.04153922e-02 9.99182712e-01 -7.09550784e-04 -1.07812217e+01] [-1.03501169e-02 2.91446908e-04 9.99946394e-01 -2.55924297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92037174299998 meters 0.028160960880932357 Centerline is valid? [True, True] Translation: X:185.13, Y:-10.78, Z:-2.56 [[ 9.99087194e-01 4.13352097e-02 1.07786810e-02 1.85131705e+02] [-4.13296313e-02 9.99145292e-01 -7.39871185e-04 -1.07817861e+01] [-1.08000511e-02 2.93716916e-04 9.99941635e-01 -2.55952351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95037174299998 meters 0.02782610355421703 Centerline is valid? [True, True] Translation: X:185.16, Y:-10.78, Z:-2.56 [[ 9.99086802e-01 4.11316102e-02 1.15651733e-02 1.85160398e+02] [-4.11251881e-02 9.99153687e-01 -7.92666903e-04 -1.07816999e+01] [-1.15879892e-02 3.16323115e-04 9.99932807e-01 -2.55938440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98037174299998 meters 0.02745250778297891 Centerline is valid? [True, True] Translation: X:185.19, Y:-10.79, Z:-2.56 [[ 9.99160485e-01 3.91505933e-02 1.20646736e-02 1.85188702e+02] [-3.91434717e-02 9.99233259e-01 -8.25941729e-04 -1.07864486e+01] [-1.20877593e-02 3.52995127e-04 9.99926878e-01 -2.56075243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01037174299998 meters 0.02826924151900677 Centerline is valid? [True, True] Translation: X:185.22, Y:-10.79, Z:-2.56 [[ 9.99303303e-01 3.54509800e-02 1.16678029e-02 1.85218350e+02] [-3.54440749e-02 9.99371343e-01 -7.98120709e-04 -1.07894752e+01] [-1.16887620e-02 3.84010180e-04 9.99931610e-01 -2.56071779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04037174299998 meters 0.029532324767329223 Centerline is valid? [True, True] Translation: X:185.25, Y:-10.79, Z:-2.56 [[ 9.99399235e-01 3.28151710e-02 1.11504939e-02 1.85247681e+02] [-3.28087051e-02 9.99461359e-01 -7.62354749e-04 -1.07925632e+01] [-1.11695046e-02 3.96063488e-04 9.99937541e-01 -2.56115067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07037174299998 meters 0.030749169044490612 Centerline is valid? [True, True] Translation: X:185.28, Y:-10.80, Z:-2.56 [[ 9.99496312e-01 2.97855122e-02 1.09519515e-02 1.85276501e+02] [-2.97790972e-02 9.99556224e-01 -7.48387857e-04 -1.07980759e+01] [-1.09693824e-02 4.21871675e-04 9.99939746e-01 -2.56128081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10037174299998 meters 0.030946498376636548 Centerline is valid? [True, True] Translation: X:185.31, Y:-10.80, Z:-2.56 [[ 9.99646168e-01 2.40644918e-02 1.13330607e-02 1.85306904e+02] [-2.40572615e-02 9.99710283e-01 -7.73903311e-04 -1.08005771e+01] [-1.13484010e-02 5.00987074e-04 9.99935479e-01 -2.56155070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13037174299998 meters 0.03352407294233798 Centerline is valid? [True, True] Translation: X:185.34, Y:-10.81, Z:-2.56 [[ 9.99742056e-01 1.97121737e-02 1.12805534e-02 1.85336240e+02] [-1.97047337e-02 9.99805546e-01 -7.70317730e-04 -1.08075789e+01] [-1.12935445e-02 5.47838731e-04 9.99936076e-01 -2.56176119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16037174299998 meters 0.03309035988941653 Centerline is valid? [True, True] Translation: X:185.37, Y:-10.81, Z:-2.56 [[ 9.99769324e-01 1.78978038e-02 1.18729416e-02 1.85367751e+02] [-1.78894352e-02 9.99839643e-01 -8.10691289e-04 -1.08108118e+01] [-1.18855473e-02 5.98104064e-04 9.99929186e-01 -2.56227962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.190371743 meters 0.03456218954279514 Centerline is valid? [True, True] Translation: X:185.40, Y:-10.81, Z:-2.56 [[ 9.99784265e-01 1.70119005e-02 1.19171236e-02 1.85399937e+02] [-1.70034069e-02 9.99855101e-01 -8.13688895e-04 -1.08144556e+01] [-1.19292392e-02 6.10881653e-04 9.99928657e-01 -2.56249572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220371743 meters 0.03499294947386505 Centerline is valid? [True, True] Translation: X:185.43, Y:-10.82, Z:-2.56 [[ 9.99803092e-01 1.56609905e-02 1.21865216e-02 1.85430415e+02] [-1.56519643e-02 9.99877151e-01 -8.35701791e-04 -1.08183907e+01] [-1.21981125e-02 6.44794233e-04 9.99925392e-01 -2.56306924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.250371743 meters 0.03402878874861867 Centerline is valid? [True, True] Translation: X:185.46, Y:-10.82, Z:-2.56 [[ 9.99803167e-01 1.57559886e-02 1.20572058e-02 1.85462747e+02] [-1.57471598e-02 9.99875664e-01 -8.26837464e-04 -1.08168022e+01] [-1.20687343e-02 6.36807968e-04 9.99926967e-01 -2.56328902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280371743 meters 0.03186527234117698 Centerline is valid? [True, True] Translation: X:185.49, Y:-10.82, Z:-2.56 [[ 9.99798949e-01 1.58582007e-02 1.22710702e-02 1.85494993e+02] [-1.58490238e-02 9.99874040e-01 -8.44742883e-04 -1.08177851e+01] [-1.22829207e-02 6.50088563e-04 9.99924351e-01 -2.56421858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.310371743 meters 0.03255971046969381 Centerline is valid? [True, True] Translation: X:185.53, Y:-10.82, Z:-2.56 [[ 9.99763715e-01 1.80637444e-02 1.20919766e-02 1.85526285e+02] [-1.80549520e-02 9.99836647e-01 -8.35909572e-04 -1.08181589e+01] [-1.21051010e-02 6.17392001e-04 9.99926540e-01 -2.56491764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340371743 meters 0.033164393159497964 Centerline is valid? [True, True] Translation: X:185.56, Y:-10.82, Z:-2.56 [[ 9.99737599e-01 1.96254579e-02 1.18141310e-02 1.85557262e+02] [-1.96171686e-02 9.99807231e-01 -8.17129413e-04 -1.08195297e+01] [-1.18278901e-02 5.85155199e-04 9.99929877e-01 -2.56486829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.370371743 meters 0.033601354661465466 Centerline is valid? [True, True] Translation: X:185.59, Y:-10.82, Z:-2.56 [[ 9.99701678e-01 2.13211810e-02 1.19148224e-02 1.85589122e+02] [-2.13128657e-02 9.99772515e-01 -8.24447527e-04 -1.08204624e+01] [-1.19296902e-02 5.70262565e-04 9.99928676e-01 -2.56498326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400371743 meters 0.033685189292472315 Centerline is valid? [True, True] Translation: X:185.62, Y:-10.82, Z:-2.57 [[ 9.99622554e-01 2.47298533e-02 1.19659095e-02 1.85619898e+02] [-2.47216979e-02 9.99694028e-01 -8.29013475e-04 -1.08201608e+01] [-1.19827496e-02 5.32882968e-04 9.99928062e-01 -2.56527233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.430371743 meters 0.03202375233226345 Centerline is valid? [True, True] Translation: X:185.65, Y:-10.82, Z:-2.57 [[ 9.99566587e-01 2.65827015e-02 1.26490014e-02 1.85650513e+02] [-2.65737295e-02 9.99646472e-01 -8.76878427e-04 -1.08205328e+01] [-1.26678394e-02 5.40367235e-04 9.99919614e-01 -2.56573928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46037174299997 meters 0.032187256146333845 Centerline is valid? [True, True] Translation: X:185.68, Y:-10.82, Z:-2.57 [[ 9.99500689e-01 2.89963331e-02 1.25532612e-02 1.85681694e+02] [-2.89876868e-02 9.99579390e-01 -8.70215272e-04 -1.08206670e+01] [-1.25732143e-02 5.05890760e-04 9.99920826e-01 -2.56660280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49037174299997 meters 0.03056331831003416 Centerline is valid? [True, True] Translation: X:185.71, Y:-10.82, Z:-2.57 [[ 9.99340011e-01 3.35488688e-02 1.39289674e-02 1.85711965e+02] [-3.35386610e-02 9.99436954e-01 -9.65859926e-04 -1.08200593e+01] [-1.39535283e-02 4.98063552e-04 9.99902521e-01 -2.56748575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52037174299997 meters 0.030424773191059757 Centerline is valid? [True, True] Translation: X:185.74, Y:-10.82, Z:-2.57 [[ 9.99263585e-01 3.59057688e-02 1.35300663e-02 1.85742305e+02] [-3.58963529e-02 9.99355078e-01 -9.38208023e-04 -1.08190869e+01] [-1.35550276e-02 4.51837077e-04 9.99908024e-01 -2.56765855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55037174299997 meters 0.027824232846637466 Centerline is valid? [True, True] Translation: X:185.77, Y:-10.82, Z:-2.57 [[ 9.99221841e-01 3.65612746e-02 1.47981683e-02 1.85770644e+02] [-3.65500874e-02 9.99331296e-01 -1.02582399e-03 -1.08205841e+01] [-1.48257781e-02 4.84151386e-04 9.99889975e-01 -2.56877455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58037174299997 meters 0.03006559729686276 Centerline is valid? [True, True] Translation: X:185.80, Y:-10.82, Z:-2.57 [[ 9.99082525e-01 4.04442107e-02 1.40845651e-02 1.85799047e+02] [-4.04344720e-02 9.99181716e-01 -9.75642850e-04 -1.08222624e+01] [-1.41124990e-02 4.05245768e-04 9.99900332e-01 -2.56924719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61037174299997 meters 0.028172563943872762 Centerline is valid? [True, True] Translation: X:185.83, Y:-10.82, Z:-2.57 [[ 9.99083187e-01 4.04338730e-02 1.40672326e-02 1.85828449e+02] [-4.04241595e-02 9.99182135e-01 -9.74279551e-04 -1.08207662e+01] [-1.40951214e-02 4.04730266e-04 9.99900577e-01 -2.57028257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64037174299997 meters 0.026693201026649276 Centerline is valid? [True, True] Translation: X:185.86, Y:-10.83, Z:-2.57 [[ 9.99181331e-01 3.77602702e-02 1.45199697e-02 1.85857004e+02] [-3.77496473e-02 9.99286723e-01 -1.00508763e-03 -1.08260846e+01] [-1.45475653e-02 4.56141060e-04 9.99894075e-01 -2.57176616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67037174299998 meters 0.027277319667052262 Centerline is valid? [True, True] Translation: X:185.89, Y:-10.83, Z:-2.57 [[ 9.99261217e-01 3.56521306e-02 1.43508047e-02 1.85886542e+02] [-3.56415440e-02 9.99364145e-01 -9.92863845e-04 -1.08295163e+01] [-1.43770774e-02 4.80645497e-04 9.99896529e-01 -2.57226937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70037174299998 meters 0.029294619297362354 Centerline is valid? [True, True] Translation: X:185.92, Y:-10.84, Z:-2.57 [[ 9.99357055e-01 3.30113221e-02 1.39903505e-02 1.85916003e+02] [-3.30010092e-02 9.99454850e-01 -9.67431252e-04 -1.08354431e+01] [-1.40146599e-02 5.05113561e-04 9.99901662e-01 -2.57239013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73037174299998 meters 0.030382417193544804 Centerline is valid? [True, True] Translation: X:185.95, Y:-10.84, Z:-2.57 [[ 9.99574100e-01 2.55090276e-02 1.41742277e-02 1.85946445e+02] [-2.54976921e-02 9.99674401e-01 -9.79892985e-04 -1.08403136e+01] [-1.41946087e-02 6.18065554e-04 9.99899060e-01 -2.57297605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76037174299998 meters 0.031519690521546094 Centerline is valid? [True, True] Translation: X:185.98, Y:-10.85, Z:-2.57 [[ 9.99677786e-01 2.10317012e-02 1.42123534e-02 1.85975881e+02] [-2.10198509e-02 9.99778576e-01 -9.82688283e-04 -1.08466105e+01] [-1.42298740e-02 6.83630098e-04 9.99898517e-01 -2.57370534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79037174299998 meters 0.033284074256739245 Centerline is valid? [True, True] Translation: X:186.01, Y:-10.85, Z:-2.57 [[ 9.99759819e-01 1.68414654e-02 1.40238991e-02 1.86006810e+02] [-1.68295019e-02 9.99857903e-01 -9.70663796e-04 -1.08526368e+01] [-1.40382537e-02 7.34415424e-04 9.99901189e-01 -2.57421671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82037174299998 meters 0.03476112433733685 Centerline is valid? [True, True] Translation: X:186.04, Y:-10.86, Z:-2.58 [[ 9.99824699e-01 1.25389398e-02 1.39049232e-02 1.86036109e+02] [-1.25267601e-02 9.99921074e-01 -9.62680752e-04 -1.08596201e+01] [-1.39158967e-02 7.88328356e-04 9.99902858e-01 -2.57518269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85037174299998 meters 0.03714776670044386 Centerline is valid? [True, True] Translation: X:186.07, Y:-10.87, Z:-2.58 [[ 9.99896367e-01 6.12067850e-03 1.30304394e-02 1.86066543e+02] [-6.10942983e-03 9.99980930e-01 -9.02892289e-04 -1.08665385e+01] [-1.30357172e-02 8.23190165e-04 9.99914693e-01 -2.57608151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88037174299998 meters 0.03887562498383661 Centerline is valid? [True, True] Translation: X:186.10, Y:-10.87, Z:-2.58 [[ 9.99921529e-01 1.86120931e-03 1.23883930e-02 1.86095918e+02] [-1.85070947e-03 9.99997919e-01 -8.58964340e-04 -1.08730687e+01] [-1.23899660e-02 8.35969620e-04 9.99922892e-01 -2.57675288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91037174299998 meters 0.037535267956560224 Centerline is valid? [True, True] Translation: X:186.13, Y:-10.87, Z:-2.58 [[ 9.99929588e-01 6.95795553e-04 1.18463223e-02 1.86127711e+02] [-6.86121801e-04 9.99999428e-01 -8.20648355e-04 -1.08723520e+01] [-1.18468865e-02 8.12462551e-04 9.99929493e-01 -2.57673199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940371743 meters 0.03910177973022741 Centerline is valid? [True, True] Translation: X:186.16, Y:-10.88, Z:-2.58 [[ 9.99925368e-01 -1.35029056e-04 1.22163752e-02 1.86158973e+02] [ 1.45416417e-04 9.99999629e-01 -8.49397500e-04 -1.08769175e+01] [-1.22162560e-02 8.51110569e-04 9.99925017e-01 -2.57717877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.970371743 meters 0.03771317673107601 Centerline is valid? [True, True] Translation: X:186.19, Y:-10.88, Z:-2.58 [[ 9.99922878e-01 -4.44781304e-04 1.24112783e-02 1.86191332e+02] [ 4.55564386e-04 9.99999521e-01 -8.65999494e-04 -1.08778763e+01] [-1.24108871e-02 8.71586843e-04 9.99922602e-01 -2.57768948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000371743 meters 0.03830103292823337 Centerline is valid? [True, True] Translation: X:186.22, Y:-10.88, Z:-2.58 [[ 9.99921539e-01 -2.15784497e-04 1.25247490e-02 1.86223169e+02] [ 2.26792807e-04 9.99999589e-01 -8.77510962e-04 -1.08806740e+01] [-1.25245545e-02 8.80282635e-04 9.99921177e-01 -2.57767670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.030371743 meters 0.03830103292823337 Centerline is valid? [True, True] Translation: X:186.26, Y:-10.88, Z:-2.58 [[ 9.99921558e-01 -1.04042873e-04 1.25246877e-02 1.86255684e+02] [ 1.15053358e-04 9.99999608e-01 -8.78385252e-04 -1.08830431e+01] [-1.25245914e-02 8.79757357e-04 9.99921177e-01 -2.57813443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060371743 meters 0.03779600662588849 Centerline is valid? [True, True] Translation: X:186.29, Y:-10.88, Z:-2.58 [[ 9.99911315e-01 -3.14068441e-04 1.33140094e-02 1.86288223e+02] [ 3.26548965e-04 9.99999509e-01 -9.35234356e-04 -1.08849608e+01] [-1.33137092e-02 9.39499091e-04 9.99910927e-01 -2.57927985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.090371743 meters 0.03854273128007365 Centerline is valid? [True, True] Translation: X:186.32, Y:-10.89, Z:-2.58 [[ 9.99911576e-01 1.50976600e-03 1.32121136e-02 1.86319956e+02] [-1.49758718e-03 9.99998445e-01 -9.31636477e-04 -1.08866199e+01] [-1.32134996e-02 9.11767807e-04 9.99912282e-01 -2.57927581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120371743 meters 0.03762801531237364 Centerline is valid? [True, True] Translation: X:186.35, Y:-10.89, Z:-2.58 [[ 9.99906108e-01 1.68210701e-03 1.35994698e-02 1.86353481e+02] [-1.66921017e-03 9.99998146e-01 -9.59629509e-04 -1.08876008e+01] [-1.36010587e-02 9.36839034e-04 9.99907062e-01 -2.58027376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.150371743 meters 0.03946693214069707 Centerline is valid? [True, True] Translation: X:186.39, Y:-10.89, Z:-2.58 [[ 9.99919773e-01 3.17431081e-03 1.22626128e-02 1.86385269e+02] [-3.16389265e-03 9.99994617e-01 -8.68892960e-04 -1.08897913e+01] [-1.22653049e-02 8.30025661e-04 9.99924434e-01 -2.58036143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180371743 meters 0.0382905082459778 Centerline is valid? [True, True] Translation: X:186.42, Y:-10.89, Z:-2.58 [[ 9.99912866e-01 2.57868662e-03 1.29464287e-02 1.86417035e+02] [-2.56701349e-03 9.99996284e-01 -9.18185560e-04 -1.08909670e+01] [-1.29487483e-02 8.84871898e-04 9.99915770e-01 -2.58202046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21037174299997 meters 0.038155157100882874 Centerline is valid? [True, True] Translation: X:186.45, Y:-10.89, Z:-2.58 [[ 9.99942302e-01 2.47053217e-03 1.04541573e-02 1.86449455e+02] [-2.46289678e-03 9.99996691e-01 -7.43179859e-04 -1.08888155e+01] [-1.04559587e-02 7.17389469e-04 9.99945078e-01 -2.58262184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24037174299997 meters 0.03867206790957759 Centerline is valid? [True, True] Translation: X:186.48, Y:-10.89, Z:-2.58 [[ 9.99938454e-01 8.21418004e-04 1.10640284e-02 1.86480313e+02] [-8.12730161e-04 9.99999358e-01 -7.89706547e-04 -1.08925710e+01] [-1.10646700e-02 7.80665875e-04 9.99938480e-01 -2.58406034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27037174299997 meters 0.04272776355901286 Centerline is valid? [True, True] Translation: X:186.51, Y:-10.90, Z:-2.58 [[ 9.99946833e-01 6.26678290e-05 1.03114915e-02 1.86510711e+02] [-5.50506149e-05 9.99999725e-01 -7.38993354e-04 -1.08985869e+01] [-1.03115350e-02 7.38386410e-04 9.99946562e-01 -2.58454353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30037174299997 meters 0.042769343232918686 Centerline is valid? [True, True] Translation: X:186.54, Y:-10.90, Z:-2.59 [[ 9.99944582e-01 -2.21379824e-03 1.02923640e-02 1.86542037e+02] [ 2.22151109e-03 9.99997260e-01 -7.38003906e-04 -1.09011775e+01] [-1.02907020e-02 7.60827607e-04 9.99946760e-01 -2.58537543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33037174299997 meters 0.03929427026533554 Centerline is valid? [True, True] Translation: X:186.57, Y:-10.89, Z:-2.58 [[ 9.99928110e-01 -5.78945540e-03 1.05003160e-02 1.86573273e+02] [ 5.79768411e-03 9.99982909e-01 -7.53393214e-04 -1.08949400e+01] [-1.04957748e-02 8.14216568e-04 9.99944586e-01 -2.58456679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36037174299997 meters 0.04275539146733783 Centerline is valid? [True, True] Translation: X:186.60, Y:-10.90, Z:-2.58 [[ 9.99921449e-01 -6.71908883e-03 1.05805903e-02 1.86603865e+02] [ 6.72749212e-03 9.99977082e-01 -7.58826242e-04 -1.08986176e+01] [-1.05752492e-02 8.29947473e-04 9.99943736e-01 -2.58406201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39037174299997 meters 0.04063058593592455 Centerline is valid? [True, True] Translation: X:186.63, Y:-10.90, Z:-2.58 [[ 9.99874261e-01 -1.09947976e-02 1.14270236e-02 1.86634399e+02] [ 1.10048991e-02 9.99939107e-01 -8.21498137e-04 -1.08958224e+01] [-1.14172956e-02 9.47148084e-04 9.99934372e-01 -2.58395727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42037174299998 meters 0.04418410867392409 Centerline is valid? [True, True] Translation: X:186.66, Y:-10.90, Z:-2.58 [[ 9.99860262e-01 -1.26372678e-02 1.09433273e-02 1.86664202e+02] [ 1.26466282e-02 9.99919719e-01 -7.86571844e-04 -1.09018410e+01] [-1.09325086e-02 9.24858122e-04 9.99939811e-01 -2.58447676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45037174299998 meters 0.04430011655017757 Centerline is valid? [True, True] Translation: X:186.70, Y:-10.90, Z:-2.58 [[ 9.99859911e-01 -1.34290509e-02 9.99089776e-03 1.86696143e+02] [ 1.34368965e-02 9.99909463e-01 -7.18561661e-04 -1.09008651e+01] [-9.98034361e-03 8.52707658e-04 9.99949832e-01 -2.58490299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48037174299998 meters 0.04530431161918845 Centerline is valid? [True, True] Translation: X:186.73, Y:-10.90, Z:-2.59 [[ 9.99810218e-01 -1.70600536e-02 9.40652571e-03 1.86725695e+02] [ 1.70671754e-02 9.99854116e-01 -6.77347401e-04 -1.09026938e+01] [-9.39359786e-03 8.37761677e-04 9.99955528e-01 -2.58672917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51037174299998 meters 0.04504923531440136 Centerline is valid? [True, True] Translation: X:186.76, Y:-10.90, Z:-2.59 [[ 9.99815163e-01 -1.73554578e-02 8.27208424e-03 1.86757646e+02] [ 1.73609710e-02 9.99849110e-01 -5.95142119e-04 -1.09011185e+01] [-8.26050711e-03 7.38643530e-04 9.99965609e-01 -2.58714815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54037174299998 meters 0.04850545018600654 Centerline is valid? [True, True] Translation: X:186.79, Y:-10.90, Z:-2.59 [[ 9.99800442e-01 -1.83891857e-02 7.80480714e-03 1.86788642e+02] [ 1.83941280e-02 9.99830656e-01 -5.61924207e-04 -1.09030515e+01] [-7.79315211e-03 7.05374692e-04 9.99969384e-01 -2.58727301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57037174299998 meters 0.049224292483656625 Centerline is valid? [True, True] Translation: X:186.82, Y:-10.90, Z:-2.59 [[ 9.99764178e-01 -1.99003407e-02 8.69285482e-03 1.86819082e+02] [ 1.99065336e-02 9.99801649e-01 -6.26464927e-04 -1.09049433e+01] [-8.67866372e-03 7.99361799e-04 9.99962020e-01 -2.58782601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60037174299998 meters 0.04423649833072622 Centerline is valid? [True, True] Translation: X:186.85, Y:-10.90, Z:-2.59 [[ 9.99783800e-01 -1.89150886e-02 8.63554340e-03 1.86852470e+02] [ 1.89211655e-02 9.99820785e-01 -6.22545214e-04 -1.08977778e+01] [-8.62222028e-03 7.85805166e-04 9.99962519e-01 -2.58722068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63037174299998 meters 0.04281875206026885 Centerline is valid? [True, True] Translation: X:186.88, Y:-10.89, Z:-2.59 [[ 9.99826726e-01 -1.64611386e-02 8.69183732e-03 1.86884044e+02] [ 1.64672137e-02 9.99864209e-01 -6.27834499e-04 -1.08921036e+01] [-8.68032218e-03 7.70856055e-04 9.99962028e-01 -2.58723873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66037174299998 meters 0.04348321622009799 Centerline is valid? [True, True] Translation: X:186.91, Y:-10.89, Z:-2.59 [[ 9.99865524e-01 -1.41875445e-02 8.22475226e-03 1.86913415e+02] [ 1.41929108e-02 9.99899099e-01 -5.94452996e-04 -1.08919819e+01] [-8.21548855e-03 7.11106232e-04 9.99965999e-01 -2.58767008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.690371743 meters 0.04160107776983547 Centerline is valid? [True, True] Translation: X:186.95, Y:-10.88, Z:-2.59 [[ 9.99948774e-01 -7.64079671e-03 6.63829337e-03 1.86945033e+02] [ 7.64414723e-03 9.99970668e-01 -4.79499303e-04 -1.08827235e+01] [-6.63443489e-03 5.30218832e-04 9.99977851e-01 -2.58791790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720371743 meters 0.03847457418124997 Centerline is valid? [True, True] Translation: X:186.98, Y:-10.88, Z:-2.59 [[ 9.99963488e-01 -5.13404610e-03 6.83106773e-03 1.86976151e+02] [ 5.13753606e-03 9.99986681e-01 -4.93445556e-04 -1.08778244e+01] [-6.82844338e-03 5.28522396e-04 9.99976546e-01 -2.58879590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.750371743 meters 0.0418682366885489 Centerline is valid? [True, True] Translation: X:187.01, Y:-10.88, Z:-2.59 [[ 9.99985484e-01 -3.96683636e-04 5.37358115e-03 1.87006014e+02] [ 3.98776312e-04 9.99999845e-01 -3.88372002e-04 -1.08792297e+01] [-5.37342626e-03 3.90509221e-04 9.99985487e-01 -2.58929334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780371743 meters 0.036480639600016095 Centerline is valid? [True, True] Translation: X:187.04, Y:-10.87, Z:-2.59 [[ 9.99979080e-01 1.86299870e-03 6.19430106e-03 1.87037913e+02] [-1.86026289e-03 9.99998170e-01 -4.47397503e-04 -1.08713668e+01] [-6.19512322e-03 4.35865115e-04 9.99980715e-01 -2.58991451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.810371743 meters 0.03591141906026928 Centerline is valid? [True, True] Translation: X:187.07, Y:-10.87, Z:-2.59 [[ 9.99966454e-01 6.11582170e-03 5.44855234e-03 1.87069226e+02] [-6.11376549e-03 9.99981233e-01 -3.93961472e-04 -1.08680546e+01] [-5.45085948e-03 3.60637085e-04 9.99985079e-01 -2.58980362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840371743 meters 0.03519012981994591 Centerline is valid? [True, True] Translation: X:187.10, Y:-10.86, Z:-2.59 [[ 9.99909734e-01 1.23817753e-02 5.21677284e-03 1.87099413e+02] [-1.23799742e-02 9.99923294e-01 -3.77413759e-04 -1.08615870e+01] [-5.22104573e-03 3.12796178e-04 9.99986321e-01 -2.58974391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.870371743 meters 0.03176688224085602 Centerline is valid? [True, True] Translation: X:187.13, Y:-10.86, Z:-2.59 [[ 9.99876928e-01 1.45577359e-02 5.84823315e-03 1.87129652e+02] [-1.45555094e-02 9.99893973e-01 -4.23089530e-04 -1.08559003e+01] [-5.85377231e-03 3.37913447e-04 9.99982809e-01 -2.58891739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900371743 meters 0.03216426299445344 Centerline is valid? [True, True] Translation: X:187.16, Y:-10.85, Z:-2.59 [[ 9.99804158e-01 1.88261398e-02 6.10098650e-03 1.87159653e+02] [-1.88237979e-02 9.99822719e-01 -4.41052213e-04 -1.08514211e+01] [-6.10820822e-03 3.26122100e-04 9.99981292e-01 -2.58782403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.930371743 meters 0.03228823975052397 Centerline is valid? [True, True] Translation: X:187.19, Y:-10.85, Z:-2.59 [[ 9.99781658e-01 2.00932541e-02 5.73563275e-03 1.87188354e+02] [-2.00912047e-02 9.99798065e-01 -4.14713792e-04 -1.08501905e+01] [-5.74280747e-03 2.99387471e-04 9.99983465e-01 -2.58838097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96037174299997 meters 0.03136726546576545 Centerline is valid? [True, True] Translation: X:187.22, Y:-10.85, Z:-2.59 [[ 9.99749236e-01 2.17730383e-02 5.23442118e-03 1.87217447e+02] [-2.17713546e-02 9.99762904e-01 -3.78425716e-04 -1.08471913e+01] [-5.24141960e-03 2.64370381e-04 9.99986229e-01 -2.58849968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99037174299997 meters 0.0291621337168198 Centerline is valid? [True, True] Translation: X:187.25, Y:-10.84, Z:-2.59 [[ 9.99743984e-01 2.20387922e-02 5.12429810e-03 1.87246295e+02] [-2.20371839e-02 9.99757083e-01 -3.70120965e-04 -1.08431386e+01] [-5.13121035e-03 2.57101108e-04 9.99986802e-01 -2.58948493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02037174299997 meters 0.031826507232083794 Centerline is valid? [True, True] Translation: X:187.27, Y:-10.84, Z:-2.59 [[ 9.99723683e-01 2.30837688e-02 4.43822247e-03 1.87274425e+02] [-2.30825726e-02 9.99733511e-01 -3.20546922e-04 -1.08447233e+01] [-4.44443916e-03 2.18012757e-04 9.99990100e-01 -2.59068471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05037174299997 meters 0.03170566363605244 Centerline is valid? [True, True] Translation: X:187.30, Y:-10.85, Z:-2.59 [[ 9.99723607e-01 2.30379083e-02 4.68661433e-03 1.87301863e+02] [-2.30365764e-02 9.99734566e-01 -3.37980820e-04 -1.08453768e+01] [-4.69315671e-03 2.29923856e-04 9.99988961e-01 -2.59144964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08037174299997 meters 0.030394104786543356 Centerline is valid? [True, True] Translation: X:187.33, Y:-10.84, Z:-2.59 [[ 9.99724554e-01 2.30375831e-02 4.48183254e-03 1.87331121e+02] [-2.30363673e-02 9.99734576e-01 -3.22714746e-04 -1.08432865e+01] [-4.48807752e-03 2.19380715e-04 9.99989904e-01 -2.59157311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11037174299997 meters 0.029358125614835678 Centerline is valid? [True, True] Translation: X:187.36, Y:-10.84, Z:-2.59 [[ 9.99731663e-01 2.27427332e-02 4.40124126e-03 1.87359597e+02] [-2.27415592e-02 9.99741327e-01 -3.16613493e-04 -1.08432168e+01] [-4.40730344e-03 2.16437445e-04 9.99990264e-01 -2.59178596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14037174299997 meters 0.030781842552932853 Centerline is valid? [True, True] Translation: X:187.39, Y:-10.84, Z:-2.59 [[ 9.99704951e-01 2.41247817e-02 2.82958988e-03 1.87387714e+02] [-2.41243010e-02 9.99708946e-01 -2.03899388e-04 -1.08431099e+01] [-2.83368535e-03 1.35577350e-04 9.99995976e-01 -2.59339431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17037174299998 meters 0.031243492986471937 Centerline is valid? [True, True] Translation: X:187.42, Y:-10.84, Z:-2.59 [[ 9.99691181e-01 2.47695532e-02 2.00273620e-03 1.87416532e+02] [-2.47693137e-02 9.99693183e-01 -1.44279678e-04 -1.08438632e+01] [-2.00569547e-03 9.46287201e-05 9.99997984e-01 -2.59407868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20037174299998 meters 0.030312472151421705 Centerline is valid? [True, True] Translation: X:187.44, Y:-10.84, Z:-2.59 [[ 9.99698615e-01 2.44123162e-02 2.59201413e-03 1.87444101e+02] [-2.44119147e-02 9.99701967e-01 -1.86455036e-04 -1.08422419e+01] [-2.59579342e-03 1.23122814e-04 9.99996623e-01 -2.59336408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23037174299998 meters 0.02832969537754065 Centerline is valid? [True, True] Translation: X:187.47, Y:-10.84, Z:-2.59 [[ 9.99693885e-01 2.45325286e-02 3.20806815e-03 1.87472977e+02] [-2.45319164e-02 9.99699021e-01 -2.30038016e-04 -1.08398707e+01] [-3.21274600e-03 1.51267538e-04 9.99994828e-01 -2.59184582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26037174299998 meters 0.02984959477535043 Centerline is valid? [True, True] Translation: X:187.50, Y:-10.84, Z:-2.59 [[ 9.99672411e-01 2.53363244e-02 3.62511506e-03 1.87501266e+02] [-2.53355494e-02 9.99678970e-01 -2.59546088e-04 -1.08416725e+01] [-3.63052723e-03 1.67616781e-04 9.99993396e-01 -2.59113126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29037174299998 meters 0.028253500006299906 Centerline is valid? [True, True] Translation: X:187.53, Y:-10.84, Z:-2.59 [[ 9.99720246e-01 2.29532962e-02 5.70748751e-03 1.87531194e+02] [-2.29513437e-02 9.99736500e-01 -4.07366652e-04 -1.08411522e+01] [-5.71533399e-03 2.76258182e-04 9.99983629e-01 -2.58936498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32037174299998 meters 0.02930926954369047 Centerline is valid? [True, True] Translation: X:187.56, Y:-10.84, Z:-2.59 [[ 9.99744737e-01 2.18143103e-02 5.88186106e-03 1.87558962e+02] [-2.18122158e-02 9.99761997e-01 -4.20019571e-04 -1.08442641e+01] [-5.88962360e-03 2.91615933e-04 9.99982613e-01 -2.59018041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35037174299998 meters 0.03158781436057062 Centerline is valid? [True, True] Translation: X:187.59, Y:-10.85, Z:-2.59 [[ 9.99794270e-01 1.97467427e-02 4.63499750e-03 1.87586858e+02] [-1.97454214e-02 9.99804985e-01 -3.30655858e-04 -1.08477841e+01] [-4.64062299e-03 2.39067853e-04 9.99989204e-01 -2.59172226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38037174299998 meters 0.030343619386104297 Centerline is valid? [True, True] Translation: X:187.62, Y:-10.85, Z:-2.59 [[ 9.99828276e-01 1.81694816e-02 3.64543010e-03 1.87616767e+02] [-1.81686554e-02 9.99834903e-01 -2.59650825e-04 -1.08472181e+01] [-3.64954597e-03 1.93373673e-04 9.99993322e-01 -2.59214050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41037174299998 meters 0.03198572109157141 Centerline is valid? [True, True] Translation: X:187.65, Y:-10.85, Z:-2.59 [[ 9.99838805e-01 1.78235919e-02 2.16418353e-03 1.87645061e+02] [-1.78232987e-02 9.99841140e-01 -1.54697510e-04 -1.08493933e+01] [-2.16659700e-03 1.16099684e-04 9.99997646e-01 -2.59300952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440371743 meters 0.031858110564573716 Centerline is valid? [True, True] Translation: X:187.67, Y:-10.85, Z:-2.59 [[ 9.99869119e-01 1.60812077e-02 1.77173175e-03 1.87674706e+02] [-1.60810091e-02 9.99870684e-01 -1.26260870e-04 -1.08505081e+01] [-1.77353306e-03 9.77531103e-05 9.99998423e-01 -2.59406232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.470371743 meters 0.03108515098697776 Centerline is valid? [True, True] Translation: X:187.70, Y:-10.85, Z:-2.59 [[ 9.99880627e-01 1.52920562e-02 2.21017156e-03 1.87703706e+02] [-1.52917448e-02 9.99883062e-01 -1.57733465e-04 -1.08509893e+01] [-2.21232518e-03 1.23917256e-04 9.99997545e-01 -2.59364956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500371743 meters 0.03203170825691185 Centerline is valid? [True, True] Translation: X:187.73, Y:-10.85, Z:-2.59 [[ 9.99892847e-01 1.45077651e-02 1.95427403e-03 1.87732305e+02] [-1.45075202e-02 9.99894751e-01 -1.39440327e-04 -1.08535338e+01] [-1.95609131e-03 1.11073716e-04 9.99998081e-01 -2.59368803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.530371743 meters 0.03309020869496911 Centerline is valid? [True, True] Translation: X:187.76, Y:-10.86, Z:-2.59 [[ 9.99897576e-01 1.40282710e-02 2.83657018e-03 1.87761099e+02] [-1.40277549e-02 9.99901586e-01 -2.01734275e-04 -1.08553539e+01] [-2.83912100e-03 1.61922902e-04 9.99995957e-01 -2.59307591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560371743 meters 0.03247017915502611 Centerline is valid? [True, True] Translation: X:187.79, Y:-10.86, Z:-2.59 [[ 9.99911111e-01 1.29450626e-02 3.19306686e-03 1.87789608e+02] [-1.29444043e-02 9.99916192e-01 -2.26741436e-04 -1.08561468e+01] [-3.19573444e-03 1.85388932e-04 9.99994876e-01 -2.59304667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.590371743 meters 0.032616180716265646 Centerline is valid? [True, True] Translation: X:187.82, Y:-10.86, Z:-2.59 [[ 9.99937110e-01 1.08670103e-02 2.77186831e-03 1.87819431e+02] [-1.08665076e-02 9.99940938e-01 -1.96357056e-04 -1.08584759e+01] [-2.77383841e-03 1.66224180e-04 9.99996139e-01 -2.59410182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620371743 meters 0.03426316705358354 Centerline is valid? [True, True] Translation: X:187.85, Y:-10.86, Z:-2.60 [[ 9.99941816e-01 1.06345926e-02 1.80821587e-03 1.87848007e+02] [-1.06343773e-02 9.99943445e-01 -1.28641611e-04 -1.08616876e+01] [-1.80948166e-03 1.09404876e-04 9.99998357e-01 -2.59532002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.650371743 meters 0.03240336677190129 Centerline is valid? [True, True] Translation: X:187.88, Y:-10.86, Z:-2.60 [[ 9.99952411e-01 9.66568818e-03 1.32300699e-03 1.87876779e+02] [-9.66557181e-03 9.99953283e-01 -9.43263536e-05 -1.08605771e+01] [-1.32385691e-03 8.15342457e-05 9.99999120e-01 -2.59541412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680371743 meters 0.03436978384012657 Centerline is valid? [True, True] Translation: X:187.90, Y:-10.87, Z:-2.60 [[ 9.99965887e-01 8.16486348e-03 1.24877421e-03 1.87904557e+02] [-8.16475942e-03 9.99966664e-01 -8.84083420e-05 -1.08662600e+01] [-1.24945442e-03 7.82093852e-05 9.99999216e-01 -2.59660274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71037174299997 meters 0.03279837168117692 Centerline is valid? [True, True] Translation: X:187.93, Y:-10.86, Z:-2.60 [[ 9.99978789e-01 6.51314312e-03 6.82289016e-06 1.87934676e+02] [-6.51314311e-03 9.99978789e-01 -1.00061630e-06 -1.08649040e+01] [-6.82926276e-06 9.56156627e-07 1.00000000e+00 -2.59640821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74037174299997 meters 0.03624494448416247 Centerline is valid? [True, True] Translation: X:187.96, Y:-10.87, Z:-2.60 [[ 9.99984218e-01 5.60330744e-03 -4.07759365e-04 1.87962880e+02] [-5.60329651e-03 9.99984301e-01 2.79285795e-05 -1.08717625e+01] [ 4.07909456e-04 -2.56433421e-05 9.99999916e-01 -2.59835224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77037174299997 meters 0.03685307878588082 Centerline is valid? [True, True] Translation: X:187.99, Y:-10.88, Z:-2.60 [[ 9.99989818e-01 4.50759388e-03 -2.12041186e-04 1.87992281e+02] [-4.50759093e-03 9.99989841e-01 1.44219178e-05 -1.08751711e+01] [ 2.12104039e-04 -1.34659761e-05 9.99999977e-01 -2.59904683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80037174299997 meters 0.03416131489510855 Centerline is valid? [True, True] Translation: X:188.02, Y:-10.87, Z:-2.60 [[ 9.99997607e-01 2.09159770e-03 6.41985369e-04 1.88022012e+02] [-2.09156869e-03 9.99997812e-01 -4.58629886e-05 -1.08730388e+01] [-6.42079891e-04 4.45201223e-05 9.99999793e-01 -2.59833495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83037174299997 meters 0.038612268473158684 Centerline is valid? [True, True] Translation: X:188.05, Y:-10.88, Z:-2.60 [[ 9.99999264e-01 2.25199827e-04 1.19186349e-03 1.88051331e+02] [-2.25101533e-04 9.99999971e-01 -8.26045196e-05 -1.08817727e+01] [-1.19188206e-03 8.23361685e-05 9.99999286e-01 -2.59958071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86037174299997 meters 0.04040537065188683 Centerline is valid? [True, True] Translation: X:188.08, Y:-10.89, Z:-2.60 [[ 9.99995113e-01 -2.87543048e-03 1.22747275e-03 1.88082052e+02] [ 2.87553807e-03 9.99995862e-01 -8.59017688e-05 -1.08850990e+01] [-1.22722066e-03 8.94309936e-05 9.99999243e-01 -2.59983089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89037174299997 meters 0.03952582202187623 Centerline is valid? [True, True] Translation: X:188.11, Y:-10.89, Z:-2.60 [[ 9.99984186e-01 -5.56478401e-03 8.12458189e-04 1.88112824e+02] [ 5.56483187e-03 9.99984515e-01 -5.66665479e-05 -1.08865867e+01] [-8.12130271e-04 6.11868450e-05 9.99999668e-01 -2.60060011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92037174299998 meters 0.04290665440081821 Centerline is valid? [True, True] Translation: X:188.14, Y:-10.89, Z:-2.60 [[ 9.99965932e-01 -8.24435233e-03 4.07608569e-04 1.88142561e+02] [ 8.24436472e-03 9.99966014e-01 -2.87264428e-05 -1.08938142e+01] [-4.07357886e-04 3.20859378e-05 9.99999917e-01 -2.60229695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95037174299998 meters 0.04290665440081821 Centerline is valid? [True, True] Translation: X:188.17, Y:-10.90, Z:-2.60 [[ 9.99966512e-01 -8.17366574e-03 4.07676371e-04 1.88174266e+02] [ 8.17367774e-03 9.99966595e-01 -2.77648703e-05 -1.08961124e+01] [-4.07435812e-04 3.10961558e-05 9.99999917e-01 -2.60274343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98037174299998 meters 0.04345927993768719 Centerline is valid? [True, True] Translation: X:188.20, Y:-10.90, Z:-2.60 [[ 9.99928235e-01 -1.19763374e-02 -3.05265843e-04 1.88204576e+02] [ 1.19763446e-02 9.99928281e-01 2.15780953e-05 -1.08984182e+01] [ 3.04985523e-04 -2.52325156e-05 9.99999953e-01 -2.60297795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01037174299998 meters 0.04473395022426519 Centerline is valid? [True, True] Translation: X:188.24, Y:-10.90, Z:-2.60 [[ 9.99912905e-01 -1.31971998e-02 1.30424199e-04 1.88236581e+02] [ 1.31972010e-02 9.99912913e-01 -8.20820531e-06 -1.09017828e+01] [-1.30304516e-04 9.92872479e-06 9.99999991e-01 -2.60286657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04037174299998 meters 0.04271262072887582 Centerline is valid? [True, True] Translation: X:188.27, Y:-10.90, Z:-2.60 [[ 9.99898757e-01 -1.41448113e-02 1.54941505e-03 1.88268756e+02] [ 1.41449963e-02 9.99899949e-01 -1.08501854e-04 -1.08991356e+01] [-1.54772529e-03 1.30407339e-04 9.99998794e-01 -2.60067223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07037174299998 meters 0.043411483929624115 Centerline is valid? [True, True] Translation: X:188.30, Y:-10.90, Z:-2.60 [[ 9.99879068e-01 -1.53850523e-02 2.26921484e-03 1.88299744e+02] [ 1.53854529e-02 9.99881624e-01 -1.59173208e-04 -1.09025777e+01] [-2.26649733e-03 1.94066857e-04 9.99997413e-01 -2.60036423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10037174299998 meters 0.04504445014967448 Centerline is valid? [True, True] Translation: X:188.33, Y:-10.91, Z:-2.60 [[ 9.99892659e-01 -1.43913460e-02 2.74949326e-03 1.88330925e+02] [ 1.43919342e-02 9.99896412e-01 -1.94260176e-04 -1.09055537e+01] [-2.74641278e-03 2.33809850e-04 9.99996201e-01 -2.60059771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13037174299998 meters 0.044212567660995135 Centerline is valid? [True, True] Translation: X:188.36, Y:-10.91, Z:-2.60 [[ 9.99894497e-01 -1.42545171e-02 2.79333704e-03 1.88363140e+02] [ 1.42551229e-02 9.99898371e-01 -1.97060570e-04 -1.09058649e+01] [-2.79024415e-03 2.36859142e-04 9.99996079e-01 -2.60081138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16037174299998 meters 0.041636052266937014 Centerline is valid? [True, True] Translation: X:188.40, Y:-10.90, Z:-2.60 [[ 9.99892607e-01 -1.43197726e-02 3.11759975e-03 1.88395951e+02] [ 1.43205285e-02 9.99897432e-01 -2.20266451e-04 -1.09041700e+01] [-3.11412581e-03 2.64888472e-04 9.99995116e-01 -2.60089912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.190371743 meters 0.04601456590159525 Centerline is valid? [True, True] Translation: X:188.43, Y:-10.91, Z:-2.60 [[ 9.99931855e-01 -1.14232939e-02 2.40696354e-03 1.88425902e+02] [ 1.14237381e-02 9.99934732e-01 -1.70855310e-04 -1.09087725e+01] [-2.40485472e-03 1.98340188e-04 9.99997089e-01 -2.60257840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220371743 meters 0.04248103104324779 Centerline is valid? [True, True] Translation: X:188.46, Y:-10.90, Z:-2.60 [[ 9.99945734e-01 -1.01331988e-02 2.41796396e-03 1.88458229e+02] [ 1.01336417e-02 9.99948639e-01 -1.71005635e-04 -1.09047327e+01] [-2.41610694e-03 1.95499136e-04 9.99997062e-01 -2.60261055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.250371743 meters 0.038191593509612945 Centerline is valid? [True, True] Translation: X:188.49, Y:-10.90, Z:-2.60 [[ 9.99968122e-01 -7.18451148e-03 3.48379698e-03 1.88489648e+02] [ 7.18541636e-03 9.99974154e-01 -2.47291345e-04 -1.08972725e+01] [-3.48193027e-03 2.72315994e-04 9.99993901e-01 -2.60153124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280371743 meters 0.03999237218541629 Centerline is valid? [True, True] Translation: X:188.52, Y:-10.90, Z:-2.60 [[ 9.99982089e-01 -4.42678380e-03 4.02802549e-03 1.88519578e+02] [ 4.42797241e-03 9.99990156e-01 -2.86216687e-04 -1.08988294e+01] [-4.02671882e-03 3.04047546e-04 9.99991847e-01 -2.60226971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.310371743 meters 0.03622154633726113 Centerline is valid? [True, True] Translation: X:188.55, Y:-10.89, Z:-2.60 [[ 9.99989413e-01 -1.95470001e-03 4.16569538e-03 1.88550799e+02] [ 1.95594918e-03 9.99998043e-01 -2.95817577e-04 -1.08929905e+01] [-4.16510899e-03 3.03962333e-04 9.99991280e-01 -2.60259731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340371743 meters 0.03783120543421081 Centerline is valid? [True, True] Translation: X:188.58, Y:-10.90, Z:-2.60 [[ 9.99991849e-01 -3.67040732e-04 4.02081235e-03 1.88581499e+02] [ 3.68191276e-04 9.99999891e-01 -2.85410669e-04 -1.08953181e+01] [-4.02070716e-03 2.86888771e-04 9.99991876e-01 -2.60373365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.370371743 meters 0.03599687975984881 Centerline is valid? [True, True] Translation: X:188.61, Y:-10.89, Z:-2.60 [[ 9.99992150e-01 9.82795657e-04 3.83842110e-03 1.88613014e+02] [-9.81756570e-04 9.99999481e-01 -2.72581664e-04 -1.08923190e+01] [-3.83868700e-03 2.68811130e-04 9.99992596e-01 -2.60389502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400371743 meters 0.03909114003790289 Centerline is valid? [True, True] Translation: X:188.64, Y:-10.90, Z:-2.61 [[ 9.99990297e-01 3.13651545e-03 3.09340243e-03 1.88643281e+02] [-3.13585017e-03 9.99995059e-01 -2.19890218e-04 -1.08960641e+01] [-3.09407684e-03 2.10187638e-04 9.99995191e-01 -2.60580177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.430371743 meters 0.03627031090698875 Centerline is valid? [True, True] Translation: X:188.67, Y:-10.89, Z:-2.61 [[ 9.99988678e-01 3.86320459e-03 2.77853126e-03 1.88674047e+02] [-3.86267000e-03 9.99992520e-01 -1.97739035e-04 -1.08926771e+01] [-2.77927438e-03 1.87004247e-04 9.99996120e-01 -2.60633046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46037174299997 meters 0.033590882203592014 Centerline is valid? [True, True] Translation: X:188.70, Y:-10.89, Z:-2.61 [[ 9.99978913e-01 6.22301565e-03 1.85666457e-03 1.88704899e+02] [-6.22278100e-03 9.99980630e-01 -1.32132780e-04 -1.08876582e+01] [-1.85745087e-03 1.20576377e-04 9.99998268e-01 -2.60726614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49037174299997 meters 0.03404246022972655 Centerline is valid? [True, True] Translation: X:188.73, Y:-10.89, Z:-2.61 [[ 9.99973677e-01 6.94038173e-03 2.11574958e-03 1.88734308e+02] [-6.94007771e-03 9.99975906e-01 -1.51002521e-04 -1.08889237e+01] [-2.11674661e-03 1.36315079e-04 9.99997750e-01 -2.60817086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52037174299997 meters 0.03413369945329821 Centerline is valid? [True, True] Translation: X:188.76, Y:-10.89, Z:-2.61 [[ 9.99966088e-01 7.71128807e-03 2.89130524e-03 1.88763732e+02] [-7.71072437e-03 9.99970251e-01 -2.06061071e-04 -1.08886749e+01] [-2.89280822e-03 1.83760026e-04 9.99995799e-01 -2.60813348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55037174299997 meters 0.035228754748007185 Centerline is valid? [True, True] Translation: X:188.79, Y:-10.89, Z:-2.61 [[ 9.99965946e-01 7.55108626e-03 3.32993264e-03 1.88792656e+02] [-7.55033770e-03 9.99971468e-01 -2.37312788e-04 -1.08909849e+01] [-3.33162959e-03 2.12162591e-04 9.99994428e-01 -2.60853416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58037174299997 meters 0.035323831072574655 Centerline is valid? [True, True] Translation: X:188.82, Y:-10.89, Z:-2.61 [[ 9.99965730e-01 7.26105440e-03 3.97695094e-03 1.88822312e+02] [-7.25998654e-03 9.99973606e-01 -2.82882898e-04 -1.08925340e+01] [-3.97890000e-03 2.54000593e-04 9.99992052e-01 -2.60816474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61037174299997 meters 0.035124216738792374 Centerline is valid? [True, True] Translation: X:188.85, Y:-10.89, Z:-2.61 [[ 9.99972685e-01 6.41879495e-03 3.66455327e-03 1.88852352e+02] [-6.41788296e-03 9.99979371e-01 -2.60575672e-04 -1.08927950e+01] [-3.66615026e-03 2.37049880e-04 9.99993252e-01 -2.60896418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64037174299997 meters 0.03661439213684663 Centerline is valid? [True, True] Translation: X:188.88, Y:-10.90, Z:-2.61 [[ 9.99980792e-01 4.95353592e-03 3.72521494e-03 1.88881067e+02] [-4.95258389e-03 9.99987701e-01 -2.64743224e-04 -1.08973757e+01] [-3.72648054e-03 2.46288699e-04 9.99993026e-01 -2.60998342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67037174299998 meters 0.03392137211527708 Centerline is valid? [True, True] Translation: X:188.91, Y:-10.90, Z:-2.61 [[ 9.99988285e-01 3.44631249e-03 3.39899476e-03 1.88911247e+02] [-3.44551213e-03 9.99994035e-01 -2.41297719e-04 -1.08950568e+01] [-3.39980607e-03 2.29583615e-04 9.99994194e-01 -2.61014923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70037174299998 meters 0.03714537752340638 Centerline is valid? [True, True] Translation: X:188.94, Y:-10.90, Z:-2.61 [[ 9.99994317e-01 5.96762667e-05 3.37071443e-03 1.88941073e+02] [-5.88727615e-05 9.99999970e-01 -2.38477028e-04 -1.09020897e+01] [-3.37072856e-03 2.38277229e-04 9.99994291e-01 -2.61100796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73037174299998 meters 0.03907802588466195 Centerline is valid? [True, True] Translation: X:188.97, Y:-10.91, Z:-2.61 [[ 9.99993746e-01 -1.98160889e-03 2.92928504e-03 1.88970773e+02] [ 1.98222630e-03 9.99998014e-01 -2.07881543e-04 -1.09065647e+01] [-2.92886728e-03 2.13686749e-04 9.99995688e-01 -2.61168581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76037174299998 meters 0.04035763754359233 Centerline is valid? [True, True] Translation: X:189.00, Y:-10.91, Z:-2.61 [[ 9.99989264e-01 -3.90298972e-03 2.49776446e-03 1.89001592e+02] [ 3.90344407e-03 9.99992366e-01 -1.77053404e-04 -1.09100981e+01] [-2.49705436e-03 1.86801387e-04 9.99996865e-01 -2.61227840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79037174299998 meters 0.04289434467977145 Centerline is valid? [True, True] Translation: X:189.03, Y:-10.91, Z:-2.61 [[ 9.99973616e-01 -6.85347295e-03 2.40771656e-03 1.89030791e+02] [ 6.85390434e-03 9.99976497e-01 -1.70963112e-04 -1.09146173e+01] [-2.40648828e-03 1.87460861e-04 9.99997087e-01 -2.61289054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82037174299998 meters 0.041202697134639914 Centerline is valid? [True, True] Translation: X:189.06, Y:-10.91, Z:-2.61 [[ 9.99964415e-01 -8.02745200e-03 2.59395776e-03 1.89062969e+02] [ 8.02795432e-03 9.99967759e-01 -1.83295951e-04 -1.09139158e+01] [-2.59240273e-03 2.04113603e-04 9.99996619e-01 -2.61311882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85037174299998 meters 0.041688620986699336 Centerline is valid? [True, True] Translation: X:189.10, Y:-10.92, Z:-2.61 [[ 9.99966326e-01 -7.76672800e-03 2.65028491e-03 1.89095410e+02] [ 7.76725202e-03 9.99969817e-01 -1.87486918e-04 -1.09160943e+01] [-2.64874876e-03 2.08066036e-04 9.99996470e-01 -2.61350561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88037174299998 meters 0.04266307718949349 Centerline is valid? [True, True] Translation: X:189.13, Y:-10.92, Z:-2.61 [[ 9.99961730e-01 -7.81318816e-03 3.93615900e-03 1.89126444e+02] [ 7.81434817e-03 9.99969428e-01 -2.79413721e-04 -1.09179848e+01] [-3.93385555e-03 3.10161544e-04 9.99992214e-01 -2.61296481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91037174299998 meters 0.038999775252140365 Centerline is valid? [True, True] Translation: X:189.16, Y:-10.91, Z:-2.61 [[ 9.99966955e-01 -6.92824878e-03 4.25292606e-03 1.89159424e+02] [ 6.92959389e-03 9.99975945e-01 -3.01625162e-04 -1.09142681e+01] [-4.25073402e-03 3.31086246e-04 9.99990911e-01 -2.61245340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940371743 meters 0.039158770290776496 Centerline is valid? [True, True] Translation: X:189.19, Y:-10.91, Z:-2.61 [[ 9.99974155e-01 -4.78874825e-03 5.36264545e-03 1.89189359e+02] [ 4.79086692e-03 9.99988451e-01 -3.82302468e-04 -1.09145319e+01] [-5.36075276e-03 4.07984308e-04 9.99985548e-01 -2.61225368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.970371743 meters 0.03595633499676241 Centerline is valid? [True, True] Translation: X:189.22, Y:-10.91, Z:-2.61 [[ 9.99976779e-01 -3.63928034e-03 5.76171655e-03 1.89221598e+02] [ 3.64170379e-03 9.99993285e-01 -4.10176509e-04 -1.09112418e+01] [-5.76018511e-03 4.31149450e-04 9.99983317e-01 -2.61198452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000371743 meters 0.039557934026792745 Centerline is valid? [True, True] Translation: X:189.25, Y:-10.92, Z:-2.61 [[ 9.99978768e-01 -2.60930492e-03 5.97122922e-03 1.89253007e+02] [ 2.61189206e-03 9.99996498e-01 -4.25509426e-04 -1.09178440e+01] [-5.97009803e-03 4.41096598e-04 9.99982082e-01 -2.61283285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.030371743 meters 0.038965275252621195 Centerline is valid? [True, True] Translation: X:189.29, Y:-10.92, Z:-2.61 [[ 9.99983264e-01 -1.40832405e-03 5.61151168e-03 1.89285431e+02] [ 1.41059216e-03 9.99998925e-01 -4.00250180e-04 -1.09188353e+01] [-5.61094196e-03 4.08159035e-04 9.99984175e-01 -2.61439504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060371743 meters 0.039420446219117035 Centerline is valid? [True, True] Translation: X:189.32, Y:-10.92, Z:-2.62 [[ 9.99986807e-01 -5.28920592e-04 5.10940357e-03 1.89317617e+02] [ 5.30790944e-04 9.99999793e-01 -3.64711634e-04 -1.09211251e+01] [-5.10920960e-03 3.67418848e-04 9.99986880e-01 -2.61531339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.090371743 meters 0.039163487713647256 Centerline is valid? [True, True] Translation: X:189.35, Y:-10.92, Z:-2.62 [[ 9.99991112e-01 1.29712032e-04 4.21411053e-03 1.89349676e+02] [-1.28445030e-04 9.99999946e-01 -3.00926344e-04 -1.09219030e+01] [-4.21414934e-03 3.00382388e-04 9.99991075e-01 -2.61638199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120371743 meters 0.03746472075830012 Centerline is valid? [True, True] Translation: X:189.38, Y:-10.92, Z:-2.62 [[ 9.99994901e-01 -3.51421847e-04 3.17401802e-03 1.89381835e+02] [ 3.52136707e-04 9.99999913e-01 -2.24666486e-04 -1.09209386e+01] [-3.17393879e-03 2.25783028e-04 9.99994938e-01 -2.61692332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.150371743 meters 0.03799882814215021 Centerline is valid? [True, True] Translation: X:189.41, Y:-10.92, Z:-2.62 [[ 9.99997346e-01 8.84430518e-06 2.30402347e-03 1.89412915e+02] [-8.46360109e-06 9.99999986e-01 -1.65244169e-04 -1.09227214e+01] [-2.30402490e-03 1.65224230e-04 9.99997332e-01 -2.61761559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180371743 meters 0.03916254494395701 Centerline is valid? [True, True] Translation: X:189.44, Y:-10.93, Z:-2.62 [[ 9.99998713e-01 -1.63358518e-04 1.59611620e-03 1.89442827e+02] [ 1.63540447e-04 9.99999980e-01 -1.13852548e-04 -1.09251936e+01] [-1.59609757e-03 1.14113431e-04 9.99998720e-01 -2.61833419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21037174299997 meters 0.03993260265022234 Centerline is valid? [True, True] Translation: X:189.47, Y:-10.93, Z:-2.62 [[ 9.99999429e-01 1.12854279e-04 1.06262423e-03 1.89474032e+02] [-1.12773508e-04 9.99999991e-01 -7.60711586e-05 -1.09272626e+01] [-1.06263281e-03 7.59512793e-05 9.99999433e-01 -2.61892181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24037174299997 meters 0.036560653023566356 Centerline is valid? [True, True] Translation: X:189.50, Y:-10.92, Z:-2.62 [[ 9.99999562e-01 2.66615850e-04 8.96761846e-04 1.89504538e+02] [-2.66558013e-04 9.99999962e-01 -6.46147022e-05 -1.09232946e+01] [-8.96779039e-04 6.43756349e-05 9.99999596e-01 -2.61845746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27037174299997 meters 0.03929493860740267 Centerline is valid? [True, True] Translation: X:189.53, Y:-10.93, Z:-2.62 [[ 9.99999519e-01 2.15438546e-04 9.56600414e-04 1.89534163e+02] [-2.15372936e-04 9.99999974e-01 -6.86890481e-05 -1.09274755e+01] [-9.56615188e-04 6.84829893e-05 9.99999540e-01 -2.61947484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30037174299997 meters 0.03839133987279844 Centerline is valid? [True, True] Translation: X:189.57, Y:-10.92, Z:-2.62 [[ 9.99999283e-01 8.26383687e-04 8.66278049e-04 1.89565092e+02] [-8.26329910e-04 9.99999657e-01 -6.24339898e-05 -1.09248144e+01] [-8.66329346e-04 6.17181136e-05 9.99999623e-01 -2.61922856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33037174299997 meters 0.03804470712418922 Centerline is valid? [True, True] Translation: X:189.60, Y:-10.92, Z:-2.62 [[ 9.99998873e-01 9.24108768e-04 1.18310030e-03 1.89596070e+02] [-9.24008531e-04 9.99999569e-01 -8.52678563e-05 -1.09247344e+01] [-1.18317859e-03 8.41745654e-05 9.99999297e-01 -2.61925594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36037174299997 meters 0.036355423700330895 Centerline is valid? [True, True] Translation: X:189.63, Y:-10.92, Z:-2.62 [[ 9.99996122e-01 8.57716125e-04 2.64943021e-03 1.89626502e+02] [-8.57213214e-04 9.99999614e-01 -1.90948505e-04 -1.09208234e+01] [-2.64959297e-03 1.88676638e-04 9.99996472e-01 -2.61770238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39037174299997 meters 0.03992734189343252 Centerline is valid? [True, True] Translation: X:189.66, Y:-10.93, Z:-2.62 [[ 9.99993424e-01 5.45130864e-04 3.58541520e-03 1.89656433e+02] [-5.44208529e-04 9.99999819e-01 -2.58216938e-04 -1.09270446e+01] [-3.58555531e-03 2.56264026e-04 9.99993539e-01 -2.61820440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42037174299998 meters 0.037199628323409874 Centerline is valid? [True, True] Translation: X:189.69, Y:-10.92, Z:-2.62 [[ 9.99992217e-01 1.12685375e-04 3.94375015e-03 1.89688470e+02] [-1.11574422e-04 9.99999954e-01 -2.81918632e-04 -1.09239153e+01] [-3.94378174e-03 2.81476416e-04 9.99992184e-01 -2.61756309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45037174299998 meters 0.039775924203481076 Centerline is valid? [True, True] Translation: X:189.72, Y:-10.93, Z:-2.62 [[ 9.99991839e-01 -1.85339736e-03 3.58980103e-03 1.89718104e+02] [ 1.85434129e-03 9.99998247e-01 -2.59638603e-04 -1.09269565e+01] [-3.58931353e-03 2.66293201e-04 9.99993523e-01 -2.61874425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48037174299998 meters 0.04510945763360162 Centerline is valid? [True, True] Translation: X:189.75, Y:-10.94, Z:-2.62 [[ 9.99990806e-01 -2.88531517e-03 3.17223598e-03 1.89748366e+02] [ 2.88605620e-03 9.99995809e-01 -2.29046156e-04 -1.09353209e+01] [-3.17156181e-03 2.38199302e-04 9.99994942e-01 -2.62068571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51037174299998 meters 0.04240167763070331 Centerline is valid? [True, True] Translation: X:189.78, Y:-10.93, Z:-2.62 [[ 9.99988276e-01 -3.90512818e-03 2.86323330e-03 1.89780309e+02] [ 3.90573001e-03 9.99992352e-01 -2.04630959e-04 -1.09330338e+01] [-2.86241229e-03 2.15811576e-04 9.99995880e-01 -2.62095272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54037174299998 meters 0.04326557049375637 Centerline is valid? [True, True] Translation: X:189.81, Y:-10.93, Z:-2.62 [[ 9.99974060e-01 -6.97722152e-03 1.78830459e-03 1.89811171e+02] [ 6.97746469e-03 9.99975649e-01 -1.29773497e-04 -1.09342928e+01] [-1.78735559e-03 1.42247963e-04 9.99998393e-01 -2.62205370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57037174299998 meters 0.0436808058085408 Centerline is valid? [True, True] Translation: X:189.84, Y:-10.94, Z:-2.62 [[ 9.99962816e-01 -8.46643196e-03 1.63872360e-03 1.89842323e+02] [ 8.46663749e-03 9.99964150e-01 -1.18525843e-04 -1.09356909e+01] [-1.63766136e-03 1.32395914e-04 9.99998650e-01 -2.62282935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60037174299998 meters 0.041732416008737123 Centerline is valid? [True, True] Translation: X:189.87, Y:-10.93, Z:-2.62 [[ 9.99948169e-01 -1.01187276e-02 1.12746707e-03 1.89873967e+02] [ 1.01188258e-02 9.99948800e-01 -8.14203644e-05 -1.09338599e+01] [-1.12658547e-03 9.28247872e-05 9.99999361e-01 -2.62296211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63037174299998 meters 0.04409076705777091 Centerline is valid? [True, True] Translation: X:189.90, Y:-10.94, Z:-2.62 [[ 9.99915317e-01 -1.29790891e-02 9.49829169e-04 1.89903120e+02] [ 1.29791607e-02 9.99915765e-01 -6.91973877e-05 -1.09371989e+01] [-9.48851041e-04 8.15195133e-05 9.99999547e-01 -2.62432325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66037174299998 meters 0.04719272681085117 Centerline is valid? [True, True] Translation: X:189.93, Y:-10.94, Z:-2.63 [[ 9.99897304e-01 -1.43207750e-02 5.45142738e-04 1.89933177e+02] [ 1.43207986e-02 9.99897451e-01 -3.93666663e-05 -1.09418849e+01] [-5.44523073e-04 4.71695029e-05 9.99999851e-01 -2.62564876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.690371743 meters 0.048564225017203574 Centerline is valid? [True, True] Translation: X:189.96, Y:-10.94, Z:-2.63 [[ 9.99856698e-01 -1.69148739e-02 6.85817408e-04 1.89963616e+02] [ 1.69149120e-02 9.99856931e-01 -4.96873937e-05 -1.09427440e+01] [-6.84878833e-04 6.12808145e-05 9.99999764e-01 -2.62612619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720371743 meters 0.04804810363647486 Centerline is valid? [True, True] Translation: X:190.00, Y:-10.94, Z:-2.63 [[ 9.99841648e-01 -1.77743988e-02 8.65578037e-04 1.89995995e+02] [ 1.77744590e-02 9.99842020e-01 -6.19719053e-05 -1.09429793e+01] [-8.64339780e-04 7.73472733e-05 9.99999623e-01 -2.62656805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.750371743 meters 0.04958497974532666 Centerline is valid? [True, True] Translation: X:190.03, Y:-10.95, Z:-2.63 [[ 9.99818313e-01 -1.90466865e-02 7.51152611e-04 1.90026801e+02] [ 1.90467324e-02 9.99818593e-01 -5.39748385e-05 -1.09461675e+01] [-7.49988305e-04 6.82720347e-05 9.99999716e-01 -2.62744784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780371743 meters 0.0484072477137001 Centerline is valid? [True, True] Translation: X:190.06, Y:-10.95, Z:-2.63 [[ 9.99797152e-01 -2.01263225e-02 7.65020417e-04 1.90058621e+02] [ 2.01263704e-02 9.99797443e-01 -5.49822618e-05 -1.09457461e+01] [-7.63758866e-04 7.03681931e-05 9.99999706e-01 -2.62769142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.810371743 meters 0.049159859161478324 Centerline is valid? [True, True] Translation: X:190.09, Y:-10.95, Z:-2.63 [[ 9.99739822e-01 -2.27976229e-02 7.45882694e-04 1.90088834e+02] [ 2.27976697e-02 9.99740098e-01 -5.42954831e-05 -1.09466888e+01] [-7.44451030e-04 7.12857439e-05 9.99999720e-01 -2.62839789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840371743 meters 0.049159859161478324 Centerline is valid? [True, True] Translation: X:190.12, Y:-10.95, Z:-2.63 [[ 9.99742298e-01 -2.26888052e-02 7.45984103e-04 1.90121436e+02] [ 2.26888510e-02 9.99742573e-01 -5.29048196e-05 -1.09491587e+01] [-7.44591720e-04 6.98167080e-05 9.99999720e-01 -2.62885708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.870371743 meters 0.0558478646687155 Centerline is valid? [True, True] Translation: X:190.15, Y:-10.96, Z:-2.63 [[ 9.99722499e-01 -2.35521877e-02 4.67700564e-04 1.90152273e+02] [ 2.35522059e-02 9.99722608e-01 -3.33964873e-05 -1.09596760e+01] [-4.66784267e-04 4.44025997e-05 9.99999890e-01 -2.63017248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900371743 meters 0.051493072700422624 Centerline is valid? [True, True] Translation: X:190.18, Y:-10.95, Z:-2.63 [[ 9.99697389e-01 -2.45993450e-02 4.56442605e-05 1.90184544e+02] [ 2.45993452e-02 9.99697390e-01 -2.32650682e-06 -1.09546552e+01] [-4.55732177e-05 3.44862172e-06 9.99999999e-01 -2.62955436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.930371743 meters 0.04911397320481784 Centerline is valid? [True, True] Translation: X:190.22, Y:-10.95, Z:-2.63 [[ 9.99685415e-01 -2.50780659e-02 -4.02317137e-04 1.90217118e+02] [ 2.50780802e-02 9.99685495e-01 3.04745326e-05 -1.09522262e+01] [ 4.01426364e-04 -4.05542872e-05 9.99999919e-01 -2.62909044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96037174299997 meters 0.051573138683232225 Centerline is valid? [True, True] Translation: X:190.25, Y:-10.96, Z:-2.63 [[ 9.99685298e-01 -2.50840376e-02 3.10477757e-04 1.90249427e+02] [ 2.50840454e-02 9.99685346e-01 -2.14678845e-05 -1.09555191e+01] [-3.09841563e-04 2.92491667e-05 9.99999952e-01 -2.62988290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99037174299997 meters 0.051441864980734296 Centerline is valid? [True, True] Translation: X:190.28, Y:-10.96, Z:-2.63 [[ 9.99702385e-01 -2.43903571e-02 5.01029660e-04 1.90281846e+02] [ 2.43903780e-02 9.99702510e-01 -3.57345185e-05 -1.09567410e+01] [-5.00009031e-04 4.79441862e-05 9.99999874e-01 -2.63023677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02037174299997 meters 0.05400451770976058 Centerline is valid? [True, True] Translation: X:190.31, Y:-10.96, Z:-2.63 [[ 9.99746537e-01 -2.24920452e-02 9.85132161e-04 1.90311097e+02] [ 2.24921275e-02 9.99747017e-01 -7.24810609e-05 -1.09587892e+01] [-9.83252693e-04 9.46204077e-05 9.99999512e-01 -2.63099131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05037174299997 meters 0.04790964192399341 Centerline is valid? [True, True] Translation: X:190.34, Y:-10.95, Z:-2.63 [[ 9.99778018e-01 -2.10614561e-02 5.74219177e-04 1.90343404e+02] [ 2.10614833e-02 9.99778182e-01 -4.13636516e-05 -1.09508672e+01] [-5.73220626e-04 5.34483772e-05 9.99999834e-01 -2.63045064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08037174299997 meters 0.046672974391988135 Centerline is valid? [True, True] Translation: X:190.37, Y:-10.95, Z:-2.63 [[ 9.99819253e-01 -1.90093605e-02 -3.26311936e-04 1.90374848e+02] [ 1.90093695e-02 9.99819305e-01 2.42224973e-05 -1.09477226e+01] [ 3.25792519e-04 -3.04211033e-05 9.99999946e-01 -2.63157677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11037174299997 meters 0.04826935844504039 Centerline is valid? [True, True] Translation: X:190.41, Y:-10.95, Z:-2.63 [[ 9.99834999e-01 -1.81651709e-02 -2.97843307e-05 1.90405557e+02] [ 1.81651710e-02 9.99835000e-01 2.95505673e-06 -1.09505116e+01] [ 2.97257370e-05 -3.49560660e-06 1.00000000e+00 -2.63249699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14037174299997 meters 0.05055634126949843 Centerline is valid? [True, True] Translation: X:190.44, Y:-10.95, Z:-2.63 [[ 9.99847977e-01 -1.74361499e-02 -5.30514332e-05 1.90437094e+02] [ 1.74361502e-02 9.99847979e-01 4.90309857e-06 -1.09543973e+01] [ 5.29578770e-05 -5.82736594e-06 9.99999999e-01 -2.63345827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17037174299998 meters 0.05211281180961728 Centerline is valid? [True, True] Translation: X:190.47, Y:-10.96, Z:-2.63 [[ 9.99852531e-01 -1.71714025e-02 2.44670179e-04 1.90468160e+02] [ 1.71714072e-02 9.99852560e-01 -1.72590387e-05 -1.09574454e+01] [-2.44337743e-04 2.14578248e-05 9.99999970e-01 -2.63416752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20037174299998 meters 0.04631371337157085 Centerline is valid? [True, True] Translation: X:190.50, Y:-10.95, Z:-2.63 [[ 9.99858080e-01 -1.68390775e-02 5.14194346e-04 1.90501485e+02] [ 1.68390987e-02 9.99858212e-01 -3.68365565e-05 -1.09493272e+01] [-5.13501146e-04 4.54898980e-05 9.99999867e-01 -2.63361505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23037174299998 meters 0.049903108324756286 Centerline is valid? [True, True] Translation: X:190.53, Y:-10.96, Z:-2.63 [[ 9.99864550e-01 -1.64371529e-02 8.37217278e-04 1.90532351e+02] [ 1.64372097e-02 9.99864898e-01 -6.09352065e-05 -1.09550893e+01] [-8.36102567e-04 7.46884688e-05 9.99999648e-01 -2.63456963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26037174299998 meters 0.04765969732846938 Centerline is valid? [True, True] Translation: X:190.56, Y:-10.95, Z:-2.64 [[ 9.99887368e-01 -1.49983713e-02 5.48513773e-04 1.90564477e+02] [ 1.49983953e-02 9.99887517e-01 -3.96915142e-05 -1.09516727e+01] [-5.47856767e-04 4.79138700e-05 9.99999849e-01 -2.63501949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29037174299998 meters 0.04569234536840817 Centerline is valid? [True, True] Translation: X:190.60, Y:-10.95, Z:-2.64 [[ 9.99905580e-01 -1.37262411e-02 6.49336797e-04 1.90595917e+02] [ 1.37262748e-02 9.99905789e-01 -4.73996920e-05 -1.09501708e+01] [-6.48625003e-04 5.63081918e-05 9.99999788e-01 -2.63571108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32037174299998 meters 0.04890304337123382 Centerline is valid? [True, True] Translation: X:190.63, Y:-10.96, Z:-2.64 [[ 9.99923577e-01 -1.23429661e-02 7.00275774e-04 1.90626389e+02] [ 1.23430050e-02 9.99923821e-01 -5.11886843e-05 -1.09560058e+01] [-6.99590608e-04 5.98282797e-05 9.99999753e-01 -2.63714082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35037174299998 meters 0.04407432807388326 Centerline is valid? [True, True] Translation: X:190.66, Y:-10.95, Z:-2.64 [[ 9.99952514e-01 -9.68008728e-03 1.12519702e-03 1.90658109e+02] [ 9.68018658e-03 9.99953142e-01 -8.28397719e-05 -1.09490368e+01] [-1.12434240e-03 9.37279552e-05 9.99999364e-01 -2.63658374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38037174299998 meters 0.04236558393257248 Centerline is valid? [True, True] Translation: X:190.69, Y:-10.95, Z:-2.64 [[ 9.99965713e-01 -8.09437173e-03 1.74770768e-03 1.90690087e+02] [ 8.09460841e-03 9.99967230e-01 -1.28390138e-04 -1.09479893e+01] [-1.74661117e-03 1.42532745e-04 9.99998465e-01 -2.63639771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41037174299998 meters 0.04440452310169746 Centerline is valid? [True, True] Translation: X:190.72, Y:-10.95, Z:-2.64 [[ 9.99976987e-01 -6.45478052e-03 2.08843594e-03 1.90720483e+02] [ 6.45511594e-03 9.99979154e-01 -1.53908275e-04 -1.09520738e+01] [-2.08739896e-03 1.67385829e-04 9.99997807e-01 -2.63761369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440371743 meters 0.04117206083086572 Centerline is valid? [True, True] Translation: X:190.75, Y:-10.95, Z:-2.64 [[ 9.99993698e-01 -2.23657930e-03 2.75724311e-03 1.90751650e+02] [ 2.23714990e-03 9.99997477e-01 -2.03879301e-04 -1.09478468e+01] [-2.75678016e-03 2.10046383e-04 9.99996178e-01 -2.63806149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.470371743 meters 0.04214883029460327 Centerline is valid? [True, True] Translation: X:190.78, Y:-10.95, Z:-2.64 [[ 9.99995603e-01 -2.67962907e-04 2.95346025e-03 1.90782066e+02] [ 2.68607867e-04 9.99999940e-01 -2.17979779e-04 -1.09507319e+01] [-2.95340166e-03 2.18772143e-04 9.99995615e-01 -2.63900507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500371743 meters 0.04072290304029436 Centerline is valid? [True, True] Translation: X:190.81, Y:-10.95, Z:-2.64 [[ 9.99982297e-01 4.46976347e-03 3.92779003e-03 1.90811687e+02] [-4.46865575e-03 9.99989973e-01 -2.90753119e-04 -1.09490588e+01] [-3.92905025e-03 2.73196031e-04 9.99992244e-01 -2.63966196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.530371743 meters 0.03654452343622036 Centerline is valid? [True, True] Translation: X:190.84, Y:-10.94, Z:-2.64 [[ 9.99967709e-01 6.86864864e-03 4.17168885e-03 1.90842306e+02] [-6.86742027e-03 9.99976371e-01 -3.08707497e-04 -1.09443286e+01] [-4.17371068e-03 2.80048788e-04 9.99991251e-01 -2.63932418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560371743 meters 0.03629865319177494 Centerline is valid? [True, True] Translation: X:190.87, Y:-10.94, Z:-2.64 [[ 9.99950303e-01 8.98140199e-03 4.32742391e-03 1.90872594e+02] [-8.98009903e-03 9.99959627e-01 -3.20431836e-04 -1.09449786e+01] [-4.33012713e-03 2.81555216e-04 9.99990585e-01 -2.63960331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.590371743 meters 0.035363950070665034 Centerline is valid? [True, True] Translation: X:190.90, Y:-10.94, Z:-2.64 [[ 9.99926077e-01 1.11775856e-02 4.78569354e-03 1.90902885e+02] [-1.11760199e-02 9.99937484e-01 -3.53788871e-04 -1.09444978e+01] [-4.78934886e-03 3.00277712e-04 9.99988486e-01 -2.63975941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620371743 meters 0.03482141813710583 Centerline is valid? [True, True] Translation: X:190.93, Y:-10.94, Z:-2.64 [[ 9.99865234e-01 1.54647320e-02 5.50957593e-03 1.90932769e+02] [-1.54627222e-02 9.99880362e-01 -4.07198570e-04 -1.09439994e+01] [-5.51521399e-03 3.21950652e-04 9.99984739e-01 -2.63969918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.650371743 meters 0.037892332247708174 Centerline is valid? [True, True] Translation: X:190.96, Y:-10.95, Z:-2.64 [[ 9.99828811e-01 1.74667167e-02 6.10433724e-03 1.90961359e+02] [-1.74642871e-02 9.99847386e-01 -4.51096042e-04 -1.09502136e+01] [-6.11128480e-03 3.44410921e-04 9.99981267e-01 -2.64096946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680371743 meters 0.03261005446056239 Centerline is valid? [True, True] Translation: X:190.99, Y:-10.94, Z:-2.64 [[ 9.99751493e-01 2.13500942e-02 6.41291380e-03 1.90992215e+02] [-2.13474940e-02 9.99772004e-01 -4.73645254e-04 -1.09425906e+01] [-6.42156406e-03 3.36627911e-04 9.99979325e-01 -2.64039630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71037174299997 meters 0.03242124323845221 Centerline is valid? [True, True] Translation: X:191.02, Y:-10.94, Z:-2.64 [[ 9.99712280e-01 2.30545101e-02 6.62171281e-03 1.91020777e+02] [-2.30517751e-02 9.99734153e-01 -4.89078520e-04 -1.09434509e+01] [-6.63122791e-03 3.36295568e-04 9.99977957e-01 -2.64072365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74037174299997 meters 0.03197339459197168 Centerline is valid? [True, True] Translation: X:191.05, Y:-10.94, Z:-2.64 [[ 9.99678848e-01 2.44789158e-02 6.55618623e-03 1.91049452e+02] [-2.44762689e-02 9.99700294e-01 -4.83664795e-04 -1.09438731e+01] [-6.56606089e-03 3.23038488e-04 9.99978391e-01 -2.64160058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77037174299997 meters 0.03164887119623424 Centerline is valid? [True, True] Translation: X:191.08, Y:-10.95, Z:-2.64 [[ 9.99637306e-01 2.61845591e-02 6.29489557e-03 1.91076998e+02] [-2.61821529e-02 9.99657081e-01 -4.64357175e-04 -1.09452608e+01] [-6.30489592e-03 2.99374837e-04 9.99980079e-01 -2.64224398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80037174299997 meters 0.028826839941669367 Centerline is valid? [True, True] Translation: X:191.11, Y:-10.94, Z:-2.64 [[ 9.99564231e-01 2.90129484e-02 5.44037405e-03 1.91106827e+02] [-2.90111972e-02 9.99579006e-01 -4.00544368e-04 -1.09410974e+01] [-5.44970466e-03 2.42538059e-04 9.99985121e-01 -2.64288263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83037174299997 meters 0.02793716895241618 Centerline is valid? [True, True] Translation: X:191.14, Y:-10.94, Z:-2.64 [[ 9.99530532e-01 3.02470587e-02 4.88175965e-03 1.91135518e+02] [-3.02456624e-02 9.99542431e-01 -3.59628540e-04 -1.09403369e+01] [-4.89040361e-03 2.11807652e-04 9.99988019e-01 -2.64306173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86037174299997 meters 0.027782786502548652 Centerline is valid? [True, True] Translation: X:191.16, Y:-10.94, Z:-2.64 [[ 9.99436838e-01 3.31563061e-02 5.16386957e-03 1.91164794e+02] [-3.31547864e-02 9.99450157e-01 -3.79652607e-04 -1.09408951e+01] [-5.17361813e-03 2.08231808e-04 9.99986595e-01 -2.64386473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89037174299997 meters 0.027150934805655846 Centerline is valid? [True, True] Translation: X:191.19, Y:-10.94, Z:-2.64 [[ 9.99381538e-01 3.47048572e-02 5.66701766e-03 1.91193504e+02] [-3.47030515e-02 9.99397581e-01 -4.16692945e-04 -1.09414252e+01] [-5.67806501e-03 2.19772431e-04 9.99983856e-01 -2.64424701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92037174299998 meters 0.02685293583512601 Centerline is valid? [True, True] Translation: X:191.22, Y:-10.94, Z:-2.64 [[ 9.99331732e-01 3.60576849e-02 5.99435373e-03 1.91221996e+02] [-3.60556918e-02 9.99349685e-01 -4.40263045e-04 -1.09430374e+01] [-6.00633038e-03 2.23838261e-04 9.99981937e-01 -2.64441320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95037174299998 meters 0.026348480331511433 Centerline is valid? [True, True] Translation: X:191.25, Y:-10.94, Z:-2.64 [[ 9.99245196e-01 3.82624088e-02 6.71020937e-03 1.91250938e+02] [-3.82599650e-02 9.99267698e-01 -4.92239594e-04 -1.09440279e+01] [-6.72412974e-03 2.35135675e-04 9.99977365e-01 -2.64385773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98037174299998 meters 0.025861613898441976 Centerline is valid? [True, True] Translation: X:191.28, Y:-10.94, Z:-2.64 [[ 9.99218648e-01 3.88287566e-02 7.37706537e-03 1.91279490e+02] [-3.88258228e-02 9.99245847e-01 -5.40545173e-04 -1.09444048e+01] [-7.39249063e-03 2.53702184e-04 9.99972643e-01 -2.64344803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01037174299998 meters 0.026284719518126956 Centerline is valid? [True, True] Translation: X:191.31, Y:-10.95, Z:-2.64 [[ 9.99203664e-01 3.90259357e-02 8.30744659e-03 1.91306654e+02] [-3.90222272e-02 9.99238158e-01 -6.08092319e-04 -1.09477517e+01] [-8.32484900e-03 2.83433006e-04 9.99965308e-01 -2.64356110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04037174299998 meters 0.02625771164422262 Centerline is valid? [True, True] Translation: X:191.34, Y:-10.95, Z:-2.64 [[ 9.99225872e-01 3.83899847e-02 8.59455755e-03 1.91335619e+02] [-3.83859997e-02 9.99262788e-01 -6.28202026e-04 -1.09500580e+01] [-8.61233821e-03 2.97805033e-04 9.99962869e-01 -2.64312742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07037174299998 meters 0.026079149388000173 Centerline is valid? [True, True] Translation: X:191.36, Y:-10.95, Z:-2.64 [[ 9.99244896e-01 3.78673770e-02 8.70055626e-03 1.91364181e+02] [-3.78632788e-02 9.99282727e-01 -6.35325626e-04 -1.09522109e+01] [-8.71837370e-03 3.05414302e-04 9.99961948e-01 -2.64368887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10037174299998 meters 0.026110338957633608 Centerline is valid? [True, True] Translation: X:191.39, Y:-10.96, Z:-2.64 [[ 9.99268585e-01 3.73308945e-02 8.28845904e-03 1.91392859e+02] [-3.73271614e-02 9.99302916e-01 -6.04685851e-04 -1.09556326e+01] [-8.30525474e-03 2.94858926e-04 9.99965467e-01 -2.64456433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13037174299998 meters 0.026732316351150195 Centerline is valid? [True, True] Translation: X:191.42, Y:-10.96, Z:-2.65 [[ 9.99298855e-01 3.68239891e-02 6.76698515e-03 1.91420268e+02] [-3.68214903e-02 9.99321737e-01 -4.93511728e-04 -1.09599606e+01] [-6.78056843e-03 2.43995226e-04 9.99976982e-01 -2.64575972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16037174299998 meters 0.026914613420313465 Centerline is valid? [True, True] Translation: X:191.45, Y:-10.96, Z:-2.65 [[ 9.99301189e-01 3.68321310e-02 6.36616252e-03 1.91448303e+02] [-3.68299220e-02 9.99321441e-01 -4.63921793e-04 -1.09631390e+01] [-6.37892993e-03 2.29132331e-04 9.99979628e-01 -2.64654066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.190371743 meters 0.026952507580771796 Centerline is valid? [True, True] Translation: X:191.48, Y:-10.97, Z:-2.65 [[ 9.99307119e-01 3.67573131e-02 5.84646974e-03 1.91475598e+02] [-3.67554477e-02 9.99324199e-01 -4.26225903e-04 -1.09654694e+01] [-5.85818561e-03 2.11040967e-04 9.99982818e-01 -2.64724931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220371743 meters 0.026738353222580627 Centerline is valid? [True, True] Translation: X:191.50, Y:-10.97, Z:-2.65 [[ 9.99282354e-01 3.74948698e-02 5.37702631e-03 1.91504306e+02] [-3.74933124e-02 9.99296802e-01 -3.90180952e-04 -1.09683150e+01] [-5.38787498e-03 1.88298413e-04 9.99985468e-01 -2.64754015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.250371743 meters 0.026919721835155928 Centerline is valid? [True, True] Translation: X:191.53, Y:-10.97, Z:-2.65 [[ 9.99262586e-01 3.80361472e-02 5.24737814e-03 1.91532807e+02] [-3.80346733e-02 9.99276348e-01 -3.80427741e-04 -1.09712651e+01] [-5.25805087e-03 1.80564895e-04 9.99986160e-01 -2.64846808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280371743 meters 0.02585166653834409 Centerline is valid? [True, True] Translation: X:191.56, Y:-10.97, Z:-2.65 [[ 9.99191296e-01 3.98523848e-02 5.34245199e-03 1.91561482e+02] [-3.98508849e-02 9.99205563e-01 -3.86946912e-04 -1.09723880e+01] [-5.35362851e-03 1.73732547e-04 9.99985654e-01 -2.64815530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.310371743 meters 0.025268435194884125 Centerline is valid? [True, True] Translation: X:191.59, Y:-10.97, Z:-2.65 [[ 9.99131986e-01 4.13458026e-02 5.07930562e-03 1.91590295e+02] [-4.13444677e-02 9.99144884e-01 -3.67582140e-04 -1.09738952e+01] [-5.09016021e-03 1.57261886e-04 9.99987033e-01 -2.64826793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340371743 meters 0.024064052789555385 Centerline is valid? [True, True] Translation: X:191.62, Y:-10.97, Z:-2.65 [[ 9.98945770e-01 4.55005987e-02 6.08642471e-03 1.91620481e+02] [-4.54987653e-02 9.98964298e-01 -4.39425457e-04 -1.09746915e+01] [-6.10011511e-03 1.62037392e-04 9.99981381e-01 -2.64709303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.370371743 meters 0.023881499160711767 Centerline is valid? [True, True] Translation: X:191.65, Y:-10.98, Z:-2.65 [[ 9.98841580e-01 4.75922425e-02 7.10469619e-03 1.91648953e+02] [-4.75897957e-02 9.98866832e-01 -5.13140747e-04 -1.09770215e+01] [-7.12106689e-03 1.74435274e-04 9.99974630e-01 -2.64680332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400371743 meters 0.02293747469035546 Centerline is valid? [True, True] Translation: X:191.68, Y:-10.98, Z:-2.65 [[ 9.98749028e-01 4.93822174e-02 7.85972517e-03 1.91677401e+02] [-4.93792746e-02 9.98779938e-01 -5.68153635e-04 -1.09780380e+01] [-7.87819250e-03 1.79335364e-04 9.99968950e-01 -2.64604469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.430371743 meters 0.02280491101641902 Centerline is valid? [True, True] Translation: X:191.71, Y:-10.98, Z:-2.65 [[ 9.98584268e-01 5.24840797e-02 8.65338446e-03 1.91705521e+02] [-5.24806514e-02 9.98621747e-01 -6.22924275e-04 -1.09818880e+01] [-8.67415151e-03 1.67907128e-04 9.99962365e-01 -2.64552249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46037174299997 meters 0.022297632952537227 Centerline is valid? [True, True] Translation: X:191.73, Y:-10.98, Z:-2.65 [[ 9.98528306e-01 5.35162609e-02 8.78815959e-03 1.91734166e+02] [-5.35127855e-02 9.98566965e-01 -6.30294819e-04 -1.09845462e+01] [-8.80929687e-03 1.59088319e-04 9.99961185e-01 -2.64536363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49037174299997 meters 0.022196435405992556 Centerline is valid? [True, True] Translation: X:191.76, Y:-10.99, Z:-2.65 [[ 9.98495548e-01 5.41121895e-02 8.86067068e-03 1.91762492e+02] [-5.41087002e-02 9.98534850e-01 -6.33221638e-04 -1.09876712e+01] [-8.88195348e-03 1.52829614e-04 9.99960543e-01 -2.64521445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52037174299997 meters 0.02227003602483913 Centerline is valid? [True, True] Translation: X:191.79, Y:-10.99, Z:-2.65 [[ 9.98488912e-01 5.42168210e-02 8.96825396e-03 1.91789512e+02] [-5.42132772e-02 9.98529175e-01 -6.37960661e-04 -1.09939197e+01] [-8.98965142e-03 1.50798208e-04 9.99959581e-01 -2.64539477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55037174299997 meters 0.022508356628530807 Centerline is valid? [True, True] Translation: X:191.82, Y:-11.00, Z:-2.65 [[ 9.98545799e-01 5.31763173e-02 8.86372418e-03 1.91818106e+02] [-5.31728188e-02 9.98585126e-01 -6.30059496e-04 -1.09989472e+01] [-8.88468737e-03 1.57834064e-04 9.99960518e-01 -2.64614858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58037174299997 meters 0.022403718344570504 Centerline is valid? [True, True] Translation: X:191.85, Y:-11.00, Z:-2.65 [[ 9.98595263e-01 5.22378550e-02 8.87165807e-03 1.91846136e+02] [-5.22343406e-02 9.98634658e-01 -6.27532021e-04 -1.10044515e+01] [-8.89232615e-03 1.63245294e-04 9.99960449e-01 -2.64687001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61037174299997 meters 0.02237623590439909 Centerline is valid? [True, True] Translation: X:191.87, Y:-11.01, Z:-2.65 [[ 9.98743190e-01 4.94402520e-02 8.22811082e-03 1.91874081e+02] [-4.94371297e-02 9.98777068e-01 -5.82560992e-04 -1.10126521e+01] [-8.24685036e-03 1.75054642e-04 9.99965979e-01 -2.64808686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64037174299997 meters 0.02260414312369624 Centerline is valid? [True, True] Translation: X:191.90, Y:-11.02, Z:-2.65 [[ 9.98825207e-01 4.78749917e-02 7.49603940e-03 1.91902447e+02] [-4.78723768e-02 9.98853321e-01 -5.27981145e-04 -1.10173307e+01] [-7.51272094e-03 1.68507654e-04 9.99971765e-01 -2.64833483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67037174299998 meters 0.023188376044585554 Centerline is valid? [True, True] Translation: X:191.93, Y:-11.02, Z:-2.65 [[ 9.98878540e-01 4.67991440e-02 7.17650364e-03 1.91930115e+02] [-4.67967221e-02 9.98904306e-01 -5.05116781e-04 -1.10230903e+01] [-7.19227942e-03 1.68713466e-04 9.99974121e-01 -2.64895853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70037174299998 meters 0.023163223730690068 Centerline is valid? [True, True] Translation: X:191.96, Y:-11.03, Z:-2.65 [[ 9.98925022e-01 4.59233790e-02 6.31218636e-03 1.91959161e+02] [-4.59214914e-02 9.98944953e-01 -4.43727092e-04 -1.10272215e+01] [-6.32590415e-03 1.53385084e-04 9.99979980e-01 -2.64891662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73037174299998 meters 0.023229064601262655 Centerline is valid? [True, True] Translation: X:191.99, Y:-11.03, Z:-2.65 [[ 9.98961187e-01 4.51770602e-02 5.96487355e-03 1.91987692e+02] [-4.51753635e-02 9.98978984e-01 -4.18939771e-04 -1.10343548e+01] [-5.97770979e-03 1.49039240e-04 9.99982122e-01 -2.64882243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76037174299998 meters 0.023229064601262655 Centerline is valid? [True, True] Translation: X:192.02, Y:-11.04, Z:-2.65 [[ 9.98966035e-01 4.50697355e-02 5.96488338e-03 1.92015087e+02] [-4.50680378e-02 9.98983832e-01 -4.18800229e-04 -1.10361866e+01] [-5.97769727e-03 1.49541615e-04 9.99982122e-01 -2.64920848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79037174299998 meters 0.02355360840532923 Centerline is valid? [True, True] Translation: X:192.04, Y:-11.04, Z:-2.65 [[ 9.98961830e-01 4.51455253e-02 6.09455942e-03 1.92042357e+02] [-4.51437594e-02 9.98980410e-01 -4.27066117e-04 -1.10411450e+01] [-6.10762559e-03 1.51491425e-04 9.99981337e-01 -2.64960149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82037174299998 meters 0.02357393550827301 Centerline is valid? [True, True] Translation: X:192.07, Y:-11.05, Z:-2.65 [[ 9.98963692e-01 4.50897511e-02 6.20126265e-03 1.92070150e+02] [-4.50879245e-02 9.98982928e-01 -4.34101027e-04 -1.10457765e+01] [-6.21452903e-03 1.54049102e-04 9.99980678e-01 -2.64990141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85037174299998 meters 0.023784851514057653 Centerline is valid? [True, True] Translation: X:192.10, Y:-11.05, Z:-2.65 [[ 9.98968701e-01 4.50276213e-02 5.83501909e-03 1.92098052e+02] [-4.50260062e-02 9.98985732e-01 -4.07926731e-04 -1.10531099e+01] [-5.84746878e-03 1.44778431e-04 9.99982893e-01 -2.65071150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88037174299998 meters 0.02369805112495544 Centerline is valid? [True, True] Translation: X:192.13, Y:-11.06, Z:-2.65 [[ 9.98979455e-01 4.47696997e-02 5.97689845e-03 1.92126707e+02] [-4.47680062e-02 9.98997323e-01 -4.16901456e-04 -1.10570823e+01] [-5.98957010e-03 1.48902162e-04 9.99982051e-01 -2.65144022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91037174299998 meters 0.023939335176868786 Centerline is valid? [True, True] Translation: X:192.15, Y:-11.07, Z:-2.65 [[ 9.99048131e-01 4.33161875e-02 5.15169091e-03 1.92153696e+02] [-4.33149104e-02 9.99061404e-01 -3.59263229e-04 -1.10656354e+01] [-5.16241747e-03 1.35776227e-04 9.99986665e-01 -2.65294997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940371743 meters 0.024261566766227156 Centerline is valid? [True, True] Translation: X:192.18, Y:-11.07, Z:-2.65 [[ 9.99103191e-01 4.20725649e-02 4.76579466e-03 1.92182472e+02] [-4.20714602e-02 9.99114549e-01 -3.31855553e-04 -1.10709046e+01] [-4.77553679e-03 1.31054002e-04 9.99988588e-01 -2.65421643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.970371743 meters 0.024393369656464905 Centerline is valid? [True, True] Translation: X:192.21, Y:-11.08, Z:-2.65 [[ 9.99162147e-01 4.07187004e-02 4.12198791e-03 1.92210763e+02] [-4.07178631e-02 9.99170643e-01 -2.86874521e-04 -1.10757188e+01] [-4.13025047e-03 1.18795623e-04 9.99991463e-01 -2.65487074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000371743 meters 0.025290344046017908 Centerline is valid? [True, True] Translation: X:192.24, Y:-11.08, Z:-2.66 [[ 9.99248227e-01 3.86193944e-02 3.39473195e-03 1.92237602e+02] [-3.86188118e-02 9.99253987e-01 -2.37027607e-04 -1.10819210e+01] [-3.40135330e-03 1.05748902e-04 9.99994210e-01 -2.65563252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.030371743 meters 0.025791245921227585 Centerline is valid? [True, True] Translation: X:192.27, Y:-11.09, Z:-2.66 [[ 9.99406980e-01 3.42976355e-02 3.05953332e-03 1.92266484e+02] [-3.42971466e-02 9.99411657e-01 -2.12117299e-04 -1.10912916e+01] [-3.06500839e-03 1.07058246e-04 9.99995297e-01 -2.65633939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060371743 meters 0.026213444159336755 Centerline is valid? [True, True] Translation: X:192.30, Y:-11.10, Z:-2.66 [[ 9.99503366e-01 3.13993936e-02 2.66435605e-03 1.92295408e+02] [-3.13990121e-02 9.99506912e-01 -1.84898282e-04 -1.10968939e+01] [-2.66884798e-03 1.01148307e-04 9.99996434e-01 -2.65715985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.090371743 meters 0.027055591779488266 Centerline is valid? [True, True] Translation: X:192.32, Y:-11.10, Z:-2.66 [[ 9.99592016e-01 2.84493578e-02 2.53673429e-03 1.92324037e+02] [-2.84490028e-02 9.99595230e-01 -1.75937024e-04 -1.11035198e+01] [-2.54071279e-03 1.03697683e-04 9.99996767e-01 -2.65814992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120371743 meters 0.028202133828528528 Centerline is valid? [True, True] Translation: X:192.35, Y:-11.11, Z:-2.66 [[ 9.99747255e-01 2.24399080e-02 1.36984252e-03 1.92354320e+02] [-2.24397993e-02 9.99748192e-01 -9.46751195e-05 -1.11132420e+01] [-1.37162208e-03 6.39121996e-05 9.99999057e-01 -2.65919301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.150371743 meters 0.029505383279454168 Centerline is valid? [True, True] Translation: X:192.38, Y:-11.12, Z:-2.66 [[ 9.99802074e-01 1.98451465e-02 1.40840447e-03 1.92382764e+02] [-1.98450282e-02 9.99803063e-01 -9.79339250e-05 -1.11205293e+01] [-1.41007061e-03 6.99647149e-05 9.99999003e-01 -2.66046124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180371743 meters 0.03496630285002637 Centerline is valid? [True, True] Translation: X:192.41, Y:-11.14, Z:-2.66 [[ 9.99900328e-01 1.41178104e-02 1.49384521e-04 1.92410908e+02] [-1.41178091e-02 9.99900339e-01 -1.03152645e-05 -1.11366736e+01] [-1.49515263e-04 8.20525419e-06 9.99999989e-01 -2.66418537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21037174299997 meters 0.03329707906013391 Centerline is valid? [True, True] Translation: X:192.44, Y:-11.14, Z:-2.66 [[ 9.99934939e-01 1.13689800e-02 -9.29240295e-04 1.92441317e+02] [-1.13689253e-02 9.99935370e-01 6.41174699e-05 -1.11381840e+01] [ 9.29909188e-04 -5.35488349e-05 9.99999566e-01 -2.66455842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24037174299997 meters 0.03362745999969214 Centerline is valid? [True, True] Translation: X:192.47, Y:-11.14, Z:-2.67 [[ 9.99960045e-01 8.83523372e-03 -1.35875816e-03 1.92470202e+02] [-8.83511557e-03 9.99960965e-01 9.29326147e-05 -1.11430858e+01] [ 1.35952620e-03 -8.09241163e-05 9.99999073e-01 -2.66569669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27037174299997 meters 0.03521594233732811 Centerline is valid? [True, True] Translation: X:192.50, Y:-11.15, Z:-2.67 [[ 9.99989938e-01 4.01847695e-03 -1.99381196e-03 1.92499819e+02] [-4.01821098e-03 9.99991918e-01 1.37385717e-04 -1.11516745e+01] [ 1.99434793e-03 -1.29372778e-04 9.99998003e-01 -2.66647376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30037174299997 meters 0.03698480418503438 Centerline is valid? [True, True] Translation: X:192.53, Y:-11.16, Z:-2.67 [[ 9.99993617e-01 2.96730219e-03 -1.99024017e-03 1.92529174e+02] [-2.96703609e-03 9.99995589e-01 1.36641566e-04 -1.11578035e+01] [ 1.99063685e-03 -1.30735579e-04 9.99998010e-01 -2.66738543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33037174299997 meters 0.03692388598869908 Centerline is valid? [True, True] Translation: X:192.56, Y:-11.16, Z:-2.67 [[ 9.99998422e-01 5.98947089e-04 -1.67261581e-03 1.92558835e+02] [-5.98756085e-04 9.99999814e-01 1.14693697e-04 -1.11621653e+01] [ 1.67268420e-03 -1.13692027e-04 9.99998595e-01 -2.66728414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36037174299997 meters 0.038355302121750354 Centerline is valid? [True, True] Translation: X:192.59, Y:-11.17, Z:-2.67 [[ 9.99997746e-01 -1.78303218e-03 -1.15294606e-03 1.92587828e+02] [ 1.78312460e-03 9.99998407e-01 7.91350148e-05 -1.11705959e+01] [ 1.15280313e-03 -8.11906829e-05 9.99999332e-01 -2.66713300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39037174299997 meters 0.03919085749334977 Centerline is valid? [True, True] Translation: X:192.62, Y:-11.17, Z:-2.67 [[ 9.99997440e-01 -1.87693167e-03 -1.26362700e-03 1.92618092e+02] [ 1.87704310e-03 9.99998235e-01 8.70038562e-05 -1.11745866e+01] [ 1.26346147e-03 -8.93755158e-05 9.99999198e-01 -2.66796428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42037174299998 meters 0.03816436481111656 Centerline is valid? [True, True] Translation: X:192.65, Y:-11.18, Z:-2.67 [[ 9.99995589e-01 -2.73042235e-03 -1.16947424e-03 1.92648372e+02] [ 2.73051838e-03 9.99996269e-01 8.05212051e-05 -1.11773255e+01] [ 1.16925002e-03 -8.37141208e-05 9.99999313e-01 -2.66773292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45037174299998 meters 0.03753381163933315 Centerline is valid? [True, True] Translation: X:192.68, Y:-11.18, Z:-2.67 [[ 9.99992017e-01 -3.85295408e-03 -1.05901703e-03 1.92678961e+02] [ 3.85303373e-03 9.99992574e-01 7.31884699e-05 -1.11809936e+01] [ 1.05872718e-03 -7.72683140e-05 9.99999437e-01 -2.66760537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48037174299998 meters 0.03882324540452524 Centerline is valid? [True, True] Translation: X:192.71, Y:-11.19, Z:-2.67 [[ 9.99988935e-01 -4.65059632e-03 -7.07897595e-04 1.92708612e+02] [ 4.65063218e-03 9.99989185e-01 4.90171901e-05 -1.11892430e+01] [ 7.07661979e-04 -5.23088191e-05 9.99999748e-01 -2.66912825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51037174299998 meters 0.0378398231692939 Centerline is valid? [True, True] Translation: X:192.74, Y:-11.19, Z:-2.67 [[ 9.99991066e-01 -4.07694256e-03 -1.11668663e-03 1.92739477e+02] [ 4.07703161e-03 9.99991686e-01 7.74773924e-05 -1.11913211e+01] [ 1.11636148e-03 -8.20294669e-05 9.99999374e-01 -2.66990290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54037174299998 meters 0.03838249414431485 Centerline is valid? [True, True] Translation: X:192.77, Y:-11.20, Z:-2.67 [[ 9.99987026e-01 -4.83753506e-03 -1.59551453e-03 1.92769639e+02] [ 4.83771710e-03 9.99988292e-01 1.10252147e-04 -1.11967616e+01] [ 1.59496251e-03 -1.17969365e-04 9.99998721e-01 -2.67102071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57037174299998 meters 0.03913985305004829 Centerline is valid? [True, True] Translation: X:192.80, Y:-11.20, Z:-2.67 [[ 9.99988945e-01 -4.07335717e-03 -2.34899084e-03 1.92799274e+02] [ 4.07374945e-03 9.99991689e-01 1.62238181e-04 -1.12036247e+01] [ 2.34831046e-03 -1.71805587e-04 9.99997228e-01 -2.67237464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60037174299998 meters 0.03680464970048315 Centerline is valid? [True, True] Translation: X:192.83, Y:-11.20, Z:-2.67 [[ 9.99991490e-01 -3.33667446e-03 -2.42616744e-03 1.92830169e+02] [ 3.33709016e-03 9.99994418e-01 1.67310390e-04 -1.12035908e+01] [ 2.42559564e-03 -1.75405305e-04 9.99997043e-01 -2.67220954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63037174299998 meters 0.03872716714318163 Centerline is valid? [True, True] Translation: X:192.86, Y:-11.21, Z:-2.67 [[ 9.99996474e-01 -7.33474452e-04 -2.55243043e-03 1.92859795e+02] [ 7.33926104e-04 9.99999715e-01 1.76017584e-04 -1.12107077e+01] [ 2.55230060e-03 -1.77890258e-04 9.99996727e-01 -2.67391701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66037174299998 meters 0.034929735890704056 Centerline is valid? [True, True] Translation: X:192.89, Y:-11.21, Z:-2.67 [[ 9.99997584e-01 -1.47589701e-04 -2.19336229e-03 1.92889253e+02] [ 1.47920514e-04 9.99999978e-01 1.50663526e-04 -1.12097379e+01] [ 2.19334000e-03 -1.50987605e-04 9.99997583e-01 -2.67299749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.690371743 meters 0.03529904746374035 Centerline is valid? [True, True] Translation: X:192.92, Y:-11.21, Z:-2.67 [[ 9.99995295e-01 1.17549158e-03 -2.83355294e-03 1.92918768e+02] [-1.17494194e-03 9.99999291e-01 1.95634233e-04 -1.12135471e+01] [ 2.83378089e-03 -1.92304052e-04 9.99995966e-01 -2.67397038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720371743 meters 0.034763109739330424 Centerline is valid? [True, True] Translation: X:192.95, Y:-11.22, Z:-2.67 [[ 9.99990496e-01 3.16316117e-03 -3.00036784e-03 1.92948159e+02] [-3.16255653e-03 9.99994978e-01 2.06243782e-04 -1.12173483e+01] [ 3.00100515e-03 -1.96752989e-04 9.99995478e-01 -2.67467984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.750371743 meters 0.03515243620478682 Centerline is valid? [True, True] Translation: X:192.98, Y:-11.22, Z:-2.68 [[ 9.99987440e-01 3.87678676e-03 -3.17656720e-03 1.92975936e+02] [-3.87611580e-03 9.99992464e-01 2.17353799e-04 -1.12205858e+01] [ 3.17738589e-03 -2.05038327e-04 9.99994931e-01 -2.67501671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780371743 meters 0.03515487771822385 Centerline is valid? [True, True] Translation: X:193.00, Y:-11.22, Z:-2.68 [[ 9.99983315e-01 5.18379189e-03 -2.54925521e-03 1.93004482e+02] [-5.18336443e-03 9.99986551e-01 1.74257903e-04 -1.12236503e+01] [ 2.55012425e-03 -1.61041277e-04 9.99996735e-01 -2.67520573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.810371743 meters 0.0344508265198475 Centerline is valid? [True, True] Translation: X:193.03, Y:-11.23, Z:-2.67 [[ 9.99976647e-01 6.52901256e-03 -2.01912239e-03 1.93033761e+02] [-6.52874727e-03 9.99978678e-01 1.37954562e-04 -1.12262837e+01] [ 2.01998005e-03 -1.24769001e-04 9.99997952e-01 -2.67488703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840371743 meters 0.0351931362889447 Centerline is valid? [True, True] Translation: X:193.06, Y:-11.23, Z:-2.67 [[ 9.99960690e-01 8.86543113e-03 1.51564846e-04 1.93061950e+02] [-8.86542954e-03 9.99960701e-01 -1.11451361e-05 -1.12323607e+01] [-1.51657697e-04 9.80101054e-06 9.99999988e-01 -2.67454398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.870371743 meters 0.03248577514534635 Centerline is valid? [True, True] Translation: X:193.09, Y:-11.23, Z:-2.67 [[ 9.99947683e-01 1.02148801e-02 5.35597106e-04 1.93090608e+02] [-1.02148613e-02 9.99947826e-01 -3.77295288e-05 -1.12307136e+01] [-5.35954565e-04 3.22565047e-05 9.99999856e-01 -2.67374322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900371743 meters 0.03309122169847691 Centerline is valid? [True, True] Translation: X:193.12, Y:-11.23, Z:-2.67 [[ 9.99932706e-01 1.15828438e-02 6.48366006e-04 1.93118166e+02] [-1.15828167e-02 9.99932916e-01 -4.55602713e-05 -1.12339686e+01] [-6.48850228e-04 3.80473009e-05 9.99999789e-01 -2.67411875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.930371743 meters 0.031180240528379623 Centerline is valid? [True, True] Translation: X:193.15, Y:-11.23, Z:-2.67 [[ 9.99925023e-01 1.22267338e-02 6.74762259e-04 1.93146696e+02] [-1.22267047e-02 9.99925250e-01 -4.71715972e-05 -1.12340881e+01] [-6.75288575e-04 3.89179415e-05 9.99999771e-01 -2.67366388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96037174299997 meters 0.03433557445182848 Centerline is valid? [True, True] Translation: X:193.17, Y:-11.24, Z:-2.68 [[ 9.99917591e-01 1.28307482e-02 4.26996121e-04 1.93173686e+02] [-1.28307364e-02 9.99917682e-01 -3.04248587e-05 -1.12429862e+01] [-4.27351345e-04 2.49436768e-05 9.99999908e-01 -2.67596138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99037174299997 meters 0.0317882205650708 Centerline is valid? [True, True] Translation: X:193.20, Y:-11.24, Z:-2.68 [[ 9.99923398e-01 1.23765802e-02 -1.36200431e-04 1.93202403e+02] [-1.23765791e-02 9.99923407e-01 8.28947197e-06 -1.12416554e+01] [ 1.36292594e-04 -6.60314157e-06 9.99999991e-01 -2.67576279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02037174299997 meters 0.03301480725856009 Centerline is valid? [True, True] Translation: X:193.23, Y:-11.25, Z:-2.68 [[ 9.99955039e-01 9.47278620e-03 -4.31940506e-04 1.93231371e+02] [-9.47277468e-03 9.99955132e-01 2.87007262e-05 -1.12478910e+01] [ 4.32193002e-04 -2.46077606e-05 9.99999906e-01 -2.67697730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05037174299997 meters 0.03454771904951647 Centerline is valid? [True, True] Translation: X:193.26, Y:-11.25, Z:-2.68 [[ 9.99971638e-01 7.51542434e-03 -4.91454528e-04 1.93259512e+02] [-7.51540915e-03 9.99971758e-01 3.27397921e-05 -1.12538320e+01] [ 4.91686701e-04 -2.90453817e-05 9.99999879e-01 -2.67766414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08037174299997 meters 0.03506579975057397 Centerline is valid? [True, True] Translation: X:193.29, Y:-11.26, Z:-2.68 [[ 9.99986042e-01 5.26991892e-03 -3.79271518e-04 1.93289022e+02] [-5.26990969e-03 9.99986114e-01 2.53354579e-05 -1.12570124e+01] [ 3.79399767e-04 -2.33363776e-05 9.99999928e-01 -2.67743411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11037174299997 meters 0.0362990010686888 Centerline is valid? [True, True] Translation: X:193.32, Y:-11.26, Z:-2.68 [[ 9.99994840e-01 3.13931381e-03 -6.81012865e-04 1.93318251e+02] [-3.13928343e-03 9.99995071e-01 4.56725551e-05 -1.12609802e+01] [ 6.81152889e-04 -4.35344271e-05 9.99999767e-01 -2.67751572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14037174299997 meters 0.0389339317612198 Centerline is valid? [True, True] Translation: X:193.35, Y:-11.27, Z:-2.68 [[ 9.99999677e-01 -4.60757723e-04 -6.59263974e-04 1.93347434e+02] [ 4.60787136e-04 9.99999893e-01 4.44644456e-05 -1.12672517e+01] [ 6.59243416e-04 -4.47682116e-05 9.99999782e-01 -2.67765063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17037174299998 meters 0.04071981792958411 Centerline is valid? [True, True] Translation: X:193.38, Y:-11.27, Z:-2.68 [[ 9.99999109e-01 -1.24066836e-03 -4.93611661e-04 1.93378029e+02] [ 1.24068509e-03 9.99999230e-01 3.35826824e-05 -1.12715101e+01] [ 4.93569616e-04 -3.41950690e-05 9.99999878e-01 -2.67799743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20037174299998 meters 0.041194160054125004 Centerline is valid? [True, True] Translation: X:193.41, Y:-11.27, Z:-2.68 [[ 9.99994929e-01 -3.18461401e-03 -2.39063292e-05 1.93408487e+02] [ 3.18461405e-03 9.99994929e-01 1.62645803e-06 -1.12745501e+01] [ 2.39010281e-05 -1.70258221e-06 1.00000000e+00 -2.67759783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23037174299998 meters 0.03775034873720597 Centerline is valid? [True, True] Translation: X:193.44, Y:-11.27, Z:-2.68 [[ 9.99988529e-01 -4.49668421e-03 1.65005791e-03 1.93440545e+02] [ 4.49687480e-03 9.99989883e-01 -1.11814900e-04 -1.12712944e+01] [-1.64953842e-03 1.19233722e-04 9.99998632e-01 -2.67501008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26037174299998 meters 0.0351059218355436 Centerline is valid? [True, True] Translation: X:193.47, Y:-11.27, Z:-2.67 [[ 9.99985719e-01 -4.84797633e-03 2.24920886e-03 1.93473368e+02] [ 4.84833091e-03 9.99988235e-01 -1.52223796e-04 -1.12687249e+01] [-2.24844443e-03 1.63126531e-04 9.99997459e-01 -2.67364484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29037174299998 meters 0.03680469912462395 Centerline is valid? [True, True] Translation: X:193.50, Y:-11.27, Z:-2.67 [[ 9.99984203e-01 -4.58079624e-03 3.25720410e-03 1.93504320e+02] [ 4.58153906e-03 9.99989480e-01 -2.20628277e-04 -1.12729397e+01] [-3.25615918e-03 2.35547799e-04 9.99994671e-01 -2.67306156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32037174299998 meters 0.0389948594935707 Centerline is valid? [True, True] Translation: X:193.54, Y:-11.28, Z:-2.67 [[ 9.99981615e-01 -4.36351495e-03 4.21061634e-03 1.93535914e+02] [ 4.36476084e-03 9.99990433e-01 -2.86746909e-04 -1.12760069e+01] [-4.20932484e-03 3.05119971e-04 9.99991094e-01 -2.67219942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35037174299998 meters 0.035269464130411765 Centerline is valid? [True, True] Translation: X:193.57, Y:-11.27, Z:-2.67 [[ 9.99981388e-01 -4.10263554e-03 4.51572954e-03 1.93568872e+02] [ 4.10406760e-03 9.99991531e-01 -3.07908084e-04 -1.12723489e+01] [-4.51442807e-03 3.26435213e-04 9.99989757e-01 -2.67136691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38037174299998 meters 0.037393925369400574 Centerline is valid? [True, True] Translation: X:193.60, Y:-11.28, Z:-2.67 [[ 9.99978936e-01 -4.21460475e-03 4.93610018e-03 1.93599734e+02] [ 4.21632036e-03 9.99991054e-01 -3.37209988e-04 -1.12766786e+01] [-4.93463482e-03 3.58015064e-04 9.99987761e-01 -2.67192917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41037174299998 meters 0.03738956171211939 Centerline is valid? [True, True] Translation: X:193.63, Y:-11.28, Z:-2.67 [[ 9.99982538e-01 -3.16997648e-03 4.98744717e-03 1.93632171e+02] [ 3.17171565e-03 9.99994912e-01 -3.40838303e-04 -1.12764842e+01] [-4.98634134e-03 3.56651116e-04 9.99987505e-01 -2.67254819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440371743 meters 0.036811336298052916 Centerline is valid? [True, True] Translation: X:193.66, Y:-11.28, Z:-2.67 [[ 9.99982287e-01 -4.01684147e-03 4.39222645e-03 1.93664153e+02] [ 4.01819931e-03 9.99991882e-01 -3.00366250e-04 -1.12779269e+01] [-4.39098427e-03 3.18009771e-04 9.99990309e-01 -2.67253767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.470371743 meters 0.03728880713137172 Centerline is valid? [True, True] Translation: X:193.70, Y:-11.28, Z:-2.67 [[ 9.99984723e-01 -4.04216848e-03 3.77010519e-03 1.93695875e+02] [ 4.04316960e-03 9.99991793e-01 -2.57955910e-04 -1.12791503e+01] [-3.76903155e-03 2.73195144e-04 9.99992860e-01 -2.67352730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500371743 meters 0.037430863663206505 Centerline is valid? [True, True] Translation: X:193.73, Y:-11.28, Z:-2.67 [[ 9.99991976e-01 -2.90523766e-03 2.75806866e-03 1.93728218e+02] [ 2.90576895e-03 9.99995760e-01 -1.88643691e-04 -1.12790520e+01] [-2.75750891e-03 1.96656487e-04 9.99996179e-01 -2.67452461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.530371743 meters 0.03907925774744512 Centerline is valid? [True, True] Translation: X:193.76, Y:-11.28, Z:-2.68 [[ 9.99997281e-01 -1.61715873e-03 1.67989273e-03 1.93759634e+02] [ 1.61735431e-03 9.99998685e-01 -1.15071893e-04 -1.12806664e+01] [-1.67970444e-03 1.17788562e-04 9.99998582e-01 -2.67598185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560371743 meters 0.03839192583620306 Centerline is valid? [True, True] Translation: X:193.79, Y:-11.28, Z:-2.68 [[ 9.99996326e-01 -1.82925306e-03 2.00052630e-03 1.93790526e+02] [ 1.82953076e-03 9.99998317e-01 -1.36993472e-04 -1.12817135e+01] [-2.00027234e-03 1.40652993e-04 9.99997990e-01 -2.67575931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.590371743 meters 0.037848219103656176 Centerline is valid? [True, True] Translation: X:193.82, Y:-11.28, Z:-2.68 [[ 9.99996386e-01 -1.37566216e-03 2.30988535e-03 1.93822420e+02] [ 1.37603175e-03 9.99999041e-01 -1.58419627e-04 -1.12813019e+01] [-2.30966520e-03 1.61597530e-04 9.99997320e-01 -2.67592081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620371743 meters 0.03565259391670241 Centerline is valid? [True, True] Translation: X:193.85, Y:-11.28, Z:-2.67 [[ 9.99995210e-01 1.27212839e-03 2.82159476e-03 1.93853688e+02] [-1.27158540e-03 9.99999173e-01 -1.94226329e-04 -1.12759942e+01] [-2.82183951e-03 1.90637500e-04 9.99996000e-01 -2.67477804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.650371743 meters 0.03565259391670241 Centerline is valid? [True, True] Translation: X:193.88, Y:-11.28, Z:-2.68 [[ 9.99995163e-01 1.30860556e-03 2.82160524e-03 1.93884528e+02] [-1.30806315e-03 9.99999126e-01 -1.94074383e-04 -1.12781496e+01] [-2.82185674e-03 1.90382607e-04 9.99996000e-01 -2.67521218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680371743 meters 0.038506202570694745 Centerline is valid? [True, True] Translation: X:193.91, Y:-11.28, Z:-2.68 [[ 9.99993107e-01 1.36308410e-03 3.45363462e-03 1.93914495e+02] [-1.36227028e-03 9.99999044e-01 -2.37982891e-04 -1.12836653e+01] [-3.45395571e-03 2.33276467e-04 9.99994008e-01 -2.67539400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71037174299997 meters 0.035123368738238174 Centerline is valid? [True, True] Translation: X:193.95, Y:-11.28, Z:-2.67 [[ 9.99988047e-01 2.46183348e-03 4.22427670e-03 1.93945978e+02] [-2.46062589e-03 9.99996930e-01 -2.91041339e-04 -1.12790790e+01] [-4.22498023e-03 2.80643496e-04 9.99991035e-01 -2.67436278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74037174299997 meters 0.03674798386099933 Centerline is valid? [True, True] Translation: X:193.98, Y:-11.28, Z:-2.67 [[ 9.99977288e-01 4.62424985e-03 4.90296052e-03 1.93976117e+02] [-4.62264685e-03 9.99989258e-01 -3.38227473e-04 -1.12800072e+01] [-4.90447190e-03 3.15555136e-04 9.99987923e-01 -2.67379238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77037174299997 meters 0.03496480383593794 Centerline is valid? [True, True] Translation: X:194.01, Y:-11.28, Z:-2.67 [[ 9.99973699e-01 5.44572493e-03 4.79004986e-03 1.94007183e+02] [-5.44420310e-03 9.99985126e-01 -3.30687748e-04 -1.12776107e+01] [-4.79177944e-03 3.04601046e-04 9.99988473e-01 -2.67344965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80037174299997 meters 0.03492020383072425 Centerline is valid? [True, True] Translation: X:194.04, Y:-11.28, Z:-2.67 [[ 9.99968330e-01 6.05228500e-03 5.16815693e-03 1.94037454e+02] [-6.05052151e-03 9.99981632e-01 -3.56790895e-04 -1.12783722e+01] [-5.17022140e-03 3.25509551e-04 9.99986581e-01 -2.67395682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83037174299997 meters 0.03489900042861991 Centerline is valid? [True, True] Translation: X:194.07, Y:-11.28, Z:-2.68 [[ 9.99967570e-01 6.81744365e-03 4.28725095e-03 1.94067810e+02] [-6.81623709e-03 9.99976725e-01 -2.95976327e-04 -1.12769103e+01] [-4.28916897e-03 2.66743810e-04 9.99990766e-01 -2.67503688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86037174299997 meters 0.03209258316122061 Centerline is valid? [True, True] Translation: X:194.10, Y:-11.27, Z:-2.67 [[ 9.99973204e-01 6.03376869e-03 4.14556404e-03 1.94097974e+02] [-6.03263235e-03 9.99981762e-01 -2.86559173e-04 -1.12741333e+01] [-4.14721747e-03 2.61542831e-04 9.99991366e-01 -2.67452460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89037174299997 meters 0.03335273640081072 Centerline is valid? [True, True] Translation: X:194.13, Y:-11.28, Z:-2.68 [[ 9.99978426e-01 5.56505465e-03 3.48955510e-03 1.94127339e+02] [-5.56424750e-03 9.99984490e-01 -2.40970251e-04 -1.12770659e+01] [-3.49084200e-03 2.21548304e-04 9.99993882e-01 -2.67545493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92037174299998 meters 0.033755193494637466 Centerline is valid? [True, True] Translation: X:194.16, Y:-11.28, Z:-2.68 [[ 9.99982153e-01 5.30401205e-03 2.74985152e-03 1.94158324e+02] [-5.30351040e-03 9.99985918e-01 -1.89687823e-04 -1.12775149e+01] [-2.75081891e-03 1.75100572e-04 9.99996201e-01 -2.67605736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95037174299998 meters 0.035374723535701355 Centerline is valid? [True, True] Translation: X:194.19, Y:-11.28, Z:-2.68 [[ 9.99984227e-01 5.09898096e-03 2.35505478e-03 1.94188115e+02] [-5.09861283e-03 9.99986989e-01 -1.62293217e-04 -1.12801337e+01] [-2.35585167e-03 1.50283145e-04 9.99997214e-01 -2.67676603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98037174299998 meters 0.03509520541034748 Centerline is valid? [True, True] Translation: X:194.22, Y:-11.28, Z:-2.68 [[ 9.99981889e-01 5.32709519e-03 2.80051846e-03 1.94217933e+02] [-5.32657374e-03 9.99985795e-01 -1.93622338e-04 -1.12802397e+01] [-2.80151012e-03 1.78701664e-04 9.99996060e-01 -2.67683227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01037174299998 meters 0.03588742599157322 Centerline is valid? [True, True] Translation: X:194.25, Y:-11.28, Z:-2.68 [[ 9.99975168e-01 6.09344831e-03 3.54025455e-03 1.94247141e+02] [-6.09262138e-03 9.99981410e-01 -2.44317725e-04 -1.12807485e+01] [-3.54167747e-03 2.22742228e-04 9.99993703e-01 -2.67596898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04037174299998 meters 0.036805097595562955 Centerline is valid? [True, True] Translation: X:194.28, Y:-11.28, Z:-2.68 [[ 9.99961885e-01 7.53868450e-03 4.40419428e-03 1.94276579e+02] [-7.53741855e-03 9.99971547e-01 -3.03967802e-04 -1.12819456e+01] [-4.40636049e-03 2.70759961e-04 9.99990255e-01 -2.67592063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07037174299998 meters 0.03652084398655534 Centerline is valid? [True, True] Translation: X:194.31, Y:-11.28, Z:-2.68 [[ 9.99960599e-01 7.44497130e-03 4.83462655e-03 1.94306358e+02] [-7.44344579e-03 9.99972242e-01 -3.33455857e-04 -1.12829454e+01] [-4.83697492e-03 2.97456437e-04 9.99988258e-01 -2.67547499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10037174299998 meters 0.036934348296296875 Centerline is valid? [True, True] Translation: X:194.34, Y:-11.28, Z:-2.67 [[ 9.99948965e-01 8.26603776e-03 5.80860583e-03 1.94335630e+02] [-8.26385432e-03 9.99965774e-01 -3.99797077e-04 -1.12836855e+01] [-5.81171176e-03 3.51775201e-04 9.99983050e-01 -2.67488398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13037174299998 meters 0.03740230160210373 Centerline is valid? [True, True] Translation: X:194.37, Y:-11.29, Z:-2.68 [[ 9.99950031e-01 8.42733704e-03 5.37725411e-03 1.94365114e+02] [-8.42546445e-03 9.99964436e-01 -3.70801474e-04 -1.12853949e+01] [-5.38018775e-03 3.25477082e-04 9.99985474e-01 -2.67569905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16037174299998 meters 0.03913569357578005 Centerline is valid? [True, True] Translation: X:194.39, Y:-11.29, Z:-2.68 [[ 9.99939534e-01 9.71153427e-03 5.15893735e-03 1.94394428e+02] [-9.70982927e-03 9.99952795e-01 -3.55438987e-04 -1.12879412e+01] [-5.16214568e-03 3.05325094e-04 9.99986629e-01 -2.67759021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.190371743 meters 0.03861420073878678 Centerline is valid? [True, True] Translation: X:194.42, Y:-11.29, Z:-2.68 [[ 9.99955653e-01 8.41559767e-03 4.22716752e-03 1.94424378e+02] [-8.41444084e-03 9.99964556e-01 -2.91375521e-04 -1.12893214e+01] [-4.22946979e-03 2.55793349e-04 9.99991023e-01 -2.67784251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220371743 meters 0.039504829062218735 Centerline is valid? [True, True] Translation: X:194.45, Y:-11.29, Z:-2.68 [[ 9.99962730e-01 8.07229187e-03 3.06222012e-03 1.94452687e+02] [-8.07168288e-03 9.99967401e-01 -2.11178868e-04 -1.12910694e+01] [-3.06382499e-03 1.86453727e-04 9.99995289e-01 -2.67965478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.250371743 meters 0.04041452194216712 Centerline is valid? [True, True] Translation: X:194.48, Y:-11.29, Z:-2.68 [[ 9.99969222e-01 7.51766198e-03 2.24474130e-03 1.94481947e+02] [-7.51733341e-03 9.99971732e-01 -1.54776359e-04 -1.12935877e+01] [-2.24584140e-03 1.37897126e-04 9.99997469e-01 -2.68066781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280371743 meters 0.041237514654003514 Centerline is valid? [True, True] Translation: X:194.51, Y:-11.30, Z:-2.68 [[ 9.99973550e-01 7.00702524e-03 1.94975421e-03 1.94511077e+02] [-7.00677561e-03 9.99975443e-01 -1.34828714e-04 -1.12958603e+01] [-1.95065107e-03 1.21163657e-04 9.99998090e-01 -2.68176174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.310371743 meters 0.04243842652663876 Centerline is valid? [True, True] Translation: X:194.54, Y:-11.30, Z:-2.68 [[ 9.99981210e-01 5.95916891e-03 1.43826259e-03 1.94539687e+02] [-5.95903217e-03 9.99982240e-01 -9.93382937e-05 -1.12985825e+01] [-1.43882902e-03 9.07657741e-05 9.99998961e-01 -2.68239118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340371743 meters 0.044395157250244864 Centerline is valid? [True, True] Translation: X:194.57, Y:-11.30, Z:-2.68 [[ 9.99980631e-01 6.02454179e-03 1.56255819e-03 1.94568431e+02] [-6.02438059e-03 9.99981847e-01 -1.07849833e-04 -1.13019212e+01] [-1.56317957e-03 9.84342994e-05 9.99998773e-01 -2.68330622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.370371743 meters 0.04397532820749842 Centerline is valid? [True, True] Translation: X:194.60, Y:-11.30, Z:-2.68 [[ 9.99981004e-01 5.84539264e-03 1.95550709e-03 1.94598317e+02] [-5.84514074e-03 9.99982908e-01 -1.34507570e-04 -1.13027911e+01] [-1.95625992e-03 1.23074801e-04 9.99998079e-01 -2.68299396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400371743 meters 0.04491581749990777 Centerline is valid? [True, True] Translation: X:194.63, Y:-11.30, Z:-2.68 [[ 9.99976602e-01 6.45392389e-03 2.26758410e-03 1.94626921e+02] [-6.45358663e-03 9.99979163e-01 -1.56014507e-04 -1.13036828e+01] [-2.26854375e-03 1.41376806e-04 9.99997417e-01 -2.68312810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.430371743 meters 0.04551759424876985 Centerline is valid? [True, True] Translation: X:194.66, Y:-11.31, Z:-2.68 [[ 9.99977990e-01 6.24166008e-03 2.24973073e-03 1.94656404e+02] [-6.24132824e-03 9.99980511e-01 -1.54492218e-04 -1.13050189e+01] [-2.25065118e-03 1.40447510e-04 9.99997457e-01 -2.68356680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46037174299997 meters 0.04647678218499192 Centerline is valid? [True, True] Translation: X:194.69, Y:-11.31, Z:-2.68 [[ 9.99977157e-01 6.22487361e-03 2.63354428e-03 1.94685310e+02] [-6.22441878e-03 9.99980612e-01 -1.80867104e-04 -1.13067755e+01] [-2.63461910e-03 1.64470690e-04 9.99996516e-01 -2.68445295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49037174299997 meters 0.0479488394632603 Centerline is valid? [True, True] Translation: X:194.72, Y:-11.31, Z:-2.69 [[ 9.99984140e-01 5.33448355e-03 1.80664873e-03 1.94715233e+02] [-5.33426853e-03 9.99985765e-01 -1.23813564e-04 -1.13086572e+01] [-1.80728349e-03 1.14174450e-04 9.99998360e-01 -2.68578902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52037174299997 meters 0.049171864588908855 Centerline is valid? [True, True] Translation: X:194.74, Y:-11.31, Z:-2.69 [[ 9.99988513e-01 4.54389966e-03 1.52515557e-03 1.94744539e+02] [-4.54374520e-03 9.99989672e-01 -1.04724102e-04 -1.13107236e+01] [-1.52561567e-03 9.77929807e-05 9.99998831e-01 -2.68767077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55037174299997 meters 0.05360568310295296 Centerline is valid? [True, True] Translation: X:194.77, Y:-11.31, Z:-2.69 [[ 9.99999329e-01 8.29611128e-04 8.08938258e-04 1.94773661e+02] [-8.29566491e-04 9.99999654e-01 -5.55133909e-05 -1.13145353e+01] [-8.08984033e-04 5.48422856e-05 9.99999671e-01 -2.69219913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58037174299997 meters 0.040787509970173115 Centerline is valid? [True, True] Translation: X:194.80, Y:-11.30, Z:-2.69 [[ 9.99998428e-01 1.09360954e-03 1.39555633e-03 1.94804928e+02] [-1.09347745e-03 9.99999398e-01 -9.54076463e-05 -1.13009021e+01] [-1.39565983e-03 9.38814870e-05 9.99999022e-01 -2.68758359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61037174299997 meters 0.04082327108878697 Centerline is valid? [True, True] Translation: X:194.84, Y:-11.30, Z:-2.69 [[ 9.99998832e-01 -6.38319077e-04 1.38844729e-03 1.94835506e+02] [ 6.38451483e-04 9.99999792e-01 -9.49216346e-05 -1.13038822e+01] [-1.38838641e-03 9.58079800e-05 9.99999032e-01 -2.68835322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64037174299997 meters 0.04016592760578426 Centerline is valid? [True, True] Translation: X:194.87, Y:-11.31, Z:-2.69 [[ 9.99996178e-01 -2.56442767e-03 1.03322560e-03 1.94866374e+02] [ 2.56450129e-03 9.99996709e-01 -6.99320878e-05 -1.13050350e+01] [-1.03304286e-03 7.25815289e-05 9.99999464e-01 -2.68877481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67037174299998 meters 0.06091828585073744 Centerline is valid? [True, True] Translation: X:194.89, Y:-11.34, Z:-2.69 [[ 9.99977753e-01 -6.58206567e-03 1.08187054e-03 1.94893651e+02] [ 6.58214943e-03 9.99978335e-01 -7.38771418e-05 -1.13360966e+01] [-1.08136084e-03 8.09965318e-05 9.99999412e-01 -2.69361062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70037174299998 meters 0.04253541978461036 Centerline is valid? [True, True] Translation: X:194.93, Y:-11.31, Z:-2.69 [[ 9.99963219e-01 -8.53991990e-03 7.93509276e-04 1.94926331e+02] [ 8.53996547e-03 9.99963532e-01 -5.40643505e-05 -1.13130149e+01] [-7.93018633e-04 6.08389038e-05 9.99999684e-01 -2.68911530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73037174299998 meters 0.046517795906624686 Centerline is valid? [True, True] Translation: X:194.96, Y:-11.32, Z:-2.69 [[ 9.99926039e-01 -1.21116551e-02 1.10677762e-03 1.94955392e+02] [ 1.21117465e-02 9.99926647e-01 -7.59435899e-05 -1.13212211e+01] [-1.10577664e-03 8.93429831e-05 9.99999385e-01 -2.69018947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76037174299998 meters 0.0447287823240379 Centerline is valid? [True, True] Translation: X:194.99, Y:-11.32, Z:-2.69 [[ 9.99910047e-01 -1.33665167e-02 1.11080073e-03 1.94987817e+02] [ 1.33666083e-02 9.99910660e-01 -7.50958789e-05 -1.13210237e+01] [-1.10969772e-03 8.99367621e-05 9.99999380e-01 -2.68989561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79037174299998 meters 0.04513803964736926 Centerline is valid? [True, True] Translation: X:195.02, Y:-11.32, Z:-2.69 [[ 9.99895856e-01 -1.43414819e-02 1.61191012e-03 1.95019838e+02] [ 1.43416770e-02 9.99897147e-01 -1.09538997e-04 -1.13243588e+01] [-1.61017337e-03 1.32645083e-04 9.99998695e-01 -2.68965491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82037174299998 meters 0.046562876095119825 Centerline is valid? [True, True] Translation: X:195.05, Y:-11.33, Z:-2.69 [[ 9.99864567e-01 -1.63002033e-02 2.26974897e-03 1.95050705e+02] [ 1.63005979e-02 9.99867124e-01 -1.55444039e-04 -1.13280253e+01] [-2.26691360e-03 1.92421252e-04 9.99997412e-01 -2.68933095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85037174299998 meters 0.0459056094143273 Centerline is valid? [True, True] Translation: X:195.08, Y:-11.33, Z:-2.69 [[ 9.99855560e-01 -1.68438557e-02 2.26784650e-03 1.95082566e+02] [ 1.68442497e-02 9.99858114e-01 -1.54718820e-04 -1.13291337e+01] [-2.26491867e-03 1.92896645e-04 9.99997416e-01 -2.68932550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88037174299998 meters 0.04738072232458731 Centerline is valid? [True, True] Translation: X:195.11, Y:-11.33, Z:-2.69 [[ 9.99857654e-01 -1.66934969e-02 2.44909671e-03 1.95113490e+02] [ 1.66939571e-02 9.99860632e-01 -1.67553119e-04 -1.13336850e+01] [-2.44595834e-03 2.08414384e-04 9.99996987e-01 -2.68995708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91037174299998 meters 0.04686625701974102 Centerline is valid? [True, True] Translation: X:195.15, Y:-11.34, Z:-2.69 [[ 9.99865664e-01 -1.62335856e-02 2.26367789e-03 1.95145756e+02] [ 1.62339772e-02 9.99868208e-01 -1.54726500e-04 -1.13352978e+01] [-2.26086779e-03 1.91454210e-04 9.99997426e-01 -2.68995944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940371743 meters 0.046584757366319285 Centerline is valid? [True, True] Translation: X:195.18, Y:-11.34, Z:-2.69 [[ 9.99873788e-01 -1.58140617e-02 1.52448927e-03 1.95178206e+02] [ 1.58142385e-02 9.99874942e-01 -1.03984377e-04 -1.13367987e+01] [-1.52265421e-03 1.28079890e-04 9.99998833e-01 -2.69042298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.970371743 meters 0.05098593868066269 Centerline is valid? [True, True] Translation: X:195.21, Y:-11.35, Z:-2.69 [[ 9.99890257e-01 -1.47465914e-02 1.41815835e-03 1.95208154e+02] [ 1.47467443e-02 9.99891256e-01 -9.74363577e-05 -1.13450806e+01] [-1.41656728e-03 1.18338883e-04 9.99998990e-01 -2.69172167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000371743 meters 0.044232543661102616 Centerline is valid? [True, True] Translation: X:195.24, Y:-11.34, Z:-2.69 [[ 9.99920810e-01 -1.24960156e-02 1.49109121e-03 1.95239237e+02] [ 1.24961825e-02 9.99921914e-01 -1.02705909e-04 -1.13368488e+01] [-1.48969136e-03 1.21330723e-04 9.99998883e-01 -2.69181011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.030371743 meters 0.046014219623125366 Centerline is valid? [True, True] Translation: X:195.27, Y:-11.34, Z:-2.69 [[ 9.99937833e-01 -1.10740178e-02 1.30211400e-03 1.95269559e+02] [ 1.10741422e-02 9.99938676e-01 -8.83375054e-05 -1.13408468e+01] [-1.30105590e-03 1.02751809e-04 9.99999148e-01 -2.69277991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060371743 meters 0.042520613517480585 Centerline is valid? [True, True] Translation: X:195.30, Y:-11.34, Z:-2.69 [[ 9.99971633e-01 -7.44296006e-03 1.15608946e-03 1.95300203e+02] [ 7.44305714e-03 9.99972297e-01 -7.96891424e-05 -1.13363461e+01] [-1.15546431e-03 8.82917217e-05 9.99999329e-01 -2.69245811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.090371743 meters 0.04139167912624283 Centerline is valid? [True, True] Translation: X:195.33, Y:-11.34, Z:-2.69 [[ 9.99984299e-01 -5.41725454e-03 1.43344361e-03 1.95332172e+02] [ 5.41740087e-03 9.99985321e-01 -9.82182703e-05 -1.13356976e+01] [-1.43289050e-03 1.05982267e-04 9.99998968e-01 -2.69275437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120371743 meters 0.04668086666239371 Centerline is valid? [True, True] Translation: X:195.36, Y:-11.34, Z:-2.69 [[ 9.99993695e-01 -3.09240877e-03 1.74543337e-03 1.95361689e+02] [ 3.09262381e-03 9.99995211e-01 -1.20513307e-04 -1.13445131e+01] [-1.74505233e-03 1.25910516e-04 9.99998469e-01 -2.69458811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.150371743 meters 0.04000533975034826 Centerline is valid? [True, True] Translation: X:195.39, Y:-11.34, Z:-2.69 [[ 9.99997977e-01 -1.21178548e-03 1.60533602e-03 1.95393660e+02] [ 1.21196425e-03 9.99999259e-01 -1.10395074e-04 -1.13358169e+01] [-1.60520106e-03 1.12340461e-04 9.99998705e-01 -2.69313578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180371743 meters 0.03880942220126735 Centerline is valid? [True, True] Translation: X:195.43, Y:-11.33, Z:-2.69 [[ 9.99994448e-01 1.97146487e-03 2.68667987e-03 1.95425168e+02] [-1.97097385e-03 9.99998040e-01 -1.85396449e-04 -1.13342439e+01] [-2.68704011e-03 1.80100044e-04 9.99996374e-01 -2.69221845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21037174299997 meters 0.03830018385533228 Centerline is valid? [True, True] Translation: X:195.46, Y:-11.34, Z:-2.69 [[ 9.99989933e-01 3.17139487e-03 3.17438260e-03 1.95455859e+02] [-3.17071449e-03 9.99994949e-01 -2.19345445e-04 -1.13350789e+01] [-3.17506219e-03 2.09278176e-04 9.99994938e-01 -2.69189054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24037174299997 meters 0.037098585833686755 Centerline is valid? [True, True] Translation: X:195.49, Y:-11.33, Z:-2.69 [[ 9.99979638e-01 5.42628121e-03 3.35854952e-03 1.95486627e+02] [-5.42553225e-03 9.99985255e-01 -2.32071125e-04 -1.13338761e+01] [-3.35975928e-03 2.13844481e-04 9.99994333e-01 -2.69209513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27037174299997 meters 0.03739340681240736 Centerline is valid? [True, True] Translation: X:195.52, Y:-11.34, Z:-2.69 [[ 9.99973023e-01 6.53783998e-03 3.34801466e-03 1.95516372e+02] [-6.53710319e-03 9.99978606e-01 -2.30961461e-04 -1.13360561e+01] [-3.34945303e-03 2.09068913e-04 9.99994369e-01 -2.69309996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30037174299997 meters 0.03791150422792282 Centerline is valid? [True, True] Translation: X:195.55, Y:-11.34, Z:-2.69 [[ 9.99968875e-01 7.22974018e-03 3.15914674e-03 1.95545506e+02] [-7.22908492e-03 9.99973846e-01 -2.18786656e-04 -1.13379647e+01] [-3.16064588e-03 1.95942106e-04 9.99994986e-01 -2.69430907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33037174299997 meters 0.03835391109350194 Centerline is valid? [True, True] Translation: X:195.57, Y:-11.34, Z:-2.70 [[ 9.99944886e-01 1.00331707e-02 3.09199159e-03 1.95574748e+02] [-1.00325567e-02 9.99949650e-01 -2.14034351e-04 -1.13401009e+01] [-3.09398335e-03 1.83001974e-04 9.99995197e-01 -2.69558477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36037174299997 meters 0.03855351682427513 Centerline is valid? [True, True] Translation: X:195.60, Y:-11.34, Z:-2.70 [[ 9.99934040e-01 1.10783491e-02 3.03081641e-03 1.95602961e+02] [-1.10777631e-02 9.99938618e-01 -2.10069738e-04 -1.13417242e+01] [-3.03295760e-03 1.76481215e-04 9.99995385e-01 -2.69668192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39037174299997 meters 0.03787693661758307 Centerline is valid? [True, True] Translation: X:195.63, Y:-11.34, Z:-2.70 [[ 9.99920588e-01 1.23207005e-02 2.64930537e-03 1.95631770e+02] [-1.23202572e-02 9.99924086e-01 -1.83561326e-04 -1.13420581e+01] [-2.65136585e-03 1.50906626e-04 9.99996474e-01 -2.69711359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42037174299998 meters 0.0381264944233374 Centerline is valid? [True, True] Translation: X:195.66, Y:-11.34, Z:-2.70 [[ 9.99902995e-01 1.37921692e-02 1.94348304e-03 1.95660060e+02] [-1.37919332e-02 9.99904878e-01 -1.34771069e-04 -1.13421928e+01] [-1.94515696e-03 1.07953607e-04 9.99998102e-01 -2.69833056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45037174299998 meters 0.03338815645577 Centerline is valid? [True, True] Translation: X:195.69, Y:-11.34, Z:-2.70 [[ 9.99886668e-01 1.49481223e-02 1.78995648e-03 1.95689677e+02] [-1.49479240e-02 9.99888266e-01 -1.24138765e-04 -1.13361551e+01] [-1.79161213e-03 9.73685629e-05 9.99998390e-01 -2.69640492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48037174299998 meters 0.03333430423767894 Centerline is valid? [True, True] Translation: X:195.72, Y:-11.34, Z:-2.70 [[ 9.99879597e-01 1.54181084e-02 1.75339527e-03 1.95718296e+02] [-1.54179190e-02 9.99881129e-01 -1.21495139e-04 -1.13371017e+01] [-1.75506007e-03 9.44468042e-05 9.99998455e-01 -2.69656169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51037174299998 meters 0.036676693033192403 Centerline is valid? [True, True] Translation: X:195.75, Y:-11.34, Z:-2.70 [[ 9.99876283e-01 1.55812074e-02 2.15530005e-03 1.95746132e+02] [-1.55809220e-02 9.99878599e-01 -1.49162117e-04 -1.13433281e+01] [-2.15736252e-03 1.15562102e-04 9.99997666e-01 -2.69705689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54037174299998 meters 0.03329358546062654 Centerline is valid? [True, True] Translation: X:195.78, Y:-11.34, Z:-2.70 [[ 9.99881979e-01 1.52648391e-02 1.73566223e-03 1.95775224e+02] [-1.52646538e-02 9.99883481e-01 -1.19997620e-04 -1.13389376e+01] [-1.73729174e-03 9.34891752e-05 9.99998487e-01 -2.69565571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57037174299998 meters 0.03329358546062654 Centerline is valid? [True, True] Translation: X:195.80, Y:-11.34, Z:-2.70 [[ 9.99883067e-01 1.51933884e-02 1.73567073e-03 1.95803504e+02] [-1.51932031e-02 9.99884569e-01 -1.19874010e-04 -1.13408162e+01] [-1.73729168e-03 9.34895953e-05 9.99998487e-01 -2.69605416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60037174299998 meters 0.03543480759763712 Centerline is valid? [True, True] Translation: X:195.83, Y:-11.35, Z:-2.70 [[ 9.99896276e-01 1.42714977e-02 1.93948031e-03 1.95830668e+02] [-1.42712647e-02 9.99898151e-01 -1.33901133e-04 -1.13463710e+01] [-1.94119374e-03 1.06208407e-04 9.99998110e-01 -2.69636813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63037174299998 meters 0.03505335926398454 Centerline is valid? [True, True] Translation: X:195.86, Y:-11.35, Z:-2.70 [[ 9.99912417e-01 1.31471840e-02 1.51987074e-03 1.95859175e+02] [-1.31470398e-02 9.99913568e-01 -1.04832017e-04 -1.13468212e+01] [-1.52111762e-03 8.48410340e-05 9.99998840e-01 -2.69618526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66037174299998 meters 0.03457746247340564 Centerline is valid? [True, True] Translation: X:195.89, Y:-11.35, Z:-2.70 [[ 9.99925557e-01 1.21494072e-02 1.12774099e-03 1.95887867e+02] [-1.21493269e-02 9.99926191e-01 -7.79706694e-05 -1.13481839e+01] [-1.12860505e-03 6.42635711e-05 9.99999361e-01 -2.69621558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.690371743 meters 0.03591378312948182 Centerline is valid? [True, True] Translation: X:195.92, Y:-11.35, Z:-2.70 [[ 9.99950945e-01 9.87775473e-03 7.32806341e-04 1.95916878e+02] [-9.87772020e-03 9.99951213e-01 -5.07216906e-05 -1.13524296e+01] [-7.33271606e-04 4.34807465e-05 9.99999730e-01 -2.69725966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720371743 meters 0.038284988904364596 Centerline is valid? [True, True] Translation: X:195.94, Y:-11.36, Z:-2.70 [[ 9.99958935e-01 9.06244574e-03 -5.48449030e-06 1.95943948e+02] [-9.06244574e-03 9.99958935e-01 -1.04610436e-06 -1.13584534e+01] [ 5.47478465e-06 1.09576431e-06 1.00000000e+00 -2.69881804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.750371743 meters 0.03883282290683888 Centerline is valid? [True, True] Translation: X:195.97, Y:-11.36, Z:-2.70 [[ 9.99969411e-01 7.81330778e-03 -3.60318061e-04 1.95973549e+02] [-7.81329963e-03 9.99969475e-01 2.40459675e-05 -1.13614491e+01] [ 3.60494941e-04 -2.12299589e-05 9.99999935e-01 -2.69985410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780371743 meters 0.03742756453180061 Centerline is valid? [True, True] Translation: X:196.00, Y:-11.36, Z:-2.70 [[ 9.99981333e-01 5.90965489e-03 -1.55257670e-03 1.96003109e+02] [-5.90949877e-03 9.99982533e-01 1.05129059e-04 -1.13611649e+01] [ 1.55317086e-03 -9.59521464e-05 9.99998789e-01 -2.70021477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.810371743 meters 0.03954478816741306 Centerline is valid? [True, True] Translation: X:196.03, Y:-11.37, Z:-2.70 [[ 9.99986739e-01 4.93462532e-03 -1.47324812e-03 1.96030300e+02] [-4.93448499e-03 9.99987820e-01 9.88711048e-05 -1.13664951e+01] [ 1.47371807e-03 -9.16000730e-05 9.99998910e-01 -2.70160057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840371743 meters 0.04100116547375966 Centerline is valid? [True, True] Translation: X:196.06, Y:-11.37, Z:-2.70 [[ 9.99990922e-01 3.77764332e-03 -1.97130607e-03 1.96058078e+02] [-3.77738875e-03 9.99992857e-01 1.32841491e-04 -1.13708906e+01] [ 1.97179382e-03 -1.25393896e-04 9.99998048e-01 -2.70218805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.870371743 meters 0.04175741543129751 Centerline is valid? [True, True] Translation: X:196.09, Y:-11.37, Z:-2.70 [[ 9.99991848e-01 3.58330845e-03 -1.86120535e-03 1.96086012e+02] [-3.58308223e-03 9.99993573e-01 1.24868971e-04 -1.13735533e+01] [ 1.86164083e-03 -1.18199101e-04 9.99998260e-01 -2.70273393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900371743 meters 0.04041086998235762 Centerline is valid? [True, True] Translation: X:196.12, Y:-11.37, Z:-2.70 [[ 9.99991808e-01 3.64025592e-03 -1.76998764e-03 1.96115125e+02] [-3.64005116e-03 9.99993368e-01 1.18891812e-04 -1.13735761e+01] [ 1.77040870e-03 -1.12447993e-04 9.99998427e-01 -2.70215509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.930371743 meters 0.04284618200308894 Centerline is valid? [True, True] Translation: X:196.14, Y:-11.38, Z:-2.70 [[ 9.99991238e-01 3.91225320e-03 -1.48931016e-03 1.96143678e+02] [-3.91210851e-03 9.99992343e-01 1.00056550e-04 -1.13778038e+01] [ 1.48969020e-03 -9.42293308e-05 9.99998886e-01 -2.70277303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96037174299997 meters 0.04292894817975576 Centerline is valid? [True, True] Translation: X:196.17, Y:-11.38, Z:-2.70 [[ 9.99988674e-01 4.58441570e-03 -1.27876772e-03 1.96172883e+02] [-4.58430975e-03 9.99989488e-01 8.57673847e-05 -1.13798161e+01] [ 1.27914747e-03 -7.99041460e-05 9.99999179e-01 -2.70307191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99037174299997 meters 0.04325479317698581 Centerline is valid? [True, True] Translation: X:196.20, Y:-11.38, Z:-2.70 [[ 9.99987157e-01 4.76944772e-03 -1.71386413e-03 1.96201665e+02] [-4.76925787e-03 9.99988620e-01 1.14842524e-04 -1.13815109e+01] [ 1.71439237e-03 -1.06667189e-04 9.99998525e-01 -2.70361191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02037174299997 meters 0.043950395581323264 Centerline is valid? [True, True] Translation: X:196.23, Y:-11.38, Z:-2.70 [[ 9.99985119e-01 5.10595305e-03 -1.92143596e-03 1.96229526e+02] [-5.10571556e-03 9.99986958e-01 1.28482333e-04 -1.13839317e+01] [ 1.92206693e-03 -1.18670115e-04 9.99998146e-01 -2.70494359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05037174299997 meters 0.03661350520964031 Centerline is valid? [True, True] Translation: X:196.26, Y:-11.37, Z:-2.70 [[ 9.99985142e-01 5.12090890e-03 -1.86890174e-03 1.96259494e+02] [-5.12068429e-03 9.99986881e-01 1.24949901e-04 -1.13740790e+01] [ 1.86951708e-03 -1.15377989e-04 9.99998246e-01 -2.70248947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08037174299997 meters 0.039487290909272 Centerline is valid? [True, True] Translation: X:196.29, Y:-11.38, Z:-2.70 [[ 9.99987777e-01 4.33906210e-03 -2.37028923e-03 1.96287344e+02] [-4.33869904e-03 9.99990575e-01 1.58289371e-04 -1.13794181e+01] [ 2.37095371e-03 -1.48003465e-04 9.99997178e-01 -2.70416733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11037174299997 meters 0.04028931270523975 Centerline is valid? [True, True] Translation: X:196.32, Y:-11.38, Z:-2.71 [[ 9.99990713e-01 3.78886066e-03 -2.05376778e-03 1.96315398e+02] [-3.78858455e-03 9.99992814e-01 1.38311325e-04 -1.13821789e+01] [ 2.05427706e-03 -1.30529168e-04 9.99997881e-01 -2.70506700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14037174299997 meters 0.04273085461496146 Centerline is valid? [True, True] Translation: X:196.34, Y:-11.39, Z:-2.71 [[ 9.99992339e-01 3.41770284e-03 -1.90818605e-03 1.96343008e+02] [-3.41746679e-03 9.99994152e-01 1.26951290e-04 -1.13871791e+01] [ 1.90860877e-03 -1.20429155e-04 9.99998171e-01 -2.70605351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17037174299998 meters 0.04026011020805631 Centerline is valid? [True, True] Translation: X:196.37, Y:-11.38, Z:-2.71 [[ 9.99993894e-01 3.13470322e-03 -1.54486487e-03 1.96372253e+02] [-3.13454818e-03 9.99995082e-01 1.02769638e-04 -1.13844911e+01] [ 1.54517943e-03 -9.79265571e-05 9.99998801e-01 -2.70528018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20037174299998 meters 0.04123016616693188 Centerline is valid? [True, True] Translation: X:196.40, Y:-11.39, Z:-2.71 [[ 9.99995208e-01 2.86315890e-03 -1.17734588e-03 1.96400684e+02] [-2.86306872e-03 9.99995898e-01 7.82766537e-05 -1.13866152e+01] [ 1.17756517e-03 -7.49054564e-05 9.99999304e-01 -2.70558765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23037174299998 meters 0.04188126914668983 Centerline is valid? [True, True] Translation: X:196.43, Y:-11.39, Z:-2.71 [[ 9.99995805e-01 2.76890373e-03 -8.50084102e-04 1.96430466e+02] [-2.76885666e-03 9.99996165e-01 5.65365749e-05 -1.13888570e+01] [ 8.50237386e-04 -5.41825767e-05 9.99999637e-01 -2.70644077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26037174299998 meters 0.042729321953635165 Centerline is valid? [True, True] Translation: X:196.46, Y:-11.39, Z:-2.71 [[ 9.99996408e-01 2.28249969e-03 -1.40503029e-03 1.96458780e+02] [-2.28237063e-03 9.99997391e-01 9.34504461e-05 -1.13902952e+01] [ 1.40523992e-03 -9.02433105e-05 9.99999009e-01 -2.70683874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29037174299998 meters 0.04341969243656462 Centerline is valid? [True, True] Translation: X:196.49, Y:-11.39, Z:-2.71 [[ 9.99996212e-01 2.15516847e-03 -1.71230528e-03 1.96487861e+02] [-2.15497647e-03 9.99997672e-01 1.13962971e-04 -1.13922915e+01] [ 1.71254690e-03 -1.10272562e-04 9.99998528e-01 -2.70757407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32037174299998 meters 0.04385603927577284 Centerline is valid? [True, True] Translation: X:196.52, Y:-11.39, Z:-2.71 [[ 9.99996475e-01 1.88765602e-03 -1.86743454e-03 1.96517541e+02] [-1.88742676e-03 9.99998211e-01 1.24523748e-04 -1.13938395e+01] [ 1.86766626e-03 -1.20998663e-04 9.99998249e-01 -2.70824332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35037174299998 meters 0.0452954040830722 Centerline is valid? [True, True] Translation: X:196.55, Y:-11.40, Z:-2.71 [[ 9.99997498e-01 1.35122644e-03 -1.78301561e-03 1.96546441e+02] [-1.35101442e-03 9.99999080e-01 1.20113325e-04 -1.13960573e+01] [ 1.78317627e-03 -1.17704145e-04 9.99998403e-01 -2.70874825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38037174299998 meters 0.046081824671352536 Centerline is valid? [True, True] Translation: X:196.58, Y:-11.40, Z:-2.71 [[ 9.99998680e-01 1.39668480e-03 -8.29944518e-04 1.96575956e+02] [-1.39663954e-03 9.99999023e-01 5.51066391e-05 -1.13986880e+01] [ 8.30020674e-04 -5.39474330e-05 9.99999654e-01 -2.70874069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41037174299998 meters 0.045495609450198614 Centerline is valid? [True, True] Translation: X:196.61, Y:-11.40, Z:-2.71 [[ 9.99998348e-01 1.79760765e-03 -2.71245875e-04 1.96605938e+02] [-1.79760291e-03 9.99998384e-01 1.76931732e-05 -1.13986455e+01] [ 2.71277242e-04 -1.72055516e-05 9.99999963e-01 -2.70870673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440371743 meters 0.03669304569490853 Centerline is valid? [True, True] Translation: X:196.64, Y:-11.39, Z:-2.71 [[ 9.99995003e-01 3.07245576e-03 7.44959986e-04 1.96637103e+02] [-3.07241930e-03 9.99995279e-01 -5.00860071e-05 -1.13856392e+01] [-7.45110357e-04 4.77969274e-05 9.99999721e-01 -2.70538178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.470371743 meters 0.04391478763591681 Centerline is valid? [True, True] Translation: X:196.67, Y:-11.40, Z:-2.71 [[ 9.99991935e-01 3.84246607e-03 1.16833064e-03 1.96665906e+02] [-3.84237711e-03 9.99992615e-01 -7.83848137e-05 -1.13978557e+01] [-1.16862320e-03 7.38950146e-05 9.99999314e-01 -2.70805213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500371743 meters 0.03657028080948661 Centerline is valid? [True, True] Translation: X:196.70, Y:-11.39, Z:-2.71 [[ 9.99981334e-01 5.68669221e-03 2.23475409e-03 1.96696162e+02] [-5.68637142e-03 9.99983821e-01 -1.49873443e-04 -1.13866278e+01] [-2.23557022e-03 1.37163003e-04 9.99997492e-01 -2.70641650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.530371743 meters 0.04045531312668185 Centerline is valid? [True, True] Translation: X:196.72, Y:-11.39, Z:-2.71 [[ 9.99972608e-01 6.96323052e-03 2.50946003e-03 1.96724978e+02] [-6.96283041e-03 9.99975745e-01 -1.68142464e-04 -1.13938818e+01] [-2.51056997e-03 1.50664914e-04 9.99996837e-01 -2.70830751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560371743 meters 0.03553818417727266 Centerline is valid? [True, True] Translation: X:196.75, Y:-11.39, Z:-2.71 [[ 9.99965256e-01 7.89350246e-03 2.67957640e-03 1.96754895e+02] [-7.89304939e-03 9.99968833e-01 -1.79617285e-04 -1.13868026e+01] [-2.68091069e-03 1.58461015e-04 9.99996394e-01 -2.70752387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.590371743 meters 0.05299825183160515 Centerline is valid? [True, True] Translation: X:196.78, Y:-11.41, Z:-2.71 [[ 9.99925400e-01 1.16687262e-02 3.61044581e-03 1.96782532e+02] [-1.16679306e-02 9.99931898e-01 -2.41347371e-04 -1.14145773e+01] [-3.61301615e-03 1.99202935e-04 9.99993453e-01 -2.71245620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620371743 meters 0.034160482236273194 Centerline is valid? [True, True] Translation: X:196.81, Y:-11.39, Z:-2.71 [[ 9.99938537e-01 1.09038377e-02 2.00720170e-03 1.96812998e+02] [-1.09035890e-02 9.99940545e-01 -1.34775074e-04 -1.13861311e+01] [-2.00855193e-03 1.12881088e-04 9.99997976e-01 -2.70869198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.650371743 meters 0.04041211445697342 Centerline is valid? [True, True] Translation: X:196.84, Y:-11.40, Z:-2.71 [[ 9.99928623e-01 1.18108587e-02 1.80328519e-03 1.96840171e+02] [-1.18106591e-02 9.99930244e-01 -1.21264929e-04 -1.13969569e+01] [-1.80459164e-03 9.99582870e-05 9.99998367e-01 -2.71190702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680371743 meters 0.03408965010141457 Centerline is valid? [True, True] Translation: X:196.87, Y:-11.39, Z:-2.71 [[ 9.99902283e-01 1.38404991e-02 1.96579034e-03 1.96869706e+02] [-1.38402669e-02 9.99904210e-01 -1.31680037e-04 -1.13879330e+01] [-1.96742456e-03 1.04460107e-04 9.99998059e-01 -2.71073242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71037174299997 meters 0.03241276486319336 Centerline is valid? [True, True] Translation: X:196.90, Y:-11.39, Z:-2.71 [[ 9.99888969e-01 1.47756778e-02 1.93111431e-03 1.96899261e+02] [-1.47754549e-02 9.99890829e-01 -1.29628425e-04 -1.13858706e+01] [-1.93281884e-03 1.01080940e-04 9.99998127e-01 -2.71067861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74037174299997 meters 0.03367244832863081 Centerline is valid? [True, True] Translation: X:196.93, Y:-11.39, Z:-2.71 [[ 9.99866265e-01 1.61790228e-02 2.38579782e-03 1.96926896e+02] [-1.61786885e-02 9.99869104e-01 -1.59323792e-04 -1.13886207e+01] [-2.38806323e-03 1.20703405e-04 9.99997141e-01 -2.71136202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77037174299997 meters 0.0312780548602357 Centerline is valid? [True, True] Translation: X:196.96, Y:-11.38, Z:-2.71 [[ 9.99813811e-01 1.91690872e-02 2.21121066e-03 1.96956911e+02] [-1.91688088e-02 9.99816251e-01 -1.47053489e-04 -1.13842593e+01] [-2.21362324e-03 1.04639835e-04 9.99997544e-01 -2.71119322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80037174299997 meters 0.03291338205985142 Centerline is valid? [True, True] Translation: X:196.98, Y:-11.39, Z:-2.71 [[ 9.99786402e-01 2.05537413e-02 2.16661001e-03 1.96984934e+02] [-2.05534764e-02 9.99788745e-01 -1.44432987e-04 -1.13879607e+01] [-2.16912094e-03 9.98707685e-05 9.99997642e-01 -2.71277562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83037174299997 meters 0.03236365043200994 Centerline is valid? [True, True] Translation: X:197.01, Y:-11.39, Z:-2.71 [[ 9.99731551e-01 2.30176346e-02 2.64855219e-03 1.97014221e+02] [-2.30172496e-02 9.99735053e-01 -1.75740630e-04 -1.13881492e+01] [-2.65189559e-03 1.14731066e-04 9.99996477e-01 -2.71310584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86037174299997 meters 0.03045376867571166 Centerline is valid? [True, True] Translation: X:197.04, Y:-11.39, Z:-2.71 [[ 9.99711080e-01 2.38516145e-02 2.97620329e-03 1.97043349e+02] [-2.38511314e-02 9.99715502e-01 -1.97717525e-04 -1.13863510e+01] [-2.98007245e-03 1.26674584e-04 9.99995552e-01 -2.71241613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89037174299997 meters 0.02937195570380403 Centerline is valid? [True, True] Translation: X:197.07, Y:-11.39, Z:-2.71 [[ 9.99696003e-01 2.44250917e-02 3.36392361e-03 1.97072540e+02] [-2.44244789e-02 9.99701653e-01 -2.23134089e-04 -1.13854883e+01] [-3.36837007e-03 1.40904176e-04 9.99994317e-01 -2.71207993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92037174299998 meters 0.030342521275292127 Centerline is valid? [True, True] Translation: X:197.10, Y:-11.39, Z:-2.71 [[ 9.99678297e-01 2.50901815e-02 3.71273821e-03 1.97099964e+02] [-2.50894403e-02 9.99685180e-01 -2.46079060e-04 -1.13892663e+01] [-3.71774353e-03 1.52849372e-04 9.99993077e-01 -2.71288364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95037174299998 meters 0.02911312233884742 Centerline is valid? [True, True] Translation: X:197.13, Y:-11.39, Z:-2.71 [[ 9.99671391e-01 2.54054324e-02 3.41675049e-03 1.97129120e+02] [-2.54048079e-02 9.99677220e-01 -2.26072652e-04 -1.13886631e+01] [-3.42139110e-03 1.39196473e-04 9.99994137e-01 -2.71299190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98037174299998 meters 0.03289829573790701 Centerline is valid? [True, True] Translation: X:197.16, Y:-11.40, Z:-2.72 [[ 9.99672856e-01 2.54207765e-02 2.82211617e-03 1.97155243e+02] [-2.54203489e-02 9.99676833e-01 -1.87282518e-04 -1.13970946e+01] [-2.82596502e-03 1.15482072e-04 9.99996000e-01 -2.71599620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01037174299998 meters 0.02910272634498921 Centerline is valid? [True, True] Translation: X:197.18, Y:-11.39, Z:-2.72 [[ 9.99674683e-01 2.53951075e-02 2.37005017e-03 1.97184417e+02] [-2.53948073e-02 9.99677488e-01 -1.56663811e-04 -1.13924209e+01] [-2.37326429e-03 9.64258781e-05 9.99997179e-01 -2.71521366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04037174299998 meters 0.030196646796787248 Centerline is valid? [True, True] Translation: X:197.21, Y:-11.40, Z:-2.72 [[ 9.99689491e-01 2.49069470e-02 7.52075646e-04 1.97211750e+02] [-2.49069160e-02 9.99689773e-01 -5.05619097e-05 -1.13964779e+01] [-7.53101675e-04 3.18143248e-05 9.99999716e-01 -2.71790811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07037174299998 meters 0.02971655376593356 Centerline is valid? [True, True] Translation: X:197.24, Y:-11.40, Z:-2.72 [[ 9.99691546e-01 2.48317453e-02 4.44559833e-04 1.97240064e+02] [-2.48317344e-02 9.99691644e-01 -3.01064574e-05 -1.13980047e+01] [-4.45170346e-04 1.90579792e-05 9.99999901e-01 -2.71853280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10037174299998 meters 0.03074855274274224 Centerline is valid? [True, True] Translation: X:197.27, Y:-11.40, Z:-2.72 [[ 9.99680087e-01 2.52662942e-02 1.15647047e-03 1.97267498e+02] [-2.52662221e-02 9.99680755e-01 -7.68905053e-05 -1.14014973e+01] [-1.15804401e-03 4.76462673e-05 9.99999328e-01 -2.71894597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13037174299998 meters 0.029693578836518495 Centerline is valid? [True, True] Translation: X:197.30, Y:-11.40, Z:-2.72 [[ 9.99653192e-01 2.62547587e-02 2.04541751e-03 1.97296660e+02] [-2.62545380e-02 9.99655281e-01 -1.34675508e-04 -1.14019454e+01] [-2.04824828e-03 8.09273097e-05 9.99997899e-01 -2.71797561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16037174299998 meters 0.029057053191249346 Centerline is valid? [True, True] Translation: X:197.33, Y:-11.40, Z:-2.72 [[ 9.99632175e-01 2.69993519e-02 2.55930734e-03 1.97325662e+02] [-2.69990099e-02 9.99635446e-01 -1.68105279e-04 -1.14017492e+01] [-2.56291307e-03 9.89446813e-05 9.99996711e-01 -2.71738246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.190371743 meters 0.03118082753202328 Centerline is valid? [True, True] Translation: X:197.35, Y:-11.41, Z:-2.72 [[ 9.99605681e-01 2.79023281e-02 3.15305439e-03 1.97352896e+02] [-2.79018130e-02 9.99610647e-01 -2.07241186e-04 -1.14075923e+01] [-3.15760925e-03 1.19183533e-04 9.99995008e-01 -2.71844476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220371743 meters 0.02899481993969569 Centerline is valid? [True, True] Translation: X:197.38, Y:-11.41, Z:-2.72 [[ 9.99567025e-01 2.92310093e-02 3.36325530e-03 1.97381956e+02] [-2.92304345e-02 9.99572675e-01 -2.19937768e-04 -1.14054979e+01] [-3.36824710e-03 1.21533127e-04 9.99994320e-01 -2.71794788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.250371743 meters 0.029170655599498187 Centerline is valid? [True, True] Translation: X:197.41, Y:-11.41, Z:-2.72 [[ 9.99555592e-01 2.96381121e-02 3.19399187e-03 1.97411149e+02] [-2.96375970e-02 9.99560688e-01 -2.08507233e-04 -1.14079799e+01] [-3.19876847e-03 1.13752327e-04 9.99994877e-01 -2.71854879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280371743 meters 0.02988827943448307 Centerline is valid? [True, True] Translation: X:197.44, Y:-11.41, Z:-2.72 [[ 9.99602721e-01 2.80980721e-02 2.21312255e-03 1.97438960e+02] [-2.80978189e-02 9.99605168e-01 -1.45428483e-04 -1.14127761e+01] [-2.21633500e-03 8.31867910e-05 9.99997540e-01 -2.71966483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.310371743 meters 0.03233863899326934 Centerline is valid? [True, True] Translation: X:197.47, Y:-11.42, Z:-2.72 [[ 9.99642533e-01 2.66720419e-02 1.84595692e-03 1.97466407e+02] [-2.66718640e-02 9.99644235e-01 -1.20879428e-04 -1.14193643e+01] [-1.84852430e-03 7.16011054e-05 9.99998289e-01 -2.72179503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340371743 meters 0.030600146144226802 Centerline is valid? [True, True] Translation: X:197.50, Y:-11.42, Z:-2.72 [[ 9.99687960e-01 2.49225324e-02 1.68840481e-03 1.97495391e+02] [-2.49223815e-02 9.99689383e-01 -1.10329133e-04 -1.14198583e+01] [-1.69063004e-03 6.82156367e-05 9.99998569e-01 -2.72108212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.370371743 meters 0.030434404452982095 Centerline is valid? [True, True] Translation: X:197.53, Y:-11.42, Z:-2.72 [[ 9.99782943e-01 2.07185708e-02 2.19285836e-03 1.97525883e+02] [-2.07183090e-02 9.99785343e-01 -1.42058616e-04 -1.14231648e+01] [-2.19533090e-03 9.65954646e-05 9.99997586e-01 -2.71985055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400371743 meters 0.031345603673131286 Centerline is valid? [True, True] Translation: X:197.55, Y:-11.43, Z:-2.72 [[ 9.99818673e-01 1.88473441e-02 2.71995677e-03 1.97554538e+02] [-1.88469322e-02 9.99822365e-01 -1.76998411e-04 -1.14272460e+01] [-2.72280956e-03 1.25703476e-04 9.99996285e-01 -2.71973295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.430371743 meters 0.033419687926736046 Centerline is valid? [True, True] Translation: X:197.58, Y:-11.43, Z:-2.72 [[ 9.99845389e-01 1.72426200e-02 3.44815165e-03 1.97582197e+02] [-1.72419496e-02 9.99851321e-01 -2.24056309e-04 -1.14333631e+01] [-3.45150230e-03 1.64568810e-04 9.99994030e-01 -2.71987546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46037174299997 meters 0.033419687926736046 Centerline is valid? [True, True] Translation: X:197.61, Y:-11.44, Z:-2.72 [[ 9.99847144e-01 1.71405470e-02 3.44816044e-03 1.97609630e+02] [-1.71398765e-02 9.99853076e-01 -2.23921203e-04 -1.14350385e+01] [-3.45149196e-03 1.64785932e-04 9.99994030e-01 -2.72026195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49037174299997 meters 0.03398430585915093 Centerline is valid? [True, True] Translation: X:197.64, Y:-11.44, Z:-2.72 [[ 9.99890268e-01 1.44285287e-02 3.35690389e-03 1.97639118e+02] [-1.44278814e-02 9.99895889e-01 -2.16964698e-04 -1.14388187e+01] [-3.35968488e-03 1.68507879e-04 9.99994342e-01 -2.71999661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52037174299997 meters 0.03276556199660398 Centerline is valid? [True, True] Translation: X:197.67, Y:-11.44, Z:-2.72 [[ 9.99907965e-01 1.31399642e-02 3.37683671e-03 1.97667775e+02] [-1.31393009e-02 9.99913652e-01 -2.18521208e-04 -1.14394939e+01] [-3.37941649e-03 1.74131822e-04 9.99994275e-01 -2.72010855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55037174299997 meters 0.03681920138160463 Centerline is valid? [True, True] Translation: X:197.70, Y:-11.45, Z:-2.72 [[ 9.99924818e-01 1.19505600e-02 2.74621346e-03 1.97695593e+02] [-1.19501175e-02 9.99928579e-01 -1.77497635e-04 -1.14488785e+01] [-2.74813852e-03 1.44666717e-04 9.99996213e-01 -2.72208052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58037174299997 meters 0.0342363439030474 Centerline is valid? [True, True] Translation: X:197.73, Y:-11.45, Z:-2.72 [[ 9.99949667e-01 9.61876927e-03 2.85342983e-03 1.97725145e+02] [-9.61828310e-03 9.99953726e-01 -1.84053470e-04 -1.14481527e+01] [-2.85506816e-03 1.56599110e-04 9.99995912e-01 -2.72131679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61037174299997 meters 0.03491207372466281 Centerline is valid? [True, True] Translation: X:197.75, Y:-11.45, Z:-2.72 [[ 9.99957980e-01 8.56473834e-03 3.26848189e-03 1.97754091e+02] [-8.56409423e-03 9.99963305e-01 -2.11013192e-04 -1.14516524e+01] [-3.27016922e-03 1.83012739e-04 9.99994636e-01 -2.72156157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64037174299997 meters 0.03458624839000079 Centerline is valid? [True, True] Translation: X:197.78, Y:-11.45, Z:-2.72 [[ 9.99966257e-01 7.55935922e-03 3.21583931e-03 1.97783562e+02] [-7.55873239e-03 9.99971411e-01 -2.07029906e-04 -1.14530533e+01] [-3.21731238e-03 1.82715252e-04 9.99994808e-01 -2.72124215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67037174299998 meters 0.03497167764728445 Centerline is valid? [True, True] Translation: X:197.81, Y:-11.46, Z:-2.72 [[ 9.99974749e-01 5.92009773e-03 3.93107110e-03 1.97813117e+02] [-5.91914942e-03 9.99982450e-01 -2.52825394e-04 -1.14559895e+01] [-3.93249885e-03 2.29550413e-04 9.99992241e-01 -2.72111874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70037174299998 meters 0.03579279342976455 Centerline is valid? [True, True] Translation: X:197.84, Y:-11.46, Z:-2.72 [[ 9.99974618e-01 5.66851844e-03 4.31631380e-03 1.97842687e+02] [-5.66737589e-03 9.99983902e-01 -2.76890487e-04 -1.14596873e+01] [-4.31781388e-03 2.52421286e-04 9.99990646e-01 -2.72115335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73037174299998 meters 0.036564393750433105 Centerline is valid? [True, True] Translation: X:197.87, Y:-11.46, Z:-2.72 [[ 9.99978202e-01 4.80718024e-03 4.52617279e-03 1.97872712e+02] [-4.80591397e-03 9.99988409e-01 -2.90600079e-04 -1.14638387e+01] [-4.52751729e-03 2.68841347e-04 9.99989715e-01 -2.72180593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76037174299998 meters 0.037674013611763625 Centerline is valid? [True, True] Translation: X:197.90, Y:-11.47, Z:-2.72 [[ 9.99983032e-01 4.02897671e-03 4.20739661e-03 1.97901974e+02] [-4.02787495e-03 9.99991852e-01 -2.70303829e-04 -1.14681638e+01] [-4.20845138e-03 2.53352375e-04 9.99991112e-01 -2.72286442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79037174299998 meters 0.039025925095529906 Centerline is valid? [True, True] Translation: X:197.93, Y:-11.47, Z:-2.72 [[ 9.99988342e-01 3.08113181e-03 3.71785695e-03 1.97932346e+02] [-3.08026645e-03 9.99995228e-01 -2.38461284e-04 -1.14728778e+01] [-3.71857394e-03 2.27006514e-04 9.99993060e-01 -2.72423210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82037174299998 meters 0.03832478791282436 Centerline is valid? [True, True] Translation: X:197.96, Y:-11.47, Z:-2.73 [[ 9.99993747e-01 2.15280545e-03 2.80576947e-03 1.97962942e+02] [-2.15230845e-03 9.99997668e-01 -1.80142020e-04 -1.14741751e+01] [-2.80615074e-03 1.74102012e-04 9.99996048e-01 -2.72501436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85037174299998 meters 0.03977506131352599 Centerline is valid? [True, True] Translation: X:197.99, Y:-11.48, Z:-2.73 [[ 9.99997167e-01 9.41914179e-04 2.18623392e-03 1.97992918e+02] [-9.41609994e-04 9.99999547e-01 -1.40161655e-04 -1.14782529e+01] [-2.18636495e-03 1.38102678e-04 9.99997600e-01 -2.72573722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88037174299998 meters 0.03601915269545219 Centerline is valid? [True, True] Translation: X:198.02, Y:-11.47, Z:-2.72 [[ 9.99997961e-01 3.22779101e-05 2.01905319e-03 1.98024007e+02] [-3.20161719e-05 9.99999991e-01 -1.29666334e-04 -1.14744354e+01] [-2.01905736e-03 1.29601428e-04 9.99997953e-01 -2.72467683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91037174299998 meters 0.04109407647425337 Centerline is valid? [True, True] Translation: X:198.05, Y:-11.48, Z:-2.73 [[ 9.99997973e-01 -3.70109071e-04 1.97904331e-03 1.98053423e+02] [ 3.70360897e-04 9.99999923e-01 -1.26881280e-04 -1.14834597e+01] [-1.97899620e-03 1.27613983e-04 9.99998034e-01 -2.72577083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940371743 meters 0.037355292950802 Centerline is valid? [True, True] Translation: X:198.08, Y:-11.48, Z:-2.73 [[ 9.99997173e-01 -5.27881105e-04 2.31826993e-03 1.98084830e+02] [ 5.28226803e-04 9.99999849e-01 -1.48508836e-04 -1.14798159e+01] [-2.31819119e-03 1.49732989e-04 9.99997302e-01 -2.72537409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.970371743 meters 0.04189635622912151 Centerline is valid? [True, True] Translation: X:198.12, Y:-11.49, Z:-2.73 [[ 9.99997298e-01 -6.80703140e-04 2.22255227e-03 1.98115083e+02] [ 6.81020925e-04 9.99999758e-01 -1.42228140e-04 -1.14884616e+01] [-2.22245492e-03 1.43741360e-04 9.99997520e-01 -2.72678263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000371743 meters 0.03758544684888082 Centerline is valid? [True, True] Translation: X:198.15, Y:-11.48, Z:-2.73 [[ 9.99995257e-01 -1.01663215e-03 2.90729782e-03 1.98146783e+02] [ 1.01717900e-03 9.99999465e-01 -1.86624237e-04 -1.14833002e+01] [-2.90710654e-03 1.89580595e-04 9.99995756e-01 -2.72564200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.030371743 meters 0.038713215104794155 Centerline is valid? [True, True] Translation: X:198.18, Y:-11.49, Z:-2.73 [[ 9.99992772e-01 -6.84097843e-04 3.74017260e-03 1.98177512e+02] [ 6.85000939e-04 9.99999737e-01 -2.40182502e-04 -1.14872949e+01] [-3.74000730e-03 2.42742788e-04 9.99992977e-01 -2.72559685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060371743 meters 0.03890111349603643 Centerline is valid? [True, True] Translation: X:198.21, Y:-11.49, Z:-2.73 [[ 9.99991536e-01 -6.43271531e-04 4.06381799e-03 1.98209328e+02] [ 6.44337811e-04 9.99999758e-01 -2.61079982e-04 -1.14890483e+01] [-4.06364907e-03 2.63696244e-04 9.99991709e-01 -2.72590716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.090371743 meters 0.04001148841972698 Centerline is valid? [True, True] Translation: X:198.24, Y:-11.49, Z:-2.73 [[ 9.99991615e-01 -5.98993459e-04 4.05095770e-03 1.98240044e+02] [ 6.00054497e-04 9.99999786e-01 -2.60712352e-04 -1.14920519e+01] [-4.05080067e-03 2.63140961e-04 9.99991761e-01 -2.72612902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120371743 meters 0.039103829778925174 Centerline is valid? [True, True] Translation: X:198.27, Y:-11.49, Z:-2.73 [[ 9.99992856e-01 -4.76829236e-04 3.74987166e-03 1.98272416e+02] [ 4.77737402e-04 9.99999857e-01 -2.41293793e-04 -1.14923442e+01] [-3.74975607e-03 2.43083523e-04 9.99992940e-01 -2.72635178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.150371743 meters 0.04131733574256607 Centerline is valid? [True, True] Translation: X:198.30, Y:-11.50, Z:-2.73 [[ 9.99991718e-01 -6.77892443e-04 4.01310652e-03 1.98303587e+02] [ 6.78936331e-04 9.99999736e-01 -2.58763219e-04 -1.14978758e+01] [-4.01293005e-03 2.61485720e-04 9.99991914e-01 -2.72699379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180371743 meters 0.04109353547582061 Centerline is valid? [True, True] Translation: X:198.34, Y:-11.50, Z:-2.73 [[ 9.99990417e-01 -9.98336536e-04 4.26249184e-03 1.98335762e+02] [ 9.99517554e-04 9.99999463e-01 -2.74950988e-04 -1.14992851e+01] [-4.26221505e-03 2.79208789e-04 9.99990878e-01 -2.72726729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21037174299997 meters 0.04242109434541506 Centerline is valid? [True, True] Translation: X:198.37, Y:-11.50, Z:-2.73 [[ 9.99989565e-01 -8.92148137e-04 4.48045597e-03 1.98366698e+02] [ 8.93454315e-04 9.99999559e-01 -2.89534805e-04 -1.15037453e+01] [-4.48019568e-03 2.93534866e-04 9.99989921e-01 -2.72799689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24037174299997 meters 0.04156233400857225 Centerline is valid? [True, True] Translation: X:198.40, Y:-11.51, Z:-2.73 [[ 9.99989944e-01 -1.05883188e-03 4.35777787e-03 1.98398529e+02] [ 1.06006928e-03 9.99999398e-01 -2.81650265e-04 -1.15050553e+01] [-4.35747703e-03 2.86266979e-04 9.99990465e-01 -2.72831502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27037174299997 meters 0.043226970506404006 Centerline is valid? [True, True] Translation: X:198.43, Y:-11.51, Z:-2.73 [[ 9.99992476e-01 -1.22220810e-03 3.68163614e-03 1.98429665e+02] [ 1.22309158e-03 9.99999224e-01 -2.37728788e-04 -1.15090295e+01] [-3.68134273e-03 2.42229977e-04 9.99993194e-01 -2.72950181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30037174299997 meters 0.035231745136149635 Centerline is valid? [True, True] Translation: X:198.46, Y:-11.50, Z:-2.73 [[ 9.99990763e-01 5.53241536e-04 4.26247931e-03 1.98462072e+02] [-5.52068766e-04 9.99999809e-01 -2.76309751e-04 -1.15012299e+01] [-4.26263136e-03 2.73954017e-04 9.99990877e-01 -2.72759206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33037174299997 meters 0.03440473724730481 Centerline is valid? [True, True] Translation: X:198.49, Y:-11.50, Z:-2.73 [[ 9.99989254e-01 2.18914584e-03 4.08661570e-03 1.98493325e+02] [-2.18807994e-03 9.99997571e-01 -2.65279461e-04 -1.15013303e+01] [-4.08718651e-03 2.56334769e-04 9.99991615e-01 -2.72740242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36037174299997 meters 0.0350685548600037 Centerline is valid? [True, True] Translation: X:198.52, Y:-11.50, Z:-2.73 [[ 9.99987438e-01 3.00002588e-03 4.01554729e-03 1.98523782e+02] [-2.99900195e-03 9.99995469e-01 -2.60987782e-04 -1.15041231e+01] [-4.01631207e-03 2.48941869e-04 9.99991904e-01 -2.72730626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39037174299997 meters 0.03404443091457499 Centerline is valid? [True, True] Translation: X:198.55, Y:-11.50, Z:-2.73 [[ 9.99985151e-01 3.93662121e-03 3.76850352e-03 1.98554585e+02] [-3.93572514e-03 9.99992225e-01 -2.45166705e-04 -1.15046743e+01] [-3.76943935e-03 2.30331271e-04 9.99992869e-01 -2.72736702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42037174299998 meters 0.033746319793706014 Centerline is valid? [True, True] Translation: X:198.58, Y:-11.51, Z:-2.73 [[ 9.99982751e-01 4.59317724e-03 3.66070838e-03 1.98584855e+02] [-4.59233608e-03 9.99989427e-01 -2.38153900e-04 -1.15058043e+01] [-3.66176356e-03 2.21338589e-04 9.99993271e-01 -2.72751059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45037174299998 meters 0.033903711745052384 Centerline is valid? [True, True] Translation: X:198.62, Y:-11.51, Z:-2.73 [[ 9.99977819e-01 5.04747876e-03 4.34571025e-03 1.98615370e+02] [-5.04629761e-03 9.99987227e-01 -2.82717917e-04 -1.15074872e+01] [-4.34708176e-03 2.60781898e-04 9.99990517e-01 -2.72841939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48037174299998 meters 0.036154865202099505 Centerline is valid? [True, True] Translation: X:198.64, Y:-11.51, Z:-2.73 [[ 9.99974989e-01 5.50705697e-03 4.43779382e-03 1.98644973e+02] [-5.50582900e-03 9.99984801e-01 -2.88877837e-04 -1.15121129e+01] [-4.43931723e-03 2.64436878e-04 9.99990111e-01 -2.72898167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51037174299998 meters 0.03365719103703994 Centerline is valid? [True, True] Translation: X:198.68, Y:-11.51, Z:-2.73 [[ 9.99972735e-01 5.79009144e-03 4.58310705e-03 1.98676115e+02] [-5.78878586e-03 9.99983200e-01 -2.98081178e-04 -1.15097017e+01] [-4.58475597e-03 2.71542425e-04 9.99989453e-01 -2.72880870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54037174299998 meters 0.034053106322048325 Centerline is valid? [True, True] Translation: X:198.71, Y:-11.51, Z:-2.73 [[ 9.99973215e-01 5.83843059e-03 4.41395421e-03 1.98706080e+02] [-5.83721857e-03 9.99982922e-01 -2.87422507e-04 -1.15121295e+01] [-4.41555692e-03 2.61649592e-04 9.99990217e-01 -2.72913610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57037174299998 meters 0.03267825750372305 Centerline is valid? [True, True] Translation: X:198.74, Y:-11.51, Z:-2.73 [[ 9.99973491e-01 5.67105906e-03 4.56691638e-03 1.98735460e+02] [-5.66976064e-03 9.99983883e-01 -2.97206947e-04 -1.15115938e+01] [-4.56852825e-03 2.71305746e-04 9.99989527e-01 -2.72957683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60037174299998 meters 0.033677663871361514 Centerline is valid? [True, True] Translation: X:198.77, Y:-11.51, Z:-2.73 [[ 9.99973005e-01 5.46156218e-03 4.91542333e-03 1.98766114e+02] [-5.46005819e-03 9.99985043e-01 -3.19341253e-04 -1.15145812e+01] [-4.91709391e-03 2.92494135e-04 9.99987868e-01 -2.73057697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63037174299998 meters 0.03418605607479442 Centerline is valid? [True, True] Translation: X:198.80, Y:-11.52, Z:-2.73 [[ 9.99972691e-01 5.26420234e-03 5.18713977e-03 1.98796547e+02] [-5.26252483e-03 9.99986096e-01 -3.36993908e-04 -1.15168128e+01] [-5.18884165e-03 3.09687253e-04 9.99986490e-01 -2.73128841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66037174299998 meters 0.03417260445409077 Centerline is valid? [True, True] Translation: X:198.83, Y:-11.52, Z:-2.73 [[ 9.99973657e-01 4.95597735e-03 5.30310056e-03 1.98826982e+02] [-4.95421968e-03 9.99987668e-01 -3.44527555e-04 -1.15175174e+01] [-5.30474263e-03 3.18245754e-04 9.99985879e-01 -2.73117453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.690371743 meters 0.031887078259587955 Centerline is valid? [True, True] Translation: X:198.86, Y:-11.52, Z:-2.73 [[ 9.99970146e-01 5.16055888e-03 5.75113116e-03 1.98857837e+02] [-5.15849503e-03 9.99986625e-01 -3.73634845e-04 -1.15154140e+01] [-5.75298241e-03 3.43956509e-04 9.99983392e-01 -2.73059131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720371743 meters 0.03278495934489213 Centerline is valid? [True, True] Translation: X:198.89, Y:-11.52, Z:-2.73 [[ 9.99970066e-01 5.25687807e-03 5.67743246e-03 1.98888145e+02] [-5.25486919e-03 9.99986125e-01 -3.68695596e-04 -1.15181256e+01] [-5.67929188e-03 3.38850394e-04 9.99983815e-01 -2.73138519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.750371743 meters 0.03234394620004189 Centerline is valid? [True, True] Translation: X:198.92, Y:-11.52, Z:-2.73 [[ 9.99969853e-01 5.21028079e-03 5.75724238e-03 1.98918785e+02] [-5.20821278e-03 9.99986367e-01 -3.74136330e-04 -1.15183611e+01] [-5.75911324e-03 3.44140108e-04 9.99983357e-01 -2.73175437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780371743 meters 0.03139484101009695 Centerline is valid? [True, True] Translation: X:198.95, Y:-11.52, Z:-2.73 [[ 9.99970962e-01 5.04378033e-03 5.71269285e-03 1.98949287e+02] [-5.04174149e-03 9.99987221e-01 -3.71241265e-04 -1.15182084e+01] [-5.71449231e-03 3.42428564e-04 9.99983614e-01 -2.73179826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.810371743 meters 0.0325885787431309 Centerline is valid? [True, True] Translation: X:198.98, Y:-11.52, Z:-2.73 [[ 9.99969203e-01 5.08984633e-03 5.97389991e-03 1.98979327e+02] [-5.08761847e-03 9.99986983e-01 -3.88068943e-04 -1.15216245e+01] [-5.97579736e-03 3.57664068e-04 9.99982081e-01 -2.73229966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840371743 meters 0.03378903166009553 Centerline is valid? [True, True] Translation: X:199.01, Y:-11.52, Z:-2.73 [[ 9.99968468e-01 4.04315930e-03 6.83491578e-03 1.99009580e+02] [-4.04021746e-03 9.99991740e-01 -4.44165339e-04 -1.15243239e+01] [-6.83665515e-03 4.16536787e-04 9.99976543e-01 -2.73211982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.870371743 meters 0.03472431726264671 Centerline is valid? [True, True] Translation: X:199.04, Y:-11.53, Z:-2.73 [[ 9.99972143e-01 3.46320882e-03 6.61205593e-03 1.99039682e+02] [-3.46044233e-03 9.99993920e-01 -4.29794840e-04 -1.15275748e+01] [-6.61350420e-03 4.06902229e-04 9.99978048e-01 -2.73274038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900371743 meters 0.034445487331402624 Centerline is valid? [True, True] Translation: X:199.07, Y:-11.53, Z:-2.73 [[ 9.99972955e-01 2.86288503e-03 6.77438016e-03 1.99070670e+02] [-2.85996734e-03 9.99995813e-01 -4.40342820e-04 -1.15290801e+01] [-6.77561244e-03 4.20956405e-04 9.99976957e-01 -2.73321770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.930371743 meters 0.03395268031280292 Centerline is valid? [True, True] Translation: X:199.10, Y:-11.53, Z:-2.73 [[ 9.99971694e-01 2.73074391e-03 7.01095360e-03 1.99101945e+02] [-2.72761378e-03 9.99996176e-01 -4.55985638e-04 -1.15302296e+01] [-7.01217197e-03 4.36849558e-04 9.99975319e-01 -2.73357938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96037174299997 meters 0.03490381667933169 Centerline is valid? [True, True] Translation: X:199.13, Y:-11.53, Z:-2.73 [[ 9.99975376e-01 2.97257032e-03 6.35705651e-03 1.99133268e+02] [-2.97001012e-03 9.99995505e-01 -4.12135264e-04 -1.15335595e+01] [-6.35825303e-03 3.93244594e-04 9.99979709e-01 -2.73467998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99037174299997 meters 0.036331925943541614 Centerline is valid? [True, True] Translation: X:199.16, Y:-11.54, Z:-2.74 [[ 9.99977544e-01 2.95372995e-03 6.01551671e-03 1.99164216e+02] [-2.95142963e-03 9.99995568e-01 -3.91238033e-04 -1.15375843e+01] [-6.01664566e-03 3.73474873e-04 9.99981830e-01 -2.73539330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02037174299997 meters 0.03437304851406187 Centerline is valid? [True, True] Translation: X:199.20, Y:-11.54, Z:-2.74 [[ 9.99979182e-01 3.32209189e-03 5.53164037e-03 1.99195820e+02] [-3.32013770e-03 9.99994423e-01 -3.62421846e-04 -1.15367066e+01] [-5.53281352e-03 3.44048493e-04 9.99984635e-01 -2.73625790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05037174299997 meters 0.033529027906781396 Centerline is valid? [True, True] Translation: X:199.23, Y:-11.54, Z:-2.74 [[ 9.99977282e-01 3.77227553e-03 5.58615405e-03 1.99227147e+02] [-3.77028849e-03 9.99992825e-01 -3.66196647e-04 -1.15376362e+01] [-5.58749537e-03 3.45126915e-04 9.99984330e-01 -2.73676628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08037174299997 meters 0.036447793720295864 Centerline is valid? [True, True] Translation: X:199.26, Y:-11.54, Z:-2.74 [[ 9.99968560e-01 5.28763991e-03 5.90934752e-03 1.99257064e+02] [-5.28544035e-03 9.99985957e-01 -3.87772639e-04 -1.15435241e+01] [-5.91131494e-03 3.56526943e-04 9.99982464e-01 -2.73769792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11037174299997 meters 0.03246907583723608 Centerline is valid? [True, True] Translation: X:199.29, Y:-11.54, Z:-2.74 [[ 9.99962345e-01 6.46397314e-03 5.79020265e-03 1.99287743e+02] [-6.46187961e-03 9.99979050e-01 -3.80199413e-04 -1.15385900e+01] [-5.79253895e-03 3.42769504e-04 9.99983164e-01 -2.73665383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14037174299997 meters 0.031012536820807683 Centerline is valid? [True, True] Translation: X:199.32, Y:-11.54, Z:-2.74 [[ 9.99933523e-01 9.78078398e-03 6.10618242e-03 1.99318492e+02] [-9.77851735e-03 9.99952109e-01 -4.00947447e-04 -1.15370929e+01] [-6.10981156e-03 3.41211383e-04 9.99981277e-01 -2.73625407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17037174299998 meters 0.03126052413390697 Centerline is valid? [True, True] Translation: X:199.35, Y:-11.54, Z:-2.74 [[ 9.99912058e-01 1.16912675e-02 6.26016382e-03 1.99346849e+02] [-1.16889198e-02 9.99931598e-01 -4.11475018e-04 -1.15385312e+01] [-6.26454627e-03 3.38264280e-04 9.99980320e-01 -2.73651366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20037174299998 meters 0.030731712059175 Centerline is valid? [True, True] Translation: X:199.38, Y:-11.54, Z:-2.74 [[ 9.99890771e-01 1.35014656e-02 6.01302942e-03 1.99375475e+02] [-1.34993332e-02 9.99908802e-01 -3.95077340e-04 -1.15389009e+01] [-6.01781517e-03 3.13862298e-04 9.99981844e-01 -2.73703342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23037174299998 meters 0.030291509053034828 Centerline is valid? [True, True] Translation: X:199.40, Y:-11.54, Z:-2.74 [[ 9.99861456e-01 1.54827734e-02 6.11173442e-03 1.99404025e+02] [-1.54806101e-02 9.99880088e-01 -4.01109604e-04 -1.15396122e+01] [-6.11721184e-03 3.06440655e-04 9.99981243e-01 -2.73797770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26037174299998 meters 0.03083857851131128 Centerline is valid? [True, True] Translation: X:199.43, Y:-11.54, Z:-2.74 [[ 9.99804144e-01 1.88050644e-02 6.16787851e-03 1.99433028e+02] [-1.88029288e-02 9.99823128e-01 -4.04065490e-04 -1.15420694e+01] [-6.17438606e-03 2.88012171e-04 9.99980897e-01 -2.73925114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29037174299998 meters 0.02846142666559224 Centerline is valid? [True, True] Translation: X:199.46, Y:-11.54, Z:-2.74 [[ 9.99752740e-01 2.11879315e-02 6.74762398e-03 1.99462571e+02] [-2.11854306e-02 9.99775466e-01 -4.41890835e-04 -1.15389940e+01] [-6.75547166e-03 2.98830254e-04 9.99977137e-01 -2.73957914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32037174299998 meters 0.02768625688257396 Centerline is valid? [True, True] Translation: X:199.49, Y:-11.54, Z:-2.74 [[ 9.99727891e-01 2.23267413e-02 6.75731086e-03 1.99491517e+02] [-2.23242608e-02 9.99750685e-01 -4.42302328e-04 -1.15401810e+01] [-6.76550133e-03 2.91330004e-04 9.99977071e-01 -2.74021821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35037174299998 meters 0.027897078789416063 Centerline is valid? [True, True] Translation: X:199.52, Y:-11.54, Z:-2.74 [[ 9.99711724e-01 2.29817500e-02 6.95039331e-03 1.99519465e+02] [-2.29791443e-02 9.99735841e-01 -4.54534836e-04 -1.15427555e+01] [-6.95900331e-03 2.94689714e-04 9.99975742e-01 -2.74108189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38037174299998 meters 0.027897078789416063 Centerline is valid? [True, True] Translation: X:199.55, Y:-11.54, Z:-2.74 [[ 9.99714154e-01 2.28757901e-02 6.95042539e-03 1.99546886e+02] [-2.28731853e-02 9.99738271e-01 -4.54043474e-04 -1.15444528e+01] [-6.95899287e-03 2.94935319e-04 9.99975742e-01 -2.74146827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41037174299998 meters 0.027698067817521484 Centerline is valid? [True, True] Translation: X:199.58, Y:-11.55, Z:-2.74 [[ 9.99710438e-01 2.32051207e-02 6.36883878e-03 1.99575288e+02] [-2.32029455e-02 9.99730689e-01 -4.15227625e-04 -1.15463160e+01] [-6.37675899e-03 2.67331572e-04 9.99979633e-01 -2.74219682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440371743 meters 0.0269895333324047 Centerline is valid? [True, True] Translation: X:199.60, Y:-11.55, Z:-2.74 [[ 9.99699925e-01 2.36563854e-02 6.35880680e-03 1.99603716e+02] [-2.36542289e-02 9.99720114e-01 -4.14132651e-04 -1.15467820e+01] [-6.36682394e-03 2.63595709e-04 9.99979697e-01 -2.74275934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.470371743 meters 0.027896020756428955 Centerline is valid? [True, True] Translation: X:199.63, Y:-11.55, Z:-2.74 [[ 9.99708966e-01 2.33733287e-02 5.97255977e-03 1.99631527e+02] [-2.33714213e-02 9.99726775e-01 -3.88961307e-04 -1.15500105e+01] [-5.98001924e-03 2.49260895e-04 9.99982088e-01 -2.74362246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500371743 meters 0.02760278064253631 Centerline is valid? [True, True] Translation: X:199.66, Y:-11.55, Z:-2.74 [[ 9.99730944e-01 2.25218852e-02 5.55022529e-03 1.99660252e+02] [-2.25202300e-02 9.99746322e-01 -3.60549925e-04 -1.15521693e+01] [-5.55693759e-03 2.35460567e-04 9.99984532e-01 -2.74417165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.530371743 meters 0.028498361959610856 Centerline is valid? [True, True] Translation: X:199.69, Y:-11.56, Z:-2.75 [[ 9.99754740e-01 2.15338075e-02 5.17258814e-03 1.99687331e+02] [-2.15323582e-02 9.99768096e-01 -3.35722673e-04 -1.15561458e+01] [-5.17861798e-03 2.24262313e-04 9.99986566e-01 -2.74516185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560371743 meters 0.028937936900322096 Centerline is valid? [True, True] Translation: X:199.72, Y:-11.56, Z:-2.75 [[ 9.99773915e-01 2.06238598e-02 5.17447243e-03 1.99715595e+02] [-2.06223993e-02 9.99787279e-01 -3.35446581e-04 -1.15595556e+01] [-5.18028992e-03 2.28660705e-04 9.99986556e-01 -2.74585444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.590371743 meters 0.029371396410471883 Centerline is valid? [True, True] Translation: X:199.74, Y:-11.56, Z:-2.75 [[ 9.99817980e-01 1.84167114e-02 4.98314185e-03 1.99744505e+02] [-1.84153319e-02 9.99830371e-01 -3.22568467e-04 -1.15636479e+01] [-4.98823722e-03 2.30743542e-04 9.99987532e-01 -2.74624867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620371743 meters 0.0296589405184413 Centerline is valid? [True, True] Translation: X:199.77, Y:-11.57, Z:-2.75 [[ 9.99830834e-01 1.75194462e-02 5.60114583e-03 1.99772654e+02] [-1.75176894e-02 9.99846488e-01 -3.62548182e-04 -1.15665730e+01] [-5.60663763e-03 2.64367718e-04 9.99984248e-01 -2.74631900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.650371743 meters 0.02926672101452908 Centerline is valid? [True, True] Translation: X:199.80, Y:-11.57, Z:-2.75 [[ 9.99839277e-01 1.69582816e-02 5.81687459e-03 1.99801335e+02] [-1.69563822e-02 9.99856160e-01 -3.75691305e-04 -1.15685538e+01] [-5.82240897e-03 2.76997774e-04 9.99983011e-01 -2.74630214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680371743 meters 0.029899534742339886 Centerline is valid? [True, True] Translation: X:199.83, Y:-11.57, Z:-2.75 [[ 9.99845431e-01 1.62578214e-02 6.69303841e-03 1.99829375e+02] [-1.62552945e-02 9.99867781e-01 -4.31775499e-04 -1.15734168e+01] [-6.69917319e-03 3.22911450e-04 9.99977508e-01 -2.74749295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71037174299997 meters 0.030413188006189803 Centerline is valid? [True, True] Translation: X:199.86, Y:-11.58, Z:-2.75 [[ 9.99848615e-01 1.59786648e-02 6.88689691e-03 1.99856456e+02] [-1.59759864e-02 9.99872277e-01 -4.43753782e-04 -1.15772462e+01] [-6.89310789e-03 3.33661632e-04 9.99976187e-01 -2.74817375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74037174299997 meters 0.030355947788383398 Centerline is valid? [True, True] Translation: X:199.88, Y:-11.58, Z:-2.75 [[ 9.99854290e-01 1.54821555e-02 7.19033433e-03 1.99884857e+02] [-1.54792308e-02 9.99880083e-01 -4.62228700e-04 -1.15814287e+01] [-7.19662838e-03 3.50860504e-04 9.99974042e-01 -2.74893517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77037174299997 meters 0.029471418030496143 Centerline is valid? [True, True] Translation: X:199.91, Y:-11.58, Z:-2.75 [[ 9.99851239e-01 1.54045979e-02 7.75868860e-03 1.99913298e+02] [-1.54011951e-02 9.99881270e-01 -4.98147909e-04 -1.15823021e+01] [-7.76544118e-03 3.78580728e-04 9.99969777e-01 -2.74870383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80037174299997 meters 0.02918148439382009 Centerline is valid? [True, True] Translation: X:199.94, Y:-11.58, Z:-2.75 [[ 9.99861053e-01 1.44188287e-02 8.36487896e-03 1.99941852e+02] [-1.44148446e-02 9.99895957e-01 -5.36391136e-04 -1.15848076e+01] [-8.37174278e-03 4.15738177e-04 9.99964870e-01 -2.74761420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83037174299997 meters 0.03617229333526259 Centerline is valid? [True, True] Translation: X:199.97, Y:-11.60, Z:-2.75 [[ 9.99873592e-01 1.34163676e-02 8.53239087e-03 1.99969188e+02] [-1.34121913e-02 9.99909903e-01 -5.46489688e-04 -1.15986334e+01] [-8.53895403e-03 4.31982548e-04 9.99963449e-01 -2.74894871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86037174299997 meters 0.03128299622169251 Centerline is valid? [True, True] Translation: X:200.00, Y:-11.59, Z:-2.75 [[ 9.99890024e-01 1.23194292e-02 8.25659365e-03 1.99999194e+02] [-1.23154877e-02 9.99924022e-01 -5.28054127e-04 -1.15935825e+01] [-8.26247166e-03 4.26312076e-04 9.99965774e-01 -2.74890201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89037174299997 meters 0.031179442303664654 Centerline is valid? [True, True] Translation: X:200.03, Y:-11.60, Z:-2.75 [[ 9.99910128e-01 1.11993756e-02 7.36955938e-03 2.00028280e+02] [-1.11962058e-02 9.99937209e-01 -4.71234635e-04 -1.15966377e+01] [-7.37437417e-03 3.88681181e-04 9.99972733e-01 -2.75022974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92037174299998 meters 0.032428832005078734 Centerline is valid? [True, True] Translation: X:200.06, Y:-11.60, Z:-2.75 [[ 9.99942824e-01 8.61232144e-03 6.33857694e-03 2.00056923e+02] [-8.60993006e-03 9.99962852e-01 -4.04465391e-04 -1.16029322e+01] [-6.34182486e-03 3.49867561e-04 9.99979829e-01 -2.75253793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95037174299998 meters 0.03266000714057755 Centerline is valid? [True, True] Translation: X:200.09, Y:-11.61, Z:-2.75 [[ 9.99956983e-01 7.12489121e-03 5.93865676e-03 2.00086272e+02] [-7.12276225e-03 9.99974561e-01 -3.79565131e-04 -1.16059285e+01] [-5.94121005e-03 3.37249163e-04 9.99982294e-01 -2.75325729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98037174299998 meters 0.03478582614329269 Centerline is valid? [True, True] Translation: X:200.12, Y:-11.61, Z:-2.75 [[ 9.99972424e-01 4.34870527e-03 6.01998289e-03 2.00116088e+02] [-4.34647050e-03 9.99990480e-01 -3.84257524e-04 -1.16119938e+01] [-6.02159660e-03 3.58081250e-04 9.99981806e-01 -2.75369832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01037174299998 meters 0.035276286997640204 Centerline is valid? [True, True] Translation: X:200.15, Y:-11.62, Z:-2.75 [[ 9.99975430e-01 3.33770496e-03 6.16430042e-03 2.00147020e+02] [-3.33534432e-03 9.99994360e-01 -3.93193363e-04 -1.16154676e+01] [-6.16557802e-03 3.72623638e-04 9.99980923e-01 -2.75392697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04037174299998 meters 0.03413728416268831 Centerline is valid? [True, True] Translation: X:200.18, Y:-11.62, Z:-2.75 [[ 9.99971681e-01 2.66570657e-03 7.03784723e-03 2.00178704e+02] [-2.66261067e-03 9.99996354e-01 -4.49225835e-04 -1.16163164e+01] [-7.03901908e-03 4.30474066e-04 9.99975133e-01 -2.75342837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07037174299998 meters 0.03561668835442395 Centerline is valid? [True, True] Translation: X:200.21, Y:-11.62, Z:-2.75 [[ 9.99955413e-01 2.26431103e-03 9.16755472e-03 2.00209740e+02] [-2.25904533e-03 9.99997277e-01 -5.84698739e-04 -1.16211958e+01] [-9.16885370e-03 5.63962748e-04 9.99957806e-01 -2.75279900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10037174299998 meters 0.038702340071706906 Centerline is valid? [True, True] Translation: X:200.24, Y:-11.63, Z:-2.75 [[ 9.99948214e-01 2.58246063e-03 9.84375104e-03 2.00242018e+02] [-2.57638207e-03 9.99996483e-01 -6.30135123e-04 -1.16276901e+01] [-9.84534372e-03 6.04741228e-04 9.99951351e-01 -2.75284898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13037174299998 meters 0.0387424487145651 Centerline is valid? [True, True] Translation: X:200.28, Y:-11.63, Z:-2.75 [[ 9.99942735e-01 2.85758674e-03 1.03131856e-02 2.00275270e+02] [-2.85089713e-03 9.99995716e-01 -6.63289081e-04 -1.16296679e+01] [-1.03150368e-02 6.33849267e-04 9.99946598e-01 -2.75288271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16037174299998 meters 0.035194405889459386 Centerline is valid? [True, True] Translation: X:200.31, Y:-11.63, Z:-2.75 [[ 9.99936841e-01 3.31074089e-03 1.07402683e-02 2.00307528e+02] [-3.30347793e-03 9.99994303e-01 -6.93906882e-04 -1.16264507e+01] [-1.07425044e-02 6.58382817e-04 9.99942081e-01 -2.75290109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.190371743 meters 0.037347510206596914 Centerline is valid? [True, True] Translation: X:200.34, Y:-11.63, Z:-2.75 [[ 9.99936525e-01 3.42164823e-03 1.07348982e-02 2.00339603e+02] [-3.41437090e-03 9.99993929e-01 -6.96166993e-04 -1.16320063e+01] [-1.07372151e-02 6.59469880e-04 9.99942137e-01 -2.75380899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220371743 meters 0.0360048378638467 Centerline is valid? [True, True] Translation: X:200.37, Y:-11.63, Z:-2.76 [[ 9.99946799e-01 3.43662973e-03 9.72571794e-03 2.00371905e+02] [-3.43063484e-03 9.99993915e-01 -6.33011631e-04 -1.16325515e+01] [-9.72783418e-03 5.99612567e-04 9.99952504e-01 -2.75569113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.250371743 meters 0.03493378824556876 Centerline is valid? [True, True] Translation: X:200.40, Y:-11.63, Z:-2.76 [[ 9.99952337e-01 3.23820869e-03 9.21069187e-03 2.00404143e+02] [-3.23280446e-03 9.99994594e-01 -6.01562849e-04 -1.16331796e+01] [-9.21259006e-03 5.71757811e-04 9.99957400e-01 -2.75687948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280371743 meters 0.0568787154559423 Centerline is valid? [True, True] Translation: X:200.43, Y:-11.67, Z:-2.76 [[ 9.99941081e-01 5.28409779e-03 9.48222639e-03 2.00432942e+02] [-5.27842909e-03 9.99985875e-01 -6.22750914e-04 -1.16672593e+01] [-9.48538313e-03 5.72662962e-04 9.99954849e-01 -2.76001132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.310371743 meters 0.03613156214052916 Centerline is valid? [True, True] Translation: X:200.47, Y:-11.64, Z:-2.76 [[ 9.99960510e-01 2.48298479e-03 8.53310410e-03 2.00466005e+02] [-2.47828954e-03 9.99996772e-01 -5.60769715e-04 -1.16396337e+01] [-8.53446894e-03 5.39600068e-04 9.99963435e-01 -2.75871235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340371743 meters 0.03610663754131646 Centerline is valid? [True, True] Translation: X:200.50, Y:-11.64, Z:-2.76 [[ 9.99964476e-01 1.96516423e-03 8.19657959e-03 2.00498094e+02] [-1.96082463e-03 9.99997933e-01 -5.37442948e-04 -1.16416012e+01] [-8.19761881e-03 5.21351801e-04 9.99966263e-01 -2.75912585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.370371743 meters 0.036482584822530334 Centerline is valid? [True, True] Translation: X:200.53, Y:-11.64, Z:-2.76 [[ 9.99962356e-01 2.09104037e-03 8.42105888e-03 2.00530438e+02] [-2.08644581e-03 9.99997670e-01 -5.54352069e-04 -1.16439946e+01] [-8.42219843e-03 5.36761118e-04 9.99964389e-01 -2.75942574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400371743 meters 0.036231286717115084 Centerline is valid? [True, True] Translation: X:200.56, Y:-11.65, Z:-2.76 [[ 9.99956956e-01 2.90204496e-03 8.81276239e-03 2.00562238e+02] [-2.89701537e-03 9.99995633e-01 -5.83428551e-04 -1.16459519e+01] [-8.81441705e-03 5.57872730e-04 9.99960997e-01 -2.75929833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43037174299997 meters 0.034609559706245636 Centerline is valid? [True, True] Translation: X:200.59, Y:-11.65, Z:-2.76 [[ 9.99952920e-01 3.66687624e-03 8.98400031e-03 2.00594382e+02] [-3.66167412e-03 9.99993119e-01 -5.95422222e-04 -1.16456649e+01] [-8.98612183e-03 5.62497708e-04 9.99959466e-01 -2.75979282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46037174299997 meters 0.035265107393378035 Centerline is valid? [True, True] Translation: X:200.63, Y:-11.65, Z:-2.76 [[ 9.99951190e-01 4.22497841e-03 8.93127495e-03 2.00625114e+02] [-4.21986089e-03 9.99990921e-01 -5.91756182e-04 -1.16487519e+01] [-8.93369403e-03 5.54038560e-04 9.99959940e-01 -2.76034464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49037174299997 meters 0.03568749437347498 Centerline is valid? [True, True] Translation: X:200.66, Y:-11.65, Z:-2.76 [[ 9.99948951e-01 5.17704907e-03 8.67724237e-03 2.00656405e+02] [-5.17223746e-03 9.99986458e-01 -5.76857842e-04 -1.16518779e+01] [-8.68011128e-03 5.31947636e-04 9.99962186e-01 -2.76116610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52037174299997 meters 0.035397280608080714 Centerline is valid? [True, True] Translation: X:200.69, Y:-11.65, Z:-2.76 [[ 9.99950701e-01 5.33265458e-03 8.37605370e-03 2.00687926e+02] [-5.32815216e-03 9.99985649e-01 -5.59758029e-04 -1.16536360e+01] [-8.37891849e-03 5.15101545e-04 9.99964764e-01 -2.76185600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55037174299997 meters 0.037491400330742664 Centerline is valid? [True, True] Translation: X:200.72, Y:-11.66, Z:-2.76 [[ 9.99947754e-01 5.78569163e-03 8.42702656e-03 2.00718763e+02] [-5.78115683e-03 9.99983131e-01 -5.62385317e-04 -1.16594263e+01] [-8.43013819e-03 5.13637972e-04 9.99964334e-01 -2.76304170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58037174299997 meters 0.035655033682844305 Centerline is valid? [True, True] Translation: X:200.75, Y:-11.66, Z:-2.76 [[ 9.99944435e-01 5.83812566e-03 8.77747021e-03 2.00750049e+02] [-5.83318010e-03 9.99982813e-01 -5.88932756e-04 -1.16598947e+01] [-8.78075762e-03 5.37699467e-04 9.99961304e-01 -2.76363675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61037174299997 meters 0.03545802827437758 Centerline is valid? [True, True] Translation: X:200.78, Y:-11.66, Z:-2.76 [[ 9.99943591e-01 5.74828099e-03 8.93157681e-03 2.00781248e+02] [-5.74315378e-03 9.99983328e-01 -5.99596722e-04 -1.16622681e+01] [-8.93487455e-03 5.48267480e-04 9.99959933e-01 -2.76408975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64037174299997 meters 0.03657190343787493 Centerline is valid? [True, True] Translation: X:200.81, Y:-11.67, Z:-2.76 [[ 9.99950795e-01 5.08485225e-03 8.51770042e-03 2.00812123e+02] [-5.08017192e-03 9.99986933e-01 -5.71028206e-04 -1.16675466e+01] [-8.52049272e-03 5.27728726e-04 9.99963561e-01 -2.76458380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67037174299998 meters 0.03564715430142555 Centerline is valid? [True, True] Translation: X:200.84, Y:-11.67, Z:-2.77 [[ 9.99957467e-01 4.82642155e-03 7.85932555e-03 2.00843915e+02] [-4.82241680e-03 9.99988232e-01 -5.28424883e-04 -1.16687478e+01] [-7.86178347e-03 4.90501464e-04 9.99968975e-01 -2.76506931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70037174299998 meters 0.035464676334915894 Centerline is valid? [True, True] Translation: X:200.88, Y:-11.67, Z:-2.77 [[ 9.99962855e-01 4.64525917e-03 7.26011970e-03 2.00875622e+02] [-4.64181696e-03 9.99989106e-01 -4.90903791e-04 -1.16711986e+01] [-7.26232098e-03 4.57185409e-04 9.99973524e-01 -2.76560923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73037174299998 meters 0.035271640850206364 Centerline is valid? [True, True] Translation: X:200.91, Y:-11.67, Z:-2.77 [[ 9.99968771e-01 4.26308994e-03 6.65462633e-03 2.00906573e+02] [-4.26018824e-03 9.99990824e-01 -4.50157967e-04 -1.16746522e+01] [-6.65648434e-03 4.21793948e-04 9.99977756e-01 -2.76712682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76037174299998 meters 0.0358091556796134 Centerline is valid? [True, True] Translation: X:200.94, Y:-11.68, Z:-2.77 [[ 9.99971937e-01 4.39718272e-03 6.06539466e-03 2.00937433e+02] [-4.39477352e-03 9.99990259e-01 -4.10475034e-04 -1.16783823e+01] [-6.06714051e-03 3.83807479e-04 9.99981521e-01 -2.76825457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79037174299998 meters 0.03581627869565759 Centerline is valid? [True, True] Translation: X:200.97, Y:-11.68, Z:-2.77 [[ 9.99973723e-01 4.73827957e-03 5.48660995e-03 2.00968512e+02] [-4.73631253e-03 9.99988715e-01 -3.71454269e-04 -1.16811088e+01] [-5.48830809e-03 3.45458208e-04 9.99984879e-01 -2.76911578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82037174299998 meters 0.03541672485426434 Centerline is valid? [True, True] Translation: X:201.00, Y:-11.68, Z:-2.77 [[ 9.99967557e-01 6.00028881e-03 5.37420198e-03 2.00999342e+02] [-5.99841764e-03 9.99981943e-01 -3.64226961e-04 -1.16828770e+01] [-5.37629041e-03 3.31978436e-04 9.99985493e-01 -2.76998218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85037174299998 meters 0.034697105936120305 Centerline is valid? [True, True] Translation: X:201.03, Y:-11.68, Z:-2.77 [[ 9.99959035e-01 7.18456698e-03 5.50550412e-03 2.01029487e+02] [-7.18262016e-03 9.99974135e-01 -3.73303913e-04 -1.16838471e+01] [-5.50804374e-03 3.33744675e-04 9.99984775e-01 -2.77034004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88037174299998 meters 0.03809545464117327 Centerline is valid? [True, True] Translation: X:201.06, Y:-11.69, Z:-2.77 [[ 9.99930774e-01 1.03488630e-02 5.59896307e-03 2.01059198e+02] [-1.03468989e-02 9.99946397e-01 -3.79640952e-04 -1.16914191e+01] [-5.60259181e-03 3.21682766e-04 9.99984254e-01 -2.77188657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91037174299998 meters 0.03364890427380498 Centerline is valid? [True, True] Translation: X:201.09, Y:-11.69, Z:-2.77 [[ 9.99920931e-01 1.12780076e-02 5.56225763e-03 2.01088690e+02] [-1.12760802e-02 9.99936352e-01 -3.77754844e-04 -1.16865649e+01] [-5.56616393e-03 3.15004513e-04 9.99984459e-01 -2.77102026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940371743 meters 0.03234141813713729 Centerline is valid? [True, True] Translation: X:201.12, Y:-11.69, Z:-2.77 [[ 9.99909497e-01 1.24435875e-02 5.11417532e-03 2.01117353e+02] [-1.24419747e-02 9.99922535e-01 -3.47047331e-04 -1.16864636e+01] [-5.11809767e-03 2.83385483e-04 9.99986862e-01 -2.77104217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.970371743 meters 0.03230686993526836 Centerline is valid? [True, True] Translation: X:201.15, Y:-11.69, Z:-2.77 [[ 9.99879659e-01 1.44839035e-02 5.55736688e-03 2.01146039e+02] [-1.44820342e-02 9.99895059e-01 -3.76474794e-04 -1.16884251e+01] [-5.56223651e-03 2.95947512e-04 9.99984487e-01 -2.77155640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000371743 meters 0.031188628349069596 Centerline is valid? [True, True] Translation: X:201.17, Y:-11.69, Z:-2.77 [[ 9.99862515e-01 1.57123344e-02 5.29836623e-03 2.01174930e+02] [-1.57106528e-02 9.99876516e-01 -3.58839729e-04 -1.16891374e+01] [-5.30335018e-03 2.75549601e-04 9.99985899e-01 -2.77155449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.030371743 meters 0.03225158123358399 Centerline is valid? [True, True] Translation: X:201.20, Y:-11.69, Z:-2.77 [[ 9.99853234e-01 1.61387846e-02 5.74898917e-03 2.01202717e+02] [-1.61368140e-02 9.99869717e-01 -3.89001960e-04 -1.16929035e+01] [-5.75451820e-03 2.96174498e-04 9.99983399e-01 -2.77244718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060371743 meters 0.0307772953393355 Centerline is valid? [True, True] Translation: X:201.23, Y:-11.69, Z:-2.77 [[ 9.99819583e-01 1.81775136e-02 5.51175163e-03 2.01231406e+02] [-1.81757364e-02 9.99834738e-01 -3.72361596e-04 -1.16929152e+01] [-5.51760935e-03 2.72114271e-04 9.99984741e-01 -2.77262495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.090371743 meters 0.03243698327848726 Centerline is valid? [True, True] Translation: X:201.26, Y:-11.70, Z:-2.77 [[ 9.99795925e-01 1.93830705e-02 5.69259575e-03 2.01258599e+02] [-1.93811959e-02 9.99812093e-01 -3.84282814e-04 -1.16976900e+01] [-5.69897465e-03 2.73875078e-04 9.99983723e-01 -2.77380548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120371743 meters 0.029813802525713983 Centerline is valid? [True, True] Translation: X:201.29, Y:-11.70, Z:-2.77 [[ 9.99754990e-01 2.13902842e-02 5.69346308e-03 2.01287422e+02] [-2.13884452e-02 9.99771167e-01 -3.83695877e-04 -1.16961703e+01] [-5.70036760e-03 2.61827545e-04 9.99983718e-01 -2.77324708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.150371743 meters 0.029262564975177385 Centerline is valid? [True, True] Translation: X:201.32, Y:-11.70, Z:-2.77 [[ 9.99738935e-01 2.18976004e-02 6.52351214e-03 2.01315750e+02] [-2.18952008e-02 9.99760175e-01 -4.39030028e-04 -1.16977581e+01] [-6.53156134e-03 2.96081804e-04 9.99978625e-01 -2.77347946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18037174299997 meters 0.02924016403639063 Centerline is valid? [True, True] Translation: X:201.34, Y:-11.70, Z:-2.77 [[ 9.99733940e-01 2.22024075e-02 6.25321044e-03 2.01343975e+02] [-2.22002112e-02 9.99753457e-01 -4.20434648e-04 -1.17002057e+01] [-6.26100342e-03 2.81500195e-04 9.99980360e-01 -2.77375777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21037174299997 meters 0.02913393759875667 Centerline is valid? [True, True] Translation: X:201.37, Y:-11.70, Z:-2.77 [[ 9.99770260e-01 2.06429732e-02 5.77021951e-03 2.01372351e+02] [-2.06410790e-02 9.99786875e-01 -3.87633562e-04 -1.17031032e+01] [-5.77699164e-03 2.68440951e-04 9.99983277e-01 -2.77424888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24037174299997 meters 0.02938341693435077 Centerline is valid? [True, True] Translation: X:201.40, Y:-11.71, Z:-2.77 [[ 9.99795824e-01 1.93932427e-02 5.67557543e-03 2.01400715e+02] [-1.93913923e-02 9.99811897e-01 -3.80883264e-04 -1.17061361e+01] [-5.68189439e-03 2.70748187e-04 9.99983821e-01 -2.77456672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27037174299997 meters 0.02938341693435077 Centerline is valid? [True, True] Translation: X:201.43, Y:-11.71, Z:-2.77 [[ 9.99797208e-01 1.93217598e-02 5.67560266e-03 2.01428989e+02] [-1.93199105e-02 9.99813281e-01 -3.80476632e-04 -1.17079688e+01] [-5.68189440e-03 2.70747339e-04 9.99983821e-01 -2.77496503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30037174299997 meters 0.03064653902205601 Centerline is valid? [True, True] Translation: X:201.46, Y:-11.71, Z:-2.78 [[ 9.99832264e-01 1.76058545e-02 5.04759299e-03 2.01456954e+02] [-1.76043714e-02 9.99844974e-01 -3.38120806e-04 -1.17124455e+01] [-5.05276339e-03 2.49204389e-04 9.99987204e-01 -2.77580182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33037174299997 meters 0.030415826949578204 Centerline is valid? [True, True] Translation: X:201.49, Y:-11.71, Z:-2.78 [[ 9.99868130e-01 1.56449354e-02 4.35417527e-03 2.01486129e+02] [-1.56438147e-02 9.99877586e-01 -2.91332652e-04 -1.17143930e+01] [-4.35820014e-03 2.23178323e-04 9.99990478e-01 -2.77632710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36037174299997 meters 0.032245675574499345 Centerline is valid? [True, True] Translation: X:201.51, Y:-11.72, Z:-2.78 [[ 9.99895374e-01 1.38016723e-02 4.33078484e-03 2.01514019e+02] [-1.38005487e-02 9.99904726e-01 -2.89211736e-04 -1.17201825e+01] [-4.33436383e-03 2.29414270e-04 9.99990580e-01 -2.77772238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39037174299997 meters 0.03334153683319962 Centerline is valid? [True, True] Translation: X:201.54, Y:-11.72, Z:-2.78 [[ 9.99937342e-01 1.04352377e-02 4.05197317e-03 2.01543508e+02] [-1.04342270e-02 9.99945525e-01 -2.70498555e-04 -1.17245949e+01] [-4.05457515e-03 2.28202398e-04 9.99991754e-01 -2.77778818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42037174299998 meters 0.037335402198169866 Centerline is valid? [True, True] Translation: X:201.57, Y:-11.73, Z:-2.78 [[ 9.99947819e-01 9.08066816e-03 4.67991802e-03 2.01571977e+02] [-9.07930415e-03 9.99958733e-01 -3.12623156e-04 -1.17325234e+01] [-4.68256372e-03 2.70116444e-04 9.99989000e-01 -2.77832905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45037174299998 meters 0.03391195753137981 Centerline is valid? [True, True] Translation: X:201.60, Y:-11.73, Z:-2.78 [[ 9.99957036e-01 7.36991604e-03 5.62237068e-03 2.01602087e+02] [-7.36792367e-03 9.99972786e-01 -3.74995798e-04 -1.17295610e+01] [-5.62498136e-03 3.33554488e-04 9.99984124e-01 -2.77714894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48037174299998 meters 0.033696244140025124 Centerline is valid? [True, True] Translation: X:201.63, Y:-11.73, Z:-2.78 [[ 9.99959689e-01 6.78032860e-03 5.88613789e-03 2.01631829e+02] [-6.77813608e-03 9.99976951e-01 -3.92356573e-04 -1.17307699e+01] [-5.88866253e-03 3.52443713e-04 9.99982600e-01 -2.77763792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51037174299998 meters 0.033542551123738364 Centerline is valid? [True, True] Translation: X:201.66, Y:-11.73, Z:-2.78 [[ 9.99963130e-01 6.53617673e-03 5.56929544e-03 2.01662012e+02] [-6.53421280e-03 9.99978583e-01 -3.70757725e-04 -1.17320456e+01] [-5.57159950e-03 3.34353094e-04 9.99984423e-01 -2.77789374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54037174299998 meters 0.03471614261970981 Centerline is valid? [True, True] Translation: X:201.69, Y:-11.73, Z:-2.78 [[ 9.99974264e-01 5.42687535e-03 4.69261878e-03 2.01691835e+02] [-5.42546889e-03 9.99985233e-01 -3.12395828e-04 -1.17347933e+01] [-4.69424482e-03 2.86928131e-04 9.99988941e-01 -2.77881966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57037174299998 meters 0.03586195086190836 Centerline is valid? [True, True] Translation: X:201.72, Y:-11.74, Z:-2.78 [[ 9.99976270e-01 4.89024573e-03 4.85221588e-03 2.01721195e+02] [-4.88873489e-03 9.99987998e-01 -3.23182934e-04 -1.17380071e+01] [-4.85373808e-03 2.99454067e-04 9.99988176e-01 -2.77939446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60037174299998 meters 0.03504071811591238 Centerline is valid? [True, True] Translation: X:201.75, Y:-11.74, Z:-2.78 [[ 9.99986708e-01 3.25178427e-03 4.00122497e-03 2.01751695e+02] [-3.25074466e-03 9.99994681e-01 -2.66297576e-04 -1.17382034e+01] [-4.00206963e-03 2.53287075e-04 9.99991960e-01 -2.78035160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63037174299998 meters 0.035920709345418536 Centerline is valid? [True, True] Translation: X:201.78, Y:-11.74, Z:-2.78 [[ 9.99985403e-01 2.91645606e-03 4.54839231e-03 2.01781591e+02] [-2.91510999e-03 9.99995705e-01 -3.02544725e-04 -1.17418489e+01] [-4.54925513e-03 2.89281245e-04 9.99989610e-01 -2.78097113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66037174299998 meters 0.03591002608374465 Centerline is valid? [True, True] Translation: X:201.81, Y:-11.74, Z:-2.78 [[ 9.99988176e-01 2.33337684e-03 4.26663975e-03 2.01813153e+02] [-2.33218758e-03 9.99997240e-01 -2.83689837e-04 -1.17437923e+01] [-4.26728993e-03 2.73735878e-04 9.99990858e-01 -2.78157572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.690371743 meters 0.03627422363374546 Centerline is valid? [True, True] Translation: X:201.84, Y:-11.75, Z:-2.78 [[ 9.99986665e-01 2.29604526e-03 4.62580050e-03 2.01844742e+02] [-2.29464599e-03 9.99997320e-01 -3.07778065e-04 -1.17457124e+01] [-4.62649478e-03 2.97159386e-04 9.99989254e-01 -2.78196315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720371743 meters 0.036118239430059096 Centerline is valid? [True, True] Translation: X:201.88, Y:-11.75, Z:-2.78 [[ 9.99988148e-01 2.90620617e-03 3.90623098e-03 2.01876146e+02] [-2.90521276e-03 9.99995746e-01 -2.59963946e-04 -1.17457466e+01] [-3.90696987e-03 2.48612433e-04 9.99992337e-01 -2.78219699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.750371743 meters 0.03584944764585244 Centerline is valid? [True, True] Translation: X:201.91, Y:-11.75, Z:-2.78 [[ 9.99986793e-01 3.43243573e-03 3.82516500e-03 2.01906908e+02] [-3.43148509e-03 9.99994080e-01 -2.55058276e-04 -1.17462597e+01] [-3.82601782e-03 2.41928911e-04 9.99992652e-01 -2.78297916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780371743 meters 0.03490177947673676 Centerline is valid? [True, True] Translation: X:201.94, Y:-11.75, Z:-2.78 [[ 9.99983288e-01 4.49299285e-03 3.63824242e-03 2.01937347e+02] [-4.49213984e-03 9.99989881e-01 -2.42594461e-04 -1.17457152e+01] [-3.63929558e-03 2.26246913e-04 9.99993352e-01 -2.78305081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.810371743 meters 0.03431201914003851 Centerline is valid? [True, True] Translation: X:201.97, Y:-11.75, Z:-2.78 [[ 9.99973636e-01 6.25963048e-03 3.68034158e-03 2.01968080e+02] [-6.25876954e-03 9.99980384e-01 -2.45401592e-04 -1.17450686e+01] [-3.68180551e-03 2.22360712e-04 9.99993197e-01 -2.78368370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840371743 meters 0.034684061682390195 Centerline is valid? [True, True] Translation: X:202.00, Y:-11.75, Z:-2.78 [[ 9.99969138e-01 6.99327950e-03 3.58000246e-03 2.01997730e+02] [-6.99246888e-03 9.99975524e-01 -2.38896681e-04 -1.17470283e+01] [-3.58158551e-03 2.13856252e-04 9.99993563e-01 -2.78466800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.870371743 meters 0.03564097093822574 Centerline is valid? [True, True] Translation: X:202.03, Y:-11.75, Z:-2.79 [[ 9.99961910e-01 7.93684363e-03 3.63113724e-03 2.02026476e+02] [-7.93601481e-03 9.99968480e-01 -2.42605424e-04 -1.17488014e+01] [-3.63294830e-03 2.13779424e-04 9.99993378e-01 -2.78547426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900371743 meters 0.03290624354204071 Centerline is valid? [True, True] Translation: X:202.06, Y:-11.74, Z:-2.78 [[ 9.99961377e-01 8.14785281e-03 3.29502530e-03 2.02055454e+02] [-8.14717112e-03 9.99966787e-01 -2.20254459e-04 -1.17448875e+01] [-3.29671046e-03 1.93400817e-04 9.99994547e-01 -2.78463143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93037174299997 meters 0.034097218190298775 Centerline is valid? [True, True] Translation: X:202.08, Y:-11.75, Z:-2.78 [[ 9.99960800e-01 8.11503861e-03 3.54196766e-03 2.02084291e+02] [-8.11425258e-03 9.99967051e-01 -2.36232973e-04 -1.17474709e+01] [-3.54376800e-03 2.07483293e-04 9.99993699e-01 -2.78487970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96037174299997 meters 0.03525460978534119 Centerline is valid? [True, True] Translation: X:202.11, Y:-11.75, Z:-2.79 [[ 9.99958319e-01 8.28143507e-03 3.84413048e-03 2.02112826e+02] [-8.28051152e-03 9.99965683e-01 -2.56104613e-04 -1.17499299e+01] [-3.84611947e-03 2.24262571e-04 9.99992579e-01 -2.78541633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99037174299997 meters 0.03380538065794151 Centerline is valid? [True, True] Translation: X:202.14, Y:-11.75, Z:-2.79 [[ 9.99959174e-01 8.23553716e-03 3.71835185e-03 2.02142062e+02] [-8.23467268e-03 9.99966064e-01 -2.47739056e-04 -1.17494097e+01] [-3.72026593e-03 2.17109531e-04 9.99993056e-01 -2.78562412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02037174299997 meters 0.033361542244603144 Centerline is valid? [True, True] Translation: X:202.17, Y:-11.75, Z:-2.79 [[ 9.99957761e-01 8.40061895e-03 3.72904059e-03 2.02170957e+02] [-8.39975162e-03 9.99964691e-01 -2.48189981e-04 -1.17500617e+01] [-3.73099387e-03 2.16856483e-04 9.99993016e-01 -2.78699436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05037174299997 meters 0.03357716175964126 Centerline is valid? [True, True] Translation: X:202.20, Y:-11.75, Z:-2.79 [[ 9.99952249e-01 9.34199998e-03 2.86832575e-03 2.02199238e+02] [-9.34149120e-03 9.99956349e-01 -1.90725103e-04 -1.17517700e+01] [-2.86998230e-03 1.63921556e-04 9.99995868e-01 -2.78844762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08037174299997 meters 0.03269481348805333 Centerline is valid? [True, True] Translation: X:202.23, Y:-11.75, Z:-2.79 [[ 9.99944535e-01 1.01959185e-02 2.64009203e-03 2.02228223e+02] [-1.01954901e-02 9.99948009e-01 -1.75675371e-04 -1.17510748e+01] [-2.64174595e-03 1.48748595e-04 9.99996500e-01 -2.78858849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11037174299997 meters 0.03213574006344958 Centerline is valid? [True, True] Translation: X:202.26, Y:-11.75, Z:-2.79 [[ 9.99919964e-01 1.24736433e-02 2.11528574e-03 2.02258253e+02] [-1.24733742e-02 9.99922195e-01 -1.40373913e-04 -1.17493501e+01] [-2.11687213e-03 1.13977927e-04 9.99997753e-01 -2.78907014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14037174299997 meters 0.031890075091911795 Centerline is valid? [True, True] Translation: X:202.29, Y:-11.75, Z:-2.79 [[ 9.99906748e-01 1.34600833e-02 2.30699418e-03 2.02287033e+02] [-1.34597652e-02 9.99909402e-01 -1.53384572e-04 -1.17499130e+01] [-2.30884974e-03 1.22318669e-04 9.99997327e-01 -2.78995221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17037174299998 meters 0.03204645792616423 Centerline is valid? [True, True] Translation: X:202.31, Y:-11.75, Z:-2.79 [[ 9.99893059e-01 1.43704584e-02 2.71306605e-03 2.02314890e+02] [-1.43700222e-02 9.99896730e-01 -1.80207187e-04 -1.17513175e+01] [-2.71537553e-03 1.41201097e-04 9.99996303e-01 -2.79043861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20037174299998 meters 0.03184441810127689 Centerline is valid? [True, True] Translation: X:202.34, Y:-11.75, Z:-2.79 [[ 9.99875760e-01 1.54339979e-02 3.20251572e-03 2.02343732e+02] [-1.54333979e-02 9.99880876e-01 -2.12010463e-04 -1.17518321e+01] [-3.20540639e-03 1.62558423e-04 9.99994849e-01 -2.79073007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23037174299998 meters 0.03192372163073474 Centerline is valid? [True, True] Translation: X:202.37, Y:-11.75, Z:-2.79 [[ 9.99829262e-01 1.80977707e-02 3.73065805e-03 2.02372766e+02] [-1.80969778e-02 9.99836206e-01 -2.46180924e-04 -1.17512872e+01] [-3.73450231e-03 1.78625256e-04 9.99993011e-01 -2.79068037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26037174299998 meters 0.031022192147008323 Centerline is valid? [True, True] Translation: X:202.40, Y:-11.75, Z:-2.79 [[ 9.99801152e-01 1.95766206e-02 3.79640980e-03 2.02401893e+02] [-1.95758094e-02 9.99808344e-01 -2.50734381e-04 -1.17498646e+01] [-3.80059073e-03 1.76366729e-04 9.99992762e-01 -2.79108398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29037174299998 meters 0.030501250029097978 Centerline is valid? [True, True] Translation: X:202.43, Y:-11.75, Z:-2.79 [[ 9.99729922e-01 2.29571791e-02 3.61248314e-03 2.02431285e+02] [-2.29564687e-02 9.99736437e-01 -2.38016882e-04 -1.17485927e+01] [-3.61699522e-03 1.55022743e-04 9.99993447e-01 -2.79244781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32037174299998 meters 0.030085404156030657 Centerline is valid? [True, True] Translation: X:202.46, Y:-11.75, Z:-2.79 [[ 9.99691345e-01 2.45601856e-02 3.74325974e-03 2.02460637e+02] [-2.45594339e-02 9.99698341e-01 -2.46657238e-04 -1.17487293e+01] [-3.74818850e-03 1.54648766e-04 9.99992964e-01 -2.79350035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35037174299998 meters 0.029876451233065492 Centerline is valid? [True, True] Translation: X:202.49, Y:-11.75, Z:-2.79 [[ 9.99660997e-01 2.58031860e-02 3.47648734e-03 2.02489309e+02] [-2.58025450e-02 9.99667033e-01 -2.29124287e-04 -1.17493901e+01] [-3.48124192e-03 1.39344392e-04 9.99993931e-01 -2.79426105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38037174299998 meters 0.02693615616584517 Centerline is valid? [True, True] Translation: X:202.52, Y:-11.74, Z:-2.79 [[ 9.99614563e-01 2.76276008e-02 2.72768893e-03 2.02519069e+02] [-2.76272133e-02 9.99618280e-01 -1.79640109e-04 -1.17433831e+01] [-2.73161074e-03 1.04212426e-04 9.99996264e-01 -2.79428647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41037174299998 meters 0.026996481883176028 Centerline is valid? [True, True] Translation: X:202.55, Y:-11.74, Z:-2.79 [[ 9.99614098e-01 2.76812768e-02 2.32405050e-03 2.02546527e+02] [-2.76809943e-02 9.99616796e-01 -1.53668917e-04 -1.17444106e+01] [-2.32741366e-03 8.92775875e-05 9.99997288e-01 -2.79495394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440371743 meters 0.0269657797345395 Centerline is valid? [True, True] Translation: X:202.58, Y:-11.75, Z:-2.80 [[ 9.99620923e-01 2.74362590e-02 2.29399038e-03 2.02575464e+02] [-2.74359845e-02 9.99623551e-01 -1.51034266e-04 -1.17457576e+01] [-2.29727063e-03 8.80391276e-05 9.99997357e-01 -2.79535135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.470371743 meters 0.028275338674473995 Centerline is valid? [True, True] Translation: X:202.60, Y:-11.75, Z:-2.80 [[ 9.99671762e-01 2.54675630e-02 2.78771993e-03 2.02602568e+02] [-2.54671501e-02 9.99675643e-01 -1.83517617e-04 -1.17496999e+01] [-2.79148946e-03 1.12462097e-04 9.99996097e-01 -2.79689981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500371743 meters 0.02829837121298275 Centerline is valid? [True, True] Translation: X:202.63, Y:-11.75, Z:-2.80 [[ 9.99709563e-01 2.39155896e-02 2.97238419e-03 2.02631121e+02] [-2.39151158e-02 9.99713974e-01 -1.94864012e-04 -1.17520263e+01] [-2.97619430e-03 1.23722505e-04 9.99995563e-01 -2.79716981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.530371743 meters 0.028820074968496597 Centerline is valid? [True, True] Translation: X:202.66, Y:-11.76, Z:-2.80 [[ 9.99740032e-01 2.25373726e-02 3.45481354e-03 2.02659684e+02] [-2.25367256e-02 9.99745990e-01 -2.26081772e-04 -1.17550085e+01] [-3.45903127e-03 1.48162813e-04 9.99994007e-01 -2.79747418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560371743 meters 0.035036265655451995 Centerline is valid? [True, True] Translation: X:202.69, Y:-11.77, Z:-2.80 [[ 9.99804241e-01 1.92967765e-02 4.37199537e-03 2.02687120e+02] [-1.92957121e-02 9.99813780e-01 -2.85524684e-04 -1.17673257e+01] [-4.37669092e-03 2.01108026e-04 9.99990402e-01 -2.79873586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.590371743 meters 0.030675293333443668 Centerline is valid? [True, True] Translation: X:202.72, Y:-11.76, Z:-2.80 [[ 9.99827946e-01 1.78754876e-02 4.95424216e-03 2.02716542e+02] [-1.78741057e-02 9.99840193e-01 -3.23066604e-04 -1.17625642e+01] [-4.95922541e-03 2.34458371e-04 9.99987675e-01 -2.79721011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620371743 meters 0.03027005814909239 Centerline is valid? [True, True] Translation: X:202.75, Y:-11.76, Z:-2.80 [[ 9.99851787e-01 1.63920735e-02 5.26349370e-03 2.02745155e+02] [-1.63904954e-02 9.99865608e-01 -3.42814899e-04 -1.17638143e+01] [-5.26840578e-03 2.56492820e-04 9.99986089e-01 -2.79711652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.650371743 meters 0.03146506834225424 Centerline is valid? [True, True] Translation: X:202.77, Y:-11.77, Z:-2.80 [[ 9.99895006e-01 1.32259081e-02 5.92057128e-03 2.02774699e+02] [-1.32238610e-02 9.99912487e-01 -3.84771518e-04 -1.17690539e+01] [-5.92514211e-03 3.06438308e-04 9.99982399e-01 -2.79676797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68037174299997 meters 0.03201725997829763 Centerline is valid? [True, True] Translation: X:202.80, Y:-11.77, Z:-2.80 [[ 9.99907178e-01 1.17420814e-02 6.91076995e-03 2.02803988e+02] [-1.17392592e-02 9.99930992e-01 -4.48793849e-04 -1.17723361e+01] [-6.91556282e-03 3.67624872e-04 9.99976020e-01 -2.79696924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71037174299997 meters 0.03257441506018954 Centerline is valid? [True, True] Translation: X:202.83, Y:-11.78, Z:-2.80 [[ 9.99938228e-01 8.84573314e-03 6.73008590e-03 2.02834097e+02] [-8.84299371e-03 9.99960805e-01 -4.36691206e-04 -1.17759656e+01] [-6.73368497e-03 3.77150123e-04 9.99977257e-01 -2.79749052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74037174299997 meters 0.03553637604632477 Centerline is valid? [True, True] Translation: X:202.86, Y:-11.78, Z:-2.80 [[ 9.99952588e-01 7.22236979e-03 6.53146113e-03 2.02863145e+02] [-7.21975569e-03 9.99973847e-01 -4.23720687e-04 -1.17832304e+01] [-6.53435058e-03 3.76545043e-04 9.99978580e-01 -2.79886137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77037174299997 meters 0.036541557533974214 Centerline is valid? [True, True] Translation: X:202.89, Y:-11.79, Z:-2.80 [[ 9.99965627e-01 5.74793044e-03 5.97553265e-03 2.02893292e+02] [-5.74571754e-03 9.99983418e-01 -3.87427863e-04 -1.17870710e+01] [-5.97766048e-03 3.53080823e-04 9.99982071e-01 -2.79960958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80037174299997 meters 0.03365991867049893 Centerline is valid? [True, True] Translation: X:202.92, Y:-11.79, Z:-2.80 [[ 9.99973096e-01 4.14288146e-03 6.05334357e-03 2.02924409e+02] [-4.14058422e-03 9.99991351e-01 -3.91982916e-04 -1.17852842e+01] [-6.05491516e-03 3.66907991e-04 9.99981602e-01 -2.80008762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83037174299997 meters 0.03537157298686617 Centerline is valid? [True, True] Translation: X:202.95, Y:-11.79, Z:-2.80 [[ 9.99984727e-01 1.27134361e-03 5.37851939e-03 2.02954279e+02] [-1.26948535e-03 9.99999133e-01 -3.48896249e-04 -1.17917941e+01] [-5.37895830e-03 3.42062969e-04 9.99985475e-01 -2.80179344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86037174299997 meters 0.03475412537694038 Centerline is valid? [True, True] Translation: X:202.99, Y:-11.79, Z:-2.80 [[ 9.99988260e-01 -8.72474281e-06 4.84569208e-03 2.02985708e+02] [ 1.02475038e-05 9.99999951e-01 -3.14225727e-04 -1.17932458e+01] [-4.84568909e-03 3.14271694e-04 9.99988210e-01 -2.80232750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89037174299997 meters 0.034462568771840715 Centerline is valid? [True, True] Translation: X:203.02, Y:-11.80, Z:-2.80 [[ 9.99988966e-01 -5.82354838e-04 4.66135691e-03 2.03017964e+02] [ 5.83761263e-04 9.99999785e-01 -3.00365293e-04 -1.17952754e+01] [-4.66118099e-03 3.03083098e-04 9.99989091e-01 -2.80274876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92037174299998 meters 0.03671179530090528 Centerline is valid? [True, True] Translation: X:203.05, Y:-11.80, Z:-2.80 [[ 9.99986530e-01 -6.03681344e-04 5.15521401e-03 2.03049320e+02] [ 6.05416108e-04 9.99999761e-01 -3.34952770e-04 -1.18011236e+01] [-5.15501057e-03 3.38069308e-04 9.99986656e-01 -2.80344459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95037174299998 meters 0.03697594619919034 Centerline is valid? [True, True] Translation: X:203.08, Y:-11.80, Z:-2.80 [[ 9.99984472e-01 -6.88421317e-05 5.57231396e-03 2.03080418e+02] [ 7.08696944e-05 9.99999931e-01 -3.63667054e-04 -1.18035453e+01] [-5.57228854e-03 3.64056315e-04 9.99984408e-01 -2.80385773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98037174299998 meters 0.035782534854399604 Centerline is valid? [True, True] Translation: X:203.11, Y:-11.80, Z:-2.80 [[ 9.99979070e-01 2.25441762e-03 6.06434813e-03 2.03112143e+02] [-2.25205637e-03 9.99997386e-01 -3.96167475e-04 -1.18030149e+01] [-6.06522540e-03 3.82501929e-04 9.99981533e-01 -2.80358535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01037174299998 meters 0.034573571095681155 Centerline is valid? [True, True] Translation: X:203.14, Y:-11.80, Z:-2.80 [[ 9.99971999e-01 4.02145015e-03 6.31099429e-03 2.03144047e+02] [-4.01892566e-03 9.99991839e-01 -4.12644982e-04 -1.18025949e+01] [-6.31260222e-03 3.87270011e-04 9.99980000e-01 -2.80344198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04037174299998 meters 0.034351972490114915 Centerline is valid? [True, True] Translation: X:203.18, Y:-11.80, Z:-2.80 [[ 9.99959410e-01 5.96337791e-03 6.75395303e-03 2.03175175e+02] [-5.96052701e-03 9.99982138e-01 -4.42158159e-04 -1.18038859e+01] [-6.75646915e-03 4.01883093e-04 9.99977094e-01 -2.80343491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07037174299998 meters 0.03196562318629727 Centerline is valid? [True, True] Translation: X:203.21, Y:-11.80, Z:-2.80 [[ 9.99918649e-01 1.00886516e-02 7.80475802e-03 2.03206436e+02] [-1.00849652e-02 9.99949015e-01 -5.11539267e-04 -1.18015116e+01] [-7.80952083e-03 4.32786940e-04 9.99969412e-01 -2.80299446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10037174299998 meters 0.031578435862541894 Centerline is valid? [True, True] Translation: X:203.24, Y:-11.80, Z:-2.80 [[ 9.99894685e-01 1.22515749e-02 7.77938421e-03 2.03236212e+02] [-1.22479761e-02 9.99924861e-01 -5.10080406e-04 -1.18024574e+01] [-7.78504896e-03 4.14744975e-04 9.99969610e-01 -2.80321705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13037174299998 meters 0.030646005102342444 Centerline is valid? [True, True] Translation: X:203.27, Y:-11.80, Z:-2.80 [[ 9.99862786e-01 1.46851511e-02 7.66521404e-03 2.03265661e+02] [-1.46817305e-02 9.99892091e-01 -5.02329804e-04 -1.18018496e+01] [-7.67176369e-03 3.89722270e-04 9.99970496e-01 -2.80369966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16037174299998 meters 0.029557910523448826 Centerline is valid? [True, True] Translation: X:203.29, Y:-11.80, Z:-2.80 [[ 9.99793045e-01 1.90339532e-02 7.18163658e-03 2.03294422e+02] [-1.90310633e-02 9.99818782e-01 -4.70532481e-04 -1.18012399e+01] [-7.18929123e-03 3.33760922e-04 9.99974101e-01 -2.80450562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.190371743 meters 0.029557910523448826 Centerline is valid? [True, True] Translation: X:203.32, Y:-11.80, Z:-2.80 [[ 9.99794388e-01 1.89632456e-02 7.18165370e-03 2.03322695e+02] [-1.89603558e-02 9.99820126e-01 -4.70270991e-04 -1.18030283e+01] [-7.18927977e-03 3.34007589e-04 9.99974101e-01 -2.80490382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220371743 meters 0.028801174986803586 Centerline is valid? [True, True] Translation: X:203.35, Y:-11.80, Z:-2.81 [[ 9.99759412e-01 2.09599169e-02 6.46531475e-03 2.03351898e+02] [-2.09576197e-02 9.99780276e-01 -4.22870357e-04 -1.18030285e+01] [-6.47275749e-03 2.87271012e-04 9.99979010e-01 -2.80602392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.250371743 meters 0.027908804420476115 Centerline is valid? [True, True] Translation: X:203.38, Y:-11.80, Z:-2.81 [[ 9.99668836e-01 2.51856600e-02 5.28212459e-03 2.03380735e+02] [-2.51841871e-02 9.99682768e-01 -3.45179568e-04 -1.18035098e+01] [-5.28914251e-03 2.12039243e-04 9.99985990e-01 -2.80754676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280371743 meters 0.027096004571975908 Centerline is valid? [True, True] Translation: X:203.41, Y:-11.80, Z:-2.81 [[ 9.99608832e-01 2.76116527e-02 4.44746599e-03 2.03409726e+02] [-2.76106314e-02 9.99618712e-01 -2.90894877e-04 -1.18031388e+01] [-4.45380231e-03 1.67983744e-04 9.99990068e-01 -2.80809360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.310371743 meters 0.025979787845970014 Centerline is valid? [True, True] Translation: X:203.44, Y:-11.80, Z:-2.81 [[ 9.99531852e-01 3.02658533e-02 4.47833922e-03 2.03438453e+02] [-3.02648458e-02 9.99541872e-01 -2.92599077e-04 -1.18024808e+01] [-4.48514333e-03 1.56925852e-04 9.99989929e-01 -2.80866918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340371743 meters 0.025188183592447334 Centerline is valid? [True, True] Translation: X:203.47, Y:-11.80, Z:-2.81 [[ 9.99437662e-01 3.32835223e-02 4.07029888e-03 2.03467817e+02] [-3.32827166e-02 9.99445942e-01 -2.65561644e-04 -1.18025705e+01] [-4.07688252e-03 1.29941705e-04 9.99991681e-01 -2.80833292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.370371743 meters 0.0240165170836335 Centerline is valid? [True, True] Translation: X:203.50, Y:-11.80, Z:-2.81 [[ 9.99211764e-01 3.93584305e-02 5.17342525e-03 2.03497501e+02] [-3.93572134e-02 9.99225148e-01 -3.36895952e-04 -1.18005525e+01] [-5.18267631e-03 1.33018797e-04 9.99986561e-01 -2.80759309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400371743 meters 0.02353114795941129 Centerline is valid? [True, True] Translation: X:203.53, Y:-11.80, Z:-2.81 [[ 9.99081702e-01 4.24057605e-02 6.12405417e-03 2.03525421e+02] [-4.24041115e-02 9.99100462e-01 -3.98906198e-04 -1.18012165e+01] [-6.13546126e-03 1.38854808e-04 9.99981168e-01 -2.80732126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43037174299997 meters 0.02267116175497656 Centerline is valid? [True, True] Translation: X:203.55, Y:-11.80, Z:-2.81 [[ 9.98885657e-01 4.65344962e-02 7.87298999e-03 2.03554525e+02] [-4.65319004e-02 9.98916673e-01 -5.12671090e-04 -1.18011697e+01] [-7.88831786e-03 1.45754613e-04 9.99968876e-01 -2.80631147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46037174299997 meters 0.02259584866559713 Centerline is valid? [True, True] Translation: X:203.58, Y:-11.80, Z:-2.81 [[ 9.98804324e-01 4.80890295e-02 8.79584609e-03 2.03581940e+02] [-4.80858779e-02 9.98843043e-01 -5.69567490e-04 -1.18033720e+01] [-8.81305962e-03 1.45930491e-04 9.99961154e-01 -2.80678186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49037174299997 meters 0.022448338677613918 Centerline is valid? [True, True] Translation: X:203.61, Y:-11.81, Z:-2.81 [[ 9.98769220e-01 4.87082693e-02 9.35679849e-03 2.03610308e+02] [-4.87047393e-02 9.98813037e-01 -6.04899619e-04 -1.18056879e+01] [-9.37515593e-03 1.48434689e-04 9.99956041e-01 -2.80679418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52037174299997 meters 0.022458901094077516 Centerline is valid? [True, True] Translation: X:203.64, Y:-11.81, Z:-2.81 [[ 9.98775076e-01 4.86340326e-02 9.11478268e-03 2.03638197e+02] [-4.86306839e-02 9.98816655e-01 -5.88800517e-04 -1.18100000e+01] [-9.13263249e-03 1.44821165e-04 9.99958286e-01 -2.80761958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55037174299997 meters 0.022478367990102183 Centerline is valid? [True, True] Translation: X:203.67, Y:-11.81, Z:-2.81 [[ 9.98819201e-01 4.77522198e-02 8.94036289e-03 2.03666672e+02] [-4.77489726e-02 9.98859201e-01 -5.76423153e-04 -1.18134131e+01] [-8.95768922e-03 1.48849370e-04 9.99959868e-01 -2.80831788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58037174299997 meters 0.023095705804016816 Centerline is valid? [True, True] Translation: X:203.69, Y:-11.82, Z:-2.81 [[ 9.98957874e-01 4.49885384e-02 7.69396868e-03 2.03693524e+02] [-4.49860507e-02 9.98987492e-01 -4.96184089e-04 -1.18212654e+01] [-7.70850107e-03 1.49545738e-04 9.99970278e-01 -2.81022083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61037174299997 meters 0.023126954873594483 Centerline is valid? [True, True] Translation: X:203.72, Y:-11.83, Z:-2.81 [[ 9.99043035e-01 4.31682807e-02 7.03658946e-03 2.03722433e+02] [-4.31661653e-02 9.99067804e-01 -4.52287250e-04 -1.18258555e+01] [-7.04955445e-03 1.48111843e-04 9.99975141e-01 -2.81134465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64037174299997 meters 0.02371334099041338 Centerline is valid? [True, True] Translation: X:203.75, Y:-11.83, Z:-2.81 [[ 9.99147659e-01 4.07637646e-02 6.50168197e-03 2.03749666e+02] [-4.07619094e-02 9.99168801e-01 -4.17646388e-04 -1.18320066e+01] [-6.51330261e-03 1.52269439e-04 9.99978777e-01 -2.81315190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67037174299998 meters 0.024335790787070054 Centerline is valid? [True, True] Translation: X:203.78, Y:-11.84, Z:-2.81 [[ 9.99246774e-01 3.83548338e-02 5.89839043e-03 2.03778378e+02] [-3.83532684e-02 9.99264171e-01 -3.78333755e-04 -1.18376802e+01] [-5.90856115e-03 1.51826233e-04 9.99982533e-01 -2.81360426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70037174299998 meters 0.024667404662428342 Centerline is valid? [True, True] Translation: X:203.81, Y:-11.85, Z:-2.81 [[ 9.99431381e-01 3.31557735e-02 6.13258760e-03 2.03807644e+02] [-3.31539879e-02 9.99450178e-01 -3.92620537e-04 -1.18450537e+01] [-6.14223341e-03 1.89077551e-04 9.99981118e-01 -2.81279173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73037174299998 meters 0.025481896094015494 Centerline is valid? [True, True] Translation: X:203.84, Y:-11.85, Z:-2.81 [[ 9.99499780e-01 3.08426647e-02 6.99431483e-03 2.03835173e+02] [-3.08402851e-02 9.99524225e-01 -4.47842088e-04 -1.18512807e+01] [-7.00479975e-03 2.31911405e-04 9.99975439e-01 -2.81306464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76037174299998 meters 0.02604124623826529 Centerline is valid? [True, True] Translation: X:203.86, Y:-11.86, Z:-2.81 [[ 9.99603604e-01 2.69513754e-02 8.13997482e-03 2.03863852e+02] [-2.69480329e-02 9.99636701e-01 -5.20055115e-04 -1.18596602e+01] [-8.15103377e-03 3.00492658e-04 9.99966735e-01 -2.81266235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79037174299998 meters 0.026873546604815446 Centerline is valid? [True, True] Translation: X:203.89, Y:-11.87, Z:-2.81 [[ 9.99642016e-01 2.52922591e-02 8.72594658e-03 2.03892726e+02] [-2.52883587e-02 9.99680043e-01 -5.57058129e-04 -1.18653157e+01] [-8.73724391e-03 3.36193844e-04 9.99961773e-01 -2.81284841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82037174299998 meters 0.027039908979871838 Centerline is valid? [True, True] Translation: X:203.92, Y:-11.87, Z:-2.81 [[ 9.99680149e-01 2.36770406e-02 8.88801406e-03 2.03921501e+02] [-2.36729360e-02 9.99719596e-01 -5.66751313e-04 -1.18695685e+01] [-8.89894082e-03 3.56164649e-04 9.99960340e-01 -2.81282518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85037174299998 meters 0.028345310471622722 Centerline is valid? [True, True] Translation: X:203.95, Y:-11.88, Z:-2.81 [[ 9.99736088e-01 2.09271701e-02 9.47674647e-03 2.03949120e+02] [-2.09223888e-02 9.99780921e-01 -6.03409487e-04 -1.18788535e+01] [-9.48729796e-03 4.04974066e-04 9.99954913e-01 -2.81367478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88037174299998 meters 0.02928936590229422 Centerline is valid? [True, True] Translation: X:203.98, Y:-11.88, Z:-2.81 [[ 9.99773874e-01 1.91357731e-02 9.27481018e-03 2.03978607e+02] [-1.91311203e-02 9.99816809e-01 -5.90126713e-04 -1.18838474e+01] [-9.28440365e-03 4.12555761e-04 9.99956814e-01 -2.81430619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91037174299998 meters 0.03020321137510904 Centerline is valid? [True, True] Translation: X:204.01, Y:-11.89, Z:-2.81 [[ 9.99810948e-01 1.71356214e-02 9.18907562e-03 2.04006822e+02] [-1.71309722e-02 9.99853083e-01 -5.84424301e-04 -1.18894412e+01] [-9.19774007e-03 4.26896015e-04 9.99957609e-01 -2.81485067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940371743 meters 0.0313465413191655 Centerline is valid? [True, True] Translation: X:204.04, Y:-11.89, Z:-2.82 [[ 9.99841315e-01 1.54561281e-02 8.85733173e-03 2.04036032e+02] [-1.54517473e-02 9.99880456e-01 -5.62821030e-04 -1.18949122e+01] [-8.86497193e-03 4.25870468e-04 9.99960615e-01 -2.81575986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.970371743 meters 0.031621021201163814 Centerline is valid? [True, True] Translation: X:204.07, Y:-11.90, Z:-2.82 [[ 9.99900535e-01 1.17102404e-02 7.86074788e-03 2.04066228e+02] [-1.17066779e-02 9.99931350e-01 -4.99061605e-04 -1.19014575e+01] [-7.86605238e-03 4.06988723e-04 9.99968979e-01 -2.81696135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000371743 meters 0.03199658076043479 Centerline is valid? [True, True] Translation: X:204.10, Y:-11.91, Z:-2.82 [[ 9.99928971e-01 9.55921259e-03 7.11855045e-03 2.04095533e+02] [-9.55623496e-03 9.99954236e-01 -4.52187951e-04 -1.19056969e+01] [-7.12254724e-03 3.84129292e-04 9.99974561e-01 -2.81788645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.030371743 meters 0.03361954379508159 Centerline is valid? [True, True] Translation: X:204.12, Y:-11.91, Z:-2.82 [[ 9.99956290e-01 6.79426053e-03 6.42303411e-03 2.04124884e+02] [-6.79178239e-03 9.99976853e-01 -4.07554442e-04 -1.19137558e+01] [-6.42565447e-03 3.63912778e-04 9.99979289e-01 -2.81927992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060371743 meters 0.03592434930704571 Centerline is valid? [True, True] Translation: X:204.15, Y:-11.92, Z:-2.82 [[ 9.99964146e-01 5.61305090e-03 6.34031553e-03 2.04154339e+02] [-5.61061251e-03 9.99984179e-01 -4.02305782e-04 -1.19205613e+01] [-6.34247339e-03 3.66718304e-04 9.99979819e-01 -2.82009577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.090371743 meters 0.03828792176417491 Centerline is valid? [True, True] Translation: X:204.18, Y:-11.93, Z:-2.82 [[ 9.99963357e-01 5.08782512e-03 6.88465826e-03 2.04184432e+02] [-5.08493850e-03 9.99986976e-01 -4.36723259e-04 -1.19272432e+01] [-6.88679057e-03 4.01699192e-04 9.99976205e-01 -2.82042780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120371743 meters 0.03489704180197628 Centerline is valid? [True, True] Translation: X:204.22, Y:-11.93, Z:-2.82 [[ 9.99959804e-01 4.39417009e-03 7.81551492e-03 2.04215791e+02] [-4.39042856e-03 9.99990239e-01 -4.95824923e-04 -1.19256161e+01] [-7.81761737e-03 4.61491533e-04 9.99969335e-01 -2.81938462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.150371743 meters 0.03257279506520364 Centerline is valid? [True, True] Translation: X:204.25, Y:-11.93, Z:-2.82 [[ 9.99953714e-01 4.78606222e-03 8.34651475e-03 2.04248314e+02] [-4.78181630e-03 9.99988427e-01 -5.28588227e-04 -1.19250544e+01] [-8.34894802e-03 4.88652260e-04 9.99965028e-01 -2.81940895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18037174299997 meters 0.03306949679837184 Centerline is valid? [True, True] Translation: X:204.28, Y:-11.93, Z:-2.82 [[ 9.99946923e-01 4.87889412e-03 9.07453190e-03 2.04280045e+02] [-4.87385494e-03 9.99987956e-01 -5.77342011e-04 -1.19290568e+01] [-9.07723939e-03 5.33083416e-04 9.99958659e-01 -2.81964182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21037174299997 meters 0.03307897898616842 Centerline is valid? [True, True] Translation: X:204.31, Y:-11.93, Z:-2.82 [[ 9.99946587e-01 5.11108618e-03 8.98336329e-03 2.04311709e+02] [-5.10613686e-03 9.99986799e-01 -5.73791894e-04 -1.19325544e+01] [-8.98617740e-03 5.27890964e-04 9.99959484e-01 -2.81998524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24037174299997 meters 0.03583094741875016 Centerline is valid? [True, True] Translation: X:204.34, Y:-11.94, Z:-2.82 [[ 9.99942817e-01 5.15700388e-03 9.36848641e-03 2.04342521e+02] [-5.15159844e-03 9.99986550e-01 -6.01021501e-04 -1.19396493e+01] [-9.37145987e-03 5.52724453e-04 9.99955934e-01 -2.82070752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27037174299997 meters 0.03442381334917241 Centerline is valid? [True, True] Translation: X:204.37, Y:-11.94, Z:-2.82 [[ 9.99942612e-01 5.41394477e-03 9.24451113e-03 2.04374374e+02] [-5.40867346e-03 9.99985196e-01 -5.95116079e-04 -1.19399720e+01] [-9.24759620e-03 5.45081385e-04 9.99957092e-01 -2.82130438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30037174299997 meters 0.034401303127725644 Centerline is valid? [True, True] Translation: X:204.41, Y:-11.94, Z:-2.82 [[ 9.99945473e-01 4.93168521e-03 9.20484082e-03 2.04406491e+02] [-4.92641764e-03 9.99987688e-01 -5.94847999e-04 -1.19432259e+01] [-9.20766110e-03 5.49468674e-04 9.99957458e-01 -2.82198768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33037174299997 meters 0.034800072821575094 Centerline is valid? [True, True] Translation: X:204.44, Y:-11.95, Z:-2.82 [[ 9.99949665e-01 5.00450685e-03 8.69615492e-03 2.04438733e+02] [-4.99979086e-03 9.99987342e-01 -5.63963330e-04 -1.19463460e+01] [-8.69886720e-03 5.20455987e-04 9.99962029e-01 -2.82311010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36037174299997 meters 0.03577804951267247 Centerline is valid? [True, True] Translation: X:204.47, Y:-11.95, Z:-2.82 [[ 9.99956808e-01 5.04288911e-03 7.80717349e-03 2.04470885e+02] [-5.03907676e-03 9.99987175e-01 -5.07908724e-04 -1.19506400e+01] [-7.80963469e-03 4.68545840e-04 9.99969395e-01 -2.82443854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39037174299997 meters 0.03576941853355006 Centerline is valid? [True, True] Translation: X:204.50, Y:-11.95, Z:-2.83 [[ 9.99957767e-01 5.15452115e-03 7.60887733e-03 2.04501721e+02] [-5.15087926e-03 9.99986610e-01 -4.98156241e-04 -1.19533579e+01] [-7.61134320e-03 4.58942794e-04 9.99970928e-01 -2.82521034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42037174299998 meters 0.035825619596007476 Centerline is valid? [True, True] Translation: X:204.53, Y:-11.96, Z:-2.83 [[ 9.99948049e-01 6.24322120e-03 8.05734391e-03 2.04532518e+02] [-6.23917001e-03 9.99980397e-01 -5.27833199e-04 -1.19560019e+01] [-8.06048134e-03 4.77534639e-04 9.99967400e-01 -2.82535790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45037174299998 meters 0.03596832119377776 Centerline is valid? [True, True] Translation: X:204.56, Y:-11.96, Z:-2.83 [[ 9.99933198e-01 8.68753018e-03 7.62404546e-03 2.04563281e+02] [-8.68397199e-03 9.99962169e-01 -4.99687111e-04 -1.19568967e+01] [-7.62809808e-03 4.33446734e-04 9.99970812e-01 -2.82594874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48037174299998 meters 0.03544975161005897 Centerline is valid? [True, True] Translation: X:204.59, Y:-11.96, Z:-2.83 [[ 9.99914770e-01 1.06796939e-02 7.50977706e-03 2.04594362e+02] [-1.06762948e-02 9.99942885e-01 -4.92566143e-04 -1.19573326e+01] [-7.51460860e-03 4.12347567e-04 9.99971680e-01 -2.82676727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51037174299998 meters 0.034870470752828515 Centerline is valid? [True, True] Translation: X:204.62, Y:-11.96, Z:-2.83 [[ 9.99893291e-01 1.29200536e-02 6.81756555e-03 2.04624235e+02] [-1.29173010e-02 9.99916468e-01 -4.47625195e-04 -1.19576601e+01] [-6.82277941e-03 3.59512883e-04 9.99976660e-01 -2.82752132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54037174299998 meters 0.03364778920876629 Centerline is valid? [True, True] Translation: X:204.65, Y:-11.96, Z:-2.83 [[ 9.99854438e-01 1.57861799e-02 6.47296167e-03 2.04654312e+02] [-1.57837606e-02 9.99875339e-01 -4.24675508e-04 -1.19572951e+01] [-6.47885875e-03 3.22446015e-04 9.99978960e-01 -2.82839026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57037174299998 meters 0.031791795428605156 Centerline is valid? [True, True] Translation: X:204.68, Y:-11.95, Z:-2.83 [[ 9.99727431e-01 2.22567625e-02 7.04983369e-03 2.04684006e+02] [-2.22540541e-02 9.99752241e-01 -4.62401069e-04 -1.19545025e+01] [-7.05837858e-03 3.05387652e-04 9.99975043e-01 -2.82894620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60037174299998 meters 0.030758205734330107 Centerline is valid? [True, True] Translation: X:204.71, Y:-11.95, Z:-2.83 [[ 9.99644344e-01 2.55656518e-02 7.58835749e-03 2.04713814e+02] [-2.55626096e-02 9.99673099e-01 -4.97640004e-04 -1.19541077e+01] [-7.59859934e-03 3.03484795e-04 9.99971084e-01 -2.82878374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63037174299998 meters 0.02921480331092939 Centerline is valid? [True, True] Translation: X:204.74, Y:-11.95, Z:-2.83 [[ 9.99479132e-01 3.09195439e-02 9.24367541e-03 2.04744266e+02] [-3.09152627e-02 9.99521826e-01 -6.05705500e-04 -1.19514103e+01] [-9.25798346e-03 3.19619354e-04 9.99957093e-01 -2.82779838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66037174299998 meters 0.028585644726350543 Centerline is valid? [True, True] Translation: X:204.77, Y:-11.95, Z:-2.83 [[ 9.99403145e-01 3.31354230e-02 9.76713812e-03 2.04772584e+02] [-3.31307486e-02 9.99450821e-01 -6.40047902e-04 -1.19520564e+01] [-9.78298247e-03 3.16073289e-04 9.99952096e-01 -2.82771838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.690371743 meters 0.026022691090729886 Centerline is valid? [True, True] Translation: X:204.80, Y:-11.95, Z:-2.83 [[ 9.99344675e-01 3.47623589e-02 1.00895097e-02 2.04802159e+02] [-3.47574611e-02 9.99395559e-01 -6.60433158e-04 -1.19493134e+01] [-1.01063694e-02 3.09314620e-04 9.99948882e-01 -2.82754462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720371743 meters 0.025259549432226955 Centerline is valid? [True, True] Translation: X:204.83, Y:-11.95, Z:-2.83 [[ 9.99275166e-01 3.66301756e-02 1.03620493e-02 2.04831359e+02] [-3.66251150e-02 9.99328846e-01 -6.77783809e-04 -1.19495761e+01] [-1.03799221e-02 2.97781281e-04 9.99946083e-01 -2.82788432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.750371743 meters 0.02517212159364689 Centerline is valid? [True, True] Translation: X:204.86, Y:-11.95, Z:-2.83 [[ 9.99277093e-01 3.66305932e-02 1.01730672e-02 2.04859213e+02] [-3.66257212e-02 9.99328832e-01 -6.64862301e-04 -1.19510112e+01] [-1.01905936e-02 2.91785745e-04 9.99948032e-01 -2.82889567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780371743 meters 0.02498752282792938 Centerline is valid? [True, True] Translation: X:204.89, Y:-11.95, Z:-2.83 [[ 9.99290672e-01 3.64416003e-02 9.49544295e-03 2.04888173e+02] [-3.64373575e-02 9.99335747e-01 -6.19501200e-04 -1.19532355e+01] [-9.51171119e-03 2.73072922e-04 9.99954725e-01 -2.83009431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.810371743 meters 0.025356761856458555 Centerline is valid? [True, True] Translation: X:204.92, Y:-11.96, Z:-2.83 [[ 9.99321760e-01 3.57898549e-02 8.66642643e-03 2.04915405e+02] [-3.57862999e-02 9.99359306e-01 -5.64974876e-04 -1.19567829e+01] [-8.68109426e-03 2.54452352e-04 9.99962286e-01 -2.83193046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840371743 meters 0.029258451667698308 Centerline is valid? [True, True] Translation: X:204.94, Y:-11.97, Z:-2.84 [[ 9.99382718e-01 3.44555482e-02 6.85546075e-03 2.04942093e+02] [-3.44532948e-02 9.99406209e-01 -4.46554970e-04 -1.19679251e+01] [-6.86677634e-03 2.10086110e-04 9.99976401e-01 -2.83607920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.870371743 meters 0.02569592101128848 Centerline is valid? [True, True] Translation: X:204.97, Y:-11.96, Z:-2.83 [[ 9.99419189e-01 3.34382377e-02 6.57032087e-03 2.04970874e+02] [-3.34361502e-02 9.99440764e-01 -4.27336252e-04 -1.19631329e+01] [-6.58093588e-03 2.07401815e-04 9.99978324e-01 -2.83474660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900371743 meters 0.025352872709770533 Centerline is valid? [True, True] Translation: X:205.00, Y:-11.97, Z:-2.83 [[ 9.99463832e-01 3.18355173e-02 7.65165339e-03 2.04999828e+02] [-3.18326445e-02 9.99493089e-01 -4.96970780e-04 -1.19662598e+01] [-7.66359601e-03 2.53131958e-04 9.99970602e-01 -2.83393676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93037174299997 meters 0.02535552405572853 Centerline is valid? [True, True] Translation: X:205.03, Y:-11.97, Z:-2.83 [[ 9.99475029e-01 3.11748542e-02 8.82014724e-03 2.05028598e+02] [-3.11710182e-02 9.99513902e-01 -5.72079886e-04 -1.19690456e+01] [-8.83369429e-03 2.96846591e-04 9.99960938e-01 -2.83375747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96037174299997 meters 0.02650998641856264 Centerline is valid? [True, True] Translation: X:205.06, Y:-11.97, Z:-2.83 [[ 9.99500534e-01 3.01518025e-02 9.46311613e-03 2.05056294e+02] [-3.01473474e-02 9.99545277e-01 -6.13109217e-04 -1.19732816e+01] [-9.47729939e-03 3.27515141e-04 9.99955036e-01 -2.83408113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99037174299997 meters 0.026220520909833983 Centerline is valid? [True, True] Translation: X:205.09, Y:-11.98, Z:-2.83 [[ 9.99548187e-01 2.83604443e-02 9.95527317e-03 2.05085180e+02] [-2.83554352e-02 9.99597696e-01 -6.43974570e-04 -1.19756897e+01] [-9.96953154e-03 3.61397511e-04 9.99950238e-01 -2.83436296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02037174299997 meters 0.026323432866152255 Centerline is valid? [True, True] Translation: X:205.11, Y:-11.98, Z:-2.83 [[ 9.99557481e-01 2.80119232e-02 1.00087192e-02 2.05113583e+02] [-2.80068500e-02 9.99607522e-01 -6.46709921e-04 -1.19780788e+01] [-1.00229066e-02 3.66111042e-04 9.99949702e-01 -2.83493035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05037174299997 meters 0.027239211826687475 Centerline is valid? [True, True] Translation: X:205.14, Y:-11.98, Z:-2.84 [[ 9.99585872e-01 2.69087849e-02 1.01981702e-02 2.05141342e+02] [-2.69034675e-02 9.99637819e-01 -6.58267919e-04 -1.19826644e+01] [-1.02121898e-02 3.83629170e-04 9.99947781e-01 -2.83563096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08037174299997 meters 0.027239211826687475 Centerline is valid? [True, True] Translation: X:205.17, Y:-11.98, Z:-2.84 [[ 9.99587754e-01 2.68387452e-02 1.01982329e-02 2.05169610e+02] [-2.68334340e-02 9.99639702e-01 -6.57295211e-04 -1.19844244e+01] [-1.02121995e-02 3.83370633e-04 9.99947781e-01 -2.83602918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11037174299997 meters 0.027106471010870895 Centerline is valid? [True, True] Translation: X:205.20, Y:-11.99, Z:-2.84 [[ 9.99600647e-01 2.62027140e-02 1.05813332e-02 2.05198087e+02] [-2.61969690e-02 9.99656568e-01 -6.81206041e-04 -1.19864614e+01] [-1.05955487e-02 4.03735141e-04 9.99943784e-01 -2.83588883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14037174299997 meters 0.02620583654788992 Centerline is valid? [True, True] Translation: X:205.23, Y:-11.99, Z:-2.84 [[ 9.99602015e-01 2.58448993e-02 1.13072119e-02 2.05227013e+02] [-2.58383258e-02 9.99665870e-01 -7.27076759e-04 -1.19867591e+01] [-1.13222251e-02 4.34627967e-04 9.99935807e-01 -2.83555120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17037174299998 meters 0.02837869753060426 Centerline is valid? [True, True] Translation: X:205.25, Y:-11.99, Z:-2.84 [[ 9.99647336e-01 2.38362915e-02 1.17062030e-02 2.05254815e+02] [-2.38291179e-02 9.99715763e-01 -7.51922735e-04 -1.19932249e+01] [-1.17207987e-02 4.72709068e-04 9.99931197e-01 -2.83544199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20037174299998 meters 0.027521459566467777 Centerline is valid? [True, True] Translation: X:205.28, Y:-11.99, Z:-2.84 [[ 9.99679583e-01 2.24386777e-02 1.17147943e-02 2.05283356e+02] [-2.24314133e-02 9.99748102e-01 -7.51151199e-04 -1.19937588e+01] [-1.17286982e-02 4.88131125e-04 9.99931097e-01 -2.83604107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23037174299998 meters 0.02921536973309441 Centerline is valid? [True, True] Translation: X:205.31, Y:-12.00, Z:-2.84 [[ 9.99772069e-01 1.90543485e-02 9.63024779e-03 2.05312000e+02] [-1.90492892e-02 9.99818356e-01 -6.16817634e-04 -1.19994198e+01] [-9.64025157e-03 4.33227667e-04 9.99953438e-01 -2.83816781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26037174299998 meters 0.029447272325640813 Centerline is valid? [True, True] Translation: X:205.34, Y:-12.00, Z:-2.84 [[ 9.99823468e-01 1.67617973e-02 8.48974949e-03 2.05341374e+02] [-1.67577850e-02 9.99859431e-01 -5.43525559e-04 -1.20018464e+01] [-8.49766655e-03 4.01160212e-04 9.99963814e-01 -2.83925994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29037174299998 meters 0.031116780235346753 Centerline is valid? [True, True] Translation: X:205.37, Y:-12.01, Z:-2.84 [[ 9.99866143e-01 1.44557837e-02 7.66326504e-03 2.05369951e+02] [-1.44524479e-02 9.99895438e-01 -4.90497726e-04 -1.20063050e+01] [-7.66955428e-03 3.79679130e-04 9.99970516e-01 -2.84057856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32037174299998 meters 0.03217751633732009 Centerline is valid? [True, True] Translation: X:205.40, Y:-12.01, Z:-2.84 [[ 9.99900130e-01 1.22852166e-02 6.98590385e-03 2.05399300e+02] [-1.22823947e-02 9.99924469e-01 -4.46707974e-04 -1.20101457e+01] [-6.99086410e-03 3.60859733e-04 9.99975498e-01 -2.84189474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35037174299998 meters 0.03416914300256896 Centerline is valid? [True, True] Translation: X:205.43, Y:-12.01, Z:-2.84 [[ 9.99949537e-01 8.17136815e-03 5.84391377e-03 2.05429024e+02] [-8.16932495e-03 9.99966561e-01 -3.73414382e-04 -1.20147045e+01] [-5.84676966e-03 3.25654708e-04 9.99982854e-01 -2.84283946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38037174299998 meters 0.035338606635422654 Centerline is valid? [True, True] Translation: X:205.46, Y:-12.02, Z:-2.84 [[ 9.99955692e-01 7.07519561e-03 6.20936280e-03 2.05458729e+02] [-7.07287362e-03 9.99974909e-01 -3.95829591e-04 -1.20187144e+01] [-6.21200757e-03 3.51894015e-04 9.99980643e-01 -2.84318507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41037174299998 meters 0.035443472536030446 Centerline is valid? [True, True] Translation: X:205.49, Y:-12.02, Z:-2.84 [[ 9.99965357e-01 5.68438621e-03 6.08052939e-03 2.05489612e+02] [-5.68212752e-03 9.99983781e-01 -3.88672376e-04 -1.20204017e+01] [-6.08264013e-03 3.54108568e-04 9.99981438e-01 -2.84292376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440371743 meters 0.033063347825948164 Centerline is valid? [True, True] Translation: X:205.52, Y:-12.02, Z:-2.84 [[ 9.99961234e-01 4.53760305e-03 7.54588864e-03 2.05520952e+02] [-4.53409146e-03 9.99989605e-01 -4.82406803e-04 -1.20173686e+01] [-7.54799917e-03 4.48174353e-04 9.99971413e-01 -2.84137685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.470371743 meters 0.03779298408167107 Centerline is valid? [True, True] Translation: X:205.55, Y:-12.03, Z:-2.84 [[ 9.99959463e-01 4.45723482e-03 7.82335361e-03 2.05551626e+02] [-4.45346505e-03 9.99989959e-01 -4.99215684e-04 -1.20265564e+01] [-7.82550018e-03 4.64354415e-04 9.99969272e-01 -2.84174702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500371743 meters 0.034947975398370974 Centerline is valid? [True, True] Translation: X:205.58, Y:-12.02, Z:-2.84 [[ 9.99953970e-01 4.24645067e-03 8.60380545e-03 2.05584209e+02] [-4.24186378e-03 9.99990851e-01 -5.51301853e-04 -1.20227089e+01] [-8.60606781e-03 5.14780306e-04 9.99962835e-01 -2.84077858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.530371743 meters 0.035042966472298404 Centerline is valid? [True, True] Translation: X:205.62, Y:-12.02, Z:-2.84 [[ 9.99955583e-01 4.56175198e-03 8.24756534e-03 2.05616907e+02] [-4.55753200e-03 9.99989474e-01 -5.30385324e-04 -1.20242370e+01] [-8.24989801e-03 4.92773223e-04 9.99965848e-01 -2.84118126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560371743 meters 0.03499212670985687 Centerline is valid? [True, True] Translation: X:205.65, Y:-12.03, Z:-2.84 [[ 9.99958974e-01 4.69897070e-03 7.74401390e-03 2.05649193e+02] [-4.69524109e-03 9.99988852e-01 -4.99722015e-04 -1.20256803e+01] [-7.74627575e-03 4.63341502e-04 9.99969890e-01 -2.84160169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.590371743 meters 0.03492548069893832 Centerline is valid? [True, True] Translation: X:205.68, Y:-12.03, Z:-2.84 [[ 9.99962663e-01 4.47043440e-03 7.39509905e-03 2.05680189e+02] [-4.46700409e-03 9.99989908e-01 -4.80315257e-04 -1.20273188e+01] [-7.39717164e-03 4.47263385e-04 9.99972541e-01 -2.84175006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620371743 meters 0.036260509794661167 Centerline is valid? [True, True] Translation: X:205.71, Y:-12.03, Z:-2.84 [[ 9.99965979e-01 4.32839760e-03 7.02186708e-03 2.05710950e+02] [-4.32530928e-03 9.99990542e-01 -4.54941740e-04 -1.20292777e+01] [-7.02376984e-03 4.24554516e-04 9.99975243e-01 -2.84240607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.650371743 meters 0.034651977320739415 Centerline is valid? [True, True] Translation: X:205.74, Y:-12.03, Z:-2.84 [[ 9.99970290e-01 4.34228659e-03 6.36892943e-03 2.05742581e+02] [-4.33972935e-03 9.99990497e-01 -4.15283535e-04 -1.20280856e+01] [-6.37067219e-03 3.87631767e-04 9.99979632e-01 -2.84267799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68037174299997 meters 0.0368219099938463 Centerline is valid? [True, True] Translation: X:205.77, Y:-12.03, Z:-2.84 [[ 9.99974154e-01 4.47860154e-03 5.62430647e-03 2.05773116e+02] [-4.47661785e-03 9.99989913e-01 -3.65239700e-04 -1.20328936e+01] [-5.62588551e-03 3.40052390e-04 9.99984117e-01 -2.84423489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71037174299997 meters 0.03557566612748083 Centerline is valid? [True, True] Translation: X:205.80, Y:-12.03, Z:-2.85 [[ 9.99973355e-01 5.44604065e-03 4.86102633e-03 2.05804870e+02] [-5.44455823e-03 9.99985128e-01 -3.18143029e-04 -1.20317470e+01] [-4.86268665e-03 2.91668411e-04 9.99988135e-01 -2.84592570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74037174299997 meters 0.03505512045071518 Centerline is valid? [True, True] Translation: X:205.84, Y:-12.03, Z:-2.85 [[ 9.99972170e-01 5.81414281e-03 4.67496939e-03 2.05835547e+02] [-5.81277349e-03 9.99983059e-01 -3.06439536e-04 -1.20320003e+01] [-4.67667187e-03 2.79256470e-04 9.99989025e-01 -2.84603820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77037174299997 meters 0.038003534936261955 Centerline is valid? [True, True] Translation: X:205.86, Y:-12.04, Z:-2.85 [[ 9.99967742e-01 6.53219761e-03 4.67380997e-03 2.05864679e+02] [-6.53083601e-03 9.99978627e-01 -3.06526939e-04 -1.20371152e+01] [-4.67571237e-03 2.75993165e-04 9.99989031e-01 -2.84684697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80037174299997 meters 0.033704097662614216 Centerline is valid? [True, True] Translation: X:205.90, Y:-12.03, Z:-2.85 [[ 9.99960226e-01 7.88186977e-03 4.17401117e-03 2.05895243e+02] [-7.88079572e-03 9.99968909e-01 -2.73703623e-04 -1.20300279e+01] [-4.17603869e-03 2.40798207e-04 9.99991251e-01 -2.84590398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83037174299997 meters 0.03309591925387379 Centerline is valid? [True, True] Translation: X:205.93, Y:-12.03, Z:-2.85 [[ 9.99957733e-01 8.39699782e-03 3.74478367e-03 2.05925168e+02] [-8.39613637e-03 9.99964722e-01 -2.45701487e-04 -1.20295551e+01] [-3.74671472e-03 2.14249387e-04 9.99992958e-01 -2.84596978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86037174299997 meters 0.034544314687936103 Centerline is valid? [True, True] Translation: X:205.95, Y:-12.03, Z:-2.85 [[ 9.99944778e-01 9.77044525e-03 3.87040729e-03 2.05954395e+02] [-9.76953590e-03 9.99952245e-01 -2.53786308e-04 -1.20308095e+01] [-3.87270206e-03 2.15960211e-04 9.99992478e-01 -2.84604728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89037174299997 meters 0.034482344891283 Centerline is valid? [True, True] Translation: X:205.98, Y:-12.03, Z:-2.85 [[ 9.99932702e-01 1.06709161e-02 4.55221350e-03 2.05983196e+02] [-1.06696671e-02 9.99943033e-01 -2.98563299e-04 -1.20310088e+01] [-4.55514011e-03 2.49972603e-04 9.99989594e-01 -2.84591971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92037174299998 meters 0.031888416763956325 Centerline is valid? [True, True] Translation: X:206.01, Y:-12.03, Z:-2.84 [[ 9.99914972e-01 1.19450858e-02 5.23094598e-03 2.06012346e+02] [-1.19434566e-02 9.99928616e-01 -3.42590679e-04 -1.20271747e+01] [-5.23466485e-03 2.80085974e-04 9.99986260e-01 -2.84442750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95037174299998 meters 0.030833923917307875 Centerline is valid? [True, True] Translation: X:206.04, Y:-12.02, Z:-2.84 [[ 9.99874479e-01 1.48914267e-02 5.41032488e-03 2.06042243e+02] [-1.48897308e-02 9.99889079e-01 -3.53611441e-04 -1.20239251e+01] [-5.41499054e-03 2.73008774e-04 9.99985302e-01 -2.84398469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98037174299998 meters 0.03116742505701266 Centerline is valid? [True, True] Translation: X:206.07, Y:-12.02, Z:-2.84 [[ 9.99856914e-01 1.61516615e-02 5.02738377e-03 2.06070004e+02] [-1.61502114e-02 9.99869523e-01 -3.28911792e-04 -1.20244889e+01] [-5.03204029e-03 2.47671419e-04 9.99987309e-01 -2.84458367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01037174299998 meters 0.030832840128933413 Centerline is valid? [True, True] Translation: X:206.10, Y:-12.02, Z:-2.85 [[ 9.99831705e-01 1.76520391e-02 4.99671357e-03 2.06099462e+02] [-1.76506290e-02 9.99844162e-01 -3.26150451e-04 -1.20245844e+01] [-5.00169211e-03 2.37900424e-04 9.99987463e-01 -2.84528235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04037174299998 meters 0.029642751720356544 Centerline is valid? [True, True] Translation: X:206.13, Y:-12.02, Z:-2.85 [[ 9.99794769e-01 1.97559453e-02 4.48572421e-03 2.06129031e+02] [-1.97548307e-02 9.99804811e-01 -2.92641544e-04 -1.20221212e+01] [-4.49063006e-03 2.03966763e-04 9.99989896e-01 -2.84595029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07037174299998 meters 0.029004836018484633 Centerline is valid? [True, True] Translation: X:206.16, Y:-12.02, Z:-2.85 [[ 9.99782548e-01 2.04241289e-02 4.20856969e-03 2.06158014e+02] [-2.04231537e-02 9.99791388e-01 -2.74563678e-04 -1.20215598e+01] [-4.21329946e-03 1.88551708e-04 9.99991106e-01 -2.84626014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10037174299998 meters 0.029122007549615574 Centerline is valid? [True, True] Translation: X:206.19, Y:-12.02, Z:-2.85 [[ 9.99785508e-01 2.04449362e-02 3.30806436e-03 2.06186889e+02] [-2.04443339e-02 9.99790969e-01 -2.15789344e-04 -1.20219172e+01] [-3.31178468e-03 1.48111887e-04 9.99994505e-01 -2.84725737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13037174299998 meters 0.029008063353481665 Centerline is valid? [True, True] Translation: X:206.22, Y:-12.02, Z:-2.85 [[ 9.99788307e-01 2.03613651e-02 2.95909866e-03 2.06215892e+02] [-2.03608831e-02 9.99792677e-01 -1.92924778e-04 -1.20226824e+01] [-2.96241338e-03 1.32634076e-04 9.99995603e-01 -2.84799076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16037174299998 meters 0.029298083767139566 Centerline is valid? [True, True] Translation: X:206.24, Y:-12.02, Z:-2.85 [[ 9.99801521e-01 1.98005068e-02 2.20422647e-03 2.06244428e+02] [-1.98002378e-02 9.99803946e-01 -1.43805421e-04 -1.20241436e+01] [-2.20664174e-03 1.00132671e-04 9.99997560e-01 -2.84886499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.190371743 meters 0.02978231866771723 Centerline is valid? [True, True] Translation: X:206.27, Y:-12.03, Z:-2.85 [[ 9.99807774e-01 1.95272381e-02 1.76123374e-03 2.06271755e+02] [-1.95270654e-02 9.99809322e-01 -1.15189412e-04 -1.20255412e+01] [-1.76314724e-03 8.07755432e-05 9.99998442e-01 -2.84964696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220371743 meters 0.030347395857540344 Centerline is valid? [True, True] Translation: X:206.30, Y:-12.03, Z:-2.85 [[ 9.99810887e-01 1.93005769e-02 2.38303689e-03 2.06299322e+02] [-1.93002616e-02 9.99813721e-01 -1.55202393e-04 -1.20267120e+01] [-2.38558848e-03 1.09179807e-04 9.99997149e-01 -2.84961162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.250371743 meters 0.03265330470232077 Centerline is valid? [True, True] Translation: X:206.33, Y:-12.03, Z:-2.85 [[ 9.99823981e-01 1.86430276e-02 2.10819892e-03 2.06326608e+02] [-1.86427796e-02 9.99826199e-01 -1.37246699e-04 -1.20311768e+01] [-2.11039120e-03 9.79198533e-05 9.99997768e-01 -2.85062099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280371743 meters 0.02998315591782172 Centerline is valid? [True, True] Translation: X:206.36, Y:-12.03, Z:-2.85 [[ 9.99845759e-01 1.73151960e-02 2.93959747e-03 2.06355660e+02] [-1.73147107e-02 9.99850071e-01 -1.90471993e-04 -1.20272500e+01] [-2.94245480e-03 1.39544335e-04 9.99995661e-01 -2.84902798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.310371743 meters 0.030257971581182957 Centerline is valid? [True, True] Translation: X:206.38, Y:-12.03, Z:-2.85 [[ 9.99871849e-01 1.56808891e-02 3.22422189e-03 2.06384166e+02] [-1.56802978e-02 9.99877035e-01 -2.08593506e-04 -1.20287744e+01] [-3.22709636e-03 1.58010015e-04 9.99994780e-01 -2.84921404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340371743 meters 0.030191349794884116 Centerline is valid? [True, True] Translation: X:206.41, Y:-12.03, Z:-2.85 [[ 9.99894615e-01 1.41533508e-02 3.23133022e-03 2.06412387e+02] [-1.41527490e-02 9.99899823e-01 -2.09024058e-04 -1.20302896e+01] [-3.23396491e-03 1.63269824e-04 9.99994757e-01 -2.84884875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.370371743 meters 0.03185732409286758 Centerline is valid? [True, True] Translation: X:206.44, Y:-12.03, Z:-2.85 [[ 9.99938742e-01 1.05503855e-02 3.34684915e-03 2.06442148e+02] [-1.05497235e-02 9.99944327e-01 -2.15382504e-04 -1.20344283e+01] [-3.34893519e-03 1.80060977e-04 9.99994376e-01 -2.84944346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400371743 meters 0.033395815163683056 Centerline is valid? [True, True] Translation: X:206.47, Y:-12.04, Z:-2.85 [[ 9.99952773e-01 8.97853977e-03 3.71996073e-03 2.06470805e+02] [-8.97771012e-03 9.99959671e-01 -2.39662898e-04 -1.20387219e+01] [-3.72196253e-03 2.06254850e-04 9.99993052e-01 -2.85041145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43037174299997 meters 0.033829972023115974 Centerline is valid? [True, True] Translation: X:206.50, Y:-12.04, Z:-2.85 [[ 9.99966954e-01 7.31795953e-03 3.54100835e-03 2.06500675e+02] [-7.31719862e-03 9.99973203e-01 -2.27792833e-04 -1.20413346e+01] [-3.54258044e-03 2.01875044e-04 9.99993705e-01 -2.85081121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46037174299997 meters 0.03487179365279975 Centerline is valid? [True, True] Translation: X:206.53, Y:-12.04, Z:-2.85 [[ 9.99985825e-01 4.69823541e-03 2.50517145e-03 2.06530689e+02] [-4.69784673e-03 9.99988952e-01 -1.61011452e-04 -1.20441823e+01] [-2.50590024e-03 1.49240258e-04 9.99996849e-01 -2.85119375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49037174299997 meters 0.03593501963166131 Centerline is valid? [True, True] Translation: X:206.56, Y:-12.05, Z:-2.85 [[ 9.99990848e-01 3.48304155e-03 2.48446338e-03 2.06560332e+02] [-3.48265564e-03 9.99993923e-01 -1.59637793e-04 -1.20473365e+01] [-2.48500430e-03 1.50983802e-04 9.99996901e-01 -2.85186257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52037174299997 meters 0.036946623870778454 Centerline is valid? [True, True] Translation: X:206.59, Y:-12.05, Z:-2.85 [[ 9.99994156e-01 2.51938646e-03 2.31110978e-03 2.06590442e+02] [-2.51905049e-03 9.99996816e-01 -1.48269392e-04 -1.20506240e+01] [-2.31147597e-03 1.42446723e-04 9.99997318e-01 -2.85254744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55037174299997 meters 0.03799190099791858 Centerline is valid? [True, True] Translation: X:206.62, Y:-12.05, Z:-2.85 [[ 9.99994502e-01 1.39424713e-03 3.00867907e-03 2.06619541e+02] [-1.39367210e-03 9.99999010e-01 -1.93211732e-04 -1.20540559e+01] [-3.00894547e-03 1.89017558e-04 9.99995455e-01 -2.85297188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58037174299997 meters 0.03831831374426518 Centerline is valid? [True, True] Translation: X:206.65, Y:-12.06, Z:-2.85 [[ 9.99990739e-01 1.30963519e-03 4.09953428e-03 2.06650717e+02] [-1.30856963e-03 9.99999109e-01 -2.62594228e-04 -1.20563584e+01] [-4.09987453e-03 2.57227270e-04 9.99991562e-01 -2.85266625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61037174299997 meters 0.03908848131199899 Centerline is valid? [True, True] Translation: X:206.68, Y:-12.06, Z:-2.85 [[ 9.99982680e-01 2.15938353e-03 5.47504781e-03 2.06681402e+02] [-2.15749370e-03 9.99997611e-01 -3.51054396e-04 -1.20591519e+01] [-5.47579280e-03 3.39235934e-04 9.99984950e-01 -2.85199644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64037174299997 meters 0.03919342213122174 Centerline is valid? [True, True] Translation: X:206.71, Y:-12.06, Z:-2.85 [[ 9.99981548e-01 2.87016928e-03 5.35407512e-03 2.06712864e+02] [-2.86837126e-03 9.99995827e-01 -3.43472745e-04 -1.20609888e+01] [-5.35503860e-03 3.28108932e-04 9.99985608e-01 -2.85263830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67037174299998 meters 0.03927702445948557 Centerline is valid? [True, True] Translation: X:206.74, Y:-12.06, Z:-2.85 [[ 9.99981102e-01 3.75024835e-03 4.87155188e-03 2.06744167e+02] [-3.74876961e-03 9.99992924e-01 -3.12642609e-04 -1.20629198e+01] [-4.87268990e-03 2.94374375e-04 9.99988085e-01 -2.85374407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70037174299998 meters 0.03351404225019497 Centerline is valid? [True, True] Translation: X:206.78, Y:-12.05, Z:-2.85 [[ 9.99977963e-01 6.02941370e-03 2.77828775e-03 2.06775793e+02] [-6.02894132e-03 9.99981810e-01 -1.78369591e-04 -1.20543682e+01] [-2.77931268e-03 1.61615526e-04 9.99996125e-01 -2.85409700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73037174299998 meters 0.03282340397350868 Centerline is valid? [True, True] Translation: X:206.81, Y:-12.05, Z:-2.85 [[ 9.99971572e-01 7.38188876e-03 1.53732696e-03 2.06805507e+02] [-7.38174482e-03 9.99972750e-01 -9.92846242e-05 -1.20545110e+01] [-1.53801798e-03 8.79336463e-05 9.99998813e-01 -2.85487587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76037174299998 meters 0.032001787012189385 Centerline is valid? [True, True] Translation: X:206.83, Y:-12.05, Z:-2.86 [[ 9.99957150e-01 9.22662503e-03 7.53912203e-04 2.06834745e+02] [-9.22659058e-03 9.99957433e-01 -4.91580469e-05 -1.20539413e+01] [-7.54333674e-04 4.21999012e-05 9.99999715e-01 -2.85550667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79037174299998 meters 0.032872415045954256 Centerline is valid? [True, True] Translation: X:206.86, Y:-12.06, Z:-2.86 [[ 9.99937516e-01 1.11445861e-02 8.73046230e-04 2.06863079e+02] [-1.11445406e-02 9.99937896e-01 -5.69880862e-05 -1.20565120e+01] [-8.73627119e-04 4.72548262e-05 9.99999617e-01 -2.85664730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82037174299998 meters 0.03194726225366287 Centerline is valid? [True, True] Translation: X:206.89, Y:-12.05, Z:-2.86 [[ 9.99879013e-01 1.55381154e-02 7.25604214e-04 2.06892105e+02] [-1.55380854e-02 9.99879276e-01 -4.69851615e-05 -1.20549633e+01] [-7.26246677e-04 3.57049767e-05 9.99999736e-01 -2.85655980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85037174299998 meters 0.03019575386745992 Centerline is valid? [True, True] Translation: X:206.92, Y:-12.05, Z:-2.86 [[ 9.99843888e-01 1.76373121e-02 1.06046980e-03 2.06921167e+02] [-1.76372489e-02 9.99844449e-01 -6.88836465e-05 -1.20527073e+01] [-1.06151977e-03 5.01691231e-05 9.99999435e-01 -2.85549304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88037174299998 meters 0.029026739492685614 Centerline is valid? [True, True] Translation: X:206.95, Y:-12.05, Z:-2.85 [[ 9.99763760e-01 2.16378994e-02 2.05569407e-03 2.06951437e+02] [-2.16376740e-02 9.99765869e-01 -1.31828567e-04 -1.20497975e+01] [-2.05806526e-03 8.73169859e-05 9.99997878e-01 -2.85466569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91037174299998 meters 0.029648820524573773 Centerline is valid? [True, True] Translation: X:206.98, Y:-12.05, Z:-2.86 [[ 9.99709676e-01 2.39163922e-02 2.92730516e-03 2.06979114e+02] [-2.39159430e-02 9.99713955e-01 -1.88338712e-04 -1.20526762e+01] [-2.93097220e-03 1.18274769e-04 9.99995698e-01 -2.85556696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940371743 meters 0.027371943672067706 Centerline is valid? [True, True] Translation: X:207.01, Y:-12.05, Z:-2.86 [[ 9.99658605e-01 2.58999298e-02 3.44480492e-03 2.07008221e+02] [-2.58993220e-02 9.99664532e-01 -2.20946694e-04 -1.20495982e+01] [-3.44937181e-03 1.31653152e-04 9.99994042e-01 -2.85500429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.970371743 meters 0.026093415704386738 Centerline is valid? [True, True] Translation: X:207.04, Y:-12.05, Z:-2.86 [[ 9.99583812e-01 2.86325531e-02 3.51846935e-03 2.07037628e+02] [-2.86319375e-02 9.99589997e-01 -2.25227190e-04 -1.20478293e+01] [-3.52347559e-03 1.24392859e-04 9.99993785e-01 -2.85536429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000371743 meters 0.026093415704386738 Centerline is valid? [True, True] Translation: X:207.07, Y:-12.05, Z:-2.86 [[ 9.99586903e-01 2.85244269e-02 3.51844539e-03 2.07065046e+02] [-2.85238093e-02 9.99593088e-01 -2.25603701e-04 -1.20494906e+01] [-3.52344891e-03 1.25151039e-04 9.99993785e-01 -2.85575038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.030371743 meters 0.027838593768028223 Centerline is valid? [True, True] Translation: X:207.09, Y:-12.06, Z:-2.86 [[ 9.99570598e-01 2.90791252e-02 3.60887443e-03 2.07092565e+02] [-2.90784813e-02 9.99577105e-01 -2.30775238e-04 -1.20551883e+01] [-3.61405900e-03 1.25735555e-04 9.99993461e-01 -2.85737346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060371743 meters 0.027930632497057344 Centerline is valid? [True, True] Translation: X:207.12, Y:-12.06, Z:-2.86 [[ 9.99577889e-01 2.88410067e-02 3.49867491e-03 2.07121252e+02] [-2.88404018e-02 9.99584004e-01 -2.23219542e-04 -1.20570840e+01] [-3.50365735e-03 1.22222129e-04 9.99993855e-01 -2.85768524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.090371743 meters 0.02687775341977792 Centerline is valid? [True, True] Translation: X:207.15, Y:-12.06, Z:-2.86 [[ 9.99602009e-01 2.80164016e-02 3.30239544e-03 2.07150241e+02] [-2.80158587e-02 9.99607457e-01 -2.10557185e-04 -1.20562793e+01] [-3.30699816e-03 1.17953941e-04 9.99994525e-01 -2.85692343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120371743 meters 0.026815306615692584 Centerline is valid? [True, True] Translation: X:207.18, Y:-12.06, Z:-2.86 [[ 9.99669791e-01 2.54255776e-02 3.72129370e-03 2.07179305e+02] [-2.54248724e-02 9.99676708e-01 -2.36705834e-04 -1.20595695e+01] [-3.72610901e-03 1.42014254e-04 9.99993048e-01 -2.85661432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.150371743 meters 0.027513278358824035 Centerline is valid? [True, True] Translation: X:207.21, Y:-12.06, Z:-2.86 [[ 9.99708581e-01 2.38177434e-02 3.93302606e-03 2.07207874e+02] [-2.38169435e-02 9.99716305e-01 -2.50096509e-04 -1.20636802e+01] [-3.93786701e-03 1.56350967e-04 9.99992234e-01 -2.85770473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18037174299997 meters 0.028127482622080695 Centerline is valid? [True, True] Translation: X:207.24, Y:-12.07, Z:-2.86 [[ 9.99782881e-01 2.05796292e-02 3.26643600e-03 2.07237077e+02] [-2.05790617e-02 9.99788207e-01 -2.07264452e-04 -1.20684154e+01] [-3.27000962e-03 1.39999263e-04 9.99994644e-01 -2.85917157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21037174299997 meters 0.02962501737514875 Centerline is valid? [True, True] Translation: X:207.26, Y:-12.07, Z:-2.86 [[ 9.99815902e-01 1.89784543e-02 2.82510001e-03 2.07264532e+02] [-1.89780218e-02 9.99819885e-01 -1.79822601e-04 -1.20729762e+01] [-2.82800392e-03 1.26174686e-04 9.99995993e-01 -2.86027593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24037174299997 meters 0.029179230364627877 Centerline is valid? [True, True] Translation: X:207.29, Y:-12.07, Z:-2.86 [[ 9.99839356e-01 1.77349617e-02 2.59489881e-03 2.07293125e+02] [-1.77345935e-02 9.99842716e-01 -1.64839816e-04 -1.20747053e+01] [-2.59741410e-03 1.18793860e-04 9.99996620e-01 -2.86035995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27037174299997 meters 0.03059032687292803 Centerline is valid? [True, True] Translation: X:207.32, Y:-12.08, Z:-2.86 [[ 9.99884308e-01 1.49944319e-02 2.55670256e-03 2.07321526e+02] [-1.49940665e-02 9.99887570e-01 -1.62035385e-04 -1.20802837e+01] [-2.55884474e-03 1.23681270e-04 9.99996719e-01 -2.86128048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30037174299997 meters 0.03065125748041737 Centerline is valid? [True, True] Translation: X:207.35, Y:-12.08, Z:-2.86 [[ 9.99904025e-01 1.36028422e-02 2.62744030e-03 2.07350362e+02] [-1.36024514e-02 9.99907469e-01 -1.66562318e-04 -1.20823823e+01] [-2.62946290e-03 1.30806704e-04 9.99996534e-01 -2.86175051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33037174299997 meters 0.03223915561218999 Centerline is valid? [True, True] Translation: X:207.38, Y:-12.09, Z:-2.86 [[ 9.99931469e-01 1.12601115e-02 3.20425876e-03 2.07378049e+02] [-1.12595197e-02 9.99936589e-01 -2.02673931e-04 -1.20885071e+01] [-3.20633771e-03 1.66581626e-04 9.99994846e-01 -2.86183946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36037174299997 meters 0.03311862573466801 Centerline is valid? [True, True] Translation: X:207.41, Y:-12.09, Z:-2.86 [[ 9.99943238e-01 1.01501917e-02 3.23962139e-03 2.07405975e+02] [-1.01495838e-02 9.99948471e-01 -2.04015381e-04 -1.20922166e+01] [-3.24152525e-03 1.71122992e-04 9.99994732e-01 -2.86242623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39037174299997 meters 0.03370906275273854 Centerline is valid? [True, True] Translation: X:207.43, Y:-12.10, Z:-2.86 [[ 9.99947560e-01 9.54710901e-03 3.70545264e-03 2.07433850e+02] [-9.54630693e-03 9.99954406e-01 -2.34085878e-04 -1.20957617e+01] [-3.70751853e-03 1.98700215e-04 9.99993107e-01 -2.86249153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42037174299998 meters 0.034504840446743804 Centerline is valid? [True, True] Translation: X:207.46, Y:-12.10, Z:-2.86 [[ 9.99955152e-01 8.42105035e-03 4.33351327e-03 2.07463003e+02] [-8.41994750e-03 9.99964514e-01 -2.72675403e-04 -1.20998815e+01] [-4.33565571e-03 2.36175220e-04 9.99990573e-01 -2.86252907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45037174299998 meters 0.03489375297457421 Centerline is valid? [True, True] Translation: X:207.49, Y:-12.10, Z:-2.86 [[ 9.99955087e-01 8.33921420e-03 4.50354894e-03 2.07492052e+02] [-8.33802306e-03 9.99965198e-01 -2.83199281e-04 -1.21027003e+01] [-4.50575387e-03 2.45635867e-04 9.99989819e-01 -2.86289708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48037174299998 meters 0.03643158711225894 Centerline is valid? [True, True] Translation: X:207.52, Y:-12.11, Z:-2.86 [[ 9.99959090e-01 7.93274520e-03 4.34630719e-03 2.07520301e+02] [-7.93163183e-03 9.99968507e-01 -2.73341156e-04 -1.21078903e+01] [-4.34833865e-03 2.38856665e-04 9.99990517e-01 -2.86385381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51037174299998 meters 0.03685238295285721 Centerline is valid? [True, True] Translation: X:207.55, Y:-12.11, Z:-2.86 [[ 9.99959680e-01 7.85999361e-03 4.34267112e-03 2.07549551e+02] [-7.85888311e-03 9.99969081e-01 -2.72722676e-04 -1.21112384e+01] [-4.34468045e-03 2.38583135e-04 9.99990533e-01 -2.86450059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54037174299998 meters 0.037416378934319885 Centerline is valid? [True, True] Translation: X:207.58, Y:-12.11, Z:-2.87 [[ 9.99962166e-01 7.69273659e-03 4.06056218e-03 2.07578910e+02] [-7.69176475e-03 9.99970385e-01 -2.54899060e-04 -1.21141144e+01] [-4.06240280e-03 2.23656527e-04 9.99991723e-01 -2.86561817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57037174299998 meters 0.037341970366771206 Centerline is valid? [True, True] Translation: X:207.61, Y:-12.12, Z:-2.87 [[ 9.99961383e-01 7.70990539e-03 4.21788430e-03 2.07608345e+02] [-7.70885761e-03 9.99970251e-01 -2.64615659e-04 -1.21170657e+01] [-4.21979899e-03 2.32090371e-04 9.99991070e-01 -2.86622478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60037174299998 meters 0.03229989135645572 Centerline is valid? [True, True] Translation: X:207.64, Y:-12.11, Z:-2.86 [[ 9.99960832e-01 7.59133668e-03 4.55040025e-03 2.07638257e+02] [-7.59011669e-03 9.99971154e-01 -2.85315158e-04 -1.21104369e+01] [-4.55243492e-03 2.50765914e-04 9.99989606e-01 -2.86451146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63037174299998 meters 0.03174144776409894 Centerline is valid? [True, True] Translation: X:207.67, Y:-12.11, Z:-2.86 [[ 9.99942930e-01 9.00710947e-03 5.74533552e-03 2.07668478e+02] [-9.00519069e-03 9.99959388e-01 -3.59754997e-04 -1.21107562e+01] [-5.74834254e-03 3.07996624e-04 9.99983431e-01 -2.86376655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66037174299998 meters 0.03571301730487392 Centerline is valid? [True, True] Translation: X:207.70, Y:-12.12, Z:-2.86 [[ 9.99928985e-01 1.01508609e-02 6.24380066e-03 2.07697216e+02] [-1.01486170e-02 9.99948425e-01 -3.90970594e-04 -1.21190099e+01] [-6.24744732e-03 3.27576888e-04 9.99980431e-01 -2.86472930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.690371743 meters 0.035335845872131406 Centerline is valid? [True, True] Translation: X:207.73, Y:-12.12, Z:-2.87 [[ 9.99918254e-01 1.09758751e-02 6.55869273e-03 2.07727114e+02] [-1.09734186e-02 9.99939706e-01 -4.10414465e-04 -1.21204273e+01] [-6.56280193e-03 3.38409635e-04 9.99978407e-01 -2.86514414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720371743 meters 0.03064351426648801 Centerline is valid? [True, True] Translation: X:207.76, Y:-12.11, Z:-2.87 [[ 9.99909237e-01 1.20826970e-02 5.96044585e-03 2.07756954e+02] [-1.20806886e-02 9.99926956e-01 -3.72842017e-04 -1.21147810e+01] [-5.96451542e-03 3.00801887e-04 9.99982167e-01 -2.86520899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.750371743 meters 0.029878117674693352 Centerline is valid? [True, True] Translation: X:207.79, Y:-12.12, Z:-2.87 [[ 9.99905156e-01 1.27236567e-02 5.27140876e-03 2.07785392e+02] [-1.27220937e-02 9.99919016e-01 -3.29928905e-04 -1.21150978e+01] [-5.27517977e-03 2.62834257e-04 9.99986052e-01 -2.86594549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780371743 meters 0.030579106222866515 Centerline is valid? [True, True] Translation: X:207.81, Y:-12.12, Z:-2.87 [[ 9.99901350e-01 1.34323440e-02 4.10640142e-03 2.07812889e+02] [-1.34314011e-02 9.99909762e-01 -2.57111592e-04 -1.21179829e+01] [-4.10948447e-03 2.01931504e-04 9.99991536e-01 -2.86715293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.810371743 meters 0.030059599581825098 Centerline is valid? [True, True] Translation: X:207.84, Y:-12.12, Z:-2.87 [[ 9.99902345e-01 1.33789236e-02 4.03790760e-03 2.07841364e+02] [-1.33780135e-02 9.99910479e-01 -2.52309137e-04 -1.21188114e+01] [-4.04092174e-03 1.98265316e-04 9.99991816e-01 -2.86737736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840371743 meters 0.030626956169717966 Centerline is valid? [True, True] Translation: X:207.87, Y:-12.12, Z:-2.87 [[ 9.99897610e-01 1.36921004e-02 4.15883873e-03 2.07868740e+02] [-1.36911384e-02 9.99906238e-01 -2.59707805e-04 -1.21218171e+01] [-4.16200474e-03 2.02741977e-04 9.99991318e-01 -2.86802648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.870371743 meters 0.030278887649689327 Centerline is valid? [True, True] Translation: X:207.90, Y:-12.12, Z:-2.87 [[ 9.99890349e-01 1.40878892e-02 4.56294682e-03 2.07897282e+02] [-1.40867384e-02 9.99900737e-01 -2.84250168e-04 -1.21234272e+01] [-4.56649837e-03 2.19941962e-04 9.99989549e-01 -2.86814507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900371743 meters 0.02933009103839481 Centerline is valid? [True, True] Translation: X:207.93, Y:-12.12, Z:-2.87 [[ 9.99875657e-01 1.51490876e-02 4.37901998e-03 2.07926290e+02] [-1.51480390e-02 9.99885225e-01 -2.72528954e-04 -1.21240096e+01] [-4.38264594e-03 2.06161501e-04 9.99990375e-01 -2.86827978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93037174299997 meters 0.029253125476646994 Centerline is valid? [True, True] Translation: X:207.96, Y:-12.13, Z:-2.87 [[ 9.99860775e-01 1.60030738e-02 4.72569651e-03 2.07955036e+02] [-1.60018641e-02 9.99871919e-01 -2.93684479e-04 -1.21256147e+01] [-4.72979110e-03 2.18023638e-04 9.99988791e-01 -2.86881390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96037174299997 meters 0.029046399412104268 Centerline is valid? [True, True] Translation: X:207.98, Y:-12.13, Z:-2.87 [[ 9.99844535e-01 1.70163306e-02 4.62074626e-03 2.07984272e+02] [-1.70151870e-02 9.99855190e-01 -2.86683702e-04 -1.21276857e+01] [-4.62495543e-03 2.08016271e-04 9.99989283e-01 -2.86907720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99037174299997 meters 0.029044812750467688 Centerline is valid? [True, True] Translation: X:208.01, Y:-12.13, Z:-2.87 [[ 9.99804150e-01 1.90782103e-02 5.26160184e-03 2.08011920e+02] [-1.90767565e-02 9.99817969e-01 -3.26364615e-04 -1.21298309e+01] [-5.26687052e-03 2.25926399e-04 9.99986104e-01 -2.86898380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02037174299997 meters 0.02856259108968085 Centerline is valid? [True, True] Translation: X:208.04, Y:-12.13, Z:-2.87 [[ 9.99784628e-01 2.00476853e-02 5.36540498e-03 2.08041128e+02] [-2.00461917e-02 9.99799000e-01 -3.32001701e-04 -1.21309683e+01] [-5.37098239e-03 2.24374261e-04 9.99985551e-01 -2.86900834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05037174299997 meters 0.02844121590845339 Centerline is valid? [True, True] Translation: X:208.07, Y:-12.13, Z:-2.87 [[ 9.99761182e-01 2.10829466e-02 5.75223958e-03 2.08070288e+02] [-2.10812491e-02 9.99777703e-01 -3.55576405e-04 -1.21341578e+01] [-5.75845748e-03 2.34227091e-04 9.99983393e-01 -2.86926756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08037174299997 meters 0.02869889941291733 Centerline is valid? [True, True] Translation: X:208.10, Y:-12.14, Z:-2.87 [[ 9.99754459e-01 2.12661999e-02 6.22661685e-03 2.08098509e+02] [-2.12642161e-02 9.99773817e-01 -3.84645191e-04 -1.21373972e+01] [-6.23338844e-03 2.52146618e-04 9.99980540e-01 -2.86985384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11037174299997 meters 0.029725899152099052 Centerline is valid? [True, True] Translation: X:208.13, Y:-12.14, Z:-2.87 [[ 9.99753361e-01 2.11798840e-02 6.68057965e-03 2.08125699e+02] [-2.11776012e-02 9.99775644e-01 -4.12274652e-04 -1.21425469e+01] [-6.68781275e-03 2.70694318e-04 9.99977600e-01 -2.87050800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14037174299997 meters 0.030660762386464743 Centerline is valid? [True, True] Translation: X:208.15, Y:-12.15, Z:-2.87 [[ 9.99766341e-01 2.04684676e-02 6.95014474e-03 2.08153010e+02] [-2.04659843e-02 9.99790458e-01 -4.28246048e-04 -1.21478481e+01] [-6.95745394e-03 2.85904432e-04 9.99975756e-01 -2.87155702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17037174299998 meters 0.031166350327464946 Centerline is valid? [True, True] Translation: X:208.18, Y:-12.15, Z:-2.87 [[ 9.99776348e-01 1.99876532e-02 6.90996190e-03 2.08180935e+02] [-1.99851911e-02 9.99800186e-01 -4.25189820e-04 -1.21516476e+01] [-6.91707974e-03 2.86997817e-04 9.99976036e-01 -2.87204883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20037174299998 meters 0.028094720574629205 Centerline is valid? [True, True] Translation: X:208.21, Y:-12.15, Z:-2.87 [[ 9.99778848e-01 1.97262378e-02 7.28908252e-03 2.08209917e+02] [-1.97234966e-02 9.99805373e-01 -4.47769592e-04 -1.21492842e+01] [-7.29649667e-03 3.03904373e-04 9.99973334e-01 -2.87162790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23037174299998 meters 0.028680713053966557 Centerline is valid? [True, True] Translation: X:208.24, Y:-12.15, Z:-2.87 [[ 9.99783570e-01 1.96814176e-02 6.74205077e-03 2.08237879e+02] [-1.96790733e-02 9.99806263e-01 -4.13885513e-04 -1.21548460e+01] [-6.74889044e-03 2.81118625e-04 9.99977186e-01 -2.87327825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26037174299998 meters 0.02877283045625746 Centerline is valid? [True, True] Translation: X:208.27, Y:-12.16, Z:-2.87 [[ 9.99797533e-01 1.92653366e-02 5.80857118e-03 2.08266057e+02] [-1.92635915e-02 9.99814376e-01 -3.56237071e-04 -1.21577923e+01] [-5.81435600e-03 2.44271002e-04 9.99983067e-01 -2.87439618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29037174299998 meters 0.028539039445207484 Centerline is valid? [True, True] Translation: X:208.29, Y:-12.16, Z:-2.88 [[ 9.99814232e-01 1.88743950e-02 3.90636800e-03 2.08294623e+02] [-1.88736032e-02 9.99821849e-01 -2.39463105e-04 -1.21612012e+01] [-3.91019180e-03 1.65691380e-04 9.99992341e-01 -2.87664644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32037174299998 meters 0.027986780275824834 Centerline is valid? [True, True] Translation: X:208.32, Y:-12.16, Z:-2.88 [[ 9.99810624e-01 1.91098004e-02 3.67850759e-03 2.08323264e+02] [-1.91091006e-02 9.99817379e-01 -2.25300781e-04 -1.21629326e+01] [-3.68214127e-03 1.54965142e-04 9.99993209e-01 -2.87744066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35037174299998 meters 0.02815965265918124 Centerline is valid? [True, True] Translation: X:208.35, Y:-12.17, Z:-2.88 [[ 9.99815467e-01 1.88710913e-02 3.59350764e-03 2.08351817e+02] [-1.88704228e-02 9.99821914e-01 -2.19857312e-04 -1.21659601e+01] [-3.59701664e-03 1.52005733e-04 9.99993519e-01 -2.87824064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38037174299998 meters 0.028355524244690886 Centerline is valid? [True, True] Translation: X:208.38, Y:-12.17, Z:-2.88 [[ 9.99808340e-01 1.91815561e-02 3.91800202e-03 2.08380081e+02] [-1.91807652e-02 9.99816004e-01 -2.39338271e-04 -1.21689286e+01] [-3.92187200e-03 1.64142123e-04 9.99992296e-01 -2.87820315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41037174299998 meters 0.02710944496384369 Centerline is valid? [True, True] Translation: X:208.41, Y:-12.17, Z:-2.88 [[ 9.99768743e-01 2.07480768e-02 5.65493324e-03 2.08409293e+02] [-2.07464598e-02 9.99784710e-01 -3.44463454e-04 -1.21699973e+01] [-5.66086274e-03 2.27063949e-04 9.99983951e-01 -2.87651136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440371743 meters 0.026871402982414756 Centerline is valid? [True, True] Translation: X:208.44, Y:-12.17, Z:-2.88 [[ 9.99712426e-01 2.29533446e-02 6.94328982e-03 2.08436647e+02] [-2.29509622e-02 9.99736503e-01 -4.22607079e-04 -1.21728747e+01] [-6.95116052e-03 2.63130366e-04 9.99975806e-01 -2.87608949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.470371743 meters 0.02693942341393225 Centerline is valid? [True, True] Translation: X:208.46, Y:-12.18, Z:-2.88 [[ 9.99680144e-01 2.42778893e-02 7.08478806e-03 2.08464533e+02] [-2.42754462e-02 9.99705215e-01 -4.30634046e-04 -1.21754869e+01] [-7.09315446e-03 2.58509914e-04 9.99974810e-01 -2.87672676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500371743 meters 0.02624041148426306 Centerline is valid? [True, True] Translation: X:208.49, Y:-12.18, Z:-2.88 [[ 9.99643257e-01 2.57694265e-02 7.02106142e-03 2.08492996e+02] [-2.57670693e-02 9.99667883e-01 -4.26007169e-04 -1.21767528e+01] [-7.02970757e-03 2.44943018e-04 9.99975261e-01 -2.87717305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.530371743 meters 0.02557976559585413 Centerline is valid? [True, True] Translation: X:208.52, Y:-12.18, Z:-2.88 [[ 9.99605635e-01 2.72081103e-02 6.94932619e-03 2.08522150e+02] [-2.72058390e-02 9.99629764e-01 -4.21179980e-04 -1.21777242e+01] [-6.95821281e-03 2.31951632e-04 9.99975764e-01 -2.87778712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560371743 meters 0.02490057750945211 Centerline is valid? [True, True] Translation: X:208.55, Y:-12.18, Z:-2.88 [[ 9.99500370e-01 3.09240802e-02 6.53545853e-03 2.08550017e+02] [-3.09221525e-02 9.99521718e-01 -3.95814655e-04 -1.21794046e+01] [-6.54457294e-03 1.93526448e-04 9.99978565e-01 -2.87894100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.590371743 meters 0.024649059074799504 Centerline is valid? [True, True] Translation: X:208.58, Y:-12.18, Z:-2.88 [[ 9.99441640e-01 3.27437367e-02 6.65254368e-03 2.08578718e+02] [-3.27417846e-02 9.99463763e-01 -4.02163900e-04 -1.21809174e+01] [-6.66214469e-03 1.84123196e-04 9.99977791e-01 -2.87953158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620371743 meters 0.023593758593134798 Centerline is valid? [True, True] Translation: X:208.61, Y:-12.18, Z:-2.88 [[ 9.99299422e-01 3.66949669e-02 7.35825636e-03 2.08607531e+02] [-3.66926902e-02 9.99326498e-01 -4.44208429e-04 -1.21811925e+01] [-7.36960077e-03 1.73903005e-04 9.99972829e-01 -2.87936683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.650371743 meters 0.023156620963142416 Centerline is valid? [True, True] Translation: X:208.64, Y:-12.18, Z:-2.88 [[ 9.99229407e-01 3.84671843e-02 7.80173672e-03 2.08636848e+02] [-3.84646845e-02 9.99259850e-01 -4.70261114e-04 -1.21818992e+01] [-7.81405188e-03 1.69807393e-04 9.99969455e-01 -2.87915791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68037174299997 meters 0.02281676808920722 Centerline is valid? [True, True] Translation: X:208.67, Y:-12.18, Z:-2.88 [[ 9.99175347e-01 3.97777825e-02 8.14576046e-03 2.08665221e+02] [-3.97751039e-02 9.99208537e-01 -4.90634048e-04 -1.21827767e+01] [-8.15882973e-03 1.66230977e-04 9.99966702e-01 -2.87935501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71037174299997 meters 0.022354141636317288 Centerline is valid? [True, True] Translation: X:208.69, Y:-12.18, Z:-2.88 [[ 9.99068854e-01 4.21228992e-02 9.33200780e-03 2.08694453e+02] [-4.21194944e-02 9.99112423e-01 -5.61175459e-04 -1.21846838e+01] [-9.34736326e-03 1.67593472e-04 9.99956298e-01 -2.87915960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74037174299997 meters 0.022510159089666013 Centerline is valid? [True, True] Translation: X:208.72, Y:-12.19, Z:-2.88 [[ 9.99042681e-01 4.27029859e-02 9.49611521e-03 2.08721727e+02] [-4.26994883e-02 9.99087798e-01 -5.70846512e-04 -1.21872792e+01] [-9.51182968e-03 1.64820769e-04 9.99954748e-01 -2.87961866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77037174299997 meters 0.022242595395200813 Centerline is valid? [True, True] Translation: X:208.75, Y:-12.19, Z:-2.88 [[ 9.98998511e-01 4.35614792e-02 1.02162800e-02 2.08750375e+02] [-4.35574926e-02 9.99050734e-01 -6.12499111e-04 -1.21913652e+01] [-1.02332634e-02 1.66890159e-04 9.99947625e-01 -2.88076861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80037174299997 meters 0.022175997941849653 Centerline is valid? [True, True] Translation: X:208.78, Y:-12.19, Z:-2.88 [[ 9.99009486e-01 4.33431343e-02 1.00706960e-02 2.08778710e+02] [-4.33392565e-02 9.99060231e-01 -6.03075554e-04 -1.21941962e+01] [-1.00873710e-02 1.66021723e-04 9.99949107e-01 -2.88158028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83037174299997 meters 0.02225735630011726 Centerline is valid? [True, True] Translation: X:208.81, Y:-12.20, Z:-2.88 [[ 9.99022036e-01 4.31277420e-02 9.74521002e-03 2.08807003e+02] [-4.31241071e-02 9.99069553e-01 -5.82920830e-04 -1.21973610e+01] [-9.76128268e-03 1.62097275e-04 9.99952344e-01 -2.88247450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86037174299997 meters 0.022372110130328634 Centerline is valid? [True, True] Translation: X:208.84, Y:-12.20, Z:-2.88 [[ 9.99107660e-01 4.14055933e-02 8.33425958e-03 2.08835983e+02] [-4.14028786e-02 9.99142409e-01 -4.98071833e-04 -1.22022486e+01] [-8.34773516e-03 1.52565046e-04 9.99965145e-01 -2.88338921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89037174299997 meters 0.022372110130328634 Centerline is valid? [True, True] Translation: X:208.86, Y:-12.20, Z:-2.88 [[ 9.99112059e-01 4.12993243e-02 8.33428290e-03 2.08863400e+02] [-4.12966092e-02 9.99146807e-01 -4.97681492e-04 -1.22037951e+01] [-8.34772606e-03 1.53061956e-04 9.99965145e-01 -2.88377524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92037174299998 meters 0.02277877766236335 Centerline is valid? [True, True] Translation: X:208.89, Y:-12.21, Z:-2.88 [[ 9.99187902e-01 3.95296326e-02 7.80671555e-03 2.08890840e+02] [-3.95272030e-02 9.99218386e-01 -4.65324495e-04 -1.22080349e+01] [-7.81900782e-03 1.56368975e-04 9.99969419e-01 -2.88450996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95037174299998 meters 0.023292670537732204 Centerline is valid? [True, True] Translation: X:208.92, Y:-12.22, Z:-2.89 [[ 9.99350742e-01 3.51408447e-02 7.95085161e-03 2.08919596e+02] [-3.51381931e-02 9.99382351e-01 -4.72984388e-04 -1.22150923e+01] [-7.96256185e-03 1.93298740e-04 9.99968280e-01 -2.88526999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98037174299998 meters 0.024045149391539386 Centerline is valid? [True, True] Translation: X:208.95, Y:-12.22, Z:-2.89 [[ 9.99442141e-01 3.24277467e-02 7.99047625e-03 2.08946661e+02] [-3.24249829e-02 9.99474059e-01 -4.75227863e-04 -1.22206197e+01] [-8.00168430e-03 2.15871697e-04 9.99967963e-01 -2.88596266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01037174299998 meters 0.02522331696444816 Centerline is valid? [True, True] Translation: X:208.98, Y:-12.23, Z:-2.89 [[ 9.99583625e-01 2.74079185e-02 9.02117964e-03 2.08975904e+02] [-2.74042052e-02 9.99624291e-01 -5.35002680e-04 -1.22288255e+01] [-9.03245361e-03 2.87561660e-04 9.99959165e-01 -2.88597869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04037174299998 meters 0.025862021885906847 Centerline is valid? [True, True] Translation: X:209.00, Y:-12.23, Z:-2.89 [[ 9.99650637e-01 2.47818280e-02 9.19044297e-03 2.09004052e+02] [-2.47778640e-02 9.99692833e-01 -5.44954722e-04 -1.22339017e+01] [-9.20112495e-03 3.17044789e-04 9.99957618e-01 -2.88663939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07037174299998 meters 0.026631228650901152 Centerline is valid? [True, True] Translation: X:209.03, Y:-12.24, Z:-2.89 [[ 9.99693983e-01 2.28010440e-02 9.59436322e-03 2.09031536e+02] [-2.27966414e-02 9.99739961e-01 -5.67994660e-04 -1.22387820e+01] [-9.60481918e-03 3.49101586e-04 9.99953812e-01 -2.88704334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10037174299998 meters 0.028004913613218368 Centerline is valid? [True, True] Translation: X:209.06, Y:-12.25, Z:-2.89 [[ 9.99773962e-01 1.91473405e-02 9.24143194e-03 2.09060487e+02] [-1.91431089e-02 9.99816605e-01 -5.46150040e-04 -1.22450673e+01] [-9.25019443e-03 3.69116852e-04 9.99957148e-01 -2.88827737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13037174299998 meters 0.029400462542034256 Centerline is valid? [True, True] Translation: X:209.09, Y:-12.25, Z:-2.89 [[ 9.99794505e-01 1.79065681e-02 9.50275756e-03 2.09088996e+02] [-1.79020428e-02 9.99839588e-01 -5.61064350e-04 -1.22509303e+01] [-9.51127995e-03 3.90830282e-04 9.99954690e-01 -2.88872384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16037174299998 meters 0.029514796296310597 Centerline is valid? [True, True] Translation: X:209.12, Y:-12.25, Z:-2.89 [[ 9.99816523e-01 1.64404196e-02 9.83022156e-03 2.09118706e+02] [-1.64355124e-02 9.99864760e-01 -5.79776983e-04 -1.22539241e+01] [-9.83842389e-03 4.18105879e-04 9.99951514e-01 -2.88947820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.190371743 meters 0.031847994066499456 Centerline is valid? [True, True] Translation: X:209.15, Y:-12.26, Z:-2.89 [[ 9.99856043e-01 1.36075550e-02 1.01354499e-02 2.09147664e+02] [-1.36021975e-02 9.99907307e-01 -5.97341140e-04 -1.22616015e+01] [-1.01426387e-02 4.59390758e-04 9.99948457e-01 -2.89070955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220371743 meters 0.03287498882639663 Centerline is valid? [True, True] Translation: X:209.18, Y:-12.27, Z:-2.89 [[ 9.99879939e-01 1.18286929e-02 1.00094313e-02 2.09178099e+02] [-1.18233813e-02 9.99929928e-01 -5.89673596e-04 -1.22660106e+01] [-1.00157049e-02 4.71257477e-04 9.99949731e-01 -2.89122746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.250371743 meters 0.032002634322187196 Centerline is valid? [True, True] Translation: X:209.21, Y:-12.27, Z:-2.89 [[ 9.99922769e-01 7.69737472e-03 9.75733185e-03 2.09208840e+02] [-7.69213180e-03 9.99970250e-01 -5.74746365e-04 -1.22677026e+01] [-9.76146561e-03 4.99647294e-04 9.99952231e-01 -2.89164356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280371743 meters 0.03711144543707999 Centerline is valid? [True, True] Translation: X:209.24, Y:-12.28, Z:-2.89 [[ 9.99940537e-01 5.53526997e-03 9.39590655e-03 2.09238334e+02] [-5.53031467e-03 9.99984555e-01 -5.53289603e-04 -1.22781797e+01] [-9.39882404e-03 5.01294383e-04 9.99955704e-01 -2.89300720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.310371743 meters 0.03879753187128782 Centerline is valid? [True, True] Translation: X:209.27, Y:-12.28, Z:-2.89 [[ 9.99954840e-01 3.07924505e-03 8.99086870e-03 2.09269494e+02] [-3.07459968e-03 9.99995133e-01 -5.30452744e-04 -1.22830270e+01] [-8.99245833e-03 5.02785467e-04 9.99959441e-01 -2.89411466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340371743 meters 0.03558340134240862 Centerline is valid? [True, True] Translation: X:209.30, Y:-12.28, Z:-2.89 [[ 9.99963333e-01 1.29326250e-03 8.46522340e-03 2.09301404e+02] [-1.28908764e-03 9.99999045e-01 -4.98615281e-04 -1.22806333e+01] [-8.46586016e-03 4.87684584e-04 9.99964045e-01 -2.89413208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.370371743 meters 0.03517251321380348 Centerline is valid? [True, True] Translation: X:209.33, Y:-12.28, Z:-2.89 [[ 9.99961163e-01 -2.54369944e-03 8.43810375e-03 2.09332162e+02] [ 2.54800978e-03 9.99996629e-01 -5.00107137e-04 -1.22818875e+01] [-8.43680318e-03 5.21588085e-04 9.99964274e-01 -2.89493935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400371743 meters 0.036313299270251634 Centerline is valid? [True, True] Translation: X:209.36, Y:-12.29, Z:-2.90 [[ 9.99954671e-01 -3.99846566e-03 8.64109976e-03 2.09364138e+02] [ 4.00303852e-03 9.99991857e-01 -5.11967368e-04 -1.22852164e+01] [-8.63898230e-03 5.46534816e-04 9.99962534e-01 -2.89533196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43037174299997 meters 0.037362007999686156 Centerline is valid? [True, True] Translation: X:209.40, Y:-12.29, Z:-2.89 [[ 9.99934534e-01 -6.10555310e-03 9.67731059e-03 2.09395276e+02] [ 6.11139613e-03 9.99981160e-01 -5.74329977e-04 -1.22876862e+01] [-9.67362167e-03 6.33434256e-04 9.99953009e-01 -2.89497216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46037174299997 meters 0.038352694587874506 Centerline is valid? [True, True] Translation: X:209.43, Y:-12.29, Z:-2.90 [[ 9.99930895e-01 -6.35704894e-03 9.88907457e-03 2.09426594e+02] [ 6.36316236e-03 9.99979583e-01 -5.86858840e-04 -1.22901642e+01] [-9.88514197e-03 6.49744072e-04 9.99950930e-01 -2.89567726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49037174299997 meters 0.038679954327963735 Centerline is valid? [True, True] Translation: X:209.46, Y:-12.29, Z:-2.90 [[ 9.99928679e-01 -6.78534748e-03 9.82836921e-03 2.09458298e+02] [ 6.79142265e-03 9.99976767e-01 -5.84883095e-04 -1.22917090e+01] [-9.82417223e-03 6.51589989e-04 9.99951529e-01 -2.89631376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52037174299997 meters 0.039636980008334266 Centerline is valid? [True, True] Translation: X:209.49, Y:-12.29, Z:-2.90 [[ 9.99934958e-01 -7.46718964e-03 8.62090682e-03 2.09490800e+02] [ 7.47189131e-03 9.99971953e-01 -5.13300551e-04 -1.22925583e+01] [-8.61683212e-03 5.77681643e-04 9.99962708e-01 -2.89766132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55037174299997 meters 0.040213497929083075 Centerline is valid? [True, True] Translation: X:209.52, Y:-12.29, Z:-2.90 [[ 9.99938078e-01 -7.69342538e-03 8.04059260e-03 2.09522427e+02] [ 7.69752747e-03 9.99970259e-01 -4.79350347e-04 -1.22940806e+01] [-8.03666562e-03 5.41213347e-04 9.99967559e-01 -2.89849351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58037174299997 meters 0.04060433653928872 Centerline is valid? [True, True] Translation: X:209.55, Y:-12.30, Z:-2.90 [[ 9.99941861e-01 -7.70984172e-03 7.53880536e-03 2.09554750e+02] [ 7.71345003e-03 9.99970150e-01 -4.49673648e-04 -1.22953296e+01] [-7.53511342e-03 5.07797703e-04 9.99971482e-01 -2.89934878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61037174299997 meters 0.04190121365066251 Centerline is valid? [True, True] Translation: X:209.59, Y:-12.30, Z:-2.90 [[ 9.99934193e-01 -8.28310448e-03 7.93727937e-03 2.09586234e+02] [ 8.28712464e-03 9.99965549e-01 -4.73735650e-04 -1.22963438e+01] [-7.93308192e-03 5.39481698e-04 9.99968387e-01 -2.89962174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64037174299997 meters 0.042270816178556776 Centerline is valid? [True, True] Translation: X:209.62, Y:-12.30, Z:-2.90 [[ 9.99932577e-01 -8.42631739e-03 7.98991038e-03 2.09617938e+02] [ 8.43040664e-03 9.99964349e-01 -4.78259418e-04 -1.22970027e+01] [-7.98559557e-03 5.45585366e-04 9.99967966e-01 -2.89956016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67037174299998 meters 0.043317766548120605 Centerline is valid? [True, True] Translation: X:209.65, Y:-12.30, Z:-2.90 [[ 9.99933403e-01 -7.76459218e-03 8.53814062e-03 2.09648811e+02] [ 7.76924204e-03 9.99969688e-01 -5.11564785e-04 -1.22964199e+01] [-8.53390973e-03 5.77865598e-04 9.99963419e-01 -2.89965515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70037174299998 meters 0.038958409827385916 Centerline is valid? [True, True] Translation: X:209.68, Y:-12.29, Z:-2.90 [[ 9.99934278e-01 -7.17510493e-03 8.94194734e-03 2.09681154e+02] [ 7.18018506e-03 9.99974078e-01 -5.36149490e-04 -1.22905691e+01] [-8.93786862e-03 6.00319090e-04 9.99959876e-01 -2.89913170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73037174299998 meters 0.04355498686647995 Centerline is valid? [True, True] Translation: X:209.71, Y:-12.29, Z:-2.90 [[ 9.99935655e-01 -6.30102606e-03 9.43306853e-03 2.09712659e+02] [ 6.30664765e-03 9.99979953e-01 -5.66317078e-04 -1.22945741e+01] [-9.42931104e-03 6.25771678e-04 9.99955347e-01 -2.90018880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76037174299998 meters 0.04359795891008311 Centerline is valid? [True, True] Translation: X:209.74, Y:-12.29, Z:-2.90 [[ 9.99937839e-01 -5.15941053e-03 9.88428343e-03 2.09743964e+02] [ 5.16553537e-03 9.99986482e-01 -5.94224972e-04 -1.22948003e+01] [-9.88108397e-03 6.45245650e-04 9.99950973e-01 -2.90024035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79037174299998 meters 0.043535606701278005 Centerline is valid? [True, True] Translation: X:209.77, Y:-12.29, Z:-2.90 [[ 9.99942043e-01 -3.08850788e-03 1.03136969e-02 2.09774660e+02] [ 3.09507365e-03 9.99995018e-01 -6.20706816e-04 -1.22922149e+01] [-1.03117285e-02 6.52592493e-04 9.99946620e-01 -2.90041425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82037174299998 meters 0.035700486143360716 Centerline is valid? [True, True] Translation: X:209.81, Y:-12.28, Z:-2.90 [[ 9.99942752e-01 -1.78917761e-03 1.05494558e-02 2.09808071e+02] [ 1.79597423e-03 9.99998186e-01 -6.34823470e-04 -1.22810159e+01] [-1.05483009e-02 6.53733679e-04 9.99944151e-01 -2.89976686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85037174299998 meters 0.035577284704426414 Centerline is valid? [True, True] Translation: X:209.84, Y:-12.28, Z:-2.90 [[ 9.99943259e-01 -1.18420984e-03 1.05866592e-02 2.09840097e+02] [ 1.19103140e-03 9.99999087e-01 -6.38073021e-04 -1.22802686e+01] [-1.05858940e-02 6.50645859e-04 9.99943756e-01 -2.89981888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88037174299998 meters 0.034208484657877646 Centerline is valid? [True, True] Translation: X:209.87, Y:-12.28, Z:-2.90 [[ 9.99939357e-01 -2.02838930e-04 1.10109629e-02 2.09872927e+02] [ 2.10168073e-04 9.99999757e-01 -6.64469346e-04 -1.22761471e+01] [-1.10108254e-02 6.66743203e-04 9.99939157e-01 -2.89887444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91037174299998 meters 0.03292490972982151 Centerline is valid? [True, True] Translation: X:209.91, Y:-12.28, Z:-2.90 [[ 9.99938221e-01 -1.64598675e-04 1.11143188e-02 2.09906437e+02] [ 1.72071527e-04 9.99999760e-01 -6.71409726e-04 -1.22750018e+01] [-1.11142056e-02 6.73280704e-04 9.99938009e-01 -2.89909739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940371743 meters 0.03492806599955978 Centerline is valid? [True, True] Translation: X:209.94, Y:-12.28, Z:-2.90 [[ 9.99949670e-01 -6.00258308e-04 1.00148651e-02 2.09937059e+02] [ 6.06356405e-04 9.99999633e-01 -6.05879346e-04 -1.22772814e+01] [-1.00144978e-02 6.11921430e-04 9.99949666e-01 -2.90054463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.970371743 meters 0.03492348481060721 Centerline is valid? [True, True] Translation: X:209.97, Y:-12.28, Z:-2.90 [[ 9.99954934e-01 -8.57262747e-04 9.45486046e-03 2.09969001e+02] [ 8.62714504e-04 9.99999464e-01 -5.72545506e-04 -1.22780848e+01] [-9.45436457e-03 5.80676549e-04 9.99955138e-01 -2.90154733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000371743 meters 0.03529848076917069 Centerline is valid? [True, True] Translation: X:210.00, Y:-12.28, Z:-2.90 [[ 9.99955856e-01 -1.03481630e-03 9.33886975e-03 2.10000980e+02] [ 1.04017203e-03 9.99999297e-01 -5.68648639e-04 -1.22794307e+01] [-9.33827474e-03 5.78337568e-04 9.99956230e-01 -2.90250112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.030371743 meters 0.03535045570685484 Centerline is valid? [True, True] Translation: X:210.03, Y:-12.28, Z:-2.90 [[ 9.99961265e-01 -1.46197669e-03 8.67933221e-03 2.10032960e+02] [ 1.46661517e-03 9.99998785e-01 -5.28088054e-04 -1.22789999e+01] [-8.67854961e-03 5.40796839e-04 9.99962194e-01 -2.90338171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060371743 meters 0.03602009358826599 Centerline is valid? [True, True] Translation: X:210.06, Y:-12.28, Z:-2.90 [[ 9.99960299e-01 -1.27092183e-03 8.81964123e-03 2.10064707e+02] [ 1.27573220e-03 9.99999041e-01 -5.39811068e-04 -1.22805452e+01] [-8.81894671e-03 5.51041137e-04 9.99960961e-01 -2.90343100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.090371743 meters 0.03503069097098269 Centerline is valid? [True, True] Translation: X:210.10, Y:-12.28, Z:-2.90 [[ 9.99954152e-01 -1.03326258e-03 9.51977264e-03 2.10097090e+02] [ 1.03886345e-03 9.99999290e-01 -5.83414351e-04 -1.22795364e+01] [-9.51916306e-03 5.93277347e-04 9.99954516e-01 -2.90365858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120371743 meters 0.03702431308544444 Centerline is valid? [True, True] Translation: X:210.13, Y:-12.28, Z:-2.90 [[ 9.99956291e-01 -8.98623582e-04 9.30632638e-03 2.10128414e+02] [ 9.03977079e-04 9.99999428e-01 -5.71063044e-04 -1.22835670e+01] [-9.30580789e-03 5.79450789e-04 9.99956532e-01 -2.90440395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.150371743 meters 0.037835791772012545 Centerline is valid? [True, True] Translation: X:210.16, Y:-12.29, Z:-2.90 [[ 9.99951069e-01 -7.68034838e-04 9.86258263e-03 2.10159994e+02] [ 7.74042179e-04 9.99999517e-01 -6.05301514e-04 -1.22857492e+01] [-9.86211298e-03 6.12905951e-04 9.99951180e-01 -2.90485271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18037174299997 meters 0.03919535949741243 Centerline is valid? [True, True] Translation: X:210.19, Y:-12.29, Z:-2.90 [[ 9.99943952e-01 -1.46687536e-03 1.04852975e-02 2.10191229e+02] [ 1.47372116e-03 9.99998706e-01 -6.45198622e-04 -1.22878125e+01] [-1.04843375e-02 6.60614864e-04 9.99944820e-01 -2.90429884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21037174299997 meters 0.03562245386291339 Centerline is valid? [True, True] Translation: X:210.22, Y:-12.28, Z:-2.90 [[ 9.99940384e-01 -2.01465364e-03 1.07317401e-02 2.10223505e+02] [ 2.02188193e-03 9.99997736e-01 -6.62736933e-04 -1.22842137e+01] [-1.07303807e-02 6.84395735e-04 9.99942194e-01 -2.90410282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24037174299997 meters 0.03657586277638487 Centerline is valid? [True, True] Translation: X:210.25, Y:-12.29, Z:-2.91 [[ 9.99935718e-01 -4.17666273e-03 1.05410970e-02 2.10254676e+02] [ 4.18379115e-03 9.99991034e-01 -6.54289873e-04 -1.22865496e+01] [-1.05382698e-02 6.98349563e-04 9.99944227e-01 -2.90555920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27037174299997 meters 0.042190482987794355 Centerline is valid? [True, True] Translation: X:210.29, Y:-12.30, Z:-2.91 [[ 9.99940194e-01 -5.32626691e-03 9.55190439e-03 2.10285518e+02] [ 5.33217443e-03 9.99985608e-01 -5.93105369e-04 -1.22963505e+01] [-9.54860788e-03 6.44002318e-04 9.99954204e-01 -2.90809896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30037174299997 meters 0.03586902109308894 Centerline is valid? [True, True] Translation: X:210.32, Y:-12.29, Z:-2.91 [[ 9.99941753e-01 -6.72174489e-03 8.44440094e-03 2.10317712e+02] [ 6.72641442e-03 9.99977240e-01 -5.24693476e-04 -1.22887403e+01] [-8.44068189e-03 5.81463455e-04 9.99964208e-01 -2.90938271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33037174299997 meters 0.03928107685008056 Centerline is valid? [True, True] Translation: X:210.35, Y:-12.29, Z:-2.91 [[ 9.99936205e-01 -8.85505112e-03 7.01235744e-03 2.10347888e+02] [ 8.85832694e-03 9.99960669e-01 -4.36227162e-04 -1.22942281e+01] [-7.00821882e-03 4.98317088e-04 9.99975318e-01 -2.91218539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36037174299997 meters 0.04173700205229827 Centerline is valid? [True, True] Translation: X:210.38, Y:-12.30, Z:-2.91 [[ 9.99932142e-01 -9.76039403e-03 6.35974320e-03 2.10379095e+02] [ 9.76310245e-03 9.99952262e-01 -3.94963374e-04 -1.22979956e+01] [-6.35558460e-03 4.57027397e-04 9.99979699e-01 -2.91299770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39037174299997 meters 0.03937569631861897 Centerline is valid? [True, True] Translation: X:210.41, Y:-12.29, Z:-2.91 [[ 9.99919331e-01 -1.06850294e-02 6.86740544e-03 2.10412013e+02] [ 1.06882178e-02 9.99942788e-01 -4.27749234e-04 -1.22939442e+01] [-6.86244203e-03 5.01115053e-04 9.99976328e-01 -2.91244527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42037174299998 meters 0.03993079679651774 Centerline is valid? [True, True] Translation: X:210.44, Y:-12.30, Z:-2.91 [[ 9.99914401e-01 -1.09373561e-02 7.18093330e-03 2.10444242e+02] [ 1.09408529e-02 9.99940047e-01 -4.47840870e-04 -1.22956058e+01] [-7.17560458e-03 5.26368070e-04 9.99974116e-01 -2.91275970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45037174299998 meters 0.03864234061592365 Centerline is valid? [True, True] Translation: X:210.48, Y:-12.29, Z:-2.91 [[ 9.99913389e-01 -1.10134011e-02 7.20545746e-03 2.10476442e+02] [ 1.10169274e-02 9.99939211e-01 -4.49881952e-04 -1.22948209e+01] [-7.20006472e-03 5.29224989e-04 9.99973939e-01 -2.91253598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48037174299998 meters 0.03972999909195326 Centerline is valid? [True, True] Translation: X:210.51, Y:-12.30, Z:-2.91 [[ 9.99909342e-01 -1.08046016e-02 8.03546003e-03 2.10508143e+02] [ 1.08089861e-02 9.99941455e-01 -5.02407842e-04 -1.22957319e+01] [-8.02956128e-03 5.89217471e-04 9.99967589e-01 -2.91249401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51037174299998 meters 0.039912266298261945 Centerline is valid? [True, True] Translation: X:210.54, Y:-12.30, Z:-2.91 [[ 9.99912979e-01 -1.01781216e-02 8.39287364e-03 2.10540202e+02] [ 1.01828883e-02 9.99948015e-01 -5.25403286e-04 -1.22959911e+01] [-8.38708972e-03 6.10821260e-04 9.99964641e-01 -2.91244369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54037174299998 meters 0.03898875539591276 Centerline is valid? [True, True] Translation: X:210.57, Y:-12.29, Z:-2.91 [[ 9.99923200e-01 -9.03409363e-03 8.48411685e-03 2.10572504e+02] [ 9.03892877e-03 9.99959007e-01 -5.31733253e-04 -1.22934060e+01] [-8.47896533e-03 6.08379743e-04 9.99963868e-01 -2.91191994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57037174299998 meters 0.040191275473202726 Centerline is valid? [True, True] Translation: X:210.60, Y:-12.30, Z:-2.91 [[ 9.99925924e-01 -8.36040766e-03 8.84593135e-03 2.10603557e+02] [ 8.36564465e-03 9.99964853e-01 -5.55185173e-04 -1.22956186e+01] [-8.84097887e-03 6.29145965e-04 9.99960720e-01 -2.91248154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60037174299998 meters 0.04087760531794769 Centerline is valid? [True, True] Translation: X:210.63, Y:-12.30, Z:-2.91 [[ 9.99928199e-01 -7.83739465e-03 9.06488865e-03 2.10634553e+02] [ 7.84287732e-03 9.99969082e-01 -5.69434761e-04 -1.22976728e+01] [-9.06014549e-03 6.40488685e-04 9.99958751e-01 -2.91288398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63037174299998 meters 0.03933825594086871 Centerline is valid? [True, True] Translation: X:210.67, Y:-12.30, Z:-2.91 [[ 9.99939728e-01 -7.09673886e-03 8.37720922e-03 2.10666703e+02] [ 7.10139769e-03 9.99974646e-01 -5.26517506e-04 -1.22954017e+01] [-8.37326027e-03 5.85975666e-04 9.99964772e-01 -2.91419899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66037174299998 meters 0.03860786060573106 Centerline is valid? [True, True] Translation: X:210.70, Y:-12.29, Z:-2.92 [[ 9.99965208e-01 -5.32855270e-03 6.41786272e-03 2.10698439e+02] [ 5.33125396e-03 9.99985707e-01 -4.03861912e-04 -1.22933613e+01] [-6.41561900e-03 4.38063117e-04 9.99979324e-01 -2.91542142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.690371743 meters 0.03646071764016988 Centerline is valid? [True, True] Translation: X:210.73, Y:-12.29, Z:-2.92 [[ 9.99972609e-01 -4.49236799e-03 5.88223335e-03 2.10730561e+02] [ 4.49462198e-03 9.99989831e-01 -3.70023522e-04 -1.22899305e+01] [-5.88051125e-03 3.96451802e-04 9.99982631e-01 -2.91589027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720371743 meters 0.04162429392063705 Centerline is valid? [True, True] Translation: X:210.76, Y:-12.30, Z:-2.92 [[ 9.99979693e-01 -3.41012342e-03 5.38374181e-03 2.10761514e+02] [ 3.41199844e-03 9.99994122e-01 -3.39127880e-04 -1.22979562e+01] [-5.38255370e-03 3.57490312e-04 9.99985450e-01 -2.91720733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.750371743 meters 0.038148121033997194 Centerline is valid? [True, True] Translation: X:210.79, Y:-12.29, Z:-2.92 [[ 9.99983511e-01 -2.20066156e-03 5.30416666e-03 2.10793815e+02] [ 2.20246538e-03 9.99997519e-01 -3.34258638e-04 -1.22933510e+01] [-5.30341791e-03 3.45935370e-04 9.99985877e-01 -2.91711489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780371743 meters 0.03880913030515321 Centerline is valid? [True, True] Translation: X:210.82, Y:-12.29, Z:-2.92 [[ 9.99982144e-01 1.89549985e-04 5.97291880e-03 2.10823133e+02] [-1.87297738e-04 9.99999911e-01 -3.77633540e-04 -1.22933226e+01] [-5.97298985e-03 3.76508083e-04 9.99982091e-01 -2.91699922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.810371743 meters 0.03880913030515321 Centerline is valid? [True, True] Translation: X:210.85, Y:-12.30, Z:-2.92 [[ 9.99982129e-01 2.57537750e-04 5.97296861e-03 2.10854823e+02] [-2.55291400e-04 9.99999896e-01 -3.76845437e-04 -1.22953910e+01] [-5.97306505e-03 3.75313855e-04 9.99982091e-01 -2.91744534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840371743 meters 0.03964673086438317 Centerline is valid? [True, True] Translation: X:210.89, Y:-12.30, Z:-2.92 [[ 9.99977131e-01 1.65182078e-03 6.55811033e-03 2.10885733e+02] [-1.64913738e-03 9.99998554e-01 -4.14560263e-04 -1.22974264e+01] [-6.55878562e-03 4.03735558e-04 9.99978409e-01 -2.91742176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.870371743 meters 0.03355702374242126 Centerline is valid? [True, True] Translation: X:210.92, Y:-12.29, Z:-2.92 [[ 9.99959319e-01 3.95763164e-03 8.10539853e-03 2.10918187e+02] [-3.95360588e-03 9.99992053e-01 -5.12639521e-04 -1.22872061e+01] [-8.10736295e-03 4.80573115e-04 9.99967019e-01 -2.91614239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900371743 meters 0.03349965535322697 Centerline is valid? [True, True] Translation: X:210.95, Y:-12.29, Z:-2.92 [[ 9.99953421e-01 4.94816773e-03 8.28686900e-03 2.10950770e+02] [-4.94399898e-03 9.99987641e-01 -5.23464523e-04 -1.22883038e+01] [-8.28935677e-03 4.82469868e-04 9.99965526e-01 -2.91628755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93037174299997 meters 0.03322672780186106 Centerline is valid? [True, True] Translation: X:210.98, Y:-12.29, Z:-2.92 [[ 9.99945874e-01 6.05205897e-03 8.46294248e-03 2.10982689e+02] [-6.04772411e-03 9.99981568e-01 -5.37714281e-04 -1.22888571e+01] [-8.46604077e-03 4.86503635e-04 9.99964044e-01 -2.91689492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96037174299997 meters 0.033403366728527166 Centerline is valid? [True, True] Translation: X:211.01, Y:-12.29, Z:-2.92 [[ 9.99948076e-01 6.62540233e-03 7.74272972e-03 2.11014417e+02] [-6.62178499e-03 9.99977954e-01 -4.92734402e-04 -1.22893680e+01] [-7.74582359e-03 4.41438126e-04 9.99969903e-01 -2.91859749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99037174299997 meters 0.039082600178842804 Centerline is valid? [True, True] Translation: X:211.04, Y:-12.30, Z:-2.92 [[ 9.99951174e-01 6.80889165e-03 7.16156559e-03 2.11043862e+02] [-6.80579924e-03 9.99976736e-01 -4.56088427e-04 -1.22991867e+01] [-7.16450444e-03 4.07325980e-04 9.99974252e-01 -2.92079090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02037174299997 meters 0.03224311171895773 Centerline is valid? [True, True] Translation: X:211.08, Y:-12.29, Z:-2.92 [[ 9.99966835e-01 5.70685599e-03 5.81033722e-03 2.11075093e+02] [-5.70480074e-03 9.99983659e-01 -3.70234596e-04 -1.22897728e+01] [-5.81235515e-03 3.37075501e-04 9.99983051e-01 -2.92096542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05037174299997 meters 0.03461481011101785 Centerline is valid? [True, True] Translation: X:211.11, Y:-12.29, Z:-2.92 [[ 9.99973438e-01 4.57667987e-03 5.67255034e-03 2.11105163e+02] [-4.57470367e-03 9.99989471e-01 -3.61304993e-04 -1.22949415e+01] [-5.67414419e-03 3.35345160e-04 9.99983846e-01 -2.92194765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08037174299997 meters 0.03346847556576072 Centerline is valid? [True, True] Translation: X:211.14, Y:-12.29, Z:-2.92 [[ 9.99980262e-01 3.20621462e-03 5.40331502e-03 2.11136001e+02] [-3.20440321e-03 9.99994807e-01 -3.43864185e-04 -1.22949607e+01] [-5.40438946e-03 3.26542998e-04 9.99985343e-01 -2.92225256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11037174299997 meters 0.03515580248905181 Centerline is valid? [True, True] Translation: X:211.17, Y:-12.30, Z:-2.92 [[ 9.99982856e-01 1.07501442e-04 5.85458878e-03 2.11166366e+02] [-1.05318703e-04 9.99999925e-01 -3.73132462e-04 -1.22992480e+01] [-5.85462845e-03 3.72509468e-04 9.99982792e-01 -2.92251027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14037174299997 meters 0.046589242325757535 Centerline is valid? [True, True] Translation: X:211.20, Y:-12.32, Z:-2.92 [[ 9.99981561e-01 -1.12989113e-03 5.96665292e-03 2.11196240e+02] [ 1.13217303e-03 9.99999287e-01 -3.79077706e-04 -1.23181933e+01] [-5.96622035e-03 3.85826000e-04 9.99982128e-01 -2.92473819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17037174299998 meters 0.03744504467811212 Centerline is valid? [True, True] Translation: X:211.23, Y:-12.31, Z:-2.92 [[ 9.99975814e-01 -3.87230411e-03 5.77722621e-03 2.11228404e+02] [ 3.87450558e-03 9.99992426e-01 -3.69916085e-04 -1.23073703e+01] [-5.77575003e-03 3.92291034e-04 9.99983243e-01 -2.92386604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20037174299998 meters 0.038159686204806045 Centerline is valid? [True, True] Translation: X:211.26, Y:-12.31, Z:-2.92 [[ 9.99974042e-01 -5.00566940e-03 5.18262372e-03 2.11260692e+02] [ 5.00745523e-03 9.99987408e-01 -3.31662415e-04 -1.23103809e+01] [-5.18089827e-03 3.57605561e-04 9.99986515e-01 -2.92487720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23037174299998 meters 0.03815474030250981 Centerline is valid? [True, True] Translation: X:211.29, Y:-12.31, Z:-2.93 [[ 9.99974248e-01 -5.71382522e-03 4.34226678e-03 2.11292713e+02] [ 5.71508613e-03 9.99983630e-01 -2.78028151e-04 -1.23121231e+01] [-4.34060710e-03 3.02837420e-04 9.99990534e-01 -2.92549704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26037174299998 meters 0.03761947630563498 Centerline is valid? [True, True] Translation: X:211.33, Y:-12.31, Z:-2.93 [[ 9.99970685e-01 -6.97545572e-03 3.15772865e-03 2.11325182e+02] [ 6.97612859e-03 9.99975646e-01 -2.02124704e-04 -1.23124289e+01] [-3.15624183e-03 2.24147500e-04 9.99994994e-01 -2.92668436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29037174299998 meters 0.03884085546102926 Centerline is valid? [True, True] Translation: X:211.36, Y:-12.32, Z:-2.93 [[ 9.99968963e-01 -7.38156720e-03 2.75407795e-03 2.11356500e+02] [ 7.38207963e-03 9.99972737e-01 -1.75942505e-04 -1.23162221e+01] [-2.75270413e-03 1.96267867e-04 9.99996192e-01 -2.92765009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32037174299998 meters 0.041833185436302225 Centerline is valid? [True, True] Translation: X:211.39, Y:-12.32, Z:-2.93 [[ 9.99966818e-01 -7.53786382e-03 3.08911483e-03 2.11387625e+02] [ 7.53851275e-03 9.99971565e-01 -1.98481321e-04 -1.23215659e+01] [-3.08753087e-03 2.21762066e-04 9.99995209e-01 -2.92865360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35037174299998 meters 0.042734360646586714 Centerline is valid? [True, True] Translation: X:211.42, Y:-12.32, Z:-2.93 [[ 9.99969088e-01 -7.02234764e-03 3.53676785e-03 2.11419084e+02] [ 7.02319618e-03 9.99975311e-01 -2.27556827e-04 -1.23243040e+01] [-3.53508255e-03 2.52389208e-04 9.99993720e-01 -2.92859697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38037174299998 meters 0.037993450307025875 Centerline is valid? [True, True] Translation: X:211.45, Y:-12.32, Z:-2.93 [[ 9.99974127e-01 -5.72414588e-03 4.35656988e-03 2.11451548e+02] [ 5.72542274e-03 9.99983570e-01 -2.80673961e-04 -1.23174748e+01] [-4.35489169e-03 3.05609903e-04 9.99990471e-01 -2.92697048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41037174299998 meters 0.03620293993507223 Centerline is valid? [True, True] Translation: X:211.48, Y:-12.32, Z:-2.93 [[ 9.99977773e-01 -4.93914317e-03 4.47865855e-03 2.11483982e+02] [ 4.94048514e-03 9.99987754e-01 -2.88621183e-04 -1.23159086e+01] [-4.47717816e-03 3.10741514e-04 9.99989929e-01 -2.92668644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440371743 meters 0.04438496839898705 Centerline is valid? [True, True] Translation: X:211.51, Y:-12.33, Z:-2.93 [[ 9.99978143e-01 -4.17185632e-03 5.12921108e-03 2.11514329e+02] [ 4.17360911e-03 9.99991236e-01 -3.31070129e-04 -1.23289852e+01] [-5.12778495e-03 3.52470214e-04 9.99986791e-01 -2.92809880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.470371743 meters 0.036393107567505883 Centerline is valid? [True, True] Translation: X:211.55, Y:-12.32, Z:-2.93 [[ 9.99976251e-01 -3.19249226e-03 6.10783585e-03 2.11547711e+02] [ 3.19496249e-03 9.99994818e-01 -3.94721682e-04 -1.23184795e+01] [-6.10654405e-03 4.14226614e-04 9.99981269e-01 -2.92679107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500371743 meters 0.03567341193408196 Centerline is valid? [True, True] Translation: X:211.58, Y:-12.32, Z:-2.93 [[ 9.99974159e-01 -3.04763997e-03 6.51094962e-03 2.11579936e+02] [ 3.05044926e-03 9.99995259e-01 -4.21583733e-04 -1.23193813e+01] [-6.50963391e-03 4.41434161e-04 9.99978715e-01 -2.92703921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.530371743 meters 0.03630320872351116 Centerline is valid? [True, True] Translation: X:211.61, Y:-12.32, Z:-2.93 [[ 9.99972766e-01 -3.18849330e-03 6.65582912e-03 2.11611879e+02] [ 3.19143550e-03 9.99994814e-01 -4.31473784e-04 -1.23223268e+01] [-6.65441885e-03 4.52703682e-04 9.99977757e-01 -2.92737652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560371743 meters 0.03652710759925699 Centerline is valid? [True, True] Translation: X:211.64, Y:-12.32, Z:-2.93 [[ 9.99971462e-01 -4.66697228e-03 5.94092330e-03 2.11643977e+02] [ 4.66934421e-03 9.99989024e-01 -3.85446339e-04 -1.23241662e+01] [-5.93905923e-03 4.13175555e-04 9.99982278e-01 -2.92873668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.590371743 meters 0.03843633066934239 Centerline is valid? [True, True] Translation: X:211.67, Y:-12.33, Z:-2.93 [[ 9.99967549e-01 -6.10042171e-03 5.26167463e-03 2.11674290e+02] [ 6.10230509e-03 9.99981322e-01 -3.41962018e-04 -1.23287996e+01] [-5.25949024e-03 3.74059265e-04 9.99986099e-01 -2.93043734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620371743 meters 0.039993047122085124 Centerline is valid? [True, True] Translation: X:211.71, Y:-12.33, Z:-2.93 [[ 9.99953674e-01 -9.21521120e-03 2.78010888e-03 2.11705112e+02] [ 9.21574958e-03 9.99957518e-01 -1.80905594e-04 -1.23327807e+01] [-2.77832369e-03 2.06518000e-04 9.99996119e-01 -2.93314361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.650371743 meters 0.043031635101522664 Centerline is valid? [True, True] Translation: X:211.73, Y:-12.34, Z:-2.94 [[ 9.99940119e-01 -1.07882554e-02 1.83610288e-03 2.11734778e+02] [ 1.07884910e-02 9.99941796e-01 -1.18454688e-04 -1.23386831e+01] [-1.83471809e-03 1.38256374e-04 9.99998307e-01 -2.93507676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68037174299997 meters 0.040554914632013765 Centerline is valid? [True, True] Translation: X:211.77, Y:-12.34, Z:-2.94 [[ 9.99922168e-01 -1.23511765e-02 1.76243828e-03 2.11766552e+02] [ 1.23513973e-02 9.99923712e-01 -1.14433876e-04 -1.23372776e+01] [-1.76089043e-03 1.36193545e-04 9.99998440e-01 -2.93534756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71037174299997 meters 0.044364807595644346 Centerline is valid? [True, True] Translation: X:211.80, Y:-12.34, Z:-2.94 [[ 9.99886906e-01 -1.49121505e-02 1.95014903e-03 2.11795729e+02] [ 1.49124251e-02 9.99888796e-01 -1.26356801e-04 -1.23446269e+01] [-1.94804792e-03 1.55423963e-04 9.99998090e-01 -2.93560359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74037174299997 meters 0.045726926173754144 Centerline is valid? [True, True] Translation: X:211.83, Y:-12.35, Z:-2.94 [[ 9.99862647e-01 -1.64530497e-02 1.99628792e-03 2.11826886e+02] [ 1.64533416e-02 9.99864626e-01 -1.29903336e-04 -1.23482714e+01] [-1.99388037e-03 1.62731101e-04 9.99997999e-01 -2.93583008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77037174299997 meters 0.0479520632543313 Centerline is valid? [True, True] Translation: X:211.86, Y:-12.35, Z:-2.94 [[ 9.99827977e-01 -1.83321306e-02 2.81957022e-03 2.11856520e+02] [ 1.83327198e-02 9.99831925e-01 -1.83262319e-04 -1.23534257e+01] [-2.81573673e-03 2.34921184e-04 9.99996008e-01 -2.93567480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80037174299997 meters 0.044662194164552145 Centerline is valid? [True, True] Translation: X:211.89, Y:-12.35, Z:-2.94 [[ 9.99812366e-01 -1.91102615e-02 3.16721268e-03 2.11888444e+02] [ 1.91110110e-02 9.99817347e-01 -2.06543106e-04 -1.23511815e+01] [-3.16268709e-03 2.67032988e-04 9.99994963e-01 -2.93540081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83037174299997 meters 0.04461966732285217 Centerline is valid? [True, True] Translation: X:211.92, Y:-12.35, Z:-2.94 [[ 9.99816239e-01 -1.88762763e-02 3.34286162e-03 2.11920110e+02] [ 1.88771101e-02 9.99821788e-01 -2.18028725e-04 -1.23535459e+01] [-3.33815031e-03 2.81092227e-04 9.99994389e-01 -2.93588167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86037174299997 meters 0.044577049561352396 Centerline is valid? [True, True] Translation: X:211.95, Y:-12.36, Z:-2.94 [[ 9.99859993e-01 -1.64504324e-02 3.06245214e-03 2.11949847e+02] [ 1.64511236e-02 9.99864651e-01 -2.00661309e-04 -1.23572054e+01] [-3.05873667e-03 2.51013993e-04 9.99995291e-01 -2.93768735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89037174299997 meters 0.044162865957343346 Centerline is valid? [True, True] Translation: X:211.98, Y:-12.36, Z:-2.94 [[ 9.99886174e-01 -1.47994567e-02 2.93505819e-03 2.11981738e+02] [ 1.48000828e-02 9.99890454e-01 -1.91725071e-04 -1.23588075e+01] [-2.93189924e-03 2.35142352e-04 9.99995674e-01 -2.93743007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92037174299998 meters 0.044227748255020016 Centerline is valid? [True, True] Translation: X:212.01, Y:-12.36, Z:-2.94 [[ 9.99921368e-01 -1.19889435e-02 3.67727692e-03 2.12011403e+02] [ 1.19899109e-02 9.99928089e-01 -2.41143204e-04 -1.23601039e+01] [-3.67412143e-03 2.85214465e-04 9.99993210e-01 -2.93574352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95037174299998 meters 0.044081596123241445 Centerline is valid? [True, True] Translation: X:212.04, Y:-12.36, Z:-2.94 [[ 9.99931042e-01 -1.10424585e-02 3.99690238e-03 2.12043677e+02] [ 1.10435911e-02 9.99938984e-01 -2.61405608e-04 -1.23617232e+01] [-3.99377194e-03 3.05527737e-04 9.99991978e-01 -2.93562189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98037174299998 meters 0.040583904466484806 Centerline is valid? [True, True] Translation: X:212.08, Y:-12.36, Z:-2.94 [[ 9.99942580e-01 -1.00118608e-02 3.82083754e-03 2.12076085e+02] [ 1.00128891e-02 9.99949839e-01 -2.50092876e-04 -1.23598719e+01] [-3.81814199e-03 2.88336139e-04 9.99992669e-01 -2.93557264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01037174299998 meters 0.04141734265109166 Centerline is valid? [True, True] Translation: X:212.11, Y:-12.37, Z:-2.94 [[ 9.99959104e-01 -8.66774314e-03 2.58078031e-03 2.12107512e+02] [ 8.66820751e-03 9.99962416e-01 -1.68800809e-04 -1.23653253e+01] [-2.57922019e-03 1.91164645e-04 9.99996656e-01 -2.93873608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04037174299998 meters 0.04505560280196597 Centerline is valid? [True, True] Translation: X:212.14, Y:-12.37, Z:-2.94 [[ 9.99963017e-01 -8.51627327e-03 1.19868719e-03 2.12137925e+02] [ 8.51637308e-03 9.99963732e-01 -7.81850497e-05 -1.23736802e+01] [-1.19797787e-03 8.83906255e-05 9.99999279e-01 -2.94160482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07037174299998 meters 0.039008415307877714 Centerline is valid? [True, True] Translation: X:212.17, Y:-12.37, Z:-2.94 [[ 9.99970137e-01 -7.72632984e-03 1.67643013e-04 2.12170660e+02] [ 7.72633163e-03 9.99970151e-01 -1.00450780e-05 -1.23685702e+01] [-1.67560398e-04 1.13400435e-05 9.99999986e-01 -2.94166422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10037174299998 meters 0.03975114007739612 Centerline is valid? [True, True] Translation: X:212.20, Y:-12.37, Z:-2.94 [[ 9.99974620e-01 -7.10477594e-03 5.30324649e-04 2.12202068e+02] [ 7.10479455e-03 9.99974760e-01 -3.32163511e-05 -1.23717396e+01] [-5.30075269e-04 3.69833558e-05 9.99999859e-01 -2.94187662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13037174299998 meters 0.03935383683673132 Centerline is valid? [True, True] Translation: X:212.23, Y:-12.37, Z:-2.94 [[ 9.99977989e-01 -6.57160501e-03 9.14231153e-04 2.12233996e+02] [ 6.57166209e-03 9.99978405e-01 -5.94454496e-05 -1.23734498e+01] [-9.13820758e-04 6.54521594e-05 9.99999580e-01 -2.94168342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16037174299998 meters 0.04011097981607673 Centerline is valid? [True, True] Translation: X:212.26, Y:-12.38, Z:-2.94 [[ 9.99984735e-01 -4.97854545e-03 2.39669032e-03 2.12264033e+02] [ 4.97893894e-03 9.99987592e-01 -1.58241327e-04 -1.23768549e+01] [-2.39587277e-03 1.70171886e-04 9.99997115e-01 -2.94062687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.190371743 meters 0.04130208058423776 Centerline is valid? [True, True] Translation: X:212.29, Y:-12.38, Z:-2.94 [[ 9.99985348e-01 -4.07732097e-03 3.56084829e-03 2.12294171e+02] [ 4.07818455e-03 9.99991656e-01 -2.35294200e-04 -1.23808091e+01] [-3.55985921e-03 2.49812549e-04 9.99993632e-01 -2.94051768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220371743 meters 0.03844593665190371 Centerline is valid? [True, True] Translation: X:212.33, Y:-12.38, Z:-2.94 [[ 9.99981762e-01 -3.23658056e-03 5.09912067e-03 2.12326402e+02] [ 3.23833912e-03 9.99994700e-01 -3.36656052e-04 -1.23794682e+01] [-5.09800403e-03 3.53162594e-04 9.99986943e-01 -2.93921199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.250371743 meters 0.0398597592445911 Centerline is valid? [True, True] Translation: X:212.36, Y:-12.38, Z:-2.94 [[ 9.99980372e-01 -3.15206189e-03 5.41481224e-03 2.12357688e+02] [ 3.15404697e-03 9.99994962e-01 -3.58101525e-04 -1.23838252e+01] [-5.41365620e-03 3.75173068e-04 9.99985276e-01 -2.93985160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280371743 meters 0.03759234613634154 Centerline is valid? [True, True] Translation: X:212.39, Y:-12.38, Z:-2.94 [[ 9.99979013e-01 -2.91075315e-03 5.78806136e-03 2.12390467e+02] [ 2.91301849e-03 9.99995684e-01 -3.82988167e-04 -1.23831920e+01] [-5.78692159e-03 3.99840859e-04 9.99983176e-01 -2.94018853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.310371743 meters 0.038057129995129446 Centerline is valid? [True, True] Translation: X:212.42, Y:-12.39, Z:-2.94 [[ 9.99981060e-01 -3.32226918e-03 5.18084976e-03 2.12422024e+02] [ 3.32409183e-03 9.99994416e-01 -3.43233753e-04 -1.23866397e+01] [-5.17968052e-03 3.60448872e-04 9.99986520e-01 -2.94137217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340371743 meters 0.04450588171931217 Centerline is valid? [True, True] Translation: X:212.45, Y:-12.40, Z:-2.94 [[ 9.99980576e-01 -3.75072503e-03 4.97789040e-03 2.12452157e+02] [ 3.75241415e-03 9.99992905e-01 -3.30027969e-04 -1.23988956e+01] [-4.97661724e-03 3.48700665e-04 9.99987556e-01 -2.94359138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.370371743 meters 0.03976505774837417 Centerline is valid? [True, True] Translation: X:212.48, Y:-12.40, Z:-2.94 [[ 9.99970295e-01 -5.63999901e-03 5.25346529e-03 2.12483589e+02] [ 5.64190878e-03 9.99984023e-01 -3.48775080e-04 -1.23961488e+01] [-5.25141427e-03 3.78404292e-04 9.99986140e-01 -2.94344128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400371743 meters 0.04063505638867949 Centerline is valid? [True, True] Translation: X:212.52, Y:-12.40, Z:-2.94 [[ 9.99963828e-01 -6.89949347e-03 4.97387562e-03 2.12515300e+02] [ 6.90122002e-03 9.99976132e-01 -3.30043797e-04 -1.24004326e+01] [-4.97147976e-03 3.64357669e-04 9.99987576e-01 -2.94431268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43037174299997 meters 0.04271259232034955 Centerline is valid? [True, True] Translation: X:212.55, Y:-12.41, Z:-2.95 [[ 9.99941401e-01 -9.72097788e-03 4.76415879e-03 2.12545104e+02] [ 9.72259825e-03 9.99952684e-01 -3.17073717e-04 -1.24061500e+01] [-4.76085111e-03 3.63375139e-04 9.99988601e-01 -2.94501189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46037174299997 meters 0.041721022114982666 Centerline is valid? [True, True] Translation: X:212.58, Y:-12.41, Z:-2.95 [[ 9.99926307e-01 -1.10831405e-02 4.95420618e-03 2.12577519e+02] [ 1.10849061e-02 9.99938506e-01 -3.29075498e-04 -1.24074849e+01] [-4.95025434e-03 3.83968158e-04 9.99987674e-01 -2.94525766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49037174299997 meters 0.042842285629736 Centerline is valid? [True, True] Translation: X:212.61, Y:-12.41, Z:-2.95 [[ 9.99912725e-01 -1.23301241e-02 4.74460724e-03 2.12608989e+02] [ 1.23317597e-02 9.99923911e-01 -3.15616195e-04 -1.24117717e+01] [-4.74035464e-03 3.74098006e-04 9.99988694e-01 -2.94602015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52037174299997 meters 0.04362454344592399 Centerline is valid? [True, True] Translation: X:212.64, Y:-12.42, Z:-2.95 [[ 9.99881296e-01 -1.45713986e-02 5.00681177e-03 2.12640150e+02] [ 1.45732502e-02 9.99893749e-01 -3.33525957e-04 -1.24160121e+01] [-5.00141985e-03 4.06451887e-04 9.99987410e-01 -2.94684976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55037174299997 meters 0.04898715279950821 Centerline is valid? [True, True] Translation: X:212.67, Y:-12.43, Z:-2.95 [[ 9.99873663e-01 -1.51985699e-02 4.65428491e-03 2.12671119e+02] [ 1.52001733e-02 9.99884423e-01 -3.09316791e-04 -1.24263171e+01] [-4.64904581e-03 3.80023650e-04 9.99989121e-01 -2.94804398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58037174299997 meters 0.042734979309066244 Centerline is valid? [True, True] Translation: X:212.70, Y:-12.42, Z:-2.95 [[ 9.99866280e-01 -1.56638491e-02 4.69754002e-03 2.12703788e+02] [ 1.56654928e-02 9.99877240e-01 -3.13315784e-04 -1.24196305e+01] [-4.69205562e-03 3.86863167e-04 9.99988917e-01 -2.94727768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61037174299997 meters 0.04383600899278193 Centerline is valid? [True, True] Translation: X:212.74, Y:-12.42, Z:-2.95 [[ 9.99876570e-01 -1.50012608e-02 4.66975867e-03 2.12735030e+02] [ 1.50028803e-02 9.99887402e-01 -3.11965209e-04 -1.24226438e+01] [-4.66455299e-03 3.81986534e-04 9.99989048e-01 -2.94779879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64037174299997 meters 0.04337404678522476 Centerline is valid? [True, True] Translation: X:212.77, Y:-12.42, Z:-2.95 [[ 9.99887562e-01 -1.40738948e-02 5.17574172e-03 2.12767481e+02] [ 1.40758729e-02 9.99900870e-01 -3.45969642e-04 -1.24239779e+01] [-5.17035951e-03 4.18783825e-04 9.99986546e-01 -2.94812179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67037174299998 meters 0.04322729735610326 Centerline is valid? [True, True] Translation: X:212.80, Y:-12.42, Z:-2.95 [[ 9.99920652e-01 -1.12674661e-02 5.63321077e-03 2.12797706e+02] [ 1.12697713e-02 9.99936423e-01 -3.77638334e-04 -1.24245275e+01] [-5.62859760e-03 4.41093366e-04 9.99984062e-01 -2.94854913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70037174299998 meters 0.04322729735610326 Centerline is valid? [True, True] Translation: X:212.83, Y:-12.43, Z:-2.95 [[ 9.99921834e-01 -1.11620453e-02 5.63327004e-03 2.12830271e+02] [ 1.11643439e-02 9.99937606e-01 -3.76754821e-04 -1.24268066e+01] [-5.62871320e-03 4.39617136e-04 9.99984062e-01 -2.94900762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73037174299998 meters 0.043961572956478984 Centerline is valid? [True, True] Translation: X:212.86, Y:-12.43, Z:-2.95 [[ 9.99941310e-01 -9.31011056e-03 5.54063677e-03 2.12860957e+02] [ 9.31231234e-03 9.99956570e-01 -3.71722439e-04 -1.24291243e+01] [-5.53693536e-03 4.23296762e-04 9.99984581e-01 -2.94960883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76037174299998 meters 0.03916174118016382 Centerline is valid? [True, True] Translation: X:212.89, Y:-12.42, Z:-2.95 [[ 9.99971761e-01 -4.97462343e-03 5.63294056e-03 2.12892193e+02] [ 4.97683334e-03 9.99987544e-01 -3.78369938e-04 -1.24228427e+01] [-5.63098815e-03 4.06393460e-04 9.99984063e-01 -2.94936495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79037174299998 meters 0.037750774462952746 Centerline is valid? [True, True] Translation: X:212.92, Y:-12.42, Z:-2.95 [[ 9.99980609e-01 -2.58750537e-03 5.66443121e-03 2.12922830e+02] [ 2.58970238e-03 9.99996574e-01 -3.80559702e-04 -1.24219481e+01] [-5.66342711e-03 3.95221513e-04 9.99983885e-01 -2.94948024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82037174299998 meters 0.03607211668134168 Centerline is valid? [True, True] Translation: X:212.95, Y:-12.42, Z:-2.95 [[ 9.99980929e-01 -1.13287418e-04 6.17480870e-03 2.12953532e+02] [ 1.15851230e-04 9.99999907e-01 -4.14848953e-04 -1.24206390e+01] [-6.17476113e-03 4.15556400e-04 9.99980850e-01 -2.94953639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85037174299998 meters 0.034957718652976394 Centerline is valid? [True, True] Translation: X:212.98, Y:-12.42, Z:-2.95 [[ 9.99966376e-01 4.61191559e-03 6.78065827e-03 2.12982921e+02] [-4.60893129e-03 9.99989275e-01 -4.55679589e-04 -1.24185393e+01] [-6.78268710e-03 4.24412679e-04 9.99976907e-01 -2.94894572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88037174299998 meters 0.034538899598694134 Centerline is valid? [True, True] Translation: X:213.01, Y:-12.42, Z:-2.95 [[ 9.99950554e-01 6.54643396e-03 7.48559380e-03 2.13014069e+02] [-6.54285296e-03 9.99978469e-01 -5.02774524e-04 -1.24188343e+01] [-7.48872401e-03 4.53772525e-04 9.99971856e-01 -2.94894925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91037174299998 meters 0.03233166017809717 Centerline is valid? [True, True] Translation: X:213.05, Y:-12.42, Z:-2.95 [[ 9.99912891e-01 1.05178816e-02 7.97405693e-03 2.13045058e+02] [-1.05139441e-02 9.99944584e-01 -5.35547050e-04 -1.24162024e+01] [-7.97924786e-03 4.51661610e-04 9.99968063e-01 -2.94897115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940371743 meters 0.03178919487086998 Centerline is valid? [True, True] Translation: X:213.07, Y:-12.42, Z:-2.95 [[ 9.99900419e-01 1.16913957e-02 7.90338687e-03 2.13074527e+02] [-1.16875616e-02 9.99931557e-01 -5.31136200e-04 -1.24172586e+01] [-7.90905566e-03 4.38711988e-04 9.99968627e-01 -2.94961390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.970371743 meters 0.03353692270133548 Centerline is valid? [True, True] Translation: X:213.10, Y:-12.42, Z:-2.95 [[ 9.99888700e-01 1.26910264e-02 7.84381830e-03 2.13102577e+02] [-1.26872819e-02 9.99919374e-01 -5.26963463e-04 -1.24213688e+01] [-7.84987360e-03 4.27388078e-04 9.99969098e-01 -2.95137918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000371743 meters 0.030799737227651777 Centerline is valid? [True, True] Translation: X:213.13, Y:-12.42, Z:-2.95 [[ 9.99883455e-01 1.36664165e-02 6.80484189e-03 2.13131720e+02] [-1.36636217e-02 9.99906544e-01 -4.57032396e-04 -1.24188547e+01] [-6.81045193e-03 3.64000346e-04 9.99976742e-01 -2.95313288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.030371743 meters 0.03128083439172633 Centerline is valid? [True, True] Translation: X:213.16, Y:-12.42, Z:-2.95 [[ 9.99885357e-01 1.38599189e-02 6.09720066e-03 2.13160148e+02] [-1.38576808e-02 9.99903894e-01 -4.09166675e-04 -1.24211071e+01] [-6.10228570e-03 3.24626706e-04 9.99981328e-01 -2.95447389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060371743 meters 0.031195072374119493 Centerline is valid? [True, True] Translation: X:213.19, Y:-12.42, Z:-2.96 [[ 9.99888128e-01 1.39134017e-02 5.49079597e-03 2.13188773e+02] [-1.39115891e-02 9.99903161e-01 -3.68184705e-04 -1.24228387e+01] [-5.49538695e-03 2.91757818e-04 9.99984858e-01 -2.95635886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.090371743 meters 0.03111746840747777 Centerline is valid? [True, True] Translation: X:213.22, Y:-12.42, Z:-2.96 [[ 9.99894351e-01 1.35442562e-02 5.27634456e-03 2.13217406e+02] [-1.35425790e-02 9.99908233e-01 -3.53471171e-04 -1.24244260e+01] [-5.28064787e-03 2.81978514e-04 9.99986018e-01 -2.95666902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120371743 meters 0.03225036168147912 Centerline is valid? [True, True] Translation: X:213.25, Y:-12.43, Z:-2.96 [[ 9.99896199e-01 1.32560719e-02 5.64515090e-03 2.13245195e+02] [-1.32541493e-02 9.99912089e-01 -3.77848044e-04 -1.24278006e+01] [-5.64966340e-03 3.02987150e-04 9.99983995e-01 -2.95677337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.150371743 meters 0.030699135156301047 Centerline is valid? [True, True] Translation: X:213.27, Y:-12.43, Z:-2.95 [[ 9.99896912e-01 1.25749998e-02 6.93071496e-03 2.13273632e+02] [-1.25720918e-02 9.99920861e-01 -4.63002385e-04 -1.24267789e+01] [-6.93598873e-03 3.75821070e-04 9.99975875e-01 -2.95490886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18037174299997 meters 0.03130783799747338 Centerline is valid? [True, True] Translation: X:213.30, Y:-12.43, Z:-2.95 [[ 9.99895180e-01 1.20948093e-02 7.95893896e-03 2.13301648e+02] [-1.20909714e-02 9.99926761e-01 -5.30160075e-04 -1.24298574e+01] [-7.96476824e-03 4.33873200e-04 9.99968187e-01 -2.95469449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21037174299997 meters 0.03202619352890163 Centerline is valid? [True, True] Translation: X:213.33, Y:-12.43, Z:-2.96 [[ 9.99892961e-01 1.10041700e-02 9.64230218e-03 2.13331223e+02] [-1.09984829e-02 9.99939308e-01 -6.42632989e-04 -1.24339396e+01] [-9.64878861e-03 5.36513506e-04 9.99953305e-01 -2.95506319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24037174299997 meters 0.03178001930789197 Centerline is valid? [True, True] Translation: X:213.36, Y:-12.44, Z:-2.96 [[ 9.99904502e-01 1.00301055e-02 9.50703450e-03 2.13360931e+02] [-1.00245361e-02 9.99949553e-01 -6.33285764e-04 -1.24361024e+01] [-9.51290682e-03 5.37921675e-04 9.99954607e-01 -2.95557633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27037174299997 meters 0.034966138382893926 Centerline is valid? [True, True] Translation: X:213.39, Y:-12.44, Z:-2.96 [[ 9.99913007e-01 9.37467851e-03 9.27871203e-03 2.13389665e+02] [-9.36935033e-03 9.99955916e-01 -6.17539611e-04 -1.24438473e+01] [-9.28409223e-03 5.30550385e-04 9.99956761e-01 -2.95712611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30037174299997 meters 0.03647827118115077 Centerline is valid? [True, True] Translation: X:213.42, Y:-12.45, Z:-2.96 [[ 9.99941484e-01 7.26664081e-03 8.01395851e-03 2.13419284e+02] [-7.26260187e-03 9.99973485e-01 -5.32974769e-04 -1.24492710e+01] [-8.01761896e-03 4.74741392e-04 9.99967746e-01 -2.95910769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33037174299997 meters 0.0376229602475063 Centerline is valid? [True, True] Translation: X:213.45, Y:-12.45, Z:-2.96 [[ 9.99953454e-01 6.28603331e-03 7.31954562e-03 2.13449605e+02] [-6.28263002e-03 9.99980145e-01 -4.87860371e-04 -1.24532672e+01] [-7.32246700e-03 4.41851666e-04 9.99973093e-01 -2.96036188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36037174299997 meters 0.0340293078880596 Centerline is valid? [True, True] Translation: X:213.48, Y:-12.45, Z:-2.96 [[ 9.99968640e-01 4.73069138e-03 6.35138036e-03 2.13480610e+02] [-4.72809762e-03 9.99988733e-01 -4.23330482e-04 -1.24505927e+01] [-6.35331144e-03 3.93287260e-04 9.99979740e-01 -2.96060845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39037174299997 meters 0.0395043328077822 Centerline is valid? [True, True] Translation: X:213.51, Y:-12.46, Z:-2.96 [[ 9.99971693e-01 4.57458958e-03 5.97377416e-03 2.13510349e+02] [-4.57229315e-03 9.99989468e-01 -3.98019590e-04 -1.24610798e+01] [-5.97553202e-03 3.70694476e-04 9.99982078e-01 -2.96242869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42037174299998 meters 0.039892653640996076 Centerline is valid? [True, True] Translation: X:213.54, Y:-12.46, Z:-2.96 [[ 9.99973923e-01 4.39610955e-03 5.72957642e-03 2.13542022e+02] [-4.39399433e-03 9.99990274e-01 -3.81711445e-04 -1.24640989e+01] [-5.73119874e-03 3.56525765e-04 9.99983513e-01 -2.96331208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45037174299998 meters 0.040231548943464805 Centerline is valid? [True, True] Translation: X:213.57, Y:-12.47, Z:-2.96 [[ 9.99971696e-01 5.18532642e-03 5.45148973e-03 2.13573505e+02] [-5.18342235e-03 9.99986500e-01 -3.63346166e-04 -1.24667386e+01] [-5.45330020e-03 3.35078509e-04 9.99985075e-01 -2.96450941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48037174299998 meters 0.040646697326449724 Centerline is valid? [True, True] Translation: X:213.60, Y:-12.47, Z:-2.97 [[ 9.99968613e-01 6.07621894e-03 5.08456679e-03 2.13603885e+02] [-6.07457258e-03 9.99981492e-01 -3.39176771e-04 -1.24690389e+01] [-5.08653359e-03 3.08279555e-04 9.99987016e-01 -2.96510833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51037174299998 meters 0.033641025317742816 Centerline is valid? [True, True] Translation: X:213.63, Y:-12.46, Z:-2.96 [[ 9.99948700e-01 8.54701975e-03 5.43555590e-03 2.13634579e+02] [-8.54517244e-03 9.99963423e-01 -3.62989258e-04 -1.24592610e+01] [-5.43845957e-03 3.16522874e-04 9.99985161e-01 -2.96345631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54037174299998 meters 0.033009786269257164 Centerline is valid? [True, True] Translation: X:213.66, Y:-12.46, Z:-2.96 [[ 9.99928285e-01 1.04148007e-02 5.91250457e-03 2.13663975e+02] [-1.04126474e-02 9.99945709e-01 -3.94856295e-04 -1.24601892e+01] [-5.91629592e-03 3.33263152e-04 9.99982443e-01 -2.96338095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57037174299998 meters 0.032455853269582904 Centerline is valid? [True, True] Translation: X:213.69, Y:-12.46, Z:-2.96 [[ 9.99901301e-01 1.25053796e-02 6.40343252e-03 2.13693773e+02] [-1.25028983e-02 9.99921744e-01 -4.27372475e-04 -1.24608463e+01] [-6.40827588e-03 3.47268828e-04 9.99979406e-01 -2.96355933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60037174299998 meters 0.030064731406210757 Centerline is valid? [True, True] Translation: X:213.72, Y:-12.46, Z:-2.96 [[ 9.99836755e-01 1.65484833e-02 7.25341227e-03 2.13723619e+02] [-1.65454080e-02 9.99862998e-01 -4.83784161e-04 -1.24580621e+01] [-7.26042443e-03 3.63694520e-04 9.99973577e-01 -2.96327326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63037174299998 meters 0.02961916403049894 Centerline is valid? [True, True] Translation: X:213.75, Y:-12.46, Z:-2.96 [[ 9.99797408e-01 1.86143962e-02 7.65817126e-03 2.13752724e+02] [-1.86110292e-02 9.99826669e-01 -5.10704406e-04 -1.24583748e+01] [-7.66635032e-03 3.68074493e-04 9.99970545e-01 -2.96362515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66037174299998 meters 0.030356152677072153 Centerline is valid? [True, True] Translation: X:213.78, Y:-12.46, Z:-2.96 [[ 9.99713406e-01 2.26745938e-02 7.67910934e-03 2.13781455e+02] [-2.26713337e-02 9.99742842e-01 -5.11323604e-04 -1.24602013e+01] [-7.68872865e-03 3.37081411e-04 9.99970384e-01 -2.96441278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.690371743 meters 0.027274560811640296 Centerline is valid? [True, True] Translation: X:213.81, Y:-12.46, Z:-2.96 [[ 9.99672646e-01 2.45245349e-02 7.29031581e-03 2.13810813e+02] [-2.45216457e-02 9.99699181e-01 -4.85449994e-04 -1.24563509e+01] [-7.30002818e-03 3.06520539e-04 9.99973307e-01 -2.96427992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720371743 meters 0.02688501478453038 Centerline is valid? [True, True] Translation: X:213.84, Y:-12.46, Z:-2.97 [[ 9.99581365e-01 2.81883268e-02 6.52022013e-03 2.13839898e+02] [-2.81860977e-02 9.99602599e-01 -4.33536374e-04 -1.24573075e+01] [-6.52984965e-03 2.49575319e-04 9.99978649e-01 -2.96627809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.750371743 meters 0.02591727276427825 Centerline is valid? [True, True] Translation: X:213.87, Y:-12.46, Z:-2.97 [[ 9.99542164e-01 2.96471833e-02 6.04203900e-03 2.13868848e+02] [-2.96452951e-02 9.99560401e-01 -4.01849214e-04 -1.24575487e+01] [-6.05129663e-03 2.22547204e-04 9.99981666e-01 -2.96653289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780371743 meters 0.026344032976326117 Centerline is valid? [True, True] Translation: X:213.90, Y:-12.46, Z:-2.97 [[ 9.99502605e-01 3.10132645e-02 5.72014666e-03 2.13896762e+02] [-3.10115957e-02 9.99518952e-01 -3.80229057e-04 -1.24598278e+01] [-5.72918714e-03 2.02649057e-04 9.99983568e-01 -2.96736750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.810371743 meters 0.02568861872485737 Centerline is valid? [True, True] Translation: X:213.93, Y:-12.46, Z:-2.97 [[ 9.99431101e-01 3.31025613e-02 6.45718670e-03 2.13925825e+02] [-3.31004839e-02 9.99451937e-01 -4.28351444e-04 -1.24601526e+01] [-6.46782728e-03 2.14371751e-04 9.99979060e-01 -2.96732206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840371743 meters 0.025492721035419427 Centerline is valid? [True, True] Translation: X:213.95, Y:-12.46, Z:-2.97 [[ 9.99406316e-01 3.38180499e-02 6.58447478e-03 2.13953726e+02] [-3.38159077e-02 9.99427983e-01 -4.36431478e-04 -1.24626907e+01] [-6.59546761e-03 2.13512385e-04 9.99978227e-01 -2.96760746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.870371743 meters 0.02530464302552187 Centerline is valid? [True, True] Translation: X:213.98, Y:-12.46, Z:-2.97 [[ 9.99368773e-01 3.48909335e-02 6.68414681e-03 2.13982396e+02] [-3.48887548e-02 9.99391104e-01 -4.42301592e-04 -1.24648567e+01] [-6.69550918e-03 2.08820840e-04 9.99977563e-01 -2.96863558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900371743 meters 0.025261826831796036 Centerline is valid? [True, True] Translation: X:214.01, Y:-12.47, Z:-2.97 [[ 9.99349559e-01 3.53522577e-02 7.11879325e-03 2.14011096e+02] [-3.53498023e-02 9.99374890e-01 -4.70489920e-04 -1.24675986e+01] [-7.13097610e-03 2.18535960e-04 9.99974550e-01 -2.96938787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93037174299997 meters 0.025250293085868607 Centerline is valid? [True, True] Translation: X:214.04, Y:-12.47, Z:-2.97 [[ 9.99335055e-01 3.57664296e-02 7.08587775e-03 2.14039777e+02] [-3.57640108e-02 9.99360154e-01 -4.67822435e-04 -1.24696974e+01] [-7.09807622e-03 2.14091951e-04 9.99974785e-01 -2.96950758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96037174299997 meters 0.02427605341812481 Centerline is valid? [True, True] Translation: X:214.07, Y:-12.47, Z:-2.97 [[ 9.99319727e-01 3.61822006e-02 7.13662786e-03 2.14068680e+02] [-3.61797611e-02 9.99345187e-01 -4.70681951e-04 -1.24715064e+01] [-7.14898502e-03 2.12160267e-04 9.99974423e-01 -2.96941978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99037174299997 meters 0.024410567837591327 Centerline is valid? [True, True] Translation: X:214.10, Y:-12.48, Z:-2.97 [[ 9.99307215e-01 3.64969655e-02 7.28440001e-03 2.14096465e+02] [-3.64944353e-02 9.99333741e-01 -4.79999446e-04 -1.24751045e+01] [-7.29706524e-03 2.13826845e-04 9.99973353e-01 -2.97023985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02037174299997 meters 0.02404647866837802 Centerline is valid? [True, True] Translation: X:214.12, Y:-12.48, Z:-2.97 [[ 9.99318173e-01 3.63003139e-02 6.74358007e-03 2.14124887e+02] [-3.62981453e-02 9.99340907e-01 -4.43731845e-04 -1.24774033e+01] [-6.75524303e-03 1.98649848e-04 9.99977163e-01 -2.97061212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05037174299997 meters 0.02498590786017648 Centerline is valid? [True, True] Translation: X:214.15, Y:-12.48, Z:-2.97 [[ 9.99334429e-01 3.58844605e-02 6.55779299e-03 2.14152039e+02] [-3.58824028e-02 9.99355926e-01 -4.31190549e-04 -1.24824351e+01] [-6.56904233e-03 1.95594191e-04 9.99978404e-01 -2.97147193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08037174299997 meters 0.024267701181921363 Centerline is valid? [True, True] Translation: X:214.18, Y:-12.48, Z:-2.97 [[ 9.99351865e-01 3.53055529e-02 7.02625049e-03 2.14181267e+02] [-3.53031824e-02 9.99376542e-01 -4.61147556e-04 -1.24839908e+01] [-7.03815099e-03 2.12799667e-04 9.99975209e-01 -2.97178592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11037174299997 meters 0.02501031665408139 Centerline is valid? [True, True] Translation: X:214.21, Y:-12.49, Z:-2.97 [[ 9.99408993e-01 3.37085909e-02 6.73766733e-03 2.14208410e+02] [-3.37063771e-02 9.99431681e-01 -4.41890498e-04 -1.24904920e+01] [-6.74873369e-03 2.14526981e-04 9.99977204e-01 -2.97285608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14037174299997 meters 0.02506909782264148 Centerline is valid? [True, True] Translation: X:214.24, Y:-12.49, Z:-2.97 [[ 9.99434543e-01 3.30072037e-02 6.41232664e-03 2.14236850e+02] [-3.30051883e-02 9.99455092e-01 -4.19901889e-04 -1.24943267e+01] [-6.42269230e-03 2.08024404e-04 9.99979353e-01 -2.97361543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17037174299998 meters 0.025090871561446737 Centerline is valid? [True, True] Translation: X:214.26, Y:-12.50, Z:-2.97 [[ 9.99474777e-01 3.18961726e-02 5.72750513e-03 2.14264931e+02] [-3.18945473e-02 9.99491169e-01 -3.74905772e-04 -1.24995092e+01] [-5.73654885e-03 1.92032679e-04 9.99983527e-01 -2.97455382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20037174299998 meters 0.02512334858782771 Centerline is valid? [True, True] Translation: X:214.29, Y:-12.50, Z:-2.97 [[ 9.99490337e-01 3.14476988e-02 5.48704510e-03 2.14293323e+02] [-3.14462036e-02 9.99505382e-01 -3.58580718e-04 -1.25025377e+01] [-5.49560764e-03 1.85851226e-04 9.99984882e-01 -2.97499276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23037174299998 meters 0.025313641933639875 Centerline is valid? [True, True] Translation: X:214.32, Y:-12.51, Z:-2.98 [[ 9.99496958e-01 3.12466201e-02 5.42959321e-03 2.14320977e+02] [-3.12451543e-02 9.99511688e-01 -3.54596390e-04 -1.25062027e+01] [-5.43802181e-03 1.84769536e-04 9.99985197e-01 -2.97525928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26037174299998 meters 0.02446217515235239 Centerline is valid? [True, True] Translation: X:214.35, Y:-12.51, Z:-2.97 [[ 9.99460461e-01 3.22501822e-02 6.22191937e-03 2.14349862e+02] [-3.22482822e-02 9.99479807e-01 -4.05484615e-04 -1.25080420e+01] [-6.23175972e-03 2.04619629e-04 9.99980561e-01 -2.97498561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29037174299998 meters 0.02483520016593056 Centerline is valid? [True, True] Translation: X:214.38, Y:-12.51, Z:-2.98 [[ 9.99440277e-01 3.27733660e-02 6.71113131e-03 2.14377757e+02] [-3.27711682e-02 9.99462785e-01 -4.37211665e-04 -1.25122288e+01] [-6.72185489e-03 2.17035334e-04 9.99977385e-01 -2.97553508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32037174299998 meters 0.024721280634813186 Centerline is valid? [True, True] Translation: X:214.41, Y:-12.52, Z:-2.98 [[ 9.99395539e-01 3.40019669e-02 7.24033869e-03 2.14406754e+02] [-3.39994517e-02 9.99421741e-01 -4.70223411e-04 -1.25150498e+01] [-7.25214042e-03 2.23771633e-04 9.99973678e-01 -2.97590925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35037174299998 meters 0.02408464021395691 Centerline is valid? [True, True] Translation: X:214.44, Y:-12.52, Z:-2.98 [[ 9.99392561e-01 3.39815859e-02 7.73054095e-03 2.14435465e+02] [-3.39787227e-02 9.99422431e-01 -5.01454661e-04 -1.25165966e+01] [-7.74311625e-03 2.38476151e-04 9.99969993e-01 -2.97546250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38037174299998 meters 0.024231179388653556 Centerline is valid? [True, True] Translation: X:214.46, Y:-12.52, Z:-2.98 [[ 9.99384031e-01 3.41036240e-02 8.27654355e-03 2.14463744e+02] [-3.41003517e-02 9.99418270e-01 -5.36207521e-04 -1.25193697e+01] [-8.29001545e-03 2.53644188e-04 9.99965605e-01 -2.97601444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41037174299998 meters 0.024659241413510294 Centerline is valid? [True, True] Translation: X:214.49, Y:-12.52, Z:-2.98 [[ 9.99398346e-01 3.36285244e-02 8.48934754e-03 2.14492541e+02] [-3.36250699e-02 9.99434366e-01 -5.49359113e-04 -1.25237327e+01] [-8.50301981e-03 2.63573684e-04 9.99963814e-01 -2.97626829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440371743 meters 0.02461256479855302 Centerline is valid? [True, True] Translation: X:214.52, Y:-12.53, Z:-2.98 [[ 9.99402748e-01 3.33748687e-02 8.95909000e-03 2.14520213e+02] [-3.33710158e-02 9.99442865e-01 -5.79241861e-04 -1.25269653e+01] [-8.97343069e-03 2.79921973e-04 9.99959699e-01 -2.97676035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.470371743 meters 0.024604596401596634 Centerline is valid? [True, True] Translation: X:214.55, Y:-12.53, Z:-2.98 [[ 9.99414597e-01 3.30452283e-02 8.85870341e-03 2.14548549e+02] [-3.30414581e-02 9.99453818e-01 -5.71648907e-04 -1.25316638e+01] [-8.87275522e-03 2.78609784e-04 9.99960598e-01 -2.97785806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500371743 meters 0.027396628618968345 Centerline is valid? [True, True] Translation: X:214.58, Y:-12.54, Z:-2.98 [[ 9.99423506e-01 3.27798964e-02 8.83933762e-03 2.14575599e+02] [-3.27761371e-02 9.99462556e-01 -5.69862262e-04 -1.25407999e+01] [-8.85326699e-03 2.79814399e-04 9.99960770e-01 -2.97935341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.530371743 meters 0.02480260978103201 Centerline is valid? [True, True] Translation: X:214.60, Y:-12.54, Z:-2.98 [[ 9.99415538e-01 3.29284069e-02 9.18164407e-03 2.14604642e+02] [-3.29243657e-02 9.99457671e-01 -5.90990991e-04 -1.25392332e+01] [-9.19612499e-03 2.88345772e-04 9.99957673e-01 -2.97901660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560371743 meters 0.024145394794129135 Centerline is valid? [True, True] Translation: X:214.63, Y:-12.54, Z:-2.98 [[ 9.99382458e-01 3.37919595e-02 9.63360896e-03 2.14633733e+02] [-3.37875584e-02 9.99428846e-01 -6.19281244e-04 -1.25428043e+01] [-9.64903341e-03 2.93402687e-04 9.99953404e-01 -2.97911371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.590371743 meters 0.024019944653171144 Centerline is valid? [True, True] Translation: X:214.66, Y:-12.55, Z:-2.98 [[ 9.99356957e-01 3.45419929e-02 9.61887055e-03 2.14662878e+02] [-3.45376449e-02 9.99403207e-01 -6.17816518e-04 -1.25460343e+01] [-9.63447069e-03 2.85206100e-04 9.99953547e-01 -2.97924744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620371743 meters 0.024019944653171144 Centerline is valid? [True, True] Translation: X:214.69, Y:-12.55, Z:-2.98 [[ 9.99360634e-01 3.44354557e-02 9.61888838e-03 2.14690291e+02] [-3.44311055e-02 9.99406883e-01 -6.17538936e-04 -1.25477030e+01] [-9.63444849e-03 2.85955143e-04 9.99953547e-01 -2.97963346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.650371743 meters 0.023552760509327565 Centerline is valid? [True, True] Translation: X:214.72, Y:-12.55, Z:-2.98 [[ 9.99260919e-01 3.72148832e-02 9.62645925e-03 2.14719565e+02] [-3.72106672e-02 9.99307253e-01 -6.16758501e-04 -1.25509317e+01] [-9.64274315e-03 2.58095695e-04 9.99953474e-01 -2.98044159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68037174299997 meters 0.02305399090031099 Centerline is valid? [True, True] Translation: X:214.75, Y:-12.55, Z:-2.98 [[ 9.99181660e-01 3.92589446e-02 9.73371859e-03 2.14747713e+02] [-3.92547354e-02 9.99229042e-01 -6.23174961e-04 -1.25533713e+01] [-9.75067949e-03 2.40570444e-04 9.99952432e-01 -2.98122587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71037174299997 meters 0.022583640755873963 Centerline is valid? [True, True] Translation: X:214.78, Y:-12.56, Z:-2.98 [[ 9.99085660e-01 4.16506071e-02 9.64729166e-03 2.14776615e+02] [-4.16465904e-02 9.99132214e-01 -6.16966140e-04 -1.25554349e+01] [-9.66461689e-03 2.14625219e-04 9.99953273e-01 -2.98154974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74037174299997 meters 0.021557427776497304 Centerline is valid? [True, True] Translation: X:214.81, Y:-12.56, Z:-2.98 [[ 9.98860423e-01 4.66401193e-02 1.01268988e-02 2.14805817e+02] [-4.66359554e-02 9.98911742e-01 -6.47059781e-04 -1.25575447e+01] [-1.01460570e-02 1.74044808e-04 9.99948512e-01 -2.98197327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77037174299997 meters 0.021489229134116588 Centerline is valid? [True, True] Translation: X:214.83, Y:-12.56, Z:-2.98 [[ 9.98753242e-01 4.88106318e-02 1.04634360e-02 2.14833027e+02] [-4.88063187e-02 9.98808039e-01 -6.67309983e-04 -1.25603703e+01] [-1.04835359e-02 1.55796214e-04 9.99945034e-01 -2.98264254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80037174299997 meters 0.020964141214363373 Centerline is valid? [True, True] Translation: X:214.86, Y:-12.56, Z:-2.98 [[ 9.98527385e-01 5.30887747e-02 1.11644242e-02 2.14862133e+02] [-5.30841460e-02 9.98589790e-01 -7.10735374e-04 -1.25643293e+01] [-1.11864121e-02 1.17034809e-04 9.99937423e-01 -2.98260450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83037174299997 meters 0.02071563810439712 Centerline is valid? [True, True] Translation: X:214.89, Y:-12.57, Z:-2.98 [[ 9.98444607e-01 5.45356704e-02 1.15856397e-02 2.14890675e+02] [-5.45308198e-02 9.98511818e-01 -7.34393477e-04 -1.25668725e+01] [-1.16084488e-02 1.01476776e-04 9.99932615e-01 -2.98277988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86037174299997 meters 0.02040522008354548 Centerline is valid? [True, True] Translation: X:214.92, Y:-12.57, Z:-2.98 [[ 9.98345570e-01 5.62719952e-02 1.18146282e-02 2.14918970e+02] [-5.62670828e-02 9.98415473e-01 -7.48040689e-04 -1.25698318e+01] [-1.18380014e-02 8.20284440e-05 9.99929925e-01 -2.98269149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89037174299997 meters 0.020251940440282085 Centerline is valid? [True, True] Translation: X:214.95, Y:-12.57, Z:-2.98 [[ 9.98239025e-01 5.82319262e-02 1.13089328e-02 2.14947731e+02] [-5.82275598e-02 9.98303080e-01 -7.15250808e-04 -1.25749638e+01] [-1.13313929e-02 5.54997083e-05 9.99935796e-01 -2.98318809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92037174299998 meters 0.020087464580635792 Centerline is valid? [True, True] Translation: X:214.97, Y:-12.58, Z:-2.98 [[ 9.98219108e-01 5.85164100e-02 1.15949506e-02 2.14974573e+02] [-5.85118478e-02 9.98286445e-01 -7.32602450e-04 -1.25792641e+01] [-1.16179513e-02 5.28557778e-05 9.99932508e-01 -2.98407938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95037174299998 meters 0.020096195162357937 Centerline is valid? [True, True] Translation: X:215.00, Y:-12.59, Z:-2.98 [[ 9.98248499e-01 5.80804267e-02 1.12516045e-02 2.15002516e+02] [-5.80761201e-02 9.98311906e-01 -7.09393252e-04 -1.25877017e+01] [-1.12738126e-02 5.47012171e-05 9.99936447e-01 -2.98493330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98037174299998 meters 0.01991820176449112 Centerline is valid? [True, True] Translation: X:215.03, Y:-12.59, Z:-2.99 [[ 9.98323362e-01 5.66859436e-02 1.17119101e-02 2.15031058e+02] [-5.66811916e-02 9.98392057e-01 -7.37543322e-04 -1.25933788e+01] [-1.17348864e-02 7.24617073e-05 9.99931141e-01 -2.98541870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01037174299998 meters 0.020355931502747244 Centerline is valid? [True, True] Translation: X:215.06, Y:-12.60, Z:-2.99 [[ 9.98536500e-01 5.26827357e-02 1.22224507e-02 2.15058510e+02] [-5.26772715e-02 9.98611293e-01 -7.68791506e-04 -1.26047683e+01] [-1.22459793e-02 1.23821028e-04 9.99925008e-01 -2.98606299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04037174299998 meters 0.020488354901606564 Centerline is valid? [True, True] Translation: X:215.09, Y:-12.61, Z:-2.99 [[ 9.98654031e-01 5.03078139e-02 1.26194172e-02 2.15086908e+02] [-5.03018146e-02 9.98733748e-01 -7.92554046e-04 -1.26112133e+01] [-1.26433095e-02 1.56707708e-04 9.99920058e-01 -2.98687499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07037174299998 meters 0.021132247501241364 Centerline is valid? [True, True] Translation: X:215.11, Y:-12.62, Z:-2.99 [[ 9.98793035e-01 4.74770763e-02 1.25857566e-02 2.15113881e+02] [-4.74708953e-02 9.98872310e-01 -7.89565258e-04 -1.26186919e+01] [-1.26090500e-02 1.91155148e-04 9.99920484e-01 -2.98772001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10037174299998 meters 0.02206761684533832 Centerline is valid? [True, True] Translation: X:215.14, Y:-12.63, Z:-2.99 [[ 9.99059542e-01 4.16068521e-02 1.22024830e-02 2.15143096e+02] [-4.16006180e-02 9.99134027e-01 -7.64376479e-04 -1.26315010e+01] [-1.22237193e-02 2.56026782e-04 9.99925255e-01 -2.98916711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13037174299998 meters 0.022842833197678297 Centerline is valid? [True, True] Translation: X:215.17, Y:-12.64, Z:-2.99 [[ 9.99191419e-01 3.85642149e-02 1.13714175e-02 2.15171563e+02] [-3.85586073e-02 9.99256087e-01 -7.12039988e-04 -1.26389124e+01] [-1.13904174e-02 2.72998223e-04 9.99935090e-01 -2.99021235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16037174299998 meters 0.02409459553965696 Centerline is valid? [True, True] Translation: X:215.20, Y:-12.65, Z:-2.99 [[ 9.99393163e-01 3.31844044e-02 1.05877438e-02 2.15199826e+02] [-3.31792493e-02 9.99449198e-01 -6.62223840e-04 -1.26513217e+01] [-1.06038875e-02 3.10528589e-04 9.99943729e-01 -2.99186673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.190371743 meters 0.024863665705371445 Centerline is valid? [True, True] Translation: X:215.23, Y:-12.66, Z:-2.99 [[ 9.99456929e-01 3.11970501e-02 1.06109427e-02 2.15227755e+02] [-3.11917652e-02 9.99513198e-01 -6.63232595e-04 -1.26573047e+01] [-1.06264682e-02 3.31898378e-04 9.99943482e-01 -2.99300170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220371743 meters 0.02567140139967026 Centerline is valid? [True, True] Translation: X:215.26, Y:-12.66, Z:-2.99 [[ 9.99515476e-01 2.93798805e-02 1.02779433e-02 2.15255057e+02] [-2.93748351e-02 9.99568261e-01 -6.41542518e-04 -1.26639799e+01] [-1.02923544e-02 3.39318786e-04 9.99946975e-01 -2.99327073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.250371743 meters 0.026936190381137003 Centerline is valid? [True, True] Translation: X:215.28, Y:-12.67, Z:-2.99 [[ 9.99572888e-01 2.72971676e-02 1.04358379e-02 2.15282365e+02] [-2.72918624e-02 9.99627296e-01 -6.50456171e-04 -1.26740905e+01] [-1.04497040e-02 3.65364901e-04 9.99945334e-01 -2.99404487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280371743 meters 0.027164046322243854 Centerline is valid? [True, True] Translation: X:215.31, Y:-12.68, Z:-2.99 [[ 9.99594548e-01 2.65312226e-02 1.03360571e-02 2.15310673e+02] [-2.65259875e-02 9.99647917e-01 -6.43280928e-04 -1.26792179e+01] [-1.03494850e-02 3.68845987e-04 9.99946375e-01 -2.99435386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.310371743 meters 0.027457455331233976 Centerline is valid? [True, True] Translation: X:215.34, Y:-12.68, Z:-2.99 [[ 9.99611425e-01 2.57517825e-02 1.06697890e-02 2.15338894e+02] [-2.57461677e-02 9.99668292e-01 -6.63284574e-04 -1.26842064e+01] [-1.06833305e-02 3.88320661e-04 9.99942856e-01 -2.99498854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340371743 meters 0.026878423715866944 Centerline is valid? [True, True] Translation: X:215.37, Y:-12.69, Z:-3.00 [[ 9.99631291e-01 2.48431251e-02 1.09590582e-02 2.15367581e+02] [-2.48371556e-02 9.99691279e-01 -6.80491299e-04 -1.26903544e+01] [-1.09725805e-02 4.08048561e-04 9.99939716e-01 -2.99525519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.370371743 meters 0.027585250496507802 Centerline is valid? [True, True] Translation: X:215.40, Y:-12.70, Z:-3.00 [[ 9.99639477e-01 2.45310394e-02 1.09153171e-02 2.15395882e+02] [-2.45251079e-02 9.99698985e-01 -6.76953758e-04 -1.26959033e+01] [-1.09286378e-02 4.09010370e-04 9.99940197e-01 -2.99617313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400371743 meters 0.027202142256870968 Centerline is valid? [True, True] Translation: X:215.42, Y:-12.70, Z:-3.00 [[ 9.99653253e-01 2.39931475e-02 1.08491045e-02 2.15424774e+02] [-2.39872629e-02 9.99712038e-01 -6.72227164e-04 -1.27019850e+01] [-1.08621092e-02 4.11753751e-04 9.99940921e-01 -2.99715586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43037174299997 meters 0.02718229007635699 Centerline is valid? [True, True] Translation: X:215.45, Y:-12.71, Z:-3.00 [[ 9.99649696e-01 2.43046898e-02 1.04769576e-02 2.15452998e+02] [-2.42992215e-02 9.99704520e-01 -6.48940266e-04 -1.27058580e+01] [-1.04896342e-02 3.94131027e-04 9.99944905e-01 -2.99796134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46037174299997 meters 0.02717565296021126 Centerline is valid? [True, True] Translation: X:215.48, Y:-12.71, Z:-3.00 [[ 9.99649126e-01 2.44279135e-02 1.02421531e-02 2.15481841e+02] [-2.44227011e-02 9.99701521e-01 -6.33695245e-04 -1.27098548e+01] [-1.02545759e-02 3.83331854e-04 9.99947347e-01 -2.99864024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49037174299997 meters 0.02578191756886362 Centerline is valid? [True, True] Translation: X:215.51, Y:-12.71, Z:-3.00 [[ 9.99620801e-01 2.59519474e-02 9.20599181e-03 2.15511473e+02] [-2.59478074e-02 9.99663137e-01 -5.68879767e-04 -1.27122548e+01] [-9.21765419e-03 3.29788745e-04 9.99957462e-01 -2.99949405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52037174299997 meters 0.026816026534163064 Centerline is valid? [True, True] Translation: X:215.54, Y:-12.72, Z:-3.00 [[ 9.99590179e-01 2.72276780e-02 8.83898786e-03 2.15538790e+02] [-2.72239115e-02 9.99629211e-01 -5.46179079e-04 -1.27177054e+01] [-8.85058165e-03 3.05323420e-04 9.99960786e-01 -3.00046001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55037174299997 meters 0.025494359902118516 Centerline is valid? [True, True] Translation: X:215.57, Y:-12.72, Z:-3.00 [[ 9.99470393e-01 3.12993878e-02 8.90409012e-03 2.15568745e+02] [-3.12957375e-02 9.99510018e-01 -5.49028945e-04 -1.27194048e+01] [-8.91691155e-03 2.70078108e-04 9.99960207e-01 -3.00091956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58037174299997 meters 0.02391934729540503 Centerline is valid? [True, True] Translation: X:215.60, Y:-12.72, Z:-3.00 [[ 9.99399576e-01 3.35141796e-02 8.79137051e-03 2.15597673e+02] [-3.35107056e-02 9.99438212e-01 -5.42216671e-04 -1.27191732e+01] [-8.80460357e-03 2.47286082e-04 9.99961208e-01 -3.00063152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61037174299997 meters 0.023879924767421807 Centerline is valid? [True, True] Translation: X:215.63, Y:-12.72, Z:-3.00 [[ 9.99172856e-01 3.94975616e-02 9.67193726e-03 2.15626653e+02] [-3.94936461e-02 9.99219644e-01 -5.95559067e-04 -1.27224950e+01] [-9.68791284e-03 2.13086387e-04 9.99953048e-01 -3.00070242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64037174299997 meters 0.023091852709653315 Centerline is valid? [True, True] Translation: X:215.66, Y:-12.72, Z:-3.00 [[ 9.99056992e-01 4.21308189e-02 1.04938022e-02 2.15655418e+02] [-4.21263581e-02 9.99112082e-01 -6.45864385e-04 -1.27237756e+01] [-1.05116953e-02 2.03189662e-04 9.99944730e-01 -3.00012007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67037174299998 meters 0.022747267028707795 Centerline is valid? [True, True] Translation: X:215.68, Y:-12.73, Z:-3.00 [[ 9.98953329e-01 4.42323171e-02 1.16511161e-02 2.15684464e+02] [-4.42269718e-02 9.99021252e-01 -7.16165515e-04 -1.27253652e+01] [-1.16713902e-02 2.00122344e-04 9.99931867e-01 -3.00023616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70037174299998 meters 0.022301289780430635 Centerline is valid? [True, True] Translation: X:215.71, Y:-12.73, Z:-3.00 [[ 9.98789162e-01 4.76331316e-02 1.23002174e-02 2.15712754e+02] [-4.76274433e-02 9.98864884e-01 -7.55138264e-04 -1.27285853e+01] [-1.23222248e-02 1.68396007e-04 9.99924064e-01 -3.00054873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73037174299998 meters 0.022217656414930426 Centerline is valid? [True, True] Translation: X:215.74, Y:-12.73, Z:-3.00 [[ 9.98735994e-01 4.86830411e-02 1.25050469e-02 2.15741279e+02] [-4.86772553e-02 9.98814265e-01 -7.66810235e-04 -1.27316542e+01] [-1.25275499e-02 1.57129622e-04 9.99921515e-01 -3.00118662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76037174299998 meters 0.02232118820869913 Centerline is valid? [True, True] Translation: X:215.77, Y:-12.74, Z:-3.00 [[ 9.98690694e-01 4.96219028e-02 1.24324159e-02 2.15768434e+02] [-4.96162674e-02 9.98768064e-01 -7.61503647e-04 -1.27371807e+01] [-1.24548872e-02 1.43656534e-04 9.99922425e-01 -3.00202300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79037174299998 meters 0.02235093216117663 Centerline is valid? [True, True] Translation: X:215.80, Y:-12.74, Z:-3.00 [[ 9.98721132e-01 4.90624935e-02 1.22054216e-02 2.15796633e+02] [-4.90570336e-02 9.98795700e-01 -7.46511884e-04 -1.27412364e+01] [-1.22273484e-02 1.46795417e-04 9.99925232e-01 -3.00248096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82037174299998 meters 0.02275679639404658 Centerline is valid? [True, True] Translation: X:215.82, Y:-12.74, Z:-3.00 [[ 9.98778544e-01 4.79335960e-02 1.19912327e-02 2.15824980e+02] [-4.79282544e-02 9.98850512e-01 -7.32591184e-04 -1.27449450e+01] [-1.20125646e-02 1.56977506e-04 9.99927834e-01 -3.00319594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85037174299998 meters 0.022942388636935894 Centerline is valid? [True, True] Translation: X:215.85, Y:-12.75, Z:-3.00 [[ 9.98959220e-01 4.41885801e-02 1.13069103e-02 2.15853654e+02] [-4.41835995e-02 9.99023190e-01 -6.90030503e-04 -1.27526407e+01] [-1.13263570e-02 1.89732338e-04 9.99935837e-01 -3.00409906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88037174299998 meters 0.023647996760474133 Centerline is valid? [True, True] Translation: X:215.88, Y:-12.76, Z:-3.00 [[ 9.99088931e-01 4.11791312e-02 1.12065488e-02 2.15881246e+02] [-4.11740580e-02 9.99151755e-01 -6.83143178e-04 -1.27587840e+01] [-1.12251742e-02 2.21101698e-04 9.99936971e-01 -3.00498044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91037174299998 meters 0.02478314105098939 Centerline is valid? [True, True] Translation: X:215.91, Y:-12.77, Z:-3.01 [[ 9.99275052e-01 3.61886487e-02 1.18217004e-02 2.15909316e+02] [-3.61826686e-02 9.99344934e-01 -7.19413689e-04 -1.27693039e+01] [-1.18399910e-02 2.91151486e-04 9.99929862e-01 -3.00528430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940371743 meters 0.024843768551411075 Centerline is valid? [True, True] Translation: X:215.94, Y:-12.77, Z:-3.01 [[ 9.99359965e-01 3.34801205e-02 1.25992670e-02 2.15938817e+02] [-3.34731220e-02 9.99439325e-01 -7.65990486e-04 -1.27739144e+01] [-1.26178483e-02 3.43763424e-04 9.99920333e-01 -3.00567490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.970371743 meters 0.026507117398284995 Centerline is valid? [True, True] Translation: X:215.97, Y:-12.78, Z:-3.01 [[ 9.99440114e-01 3.09480064e-02 1.27153135e-02 2.15966605e+02] [-3.09406800e-02 9.99520924e-01 -7.72553328e-04 -1.27810196e+01] [-1.27331309e-02 3.78700340e-04 9.99918859e-01 -3.00617078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000371743 meters 0.027718001344214798 Centerline is valid? [True, True] Translation: X:216.00, Y:-12.79, Z:-3.01 [[ 9.99563634e-01 2.66127921e-02 1.28179619e-02 2.15995033e+02] [-2.66049929e-02 9.99645721e-01 -7.78622144e-04 -1.27907034e+01] [-1.28341421e-02 4.37260596e-04 9.99917543e-01 -3.00641706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.030371743 meters 0.028344864130951893 Centerline is valid? [True, True] Translation: X:216.03, Y:-12.80, Z:-3.01 [[ 9.99619509e-01 2.43503303e-02 1.29575430e-02 2.16025559e+02] [-2.43421769e-02 9.99703376e-01 -7.86605187e-04 -1.27951072e+01] [-1.29728536e-02 4.70891087e-04 9.99915738e-01 -3.00662878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060371743 meters 0.02858516828799722 Centerline is valid? [True, True] Translation: X:216.06, Y:-12.80, Z:-3.01 [[ 9.99699333e-01 2.07474699e-02 1.30685284e-02 2.16055972e+02] [-2.07388688e-02 9.99784612e-01 -7.93342705e-04 -1.28003747e+01] [-1.30821735e-02 5.22077676e-04 9.99914288e-01 -3.00694484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.090371743 meters 0.028979437996345548 Centerline is valid? [True, True] Translation: X:216.09, Y:-12.81, Z:-3.01 [[ 9.99734848e-01 1.90119074e-02 1.29915775e-02 2.16087353e+02] [-1.90032615e-02 9.99819111e-01 -7.88634433e-04 -1.28052744e+01] [-1.30042209e-02 5.41542979e-04 9.99915295e-01 -3.00748926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120371743 meters 0.02998657798324765 Centerline is valid? [True, True] Translation: X:216.12, Y:-12.81, Z:-3.01 [[ 9.99760254e-01 1.74914234e-02 1.31713913e-02 2.16118406e+02] [-1.74823985e-02 9.99846851e-01 -8.00029887e-04 -1.28104164e+01] [-1.31833678e-02 5.69570572e-04 9.99912933e-01 -3.00762950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.150371743 meters 0.03173040521734225 Centerline is valid? [True, True] Translation: X:216.15, Y:-12.82, Z:-3.01 [[ 9.99815030e-01 1.38985000e-02 1.32942926e-02 2.16147993e+02] [-1.38889821e-02 9.99903217e-01 -8.08001196e-04 -1.28184217e+01] [-1.33042359e-02 6.23207548e-04 9.99911301e-01 -3.00772323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18037174299997 meters 0.03229807582277683 Centerline is valid? [True, True] Translation: X:216.18, Y:-12.82, Z:-3.01 [[ 9.99836532e-01 1.21016629e-02 1.34335303e-02 2.16180231e+02] [-1.20917834e-02 9.99926558e-01 -8.16422339e-04 -1.28229896e+01] [-1.34424238e-02 6.53853542e-04 9.99909433e-01 -3.00811304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21037174299997 meters 0.03422972571405679 Centerline is valid? [True, True] Translation: X:216.21, Y:-12.83, Z:-3.01 [[ 9.99857613e-01 8.20788091e-03 1.47439907e-02 2.16211262e+02] [-8.19554085e-03 9.99966014e-01 -8.97182405e-04 -1.28304157e+01] [-1.47508535e-02 7.76219680e-04 9.99890899e-01 -3.00893480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24037174299997 meters 0.03479007520810269 Centerline is valid? [True, True] Translation: X:216.24, Y:-12.83, Z:-3.01 [[ 9.99872015e-01 6.21327309e-03 1.47427332e-02 2.16243342e+02] [-6.20071093e-03 9.99980373e-01 -8.97649728e-04 -1.28342440e+01] [-1.47480212e-02 8.06119416e-04 9.99890917e-01 -3.00940228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27037174299997 meters 0.034884542851772664 Centerline is valid? [True, True] Translation: X:216.27, Y:-12.84, Z:-3.01 [[ 9.99879992e-01 3.98251411e-03 1.49713379e-02 2.16274775e+02] [-3.96929446e-03 9.99991706e-01 -9.12608448e-04 -1.28369182e+01] [-1.49748482e-02 8.53073279e-04 9.99887507e-01 -3.00988480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30037174299997 meters 0.03718780173237877 Centerline is valid? [True, True] Translation: X:216.30, Y:-12.84, Z:-3.01 [[ 9.99894970e-01 -6.19624608e-04 1.44797993e-02 2.16303835e+02] [ 6.32478124e-04 9.99999410e-01 -8.83123578e-04 -1.28436000e+01] [-1.44792436e-02 8.92188980e-04 9.99894772e-01 -3.01133434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33037174299997 meters 0.04021740317197605 Centerline is valid? [True, True] Translation: X:216.33, Y:-12.85, Z:-3.01 [[ 9.99896841e-01 -2.86717555e-03 1.40743586e-02 2.16333215e+02] [ 2.87953828e-03 9.99995486e-01 -8.58200462e-04 -1.28498862e+01] [-1.40718344e-02 8.98639585e-04 9.99900583e-01 -3.01244928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36037174299997 meters 0.03857652626954343 Centerline is valid? [True, True] Translation: X:216.36, Y:-12.85, Z:-3.01 [[ 9.99888484e-01 -7.56579646e-03 1.28754733e-02 2.16363392e+02] [ 7.57653021e-03 9.99970990e-01 -7.85085034e-04 -1.28495375e+01] [-1.28691600e-02 8.82548898e-04 9.99916799e-01 -3.01381059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39037174299997 meters 0.039168622032547326 Centerline is valid? [True, True] Translation: X:216.39, Y:-12.85, Z:-3.01 [[ 9.99875155e-01 -9.98879025e-03 1.22433399e-02 2.16394635e+02] [ 9.99867751e-03 9.99949733e-01 -7.46616473e-04 -1.28524730e+01] [-1.22352667e-02 8.68940469e-04 9.99924769e-01 -3.01421026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42037174299998 meters 0.04240330272603423 Centerline is valid? [True, True] Translation: X:216.42, Y:-12.86, Z:-3.01 [[ 9.99851015e-01 -1.21853978e-02 1.22255138e-02 2.16424854e+02] [ 1.21954254e-02 9.99925355e-01 -7.46002759e-04 -1.28584420e+01] [-1.22155109e-02 8.94986957e-04 9.99924987e-01 -3.01494552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45037174299998 meters 0.041900466357954295 Centerline is valid? [True, True] Translation: X:216.46, Y:-12.86, Z:-3.02 [[ 9.99799269e-01 -1.61740299e-02 1.18246364e-02 2.16455915e+02] [ 1.61836908e-02 9.99868775e-01 -7.21777235e-04 -1.28570090e+01] [-1.18114107e-02 9.12998612e-04 9.99929826e-01 -3.01502707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48037174299998 meters 0.04262387448130006 Centerline is valid? [True, True] Translation: X:216.49, Y:-12.86, Z:-3.02 [[ 9.99769787e-01 -1.79452801e-02 1.17617878e-02 2.16486871e+02] [ 1.79549604e-02 9.99838539e-01 -7.17945308e-04 -1.28586748e+01] [-1.17470050e-02 9.28962462e-04 9.99930570e-01 -3.01522004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51037174299998 meters 0.04262387448130006 Centerline is valid? [True, True] Translation: X:216.52, Y:-12.86, Z:-3.02 [[ 9.99771736e-01 -1.78363567e-02 1.17617874e-02 2.16519428e+02] [ 1.78460296e-02 9.99840489e-01 -7.17952312e-04 -1.28607557e+01] [-1.17471056e-02 9.27689635e-04 9.99930570e-01 -3.01567820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54037174299998 meters 0.042482313223537 Centerline is valid? [True, True] Translation: X:216.55, Y:-12.86, Z:-3.02 [[ 9.99715844e-01 -2.08495765e-02 1.15553359e-02 2.16550813e+02] [ 2.08591295e-02 9.99782175e-01 -7.06794579e-04 -1.28583951e+01] [-1.15380825e-02 9.47627987e-04 9.99932985e-01 -3.01583863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57037174299998 meters 0.046367637305066434 Centerline is valid? [True, True] Translation: X:216.58, Y:-12.86, Z:-3.02 [[ 9.99691407e-01 -2.18144025e-02 1.18837184e-02 2.16581183e+02] [ 2.18245772e-02 9.99761551e-01 -7.27163857e-04 -1.28641180e+01] [-1.18650221e-02 9.86296589e-04 9.99929122e-01 -3.01584026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60037174299998 meters 0.04375723232191008 Centerline is valid? [True, True] Translation: X:216.61, Y:-12.86, Z:-3.02 [[ 9.99671014e-01 -2.24707514e-02 1.23664131e-02 2.16613405e+02] [ 2.24818246e-02 9.99746965e-01 -7.57116900e-04 -1.28598267e+01] [-1.23462710e-02 1.03488735e-03 9.99923246e-01 -3.01599414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63037174299998 meters 0.04672648083866774 Centerline is valid? [True, True] Translation: X:216.64, Y:-12.86, Z:-3.02 [[ 9.99648954e-01 -2.30871593e-02 1.29981255e-02 2.16644220e+02] [ 2.30994578e-02 9.99732854e-01 -7.96819892e-04 -1.28606413e+01] [-1.29762568e-02 1.09678982e-03 9.99915203e-01 -3.01592103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66037174299998 meters 0.04716053449757545 Centerline is valid? [True, True] Translation: X:216.68, Y:-12.86, Z:-3.02 [[ 9.99655480e-01 -2.30061086e-02 1.26349010e-02 2.16676952e+02] [ 2.30177304e-02 9.99734756e-01 -7.75150683e-04 -1.28599854e+01] [-1.26137165e-02 1.06571037e-03 9.99919876e-01 -3.01637808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.690371743 meters 0.0486325910243568 Centerline is valid? [True, True] Translation: X:216.71, Y:-12.86, Z:-3.02 [[ 9.99660154e-01 -2.25911583e-02 1.30083200e-02 2.16707974e+02] [ 2.26034619e-02 9.99744189e-01 -7.99558643e-04 -1.28608922e+01] [-1.29869294e-02 1.09331998e-03 9.99915069e-01 -3.01637595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720371743 meters 0.04924270990550497 Centerline is valid? [True, True] Translation: X:216.74, Y:-12.86, Z:-3.02 [[ 9.99667600e-01 -2.22851812e-02 1.29638089e-02 2.16740873e+02] [ 2.22973838e-02 9.99751064e-01 -7.97494649e-04 -1.28575225e+01] [-1.29428095e-02 1.08628859e-03 9.99915648e-01 -3.01661835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.750371743 meters 0.04442437203326313 Centerline is valid? [True, True] Translation: X:216.77, Y:-12.85, Z:-3.02 [[ 9.99674548e-01 -2.22206733e-02 1.25315250e-02 2.16774448e+02] [ 2.22320804e-02 9.99752539e-01 -7.71683141e-04 -1.28499329e+01] [-1.25112766e-02 1.05003387e-03 9.99921180e-01 -3.01709684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780371743 meters 0.0461345235237859 Centerline is valid? [True, True] Translation: X:216.81, Y:-12.85, Z:-3.02 [[ 9.99666301e-01 -2.29995055e-02 1.17605255e-02 2.16805632e+02] [ 2.30096209e-02 9.99734980e-01 -7.25519084e-04 -1.28473659e+01] [-1.17407222e-02 9.95882213e-04 9.99930579e-01 -3.01792695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.810371743 meters 0.044508561314401104 Centerline is valid? [True, True] Translation: X:216.84, Y:-12.84, Z:-3.02 [[ 9.99662188e-01 -2.32435425e-02 1.16296023e-02 2.16838005e+02] [ 2.32534571e-02 9.99729344e-01 -7.18017002e-04 -1.28436373e+01] [-1.16097654e-02 9.88202905e-04 9.99932116e-01 -3.01834338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840371743 meters 0.04487093239371138 Centerline is valid? [True, True] Translation: X:216.87, Y:-12.84, Z:-3.02 [[ 9.99663046e-01 -2.32519111e-02 1.15388021e-02 2.16870445e+02] [ 2.32616815e-02 9.99729156e-01 -7.13242470e-04 -1.28426192e+01] [-1.15190927e-02 9.81414081e-04 9.99933171e-01 -3.01868292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.870371743 meters 0.04549068247183216 Centerline is valid? [True, True] Translation: X:216.90, Y:-12.84, Z:-3.02 [[ 9.99679534e-01 -2.24186711e-02 1.17572489e-02 2.16902434e+02] [ 2.24287681e-02 9.99748179e-01 -7.27617993e-04 -1.28386842e+01] [-1.17379760e-02 9.91085425e-04 9.99930616e-01 -3.01898867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900371743 meters 0.0456987123201181 Centerline is valid? [True, True] Translation: X:216.93, Y:-12.84, Z:-3.02 [[ 9.99707228e-01 -2.13176457e-02 1.14462340e-02 2.16932841e+02] [ 2.13271545e-02 9.99772299e-01 -7.09304724e-04 -1.28371518e+01] [-1.14285070e-02 9.53212660e-04 9.99934238e-01 -3.01982422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93037174299997 meters 0.044592095279436327 Centerline is valid? [True, True] Translation: X:216.96, Y:-12.83, Z:-3.02 [[ 9.99788527e-01 -1.77615017e-02 1.03648528e-02 2.16963646e+02] [ 1.77691111e-02 9.99841910e-01 -6.42514071e-04 -1.28286901e+01] [-1.03518022e-02 8.26552418e-04 9.99946077e-01 -3.02094397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96037174299997 meters 0.044416737408717905 Centerline is valid? [True, True] Translation: X:216.99, Y:-12.83, Z:-3.02 [[ 9.99824377e-01 -1.57021196e-02 1.02302771e-02 2.16993825e+02] [ 1.57094257e-02 9.99876398e-01 -6.34188174e-04 -1.28259327e+01] [-1.02190545e-02 7.94788573e-04 9.99947468e-01 -3.02097625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99037174299997 meters 0.04427202846712157 Centerline is valid? [True, True] Translation: X:217.02, Y:-12.82, Z:-3.02 [[ 9.99851497e-01 -1.34052543e-02 1.08297597e-02 2.17023916e+02] [ 1.34133078e-02 9.99909812e-01 -6.71350884e-04 -1.28230994e+01] [-1.08197834e-02 8.16514087e-04 9.99941131e-01 -3.02101054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02037174299997 meters 0.03899256088952353 Centerline is valid? [True, True] Translation: X:217.06, Y:-12.81, Z:-3.02 [[ 9.99889601e-01 -8.99722349e-03 1.18252081e-02 2.17055867e+02] [ 9.00651859e-03 9.99959172e-01 -7.33021054e-04 -1.28080776e+01] [-1.18181302e-02 8.39444086e-04 9.99929811e-01 -3.01904345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05037174299997 meters 0.04212662857564741 Centerline is valid? [True, True] Translation: X:217.09, Y:-12.81, Z:-3.02 [[ 9.99901877e-01 -6.76973968e-03 1.22640143e-02 2.17086172e+02] [ 6.77957163e-03 9.99976729e-01 -7.60293961e-04 -1.28100465e+01] [-1.22585819e-02 8.43364122e-04 9.99924505e-01 -3.01917416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08037174299997 meters 0.03759567614034034 Centerline is valid? [True, True] Translation: X:217.12, Y:-12.80, Z:-3.02 [[ 9.99926904e-01 -2.27508383e-03 1.18748185e-02 2.17117873e+02] [ 2.28400319e-03 9.99997120e-01 -7.37607789e-04 -1.27977713e+01] [-1.18731062e-02 7.64675996e-04 9.99929220e-01 -3.01976856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11037174299997 meters 0.040374220271480264 Centerline is valid? [True, True] Translation: X:217.15, Y:-12.80, Z:-3.02 [[ 9.99939064e-01 -5.57426837e-04 1.10253355e-02 2.17147916e+02] [ 5.65011131e-04 9.99999606e-01 -6.84794058e-04 -1.27994304e+01] [-1.10249494e-02 6.90981767e-04 9.99938985e-01 -3.02087039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14037174299997 meters 0.03691623979985745 Centerline is valid? [True, True] Translation: X:217.18, Y:-12.79, Z:-3.02 [[ 9.99940098e-01 1.65674950e-03 1.08192290e-02 2.17180166e+02] [-1.64957442e-03 9.99998414e-01 -6.72068441e-04 -1.27929597e+01] [-1.08203252e-02 6.54181060e-04 9.99941245e-01 -3.02138084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17037174299998 meters 0.032895519513663256 Centerline is valid? [True, True] Translation: X:217.21, Y:-12.78, Z:-3.02 [[ 9.99927991e-01 5.99100583e-03 1.03980716e-02 2.17212057e+02] [-5.98460507e-03 9.99981883e-01 -6.46578491e-04 -1.27821663e+01] [-1.04017569e-02 5.84303580e-04 9.99945730e-01 -3.02156086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20037174299998 meters 0.035299592948378325 Centerline is valid? [True, True] Translation: X:217.24, Y:-12.78, Z:-3.02 [[ 9.99917307e-01 7.78386979e-03 1.02366933e-02 2.17242509e+02] [-7.77775935e-03 9.99969550e-01 -6.36591397e-04 -1.27845323e+01] [-1.02413367e-02 5.56920219e-04 9.99947401e-01 -3.02230572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23037174299998 meters 0.03273291153959495 Centerline is valid? [True, True] Translation: X:217.27, Y:-12.78, Z:-3.02 [[ 9.99881670e-01 1.16866762e-02 1.00034245e-02 2.17273839e+02] [-1.16810341e-02 9.99931581e-01 -6.22260893e-04 -1.27762401e+01] [-1.00100122e-02 5.05336918e-04 9.99949771e-01 -3.02308852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26037174299998 meters 0.029808968929398296 Centerline is valid? [True, True] Translation: X:217.31, Y:-12.77, Z:-3.02 [[ 9.99864760e-01 1.33766376e-02 9.56694725e-03 2.17305343e+02] [-1.33715528e-02 9.99910420e-01 -5.95260652e-04 -1.27704881e+01] [-9.57405282e-03 4.67255208e-04 9.99954059e-01 -3.02311670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29037174299998 meters 0.030362149519002807 Centerline is valid? [True, True] Translation: X:217.33, Y:-12.77, Z:-3.02 [[ 9.99834021e-01 1.53367643e-02 9.83438357e-03 2.17334906e+02] [-1.53314826e-02 9.99882278e-01 -6.12232896e-04 -1.27704031e+01] [-9.84261552e-03 4.61355597e-04 9.99951454e-01 -3.02370140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32037174299998 meters 0.02860745803670899 Centerline is valid? [True, True] Translation: X:217.37, Y:-12.76, Z:-3.02 [[ 9.99792520e-01 1.80962602e-02 9.35104195e-03 2.17365035e+02] [-1.80916060e-02 9.99836164e-01 -5.82070256e-04 -1.27639766e+01] [-9.36004321e-03 4.12774122e-04 9.99956109e-01 -3.02455960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35037174299998 meters 0.02775384248971988 Centerline is valid? [True, True] Translation: X:217.39, Y:-12.76, Z:-3.03 [[ 9.99755750e-01 2.02739952e-02 8.79805712e-03 2.17394974e+02] [-2.02699619e-02 9.99794393e-01 -5.47367527e-04 -1.27599102e+01] [-8.80734551e-03 3.68897550e-04 9.99961147e-01 -3.02511010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38037174299998 meters 0.02679494574088116 Centerline is valid? [True, True] Translation: X:217.42, Y:-12.76, Z:-3.03 [[ 9.99730451e-01 2.13455274e-02 9.13198191e-03 2.17423979e+02] [-2.13412282e-02 9.99772089e-01 -5.67977632e-04 -1.27579041e+01] [-9.14202441e-03 3.72936824e-04 9.99958141e-01 -3.02552209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41037174299998 meters 0.026463886488622357 Centerline is valid? [True, True] Translation: X:217.45, Y:-12.76, Z:-3.03 [[ 9.99717582e-01 2.19333441e-02 9.14793372e-03 2.17453186e+02] [-2.19290604e-02 9.99759368e-01 -5.68319504e-04 -1.27566123e+01] [-9.15819758e-03 3.67553409e-04 9.99957995e-01 -3.02561318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440371743 meters 0.0260676116778121 Centerline is valid? [True, True] Translation: X:217.48, Y:-12.76, Z:-3.03 [[ 9.99699439e-01 2.24479659e-02 9.85496444e-03 2.17481867e+02] [-2.24430272e-02 9.99747937e-01 -6.11462038e-04 -1.27561348e+01] [-9.86620645e-03 3.90103022e-04 9.99951252e-01 -3.02561083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.470371743 meters 0.026215550227416194 Centerline is valid? [True, True] Translation: X:217.51, Y:-12.76, Z:-3.02 [[ 9.99678039e-01 2.30505466e-02 1.06061335e-02 2.17510129e+02] [-2.30448684e-02 9.99734216e-01 -6.57287357e-04 -1.27553256e+01] [-1.06184653e-02 4.12658787e-04 9.99943537e-01 -3.02487354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500371743 meters 0.026105756703138822 Centerline is valid? [True, True] Translation: X:217.54, Y:-12.75, Z:-3.02 [[ 9.99664434e-01 2.33431987e-02 1.12300542e-02 2.17538893e+02] [-2.33368639e-02 9.99727417e-01 -6.94828189e-04 -1.27539351e+01] [-1.12432126e-02 4.32520782e-04 9.99936700e-01 -3.02493421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.530371743 meters 0.026221058992765812 Centerline is valid? [True, True] Translation: X:217.57, Y:-12.76, Z:-3.03 [[ 9.99663631e-01 2.35095566e-02 1.09510930e-02 2.17566499e+02] [-2.35035503e-02 9.99723524e-01 -6.76863047e-04 -1.27556443e+01] [-1.09639781e-02 4.19245806e-04 9.99939806e-01 -3.02583724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560371743 meters 0.02598500830020811 Centerline is valid? [True, True] Translation: X:217.60, Y:-12.76, Z:-3.03 [[ 9.99665943e-01 2.37167052e-02 1.02723512e-02 2.17595404e+02] [-2.37114405e-02 9.99718643e-01 -6.34013096e-04 -1.27560495e+01] [-1.02844977e-02 3.90229054e-04 9.99947037e-01 -3.02685156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.590371743 meters 0.025001042350825748 Centerline is valid? [True, True] Translation: X:217.62, Y:-12.76, Z:-3.03 [[ 9.99645650e-01 2.49815040e-02 9.19230613e-03 2.17624830e+02] [-2.49773475e-02 9.99687857e-01 -5.66720142e-04 -1.27550263e+01] [-9.20359433e-03 3.36919901e-04 9.99957589e-01 -3.02809222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620371743 meters 0.025529237014186773 Centerline is valid? [True, True] Translation: X:217.65, Y:-12.76, Z:-3.03 [[ 9.99621574e-01 2.58430365e-02 9.42581185e-03 2.17652987e+02] [-2.58387086e-02 9.99665956e-01 -5.80666163e-04 -1.27574969e+01] [-9.43766939e-03 3.36895618e-04 9.99955407e-01 -3.02881814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.650371743 meters 0.024604354103915097 Centerline is valid? [True, True] Translation: X:217.68, Y:-12.76, Z:-3.03 [[ 9.99559858e-01 2.81934002e-02 9.23158001e-03 2.17681856e+02] [-2.81893548e-02 9.99602440e-01 -5.68056280e-04 -1.27569748e+01] [-9.24392534e-03 3.07573970e-04 9.99957227e-01 -3.02920569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68037174299997 meters 0.024524875759343725 Centerline is valid? [True, True] Translation: X:217.71, Y:-12.76, Z:-3.03 [[ 9.99516898e-01 2.96249394e-02 9.39862486e-03 2.17709236e+02] [-2.96208152e-02 9.99561040e-01 -5.77730157e-04 -1.27587045e+01] [-9.41161447e-03 2.99056124e-04 9.99955665e-01 -3.02993627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71037174299997 meters 0.024351809235242796 Centerline is valid? [True, True] Translation: X:217.74, Y:-12.76, Z:-3.03 [[ 9.99483025e-01 3.07536992e-02 9.37510384e-03 2.17738198e+02] [-3.07496537e-02 9.99526952e-01 -5.75381524e-04 -1.27601728e+01] [-9.38836408e-03 2.86802869e-04 9.99955887e-01 -3.03061373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74037174299997 meters 0.02423643145607509 Centerline is valid? [True, True] Translation: X:217.77, Y:-12.76, Z:-3.03 [[ 9.99428866e-01 3.25807205e-02 8.96876331e-03 2.17765738e+02] [-3.25770961e-02 9.99469074e-01 -5.49942282e-04 -1.27623604e+01] [-8.98191908e-03 2.57451927e-04 9.99959629e-01 -3.03174045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77037174299997 meters 0.024086850405047978 Centerline is valid? [True, True] Translation: X:217.79, Y:-12.76, Z:-3.03 [[ 9.99381146e-01 3.41309450e-02 8.50907164e-03 2.17793162e+02] [-3.41277446e-02 9.99417343e-01 -5.21073071e-04 -1.27649354e+01] [-8.52189849e-03 2.30355178e-04 9.99963661e-01 -3.03295678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80037174299997 meters 0.024014128845702743 Centerline is valid? [True, True] Translation: X:217.82, Y:-12.77, Z:-3.03 [[ 9.99367908e-01 3.45704836e-02 8.28645843e-03 2.17821808e+02] [-3.45674700e-02 9.99402238e-01 -5.06659135e-04 -1.27673851e+01] [-8.29902055e-03 2.19896976e-04 9.99965538e-01 -3.03375056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83037174299997 meters 0.024157240222616585 Centerline is valid? [True, True] Translation: X:217.85, Y:-12.77, Z:-3.03 [[ 9.99355617e-01 3.48655625e-02 8.52893731e-03 2.17850083e+02] [-3.48623860e-02 9.99391987e-01 -5.20873259e-04 -1.27703754e+01] [-8.54191214e-03 2.23198512e-04 9.99963492e-01 -3.03406944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86037174299997 meters 0.023262974924393505 Centerline is valid? [True, True] Translation: X:217.88, Y:-12.77, Z:-3.03 [[ 9.99344954e-01 3.49989278e-02 9.20533314e-03 2.17879176e+02] [-3.49952395e-02 9.99387321e-01 -5.61495065e-04 -1.27718028e+01] [-9.21934496e-03 2.38984422e-04 9.99957472e-01 -3.03395971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89037174299997 meters 0.023447723763522013 Centerline is valid? [True, True] Translation: X:217.91, Y:-12.78, Z:-3.03 [[ 9.99361726e-01 3.41232209e-02 1.05710192e-02 2.17907343e+02] [-3.41183173e-02 9.99417593e-01 -6.43913982e-04 -1.27765564e+01] [-1.05868350e-02 2.82837601e-04 9.99943918e-01 -3.03372594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92037174299998 meters 0.025872426091873454 Centerline is valid? [True, True] Translation: X:217.93, Y:-12.79, Z:-3.03 [[ 9.99406456e-01 3.21631623e-02 1.23396071e-02 2.17934244e+02] [-3.21563438e-02 9.99482569e-01 -7.50625558e-04 -1.27875576e+01] [-1.23573647e-02 3.53383379e-04 9.99923582e-01 -3.03466203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95037174299998 meters 0.026682389647932264 Centerline is valid? [True, True] Translation: X:217.96, Y:-12.79, Z:-3.04 [[ 9.99457178e-01 3.06133586e-02 1.21725806e-02 2.17962716e+02] [-3.06066221e-02 9.99531234e-01 -7.39362084e-04 -1.27927317e+01] [-1.21895089e-02 3.66399167e-04 9.99925638e-01 -3.03576852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98037174299998 meters 0.025520918919095144 Centerline is valid? [True, True] Translation: X:217.99, Y:-12.79, Z:-3.04 [[ 9.99520285e-01 2.85202794e-02 1.20744777e-02 2.17991533e+02] [-2.85135079e-02 9.99593139e-01 -7.32627133e-04 -1.27942254e+01] [-1.20904598e-02 3.87989966e-04 9.99926832e-01 -3.03680949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01037174299998 meters 0.027747620798199063 Centerline is valid? [True, True] Translation: X:218.02, Y:-12.81, Z:-3.04 [[ 9.99686200e-01 2.25370953e-02 1.09352781e-02 2.18019739e+02] [-2.25311930e-02 9.99745921e-01 -6.62658039e-04 -1.28050141e+01] [-1.09474341e-02 4.16065236e-04 9.99939988e-01 -3.03860557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04037174299998 meters 0.029299787991594703 Centerline is valid? [True, True] Translation: X:218.05, Y:-12.81, Z:-3.04 [[ 9.99759971e-01 1.90648186e-02 1.07950784e-02 2.18049138e+02] [-1.90588653e-02 9.99818149e-01 -6.54098931e-04 -1.28119201e+01] [-1.08055856e-02 4.48199984e-04 9.99941518e-01 -3.03966485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07037174299998 meters 0.03345714100017052 Centerline is valid? [True, True] Translation: X:218.08, Y:-12.82, Z:-3.04 [[ 9.99894216e-01 1.02343765e-02 1.03351054e-02 2.18079048e+02] [-1.02284538e-02 9.99947492e-01 -6.25763604e-04 -1.28241546e+01] [-1.03409670e-02 5.19985260e-04 9.99946396e-01 -3.04137621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10037174299998 meters 0.0356859512045343 Centerline is valid? [True, True] Translation: X:218.11, Y:-12.83, Z:-3.04 [[ 9.99933764e-01 5.89953292e-03 9.88249026e-03 2.18107996e+02] [-5.89390738e-03 9.99982452e-01 -5.98270299e-04 -1.28315499e+01] [-9.88584635e-03 5.39984190e-04 9.99950988e-01 -3.04181412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13037174299998 meters 0.03826536039882618 Centerline is valid? [True, True] Translation: X:218.14, Y:-12.84, Z:-3.04 [[ 9.99949999e-01 1.76317453e-03 9.84330560e-03 2.18137285e+02] [-1.75739096e-03 9.99998278e-01 -5.96182361e-04 -1.28388896e+01] [-9.84433983e-03 5.78854015e-04 9.99951376e-01 -3.04242704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16037174299998 meters 0.03775030482145837 Centerline is valid? [True, True] Translation: X:218.17, Y:-12.84, Z:-3.04 [[ 9.99943230e-01 -4.55032240e-03 9.63492400e-03 2.18167933e+02] [ 4.55615702e-03 9.99989450e-01 -5.83706563e-04 -1.28424787e+01] [-9.63216630e-03 6.27571653e-04 9.99953413e-01 -3.04286267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.190371743 meters 0.03860151605639772 Centerline is valid? [True, True] Translation: X:218.20, Y:-12.85, Z:-3.04 [[ 9.99931609e-01 -6.55053716e-03 9.68853007e-03 2.18198795e+02] [ 6.55653333e-03 9.99978333e-01 -5.87260629e-04 -1.28463894e+01] [-9.68447328e-03 6.50743636e-04 9.99952893e-01 -3.04335727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220371743 meters 0.0401547260241677 Centerline is valid? [True, True] Translation: X:218.23, Y:-12.85, Z:-3.04 [[ 9.99913224e-01 -8.53330077e-03 1.00363043e-02 2.18229964e+02] [ 8.53984032e-03 9.99963350e-01 -6.08914273e-04 -1.28520536e+01] [-1.00307404e-02 6.94569870e-04 9.99949450e-01 -3.04357511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.250371743 meters 0.04630995122950476 Centerline is valid? [True, True] Translation: X:218.26, Y:-12.86, Z:-3.04 [[ 9.99904942e-01 -8.97913750e-03 1.04633644e-02 2.18260103e+02] [ 8.98627315e-03 9.99959421e-01 -6.35148698e-04 -1.28631858e+01] [-1.04572367e-02 7.29114973e-04 9.99945056e-01 -3.04422720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280371743 meters 0.040369506133904345 Centerline is valid? [True, True] Translation: X:218.29, Y:-12.86, Z:-3.04 [[ 9.99898447e-01 -8.45117293e-03 1.14748936e-02 2.18292998e+02] [ 8.45972758e-03 9.99963973e-01 -6.97175304e-04 -1.28571162e+01] [-1.14685883e-02 7.94178978e-04 9.99933918e-01 -3.04333304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.310371743 meters 0.039876859102781416 Centerline is valid? [True, True] Translation: X:218.33, Y:-12.86, Z:-3.04 [[ 9.99903849e-01 -8.00951778e-03 1.13198808e-02 2.18325473e+02] [ 8.01782347e-03 9.99967620e-01 -6.88534491e-04 -1.28580459e+01] [-1.13139995e-02 7.79229094e-04 9.99935691e-01 -3.04403874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340371743 meters 0.03815859581917029 Centerline is valid? [True, True] Translation: X:218.36, Y:-12.86, Z:-3.04 [[ 9.99910399e-01 -7.24690881e-03 1.12550415e-02 2.18357420e+02] [ 7.25508033e-03 9.99973447e-01 -6.85371902e-04 -1.28574659e+01] [-1.12497758e-02 7.66966722e-04 9.99936425e-01 -3.04428684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.370371743 meters 0.03760854683533482 Centerline is valid? [True, True] Translation: X:218.39, Y:-12.86, Z:-3.05 [[ 9.99932112e-01 -5.43052649e-03 1.03092121e-02 2.18389299e+02] [ 5.43729351e-03 9.99985020e-01 -6.28491031e-04 -1.28582558e+01] [-1.03056446e-02 6.84502577e-04 9.99946661e-01 -3.04567248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400371743 meters 0.037034679387067365 Centerline is valid? [True, True] Translation: X:218.42, Y:-12.86, Z:-3.05 [[ 9.99944087e-01 -4.22783261e-03 9.69272948e-03 2.18421659e+02] [ 4.23376204e-03 9.99990863e-01 -5.91302379e-04 -1.28587961e+01] [-9.69014099e-03 6.32306028e-04 9.99952850e-01 -3.04641960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43037174299997 meters 0.037034679387067365 Centerline is valid? [True, True] Translation: X:218.45, Y:-12.86, Z:-3.05 [[ 9.99944531e-01 -4.12153616e-03 9.69269709e-03 2.18454196e+02] [ 4.12746573e-03 9.99991307e-01 -5.91832887e-04 -1.28608781e+01] [-9.69017357e-03 6.31806334e-04 9.99952850e-01 -3.04687724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46037174299997 meters 0.03565396470980818 Centerline is valid? [True, True] Translation: X:218.49, Y:-12.86, Z:-3.05 [[ 9.99956723e-01 -6.27646412e-04 9.28210519e-03 2.18485259e+02] [ 6.32946844e-04 9.99999638e-01 -5.68111085e-04 -1.28582537e+01] [-9.28174526e-03 5.73961578e-04 9.99956759e-01 -3.04733967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49037174299997 meters 0.033957443717091924 Centerline is valid? [True, True] Translation: X:218.52, Y:-12.86, Z:-3.05 [[ 9.99955389e-01 1.87248440e-03 9.25819391e-03 2.18516645e+02] [-1.86731730e-03 9.99998096e-01 -5.66723527e-04 -1.28561322e+01] [-9.25923747e-03 5.49410259e-04 9.99956981e-01 -3.04759060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52037174299997 meters 0.03168591270166296 Centerline is valid? [True, True] Translation: X:218.55, Y:-12.85, Z:-3.05 [[ 9.99946178e-01 4.53416413e-03 9.33177206e-03 2.18548246e+02] [-4.52902694e-03 9.99989581e-01 -5.71563424e-04 -1.28533645e+01] [-9.33426639e-03 5.29268815e-04 9.99956295e-01 -3.04771389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55037174299997 meters 0.03129127096233212 Centerline is valid? [True, True] Translation: X:218.58, Y:-12.85, Z:-3.05 [[ 9.99895935e-01 1.07316988e-02 9.64100296e-03 2.18578087e+02] [-1.07264968e-02 9.99942295e-01 -5.91113488e-04 -1.28515217e+01] [-9.64679027e-03 4.87637787e-04 9.99953350e-01 -3.04795984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58037174299997 meters 0.028189348584295698 Centerline is valid? [True, True] Translation: X:218.61, Y:-12.85, Z:-3.05 [[ 9.99803639e-01 1.68239509e-02 1.04708299e-02 2.18609481e+02] [-1.68181512e-02 9.99858359e-01 -6.41702561e-04 -1.28454632e+01] [-1.04801428e-02 4.65476555e-04 9.99944973e-01 -3.04811218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61037174299997 meters 0.027626898148999896 Centerline is valid? [True, True] Translation: X:218.64, Y:-12.85, Z:-3.05 [[ 9.99751339e-01 1.94552998e-02 1.08972959e-02 2.18638049e+02] [-1.94491733e-02 9.99810624e-01 -6.67904678e-04 -1.28457928e+01] [-1.09082265e-02 4.55795200e-04 9.99940400e-01 -3.04836789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64037174299997 meters 0.02687428166748518 Centerline is valid? [True, True] Translation: X:218.67, Y:-12.84, Z:-3.05 [[ 9.99708465e-01 2.13076666e-02 1.13564498e-02 2.18668065e+02] [-2.13011336e-02 9.99772863e-01 -6.95931018e-04 -1.28449339e+01] [-1.13686990e-02 4.53822875e-04 9.99935271e-01 -3.04860948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67037174299998 meters 0.026380577442660647 Centerline is valid? [True, True] Translation: X:218.70, Y:-12.85, Z:-3.05 [[ 9.99672219e-01 2.28198732e-02 1.16063952e-02 2.18697600e+02] [-2.28131562e-02 9.99739493e-01 -7.10822577e-04 -1.28451359e+01] [-1.16195926e-02 4.45811076e-04 9.99932391e-01 -3.04902619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70037174299998 meters 0.027122551171853394 Centerline is valid? [True, True] Translation: X:218.73, Y:-12.85, Z:-3.05 [[ 9.99639344e-01 2.43004645e-02 1.14310814e-02 2.18726328e+02] [-2.42940495e-02 9.99704611e-01 -6.99730785e-04 -1.28472386e+01] [-1.14447086e-02 4.21771165e-04 9.99934418e-01 -3.05010736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73037174299998 meters 0.027377534988490302 Centerline is valid? [True, True] Translation: X:218.75, Y:-12.85, Z:-3.05 [[ 9.99657158e-01 2.41970838e-02 1.00033418e-02 2.18753884e+02] [-2.41921692e-02 9.99707139e-01 -6.12027611e-04 -1.28485429e+01] [-1.00152215e-02 3.69815247e-04 9.99949778e-01 -3.05190745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76037174299998 meters 0.026246921117714837 Centerline is valid? [True, True] Translation: X:218.78, Y:-12.85, Z:-3.05 [[ 9.99669001e-01 2.40112111e-02 9.23855337e-03 2.18782324e+02] [-2.40070185e-02 9.99711631e-01 -5.64466199e-04 -1.28477182e+01] [-9.24944278e-03 3.42489239e-04 9.99957164e-01 -3.05236010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79037174299998 meters 0.027776501063775386 Centerline is valid? [True, True] Translation: X:218.81, Y:-12.85, Z:-3.05 [[ 9.99675532e-01 2.40035655e-02 8.52409716e-03 2.18810204e+02] [-2.39999997e-02 9.99711823e-01 -5.20382444e-04 -1.28518948e+01] [-8.53413175e-03 3.15635267e-04 9.99963534e-01 -3.05345587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82037174299998 meters 0.02541717129884818 Centerline is valid? [True, True] Translation: X:218.84, Y:-12.85, Z:-3.05 [[ 9.99663932e-01 2.46752635e-02 7.94692805e-03 2.18838847e+02] [-2.46721911e-02 9.99695478e-01 -4.84439323e-04 -1.28485378e+01] [-7.95646171e-03 2.88208391e-04 9.99968305e-01 -3.05337930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85037174299998 meters 0.028108525462777312 Centerline is valid? [True, True] Translation: X:218.87, Y:-12.86, Z:-3.05 [[ 9.99650322e-01 2.52576314e-02 7.82851421e-03 2.18866039e+02] [-2.52546711e-02 9.99680936e-01 -4.76780522e-04 -1.28550551e+01] [-7.83805876e-03 2.78907251e-04 9.99969243e-01 -3.05465975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88037174299998 meters 0.02789415256948527 Centerline is valid? [True, True] Translation: X:218.89, Y:-12.86, Z:-3.05 [[ 9.99603567e-01 2.68609520e-02 8.43785871e-03 2.18894203e+02] [-2.68575783e-02 9.99639139e-01 -5.12914286e-04 -1.28564747e+01] [-8.44859118e-03 2.86090500e-04 9.99964269e-01 -3.05453256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91037174299998 meters 0.02534541943450536 Centerline is valid? [True, True] Translation: X:218.92, Y:-12.85, Z:-3.05 [[ 9.99567679e-01 2.78896249e-02 9.30719895e-03 2.18923784e+02] [-2.78855697e-02 9.99610962e-01 -5.65222638e-04 -1.28532777e+01] [-9.31934195e-03 3.05441736e-04 9.99956527e-01 -3.05413882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940371743 meters 0.026997685745664995 Centerline is valid? [True, True] Translation: X:218.95, Y:-12.86, Z:-3.05 [[ 9.99528587e-01 2.90965126e-02 9.79781592e-03 2.18951027e+02] [-2.90920876e-02 9.99576559e-01 -5.93873392e-04 -1.28586283e+01] [-9.81094677e-03 3.08554512e-04 9.99951824e-01 -3.05464137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.970371743 meters 0.024073366903447656 Centerline is valid? [True, True] Translation: X:218.98, Y:-12.85, Z:-3.05 [[ 9.99423170e-01 3.21793589e-02 1.08542930e-02 2.18980528e+02] [-3.21741210e-02 9.99482063e-01 -6.56887068e-04 -1.28548131e+01] [-1.08698094e-02 3.07280819e-04 9.99940875e-01 -3.05425046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000371743 meters 0.02318585839054225 Centerline is valid? [True, True] Translation: X:219.01, Y:-12.85, Z:-3.05 [[ 9.99363277e-01 3.39072169e-02 1.11059104e-02 2.19009557e+02] [-3.39018539e-02 9.99424942e-01 -6.70849154e-04 -1.28549570e+01] [-1.11222705e-02 2.93911057e-04 9.99938102e-01 -3.05435441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.030371743 meters 0.02304551964992522 Centerline is valid? [True, True] Translation: X:219.04, Y:-12.86, Z:-3.05 [[ 9.99221370e-01 3.76010493e-02 1.19505288e-02 2.19037214e+02] [-3.75951143e-02 9.99292794e-01 -7.20972327e-04 -1.28570846e+01] [-1.19691866e-02 2.71129461e-04 9.99928330e-01 -3.05432222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060371743 meters 0.022085731343451067 Centerline is valid? [True, True] Translation: X:219.07, Y:-12.86, Z:-3.05 [[ 9.99153606e-01 3.92702250e-02 1.22442465e-02 2.19065989e+02] [-3.92641340e-02 9.99228594e-01 -7.37544195e-04 -1.28567680e+01] [-1.22637647e-02 2.56160206e-04 9.99924764e-01 -3.05443590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.090371743 meters 0.022304687186238653 Centerline is valid? [True, True] Translation: X:219.09, Y:-12.86, Z:-3.06 [[ 9.99076560e-01 4.10397810e-02 1.27186011e-02 2.19093781e+02] [-4.10333638e-02 9.99157484e-01 -7.65203182e-04 -1.28615842e+01] [-1.27392893e-02 2.42609575e-04 9.99918823e-01 -3.05548575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120371743 meters 0.02217824421685935 Centerline is valid? [True, True] Translation: X:219.12, Y:-12.86, Z:-3.06 [[ 9.99090368e-01 4.08435482e-02 1.22573056e-02 2.19121881e+02] [-4.08375884e-02 9.99165527e-01 -7.36216981e-04 -1.28639805e+01] [-1.22771469e-02 2.34988493e-04 9.99924605e-01 -3.05638181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.150371743 meters 0.022277364800419572 Centerline is valid? [True, True] Translation: X:219.15, Y:-12.87, Z:-3.06 [[ 9.99101079e-01 4.05989156e-02 1.21967871e-02 2.19149493e+02] [-4.05930123e-02 9.99175496e-01 -7.31277697e-04 -1.28683625e+01] [-1.22164198e-02 2.35516010e-04 9.99925349e-01 -3.05762307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18037174299997 meters 0.02265658637201495 Centerline is valid? [True, True] Translation: X:219.18, Y:-12.87, Z:-3.06 [[ 9.99145988e-01 3.94146618e-02 1.24007663e-02 2.19178146e+02] [-3.94084822e-02 9.99222908e-01 -7.42384397e-04 -1.28731648e+01] [-1.24203906e-02 2.53055015e-04 9.99922832e-01 -3.05884546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21037174299997 meters 0.02326405906138889 Centerline is valid? [True, True] Translation: X:219.20, Y:-12.88, Z:-3.06 [[ 9.99236096e-01 3.70396733e-02 1.24614469e-02 2.19204904e+02] [-3.70332589e-02 9.99313756e-01 -7.45179083e-04 -1.28817716e+01] [-1.24804965e-02 2.83121848e-04 9.99922075e-01 -3.06098982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24037174299997 meters 0.024294186575751765 Centerline is valid? [True, True] Translation: X:219.23, Y:-12.89, Z:-3.06 [[ 9.99324417e-01 3.48843227e-02 1.15669054e-02 2.19232133e+02] [-3.48786622e-02 9.99391316e-01 -6.90797291e-04 -1.28899926e+01] [-1.15839628e-02 2.86892414e-04 9.99932862e-01 -3.06274508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27037174299997 meters 0.02464349123290464 Centerline is valid? [True, True] Translation: X:219.26, Y:-12.89, Z:-3.06 [[ 9.99355992e-01 3.40008611e-02 1.14692133e-02 2.19261076e+02] [-3.39952492e-02 9.99421760e-01 -6.83959364e-04 -1.28949844e+01] [-1.14858366e-02 2.93620124e-04 9.99933992e-01 -3.06365456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30037174299997 meters 0.02464155306172746 Centerline is valid? [True, True] Translation: X:219.29, Y:-12.90, Z:-3.06 [[ 9.99380871e-01 3.33110200e-02 1.13247550e-02 2.19289171e+02] [-3.33055123e-02 9.99444990e-01 -6.74640959e-04 -1.28993018e+01] [-1.13409427e-02 2.97046501e-04 9.99935645e-01 -3.06438510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33037174299997 meters 0.02562399585726729 Centerline is valid? [True, True] Translation: X:219.32, Y:-12.91, Z:-3.07 [[ 9.99399568e-01 3.24820798e-02 1.20589137e-02 2.19316261e+02] [-3.24757878e-02 9.99472265e-01 -7.17280419e-04 -1.29080903e+01] [-1.20758485e-02 3.25227019e-04 9.99927031e-01 -3.06508670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36037174299997 meters 0.02585570445039047 Centerline is valid? [True, True] Translation: X:219.35, Y:-12.91, Z:-3.07 [[ 9.99408079e-01 3.23014371e-02 1.18367953e-02 2.19345224e+02] [-3.22953741e-02 9.99478121e-01 -7.03059186e-04 -1.29125871e+01] [-1.18533277e-02 3.20369299e-04 9.99929696e-01 -3.06563194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39037174299997 meters 0.02622306854760179 Centerline is valid? [True, True] Translation: X:219.37, Y:-12.92, Z:-3.07 [[ 9.99412611e-01 3.22794256e-02 1.15096730e-02 2.19372279e+02] [-3.22736995e-02 9.99478835e-01 -6.82935461e-04 -1.29201881e+01] [-1.15257193e-02 3.11074583e-04 9.99933528e-01 -3.06679613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42037174299998 meters 0.02597682383582308 Centerline is valid? [True, True] Translation: X:219.40, Y:-12.92, Z:-3.07 [[ 9.99408300e-01 3.24431880e-02 1.14231756e-02 2.19400980e+02] [-3.24375695e-02 9.99473534e-01 -6.76831859e-04 -1.29242659e+01] [-1.14391203e-02 3.05891324e-04 9.99934524e-01 -3.06714321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45037174299998 meters 0.023861368147278995 Centerline is valid? [True, True] Translation: X:219.43, Y:-12.93, Z:-3.07 [[ 9.99354407e-01 3.36783608e-02 1.25114499e-02 2.19430299e+02] [-3.36717289e-02 9.99432672e-01 -7.40397694e-04 -1.29257876e+01] [-1.25292872e-02 3.18637550e-04 9.99921455e-01 -3.06609854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48037174299998 meters 0.02379550256270736 Centerline is valid? [True, True] Translation: X:219.46, Y:-12.93, Z:-3.07 [[ 9.99324349e-01 3.41117401e-02 1.36833398e-02 2.19459270e+02] [-3.41038590e-02 9.99417967e-01 -8.08962840e-04 -1.29285028e+01] [-1.37029708e-02 3.41761573e-04 9.99906051e-01 -3.06614871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51037174299998 meters 0.023591710817356584 Centerline is valid? [True, True] Translation: X:219.49, Y:-12.93, Z:-3.07 [[ 9.99280119e-01 3.49915208e-02 1.46573262e-02 2.19488309e+02] [-3.49825888e-02 9.99387547e-01 -8.65417395e-04 -1.29323339e+01] [-1.46786315e-02 3.52043182e-04 9.99892201e-01 -3.06603295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54037174299998 meters 0.02369544734373332 Centerline is valid? [True, True] Translation: X:219.52, Y:-12.94, Z:-3.07 [[ 9.99208999e-01 3.66507608e-02 1.54304135e-02 2.19515602e+02] [-3.66410776e-02 9.99328076e-01 -9.09874353e-04 -1.29396219e+01] [-1.54533930e-02 3.43767663e-04 9.99880530e-01 -3.06626002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57037174299998 meters 0.02338990823952625 Centerline is valid? [True, True] Translation: X:219.54, Y:-12.94, Z:-3.07 [[ 9.99173334e-01 3.73779448e-02 1.59855557e-02 2.19543908e+02] [-3.73676683e-02 9.99301142e-01 -9.41172107e-04 -1.29436420e+01] [-1.60095631e-02 3.43051129e-04 9.99871780e-01 -3.06683203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60037174299998 meters 0.023361930100512043 Centerline is valid? [True, True] Translation: X:219.57, Y:-12.95, Z:-3.07 [[ 9.99094285e-01 3.93214112e-02 1.62614773e-02 2.19571863e+02] [-3.93110532e-02 9.99226564e-01 -9.56245681e-04 -1.29506696e+01] [-1.62865011e-02 3.16123795e-04 9.99867316e-01 -3.06791988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63037174299998 meters 0.023162521543365 Centerline is valid? [True, True] Translation: X:219.60, Y:-12.95, Z:-3.07 [[ 9.99063284e-01 4.02032381e-02 1.60079421e-02 2.19600844e+02] [-4.01933316e-02 9.99191479e-01 -9.40224095e-04 -1.29547124e+01] [-1.60327994e-02 2.95930846e-04 9.99871423e-01 -3.06889994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66037174299998 meters 0.02313660084418749 Centerline is valid? [True, True] Translation: X:219.63, Y:-12.96, Z:-3.07 [[ 9.99006214e-01 4.18652725e-02 1.52932359e-02 2.19629194e+02] [-4.18564415e-02 9.99123232e-01 -8.97208652e-04 -1.29628831e+01] [-1.53173892e-02 2.56196586e-04 9.99882649e-01 -3.07048282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.690371743 meters 0.022774773752511464 Centerline is valid? [True, True] Translation: X:219.66, Y:-12.97, Z:-3.07 [[ 9.98981503e-01 4.25353866e-02 1.50564507e-02 2.19657328e+02] [-4.25269188e-02 9.99094932e-01 -8.82270370e-04 -1.29677894e+01] [-1.50803512e-02 2.41067327e-04 9.99886256e-01 -3.07101584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720371743 meters 0.02279277999668709 Centerline is valid? [True, True] Translation: X:219.69, Y:-12.97, Z:-3.07 [[ 9.98961275e-01 4.30294971e-02 1.49944694e-02 2.19685834e+02] [-4.30211705e-02 9.99073775e-01 -8.77580330e-04 -1.29729009e+01] [-1.50183430e-02 2.31589143e-04 9.99887192e-01 -3.07183978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.750371743 meters 0.022504485102244915 Centerline is valid? [True, True] Translation: X:219.71, Y:-12.98, Z:-3.07 [[ 9.98908554e-01 4.42348732e-02 1.49992130e-02 2.19714664e+02] [-4.42266929e-02 9.99021136e-01 -8.76811271e-04 -1.29816033e+01] [-1.50233164e-02 2.12488694e-04 9.99887121e-01 -3.07302997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780371743 meters 0.022907583329344807 Centerline is valid? [True, True] Translation: X:219.74, Y:-12.99, Z:-3.07 [[ 9.98841234e-01 4.59023301e-02 1.44625304e-02 2.19742369e+02] [-4.58949103e-02 9.98945916e-01 -8.44684107e-04 -1.29920405e+01] [-1.44860586e-02 1.79948782e-04 9.99895055e-01 -3.07406204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.810371743 meters 0.02273440923044703 Centerline is valid? [True, True] Translation: X:219.77, Y:-13.00, Z:-3.07 [[ 9.98803504e-01 4.67893648e-02 1.42237570e-02 2.19770835e+02] [-4.67822921e-02 9.98904765e-01 -8.29749376e-04 -1.29961461e+01] [-1.42470021e-02 1.63336629e-04 9.99898493e-01 -3.07489411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840371743 meters 0.022519797940201147 Centerline is valid? [True, True] Translation: X:219.80, Y:-13.00, Z:-3.08 [[ 9.98755291e-01 4.78886794e-02 1.39478770e-02 2.19799082e+02] [-4.78819990e-02 9.98852669e-01 -8.12701504e-04 -1.30003696e+01] [-1.39707933e-02 1.43837696e-04 9.99902393e-01 -3.07564393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.870371743 meters 0.02214816052712758 Centerline is valid? [True, True] Translation: X:219.83, Y:-13.01, Z:-3.08 [[ 9.98669607e-01 4.95699153e-02 1.42069964e-02 2.19826072e+02] [-4.95631695e-02 9.98770649e-01 -8.26736314e-04 -1.30100072e+01] [-1.42305123e-02 1.21492657e-04 9.99898734e-01 -3.07574553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900371743 meters 0.02269945987725245 Centerline is valid? [True, True] Translation: X:219.85, Y:-13.02, Z:-3.08 [[ 9.98647997e-01 4.99331393e-02 1.44519854e-02 2.19853460e+02] [-4.99262162e-02 9.98752556e-01 -8.39658783e-04 -1.30161478e+01] [-1.44758841e-02 1.16990616e-04 9.99895212e-01 -3.07621242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93037174299997 meters 0.02258682093753537 Centerline is valid? [True, True] Translation: X:219.88, Y:-13.03, Z:-3.08 [[ 9.98600712e-01 5.08200337e-02 1.46267622e-02 2.19881671e+02] [-5.08130564e-02 9.98707822e-01 -8.48505509e-04 -1.30267323e+01] [-1.46509829e-02 1.04087713e-04 9.99892663e-01 -3.07574554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96037174299997 meters 0.02255609968950465 Centerline is valid? [True, True] Translation: X:219.91, Y:-13.03, Z:-3.08 [[ 9.98586858e-01 5.09365461e-02 1.51576865e-02 2.19910414e+02] [-5.09290831e-02 9.98701886e-01 -8.78210489e-04 -1.30328861e+01] [-1.51827431e-02 1.05002376e-04 9.99884730e-01 -3.07614312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99037174299997 meters 0.022642578855678008 Centerline is valid? [True, True] Translation: X:219.94, Y:-13.04, Z:-3.08 [[ 9.98578535e-01 5.10381572e-02 1.53628310e-02 2.19937676e+02] [-5.10305201e-02 9.98696699e-01 -8.88971975e-04 -1.30443498e+01] [-1.53881801e-02 1.03735078e-04 9.99881590e-01 -3.07571855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02037174299997 meters 0.022775808968253663 Centerline is valid? [True, True] Translation: X:219.97, Y:-13.05, Z:-3.08 [[ 9.98594840e-01 5.06107151e-02 1.57131004e-02 2.19966102e+02] [-5.06026945e-02 9.98718450e-01 -9.07863288e-04 -1.30509063e+01] [-1.57389108e-02 1.11462378e-04 9.99876129e-01 -3.07593106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05037174299997 meters 0.02283217472400489 Centerline is valid? [True, True] Translation: X:219.99, Y:-13.06, Z:-3.08 [[ 9.98669713e-01 4.90843773e-02 1.57964919e-02 2.19993285e+02] [-4.90760986e-02 9.98794626e-01 -9.11533420e-04 -1.30633138e+01] [-1.58221933e-02 1.35090623e-04 9.99874812e-01 -3.07636972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08037174299997 meters 0.02237590644396821 Centerline is valid? [True, True] Translation: X:220.02, Y:-13.07, Z:-3.08 [[ 9.98733191e-01 4.77484863e-02 1.58775105e-02 2.20022193e+02] [-4.77399754e-02 9.98859378e-01 -9.14842897e-04 -1.30696779e+01] [-1.59030826e-02 1.55692006e-04 9.99873526e-01 -3.07706315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11037174299997 meters 0.02245354318861059 Centerline is valid? [True, True] Translation: X:220.05, Y:-13.08, Z:-3.08 [[ 9.98874076e-01 4.51401246e-02 1.45928198e-02 2.20051450e+02] [-4.51326710e-02 9.98980649e-01 -8.39861836e-04 -1.30824573e+01] [-1.46158560e-02 1.80303281e-04 9.99893166e-01 -3.07872667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14037174299997 meters 0.022844931631157406 Centerline is valid? [True, True] Translation: X:220.08, Y:-13.09, Z:-3.08 [[ 9.98951429e-01 4.35535737e-02 1.41112819e-02 2.20080054e+02] [-4.35464526e-02 9.99051074e-01 -8.11651691e-04 -1.30907024e+01] [-1.41332416e-02 1.96304349e-04 9.99900101e-01 -3.07967263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17037174299998 meters 0.022527222632947475 Centerline is valid? [True, True] Translation: X:220.11, Y:-13.10, Z:-3.08 [[ 9.99116182e-01 3.98245202e-02 1.34484921e-02 2.20109780e+02] [-3.98177223e-02 9.99206661e-01 -7.72962440e-04 -1.31033885e+01] [-1.34686057e-02 2.36790958e-04 9.99909266e-01 -3.07989581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20037174299998 meters 0.023414244117977365 Centerline is valid? [True, True] Translation: X:220.14, Y:-13.11, Z:-3.08 [[ 9.99204034e-01 3.76858693e-02 1.30795134e-02 2.20139123e+02] [-3.76792559e-02 9.99289602e-01 -7.51771784e-04 -1.31113701e+01] [-1.30985529e-02 2.58347067e-04 9.99914177e-01 -3.08036758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23037174299998 meters 0.023409926364391948 Centerline is valid? [True, True] Translation: X:220.17, Y:-13.12, Z:-3.08 [[ 9.99368810e-01 3.30517005e-02 1.30217953e-02 2.20169295e+02] [-3.30447556e-02 9.99453593e-01 -7.48189180e-04 -1.31230085e+01] [-1.30394090e-02 3.17414887e-04 9.99914933e-01 -3.07959264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26037174299998 meters 0.023873628113457945 Centerline is valid? [True, True] Translation: X:220.20, Y:-13.13, Z:-3.08 [[ 9.99427477e-01 3.11890463e-02 1.31133998e-02 2.20200388e+02] [-3.11818402e-02 9.99513444e-01 -7.53671175e-04 -1.31298385e+01] [-1.31305257e-02 3.44339743e-04 9.99913732e-01 -3.07914565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29037174299998 meters 0.024462824837343453 Centerline is valid? [True, True] Translation: X:220.23, Y:-13.14, Z:-3.08 [[ 9.99511711e-01 2.80409689e-02 1.37856534e-02 2.20230952e+02] [-2.80326994e-02 9.99606692e-01 -7.92774807e-04 -1.31413854e+01] [-1.38024616e-02 4.05938626e-04 9.99904659e-01 -3.07842758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32037174299998 meters 0.024462824837343453 Centerline is valid? [True, True] Translation: X:220.26, Y:-13.14, Z:-3.08 [[ 9.99504826e-01 2.82854033e-02 1.37854727e-02 2.20262618e+02] [-2.82771139e-02 9.99599806e-01 -7.95905396e-04 -1.31432620e+01] [-1.38024683e-02 4.05697905e-04 9.99904659e-01 -3.07887274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35037174299998 meters 0.024954177116641694 Centerline is valid? [True, True] Translation: X:220.29, Y:-13.15, Z:-3.08 [[ 9.99548111e-01 2.67676976e-02 1.36771261e-02 2.20294470e+02] [-2.67593504e-02 9.99641590e-01 -7.92978926e-04 -1.31491844e+01] [-1.36934503e-02 4.26629578e-04 9.99906149e-01 -3.07903681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38037174299998 meters 0.025283372013022675 Centerline is valid? [True, True] Translation: X:220.33, Y:-13.15, Z:-3.08 [[ 9.99578136e-01 2.56459381e-02 1.36321581e-02 2.20325858e+02] [-2.56374959e-02 9.99670990e-01 -7.93705065e-04 -1.31549462e+01] [-1.36480283e-02 4.43875832e-04 9.99906763e-01 -3.07924201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41037174299998 meters 0.026279842186177307 Centerline is valid? [True, True] Translation: X:220.36, Y:-13.16, Z:-3.08 [[ 9.99662249e-01 2.24895937e-02 1.30232879e-02 2.20356106e+02] [-2.24815822e-02 9.99746967e-01 -7.61252574e-04 -1.31632730e+01] [-1.30371128e-02 4.68211342e-04 9.99914904e-01 -3.07905111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440371743 meters 0.027274113332595065 Centerline is valid? [True, True] Translation: X:220.39, Y:-13.17, Z:-3.08 [[ 9.99691634e-01 2.12987511e-02 1.27671695e-02 2.20386947e+02] [-2.12909524e-02 9.99773043e-01 -7.46469209e-04 -1.31685977e+01] [-1.27801708e-02 4.74413825e-04 9.99918218e-01 -3.07878845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.470371743 meters 0.02851567508194602 Centerline is valid? [True, True] Translation: X:220.42, Y:-13.18, Z:-3.08 [[ 9.99738407e-01 1.87752216e-02 1.30617224e-02 2.20417836e+02] [-1.87668046e-02 9.99823594e-01 -7.66682947e-04 -1.31757842e+01] [-1.30738129e-02 5.21355596e-04 9.99914398e-01 -3.07773578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500371743 meters 0.026730961956003864 Centerline is valid? [True, True] Translation: X:220.45, Y:-13.18, Z:-3.08 [[ 9.99753155e-01 1.76135859e-02 1.35421644e-02 2.20449665e+02] [-1.76043894e-02 9.99844712e-01 -7.98022046e-04 -1.31754129e+01] [-1.35541175e-02 5.59423525e-04 9.99907982e-01 -3.07766125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.530371743 meters 0.02818479225067932 Centerline is valid? [True, True] Translation: X:220.48, Y:-13.18, Z:-3.08 [[ 9.99803682e-01 1.42180797e-02 1.38001695e-02 2.20479874e+02] [-1.42081804e-02 9.99898726e-01 -8.15110249e-04 -1.31811387e+01] [-1.38103612e-02 6.18874930e-04 9.99904441e-01 -3.07694221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560371743 meters 0.029019158073565074 Centerline is valid? [True, True] Translation: X:220.51, Y:-13.18, Z:-3.08 [[ 9.99828260e-01 1.22865469e-02 1.38741069e-02 2.20512017e+02] [-1.22763524e-02 9.99924307e-01 -8.19715945e-04 -1.31848987e+01] [-1.38831282e-02 6.49251741e-04 9.99903414e-01 -3.07670699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.590371743 meters 0.03116042538469331 Centerline is valid? [True, True] Translation: X:220.54, Y:-13.19, Z:-3.08 [[ 9.99856966e-01 8.87082617e-03 1.43998560e-02 2.20541572e+02] [-8.85947616e-03 9.99960391e-01 -8.51803920e-04 -1.31904565e+01] [-1.44068418e-02 7.24106902e-04 9.99895954e-01 -3.07663147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620371743 meters 0.03192194732234235 Centerline is valid? [True, True] Translation: X:220.57, Y:-13.19, Z:-3.08 [[ 9.99861512e-01 7.85251264e-03 1.46729087e-02 2.20573264e+02] [-7.84061638e-03 9.99968885e-01 -8.68113635e-04 -1.31941787e+01] [-1.46792690e-02 7.52948764e-04 9.99891970e-01 -3.07689168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.650371743 meters 0.03326034038238625 Centerline is valid? [True, True] Translation: X:220.60, Y:-13.20, Z:-3.08 [[ 9.99872899e-01 6.48521039e-03 1.45646188e-02 2.20604741e+02] [-6.47329376e-03 9.99978674e-01 -8.65185217e-04 -1.31979865e+01] [-1.45699191e-02 7.70794195e-04 9.99893556e-01 -3.07819999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68037174299997 meters 0.03338862138217327 Centerline is valid? [True, True] Translation: X:220.64, Y:-13.20, Z:-3.08 [[ 9.99897426e-01 5.35943717e-03 1.32820814e-02 2.20636634e+02] [-5.34939235e-03 9.99985379e-01 -7.91680695e-04 -1.31997664e+01] [-1.32861302e-02 7.20548424e-04 9.99911476e-01 -3.07939818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71037174299997 meters 0.03464771305696538 Centerline is valid? [True, True] Translation: X:220.67, Y:-13.20, Z:-3.08 [[ 9.99913006e-01 4.58370512e-03 1.23681348e-02 2.20668077e+02] [-4.57490065e-03 9.99989261e-01 -7.40066265e-04 -1.32025547e+01] [-1.23713942e-02 6.83418896e-04 9.99923238e-01 -3.08132679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74037174299997 meters 0.03608813152192902 Centerline is valid? [True, True] Translation: X:220.70, Y:-13.20, Z:-3.08 [[ 9.99937504e-01 1.91514980e-03 1.10145862e-02 2.20699035e+02] [-1.90798960e-03 9.99997962e-01 -6.60537149e-04 -1.32040356e+01] [-1.10158287e-02 6.39480152e-04 9.99939119e-01 -3.08304084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77037174299997 meters 0.03743059650754456 Centerline is valid? [True, True] Translation: X:220.73, Y:-13.21, Z:-3.08 [[ 9.99945376e-01 3.86976416e-04 1.04448622e-02 2.20730649e+02] [-3.80457149e-04 9.99999732e-01 -6.26139948e-04 -1.32067638e+01] [-1.04451017e-02 6.22131923e-04 9.99945255e-01 -3.08391468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80037174299997 meters 0.04027051538180313 Centerline is valid? [True, True] Translation: X:220.76, Y:-13.21, Z:-3.08 [[ 9.99935199e-01 -3.39149572e-03 1.08671486e-02 2.20759735e+02] [ 3.39881042e-03 9.99994010e-01 -6.54704359e-04 -1.32109331e+01] [-1.08648631e-02 6.91597312e-04 9.99940736e-01 -3.08471712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83037174299997 meters 0.04238355507696215 Centerline is valid? [True, True] Translation: X:220.79, Y:-13.21, Z:-3.08 [[ 9.99927162e-01 -5.53366582e-03 1.07261211e-02 2.20789860e+02] [ 5.54091206e-03 9.99984440e-01 -6.45969850e-04 -1.32148514e+01] [-1.07223796e-02 7.05355292e-04 9.99942265e-01 -3.08470921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86037174299997 meters 0.045557093806032865 Centerline is valid? [True, True] Translation: X:220.82, Y:-13.22, Z:-3.08 [[ 9.99887013e-01 -9.69766710e-03 1.14854713e-02 2.20819171e+02] [ 9.70625173e-03 9.99952654e-01 -6.91926610e-04 -1.32173881e+01] [-1.14782175e-02 8.03329307e-04 9.99933800e-01 -3.08440281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89037174299997 meters 0.047165383761870794 Centerline is valid? [True, True] Translation: X:220.85, Y:-13.22, Z:-3.08 [[ 9.99868548e-01 -1.16806271e-02 1.12449879e-02 2.20850051e+02] [ 1.16889818e-02 9.99931452e-01 -6.77526475e-04 -1.32191137e+01] [-1.12363031e-02 8.08879871e-04 9.99936544e-01 -3.08439260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92037174299998 meters 0.05059230099323477 Centerline is valid? [True, True] Translation: X:220.88, Y:-13.22, Z:-3.09 [[ 9.99824737e-01 -1.49208309e-02 1.13076690e-02 2.20879322e+02] [ 1.49294871e-02 9.99888317e-01 -6.81482370e-04 -1.32208250e+01] [-1.12962379e-02 8.50180630e-04 9.99935834e-01 -3.08555819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95037174299998 meters 0.05235777376507411 Centerline is valid? [True, True] Translation: X:220.91, Y:-13.22, Z:-3.09 [[ 9.99810406e-01 -1.60875845e-02 1.09700591e-02 2.20910856e+02] [ 1.60958025e-02 9.99870236e-01 -6.61251432e-04 -1.32222434e+01] [-1.09579977e-02 8.37697967e-04 9.99939608e-01 -3.08673854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98037174299998 meters 0.05488521091851528 Centerline is valid? [True, True] Translation: X:220.94, Y:-13.22, Z:-3.09 [[ 9.99778593e-01 -1.79562922e-02 1.09698118e-02 2.20941511e+02] [ 1.79646286e-02 9.99838404e-01 -6.61869526e-04 -1.32206541e+01] [-1.09561544e-02 8.58791578e-04 9.99939611e-01 -3.08679449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01037174299998 meters 0.05591939374197775 Centerline is valid? [True, True] Translation: X:220.97, Y:-13.22, Z:-3.09 [[ 9.99766404e-01 -1.81031930e-02 1.18072823e-02 2.20973415e+02] [ 1.81128623e-02 9.99835695e-01 -7.12500010e-04 -1.32204067e+01] [-1.17924438e-02 9.26197253e-04 9.99930038e-01 -3.08680046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04037174299998 meters 0.0433673170936887 Centerline is valid? [True, True] Translation: X:221.01, Y:-13.20, Z:-3.09 [[ 9.99739793e-01 -1.89461915e-02 1.27038385e-02 2.21007229e+02] [ 1.89574638e-02 9.99819997e-01 -7.67468411e-04 -1.31974156e+01] [-1.26870112e-02 1.00810127e-03 9.99919008e-01 -3.08627245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07037174299998 meters 0.05986296291280344 Centerline is valid? [True, True] Translation: X:221.04, Y:-13.22, Z:-3.09 [[ 9.99725802e-01 -1.96500177e-02 1.27356873e-02 2.21037301e+02] [ 1.96614152e-02 9.99806399e-01 -7.70332097e-04 -1.32165500e+01] [-1.27180846e-02 1.02052251e-03 9.99918601e-01 -3.08691718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10037174299998 meters 0.06132626888474899 Centerline is valid? [True, True] Translation: X:221.07, Y:-13.22, Z:-3.09 [[ 9.99705676e-01 -2.02614047e-02 1.33430325e-02 2.21068527e+02] [ 2.02739795e-02 9.99794135e-01 -8.07821067e-04 -1.32158681e+01] [-1.33239181e-02 1.07809967e-03 9.99910651e-01 -3.08693036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13037174299998 meters 0.06325297105991531 Centerline is valid? [True, True] Translation: X:221.10, Y:-13.21, Z:-3.09 [[ 9.99676213e-01 -2.16054818e-02 1.34414382e-02 2.21099647e+02] [ 2.16183722e-02 9.99765964e-01 -8.14429503e-04 -1.32111223e+01] [-1.34206963e-02 1.10474781e-03 9.99909328e-01 -3.08760130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16037174299998 meters 0.05115716737348551 Centerline is valid? [True, True] Translation: X:221.13, Y:-13.19, Z:-3.09 [[ 9.99679365e-01 -2.20401705e-02 1.24658594e-02 2.21133266e+02] [ 2.20512922e-02 9.99756555e-01 -7.55412621e-04 -1.31925464e+01] [-1.24461753e-02 1.03005872e-03 9.99922013e-01 -3.08843310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.190371743 meters 0.06624520710694223 Centerline is valid? [True, True] Translation: X:221.16, Y:-13.21, Z:-3.09 [[ 9.99672793e-01 -2.30586021e-02 1.10728304e-02 2.21163853e+02] [ 2.30674467e-02 9.99733685e-01 -6.71699599e-04 -1.32060381e+01] [-1.10543931e-02 9.26901738e-04 9.99938469e-01 -3.09153471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220371743 meters 0.0468363342472057 Centerline is valid? [True, True] Translation: X:221.20, Y:-13.18, Z:-3.09 [[ 9.99661639e-01 -2.40039732e-02 1.00208616e-02 2.21197753e+02] [ 2.40112677e-02 9.99711503e-01 -6.08246425e-04 -1.31777575e+01] [-1.00033703e-02 8.48654210e-04 9.99949605e-01 -3.09176488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.250371743 meters 0.043198780610536856 Centerline is valid? [True, True] Translation: X:221.23, Y:-13.17, Z:-3.09 [[ 9.99642980e-01 -2.50718295e-02 9.23663661e-03 2.21230575e+02] [ 2.50780775e-02 9.99685338e-01 -5.61215453e-04 -1.31702173e+01] [-9.21965949e-03 7.92652176e-04 9.99957184e-01 -3.09277585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280371743 meters 0.04667002993328306 Centerline is valid? [True, True] Translation: X:221.26, Y:-13.17, Z:-3.09 [[ 9.99587712e-01 -2.75922934e-02 7.94171782e-03 2.21260621e+02] [ 2.75969983e-02 9.99619013e-01 -4.83435599e-04 -1.31685847e+01] [-7.92535304e-03 7.02403858e-04 9.99968347e-01 -3.09413850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.310371743 meters 0.07486085861326518 Centerline is valid? [True, True] Translation: X:221.29, Y:-13.20, Z:-3.10 [[ 9.99538264e-01 -2.95108519e-02 7.23663034e-03 2.21288646e+02] [ 2.95148083e-02 9.99564246e-01 -4.40512093e-04 -1.31993701e+01] [-7.22047707e-03 6.53896450e-04 9.99973718e-01 -3.09691362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340371743 meters 0.04992492730542414 Centerline is valid? [True, True] Translation: X:221.32, Y:-13.16, Z:-3.09 [[ 9.99513650e-01 -3.03034496e-02 7.35969672e-03 2.21322671e+02] [ 3.03075604e-02 9.99540520e-01 -4.47644563e-04 -1.31635713e+01] [-7.34274991e-03 6.70481304e-04 9.99972817e-01 -3.09422666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.370371743 meters 0.04937909833754072 Centerline is valid? [True, True] Translation: X:221.36, Y:-13.16, Z:-3.09 [[ 9.99520324e-01 -2.99958495e-02 7.70527471e-03 2.21355043e+02] [ 3.00003490e-02 9.99549778e-01 -4.69000694e-04 -1.31552915e+01] [-7.68773755e-03 6.99936656e-04 9.99970204e-01 -3.09375763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400371743 meters 0.045314519854813474 Centerline is valid? [True, True] Translation: X:221.39, Y:-13.15, Z:-3.09 [[ 9.99538047e-01 -2.91987534e-02 8.43361524e-03 2.21387763e+02] [ 2.92041214e-02 9.99573337e-01 -5.14022660e-04 -1.31471261e+01] [-8.41500811e-03 7.60081529e-04 9.99964304e-01 -3.09290989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43037174299997 meters 0.07668557371564816 Centerline is valid? [True, True] Translation: X:221.42, Y:-13.18, Z:-3.09 [[ 9.99606345e-01 -2.65228474e-02 9.14838750e-03 2.21415102e+02] [ 2.65290638e-02 9.99647886e-01 -5.58807978e-04 -1.31809736e+01] [-9.13034505e-03 8.01286157e-04 9.99957996e-01 -3.09445874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46037174299997 meters 0.044847811933697024 Centerline is valid? [True, True] Translation: X:221.45, Y:-13.14, Z:-3.09 [[ 9.99661041e-01 -2.40998209e-02 9.84891700e-03 2.21449254e+02] [ 2.41069056e-02 9.99709206e-01 -6.01238587e-04 -1.31354605e+01] [-9.83156325e-03 8.38461705e-04 9.99951317e-01 -3.09174757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49037174299997 meters 0.04486035037252526 Centerline is valid? [True, True] Translation: X:221.48, Y:-13.13, Z:-3.09 [[ 9.99722383e-01 -2.14538943e-02 9.74099686e-03 2.21479145e+02] [ 2.14607023e-02 9.99769516e-01 -5.94902741e-04 -1.31321302e+01] [-9.72598874e-03 8.03786220e-04 9.99952378e-01 -3.09173921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52037174299997 meters 0.04290063425379355 Centerline is valid? [True, True] Translation: X:221.51, Y:-13.12, Z:-3.09 [[ 9.99843033e-01 -1.51111578e-02 9.24995627e-03 2.21509808e+02] [ 1.51170273e-02 9.99885572e-01 -5.64951096e-04 -1.31209941e+01] [-9.24036075e-03 7.04694260e-04 9.99957059e-01 -3.09098020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55037174299997 meters 0.04200533123194701 Centerline is valid? [True, True] Translation: X:221.54, Y:-13.12, Z:-3.09 [[ 9.99876732e-01 -1.23806001e-02 9.65613350e-03 2.21540651e+02] [ 1.23868687e-02 9.99923106e-01 -5.89644586e-04 -1.31166881e+01] [-9.64809084e-03 7.09181159e-04 9.99953205e-01 -3.09114864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58037174299997 meters 0.04024432511405678 Centerline is valid? [True, True] Translation: X:221.57, Y:-13.11, Z:-3.09 [[ 9.99920599e-01 -7.99849021e-03 9.73759386e-03 2.21571865e+02] [ 8.00465828e-03 9.99967785e-01 -5.94618882e-04 -1.31070325e+01] [-9.73252411e-03 6.72517780e-04 9.99952412e-01 -3.09060733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61037174299997 meters 0.03877814178420886 Centerline is valid? [True, True] Translation: X:221.60, Y:-13.10, Z:-3.09 [[ 9.99942984e-01 -5.86193678e-03 8.92564422e-03 2.21603866e+02] [ 5.86703273e-03 9.99982640e-01 -5.44856847e-04 -1.30973218e+01] [-8.92229536e-03 5.97192828e-04 9.99960017e-01 -3.09118670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64037174299997 meters 0.03877814178420886 Centerline is valid? [True, True] Translation: X:221.64, Y:-13.10, Z:-3.09 [[ 9.99943601e-01 -5.75574796e-03 8.92564696e-03 2.21636402e+02] [ 5.76083931e-03 9.99983258e-01 -5.44812485e-04 -1.30994048e+01] [-8.92236172e-03 5.96200976e-04 9.99960017e-01 -3.09164448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67037174299998 meters 0.037072257992284516 Centerline is valid? [True, True] Translation: X:221.67, Y:-13.09, Z:-3.09 [[ 9.99962019e-01 -4.44215700e-03 7.49845486e-03 2.21669448e+02] [ 4.44571943e-03 9.99990013e-01 -4.58486431e-04 -1.30907529e+01] [-7.49634330e-03 4.91805044e-04 9.99971781e-01 -3.09285063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70037174299998 meters 0.037095430555560846 Centerline is valid? [True, True] Translation: X:221.70, Y:-13.09, Z:-3.09 [[ 9.99964896e-01 -4.31748161e-03 7.18091769e-03 2.21702039e+02] [ 4.32074890e-03 9.99990569e-01 -4.39544848e-04 -1.30893266e+01] [-7.17895224e-03 4.70556361e-04 9.99974120e-01 -3.09325521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73037174299998 meters 0.038367504011072494 Centerline is valid? [True, True] Translation: X:221.73, Y:-13.09, Z:-3.09 [[ 9.99965146e-01 -4.61709499e-03 6.95619931e-03 2.21733158e+02] [ 4.62017233e-03 9.99989236e-01 -4.26383498e-04 -1.30859078e+01] [-6.95415579e-03 4.58507477e-04 9.99975714e-01 -3.09470526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76037174299998 meters 0.03816662003751485 Centerline is valid? [True, True] Translation: X:221.77, Y:-13.08, Z:-3.09 [[ 9.99960189e-01 -5.77351901e-03 6.80343120e-03 2.21765594e+02] [ 5.77649078e-03 9.99983229e-01 -4.17235758e-04 -1.30807283e+01] [-6.80090818e-03 4.56519105e-04 9.99976769e-01 -3.09488518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79037174299998 meters 0.039039633638878475 Centerline is valid? [True, True] Translation: X:221.80, Y:-13.08, Z:-3.10 [[ 9.99956329e-01 -6.58058747e-03 6.63593228e-03 2.21797332e+02] [ 6.58343314e-03 9.99978246e-01 -4.07074234e-04 -1.30804355e+01] [-6.63310914e-03 4.50743673e-04 9.99977899e-01 -3.09524179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82037174299998 meters 0.039492680717713065 Centerline is valid? [True, True] Translation: X:221.83, Y:-13.08, Z:-3.10 [[ 9.99951553e-01 -7.31557685e-03 6.58589303e-03 2.21829586e+02] [ 7.31840285e-03 9.99973138e-01 -4.05102224e-04 -1.30801105e+01] [-6.58275256e-03 4.53280817e-04 9.99978231e-01 -3.09530567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85037174299998 meters 0.03714533065842272 Centerline is valid? [True, True] Translation: X:221.86, Y:-13.08, Z:-3.10 [[ 9.99941009e-01 -8.75117360e-03 6.43389901e-03 2.21862187e+02] [ 8.75390288e-03 9.99961605e-01 -3.96164869e-04 -1.30751249e+01] [-6.43018508e-03 4.52463226e-04 9.99979224e-01 -3.09502753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88037174299998 meters 0.04219658436495904 Centerline is valid? [True, True] Translation: X:221.89, Y:-13.08, Z:-3.10 [[ 9.99916649e-01 -1.14110695e-02 6.04002429e-03 2.21892401e+02] [ 1.14135280e-02 9.99934794e-01 -3.72727437e-04 -1.30789833e+01] [-6.03537722e-03 4.41634356e-04 9.99981689e-01 -3.09641184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91037174299998 meters 0.04192084786788165 Centerline is valid? [True, True] Translation: X:221.92, Y:-13.08, Z:-3.10 [[ 9.99897848e-01 -1.29001840e-02 6.15459143e-03 2.21924571e+02] [ 1.29027630e-02 9.99916684e-01 -3.79504620e-04 -1.30785208e+01] [-6.14918297e-03 4.58877087e-04 9.99980988e-01 -3.09651817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940371743 meters 0.042612750243356 Centerline is valid? [True, True] Translation: X:221.95, Y:-13.08, Z:-3.10 [[ 9.99849883e-01 -1.62439453e-02 6.02879122e-03 2.21954887e+02] [ 1.62464860e-02 9.99867948e-01 -3.72678777e-04 -1.30761037e+01] [-6.02194133e-03 4.70569503e-04 9.99981757e-01 -3.09687481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.970371743 meters 0.043353852214109596 Centerline is valid? [True, True] Translation: X:221.99, Y:-13.08, Z:-3.10 [[ 9.99817857e-01 -1.83655580e-02 5.19219186e-03 2.21985592e+02] [ 1.83674702e-02 9.99831252e-01 -3.20850938e-04 -1.30765637e+01] [-5.18542309e-03 4.16159927e-04 9.99986469e-01 -3.09775748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000371743 meters 0.05068536516377692 Centerline is valid? [True, True] Translation: X:222.01, Y:-13.08, Z:-3.10 [[ 9.99752864e-01 -2.18261459e-02 4.22261792e-03 2.22014601e+02] [ 2.18274417e-02 9.99761719e-01 -2.61028963e-04 -1.30835643e+01] [-4.21591449e-03 3.53133400e-04 9.99991051e-01 -3.10013209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.030371743 meters 0.04702128102226721 Centerline is valid? [True, True] Translation: X:222.05, Y:-13.08, Z:-3.10 [[ 9.99718124e-01 -2.34239770e-02 3.87164720e-03 2.22045684e+02] [ 2.34250781e-02 9.99725567e-01 -2.39298756e-04 -1.30783806e+01] [-3.86497936e-03 3.29924941e-04 9.99992477e-01 -3.10011723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060371743 meters 0.04572295410069431 Centerline is valid? [True, True] Translation: X:222.08, Y:-13.08, Z:-3.10 [[ 9.99702910e-01 -2.40690050e-02 3.84387694e-03 2.22077769e+02] [ 2.40700933e-02 9.99710245e-01 -2.37100445e-04 -1.30761182e+01] [-3.83705639e-03 3.29552482e-04 9.99992584e-01 -3.10076462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.090371743 meters 0.04706547519993491 Centerline is valid? [True, True] Translation: X:222.11, Y:-13.07, Z:-3.10 [[ 9.99694089e-01 -2.45063763e-02 3.34161473e-03 2.22109515e+02] [ 2.45072022e-02 9.99699632e-01 -2.06421590e-04 -1.30743677e+01] [-3.33555237e-03 2.88252071e-04 9.99994395e-01 -3.10076910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120371743 meters 0.050040755625886474 Centerline is valid? [True, True] Translation: X:222.14, Y:-13.08, Z:-3.10 [[ 9.99701800e-01 -2.41121159e-02 3.86226303e-03 2.22140904e+02] [ 2.41132175e-02 9.99709206e-01 -2.38909571e-04 -1.30773807e+01] [-3.85537929e-03 3.31969916e-04 9.99992513e-01 -3.10082098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.150371743 meters 0.044868955176528245 Centerline is valid? [True, True] Translation: X:222.17, Y:-13.07, Z:-3.10 [[ 9.99734765e-01 -2.25543611e-02 4.65833184e-03 2.22173460e+02] [ 2.25559486e-02 9.99745541e-01 -2.88542392e-04 -1.30656530e+01] [-4.65063859e-03 3.93538955e-04 9.99989108e-01 -3.09822559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18037174299997 meters 0.04446503850920269 Centerline is valid? [True, True] Translation: X:222.21, Y:-13.06, Z:-3.10 [[ 9.99753355e-01 -2.15822443e-02 5.23800076e-03 2.22205187e+02] [ 2.15842411e-02 9.99766980e-01 -3.24978739e-04 -1.30642322e+01] [-5.22976643e-03 4.37956855e-04 9.99986229e-01 -3.09777641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21037174299997 meters 0.0470011866669426 Centerline is valid? [True, True] Translation: X:222.24, Y:-13.06, Z:-3.10 [[ 9.99796268e-01 -1.95007661e-02 5.20982999e-03 2.22235147e+02] [ 1.95027160e-02 9.99809752e-01 -3.23731093e-04 -1.30642295e+01] [-5.20252582e-03 4.25270973e-04 9.99986376e-01 -3.09811316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24037174299997 meters 0.0470011866669426 Centerline is valid? [True, True] Translation: X:222.27, Y:-13.07, Z:-3.10 [[ 9.99798291e-01 -1.93967550e-02 5.20988697e-03 2.22267724e+02] [ 1.93986988e-02 9.99811775e-01 -3.22814777e-04 -1.30663528e+01] [-5.20264479e-03 4.23814691e-04 9.99986376e-01 -3.09857168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27037174299997 meters 0.044002093521813695 Centerline is valid? [True, True] Translation: X:222.30, Y:-13.06, Z:-3.10 [[ 9.99821537e-01 -1.82493286e-02 4.88435010e-03 2.22299437e+02] [ 1.82510285e-02 9.99833390e-01 -3.03691492e-04 -1.30615468e+01] [-4.87799416e-03 3.92781707e-04 9.99988025e-01 -3.09907387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30037174299997 meters 0.043537031094891876 Centerline is valid? [True, True] Translation: X:222.33, Y:-13.06, Z:-3.10 [[ 9.99845272e-01 -1.71157964e-02 4.05972435e-03 2.22331802e+02] [ 1.71169603e-02 9.99853462e-01 -2.52128699e-04 -1.30598756e+01] [-4.05481406e-03 3.21579828e-04 9.99991727e-01 -3.10001407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33037174299997 meters 0.04228810969247548 Centerline is valid? [True, True] Translation: X:222.36, Y:-13.05, Z:-3.10 [[ 9.99890643e-01 -1.44239665e-02 3.26363868e-03 2.22363347e+02] [ 1.44247064e-02 9.99895938e-01 -2.03296351e-04 -1.30537820e+01] [-3.26036671e-03 2.50351149e-04 9.99994654e-01 -3.10040143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36037174299997 meters 0.042988278420997 Centerline is valid? [True, True] Translation: X:222.39, Y:-13.05, Z:-3.10 [[ 9.99913208e-01 -1.28903474e-02 2.72294547e-03 2.22394092e+02] [ 1.28908563e-02 9.99916895e-01 -1.69424844e-04 -1.30534964e+01] [-2.72053523e-03 2.04511238e-04 9.99996278e-01 -3.10128007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39037174299997 meters 0.04097150126763659 Centerline is valid? [True, True] Translation: X:222.42, Y:-13.05, Z:-3.10 [[ 9.99954348e-01 -9.32005299e-03 2.10663695e-03 2.22424701e+02] [ 9.32035038e-03 9.99956556e-01 -1.31391804e-04 -1.30473354e+01] [-2.10532085e-03 1.51020401e-04 9.99997772e-01 -3.10173111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42037174299998 meters 0.04130257341535717 Centerline is valid? [True, True] Translation: X:222.46, Y:-13.05, Z:-3.10 [[ 9.99971236e-01 -7.46197674e-03 1.35863659e-03 2.22455053e+02] [ 7.46209700e-03 9.99972155e-01 -8.34726854e-05 -1.30468674e+01] [-1.35797589e-03 9.36085625e-05 9.99999074e-01 -3.10224998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45037174299998 meters 0.039187998238039694 Centerline is valid? [True, True] Translation: X:222.49, Y:-13.04, Z:-3.10 [[ 9.99996273e-01 -2.38887777e-03 1.32193929e-03 2.22485787e+02] [ 2.38898910e-03 9.99997143e-01 -8.26467547e-05 -1.30405263e+01] [-1.32173808e-03 8.58045453e-05 9.99999123e-01 -3.10219506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48037174299998 meters 0.039807670722677435 Centerline is valid? [True, True] Translation: X:222.52, Y:-13.04, Z:-3.10 [[ 9.99999108e-01 3.52853340e-04 1.28855907e-03 2.22515131e+02] [-3.52749560e-04 9.99999935e-01 -8.07659508e-05 -1.30404021e+01] [-1.28858749e-03 8.03113400e-05 9.99999167e-01 -3.10257467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51037174299998 meters 0.03647767585187687 Centerline is valid? [True, True] Translation: X:222.55, Y:-13.03, Z:-3.10 [[ 9.99975855e-01 6.78691211e-03 1.49241469e-03 2.22545880e+02] [-6.78678051e-03 9.99976965e-01 -9.32309085e-05 -1.30329430e+01] [-1.49301306e-03 8.30999665e-05 9.99998882e-01 -3.10215348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54037174299998 meters 0.03506196622802181 Centerline is valid? [True, True] Translation: X:222.58, Y:-13.03, Z:-3.10 [[ 9.99945344e-01 1.02659212e-02 1.97995751e-03 2.22576251e+02] [-1.02656958e-02 9.99947299e-01 -1.23942973e-04 -1.30309092e+01] [-1.98112556e-03 1.03610557e-04 9.99998032e-01 -3.10236088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57037174299998 meters 0.030273837440628393 Centerline is valid? [True, True] Translation: X:222.61, Y:-13.02, Z:-3.10 [[ 9.99851284e-01 1.70319215e-02 2.70636107e-03 2.22607917e+02] [-1.70315265e-02 9.99854939e-01 -1.68932111e-04 -1.30214822e+01] [-2.70884572e-03 1.22813528e-04 9.99996324e-01 -3.10090456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60037174299998 meters 0.02873691009479591 Centerline is valid? [True, True] Translation: X:222.64, Y:-13.02, Z:-3.10 [[ 9.99797449e-01 1.99022195e-02 2.99382258e-03 2.22637820e+02] [-1.99017472e-02 9.99801923e-01 -1.87483593e-04 -1.30188593e+01] [-2.99696092e-03 1.27863318e-04 9.99995501e-01 -3.10080118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63037174299998 meters 0.02720364939734641 Centerline is valid? [True, True] Translation: X:222.67, Y:-13.02, Z:-3.10 [[ 9.99743638e-01 2.24368881e-02 3.04037296e-03 2.22667153e+02] [-2.24364123e-02 9.99748254e-01 -1.90487856e-04 -1.30160218e+01] [-3.04388151e-03 1.22223960e-04 9.99995360e-01 -3.10056160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66037174299998 meters 0.02655562327297267 Centerline is valid? [True, True] Translation: X:222.70, Y:-13.01, Z:-3.10 [[ 9.99648174e-01 2.63816945e-02 2.74495097e-03 2.22696284e+02] [-2.63813223e-02 9.99651938e-01 -1.71700490e-04 -1.30144334e+01] [-2.74852531e-03 9.92246449e-05 9.99996218e-01 -3.10132858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.690371743 meters 0.025840370367411818 Centerline is valid? [True, True] Translation: X:222.72, Y:-13.01, Z:-3.10 [[ 9.99613775e-01 2.76750911e-02 2.52774494e-03 2.22724905e+02] [-2.76747787e-02 9.99616967e-01 -1.58473863e-04 -1.30136046e+01] [-2.53116251e-03 8.84578750e-05 9.99996793e-01 -3.10185403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720371743 meters 0.02595640022084891 Centerline is valid? [True, True] Translation: X:222.75, Y:-13.02, Z:-3.10 [[ 9.99628207e-01 2.71748537e-02 2.23050580e-03 2.22753722e+02] [-2.71746093e-02 9.99630692e-01 -1.39793096e-04 -1.30160219e+01] [-2.23348091e-03 7.91279985e-05 9.99997503e-01 -3.10221759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.750371743 meters 0.026559967678684886 Centerline is valid? [True, True] Translation: X:222.78, Y:-13.02, Z:-3.10 [[ 9.99655540e-01 2.61615541e-02 2.09141374e-03 2.22781221e+02] [-2.61613368e-02 9.99657725e-01 -1.31192265e-04 -1.30190879e+01] [-2.09413009e-03 7.64328950e-05 9.99997804e-01 -3.10293361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780371743 meters 0.02824121935271978 Centerline is valid? [True, True] Translation: X:222.81, Y:-13.03, Z:-3.10 [[ 9.99736074e-01 2.29133649e-02 1.66149277e-03 2.22809207e+02] [-2.29132235e-02 9.99737452e-01 -1.04105812e-04 -1.30256041e+01] [-1.66344196e-03 6.60081810e-05 9.99998614e-01 -3.10371903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.810371743 meters 0.02903372380438684 Centerline is valid? [True, True] Translation: X:222.84, Y:-13.03, Z:-3.10 [[ 9.99784840e-01 2.07032841e-02 1.28375572e-03 2.22838092e+02] [-2.07031980e-02 9.99785663e-01 -8.03368937e-05 -1.30296800e+01] [-1.28514380e-03 5.37417596e-05 9.99999173e-01 -3.10424438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840371743 meters 0.03185586608685453 Centerline is valid? [True, True] Translation: X:222.87, Y:-13.04, Z:-3.11 [[ 9.99877223e-01 1.56426965e-02 9.18728954e-04 2.22866399e+02] [-1.56426505e-02 9.99877645e-01 -5.72260237e-05 -1.30375640e+01] [-9.19511712e-04 4.28476417e-05 9.99999576e-01 -3.10526952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.870371743 meters 0.03515567383749054 Centerline is valid? [True, True] Translation: X:222.90, Y:-13.05, Z:-3.11 [[ 9.99935856e-01 1.12073238e-02 1.63713518e-03 2.22895268e+02] [-1.12071720e-02 9.99937192e-01 -1.01918804e-04 -1.30476217e+01] [-1.63817459e-03 8.35646108e-05 9.99998655e-01 -3.10572339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900371743 meters 0.03157956262152154 Centerline is valid? [True, True] Translation: X:222.92, Y:-13.04, Z:-3.10 [[ 9.99954411e-01 9.37980406e-03 1.78754078e-03 2.22924540e+02] [-9.37961984e-03 9.99956004e-01 -1.11418208e-04 -1.30448822e+01] [-1.78850722e-03 9.46466758e-05 9.99998396e-01 -3.10378267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93037174299997 meters 0.03308604366042075 Centerline is valid? [True, True] Translation: X:222.95, Y:-13.05, Z:-3.10 [[ 9.99966862e-01 7.77850921e-03 2.40186236e-03 2.22953304e+02] [-7.77817292e-03 9.99969738e-01 -1.49319158e-04 -1.30499555e+01] [-2.40295116e-03 1.30632109e-04 9.99997104e-01 -3.10381436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96037174299997 meters 0.03395384165596455 Centerline is valid? [True, True] Translation: X:222.98, Y:-13.05, Z:-3.10 [[ 9.99974107e-01 6.61688606e-03 2.82895237e-03 2.22982124e+02] [-6.61641573e-03 9.99978096e-01 -1.75582283e-04 -1.30538425e+01] [-2.83005221e-03 1.56860211e-04 9.99995983e-01 -3.10345317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99037174299997 meters 0.0397013953471147 Centerline is valid? [True, True] Translation: X:223.01, Y:-13.07, Z:-3.10 [[ 9.99979104e-01 5.43807015e-03 3.49557903e-03 2.23010029e+02] [-5.43734610e-03 9.99985194e-01 -2.16600874e-04 -1.30651767e+01] [-3.49670517e-03 1.97589675e-04 9.99993867e-01 -3.10419594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02037174299997 meters 0.03498235482250296 Centerline is valid? [True, True] Translation: X:223.04, Y:-13.06, Z:-3.10 [[ 9.99980784e-01 5.25002925e-03 3.29675610e-03 2.23040108e+02] [-5.24938524e-03 9.99986201e-01 -2.03971153e-04 -1.30607505e+01] [-3.29778146e-03 1.86661290e-04 9.99994545e-01 -3.10366268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05037174299997 meters 0.03468234439193453 Centerline is valid? [True, True] Translation: X:223.07, Y:-13.06, Z:-3.10 [[ 9.99981497e-01 5.08296773e-03 3.34207172e-03 2.23069987e+02] [-5.08230536e-03 9.99987064e-01 -2.06654263e-04 -1.30640949e+01] [-3.34307890e-03 1.89665011e-04 9.99994394e-01 -3.10405479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08037174299997 meters 0.036628185643199404 Centerline is valid? [True, True] Translation: X:223.10, Y:-13.07, Z:-3.11 [[ 9.99979899e-01 5.19056439e-03 3.64136661e-03 2.23099591e+02] [-5.18978006e-03 9.99986508e-01 -2.24810868e-04 -1.30697900e+01] [-3.64248438e-03 2.05908457e-04 9.99993345e-01 -3.10537758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11037174299997 meters 0.03780181640307065 Centerline is valid? [True, True] Translation: X:223.13, Y:-13.08, Z:-3.11 [[ 9.99981190e-01 5.36215151e-03 2.97790682e-03 2.23128785e+02] [-5.36162775e-03 9.99985609e-01 -1.83837732e-04 -1.30752604e+01] [-2.97884973e-03 1.67867846e-04 9.99995549e-01 -3.10687573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14037174299997 meters 0.033928916058928775 Centerline is valid? [True, True] Translation: X:223.16, Y:-13.07, Z:-3.11 [[ 9.99980595e-01 5.58016314e-03 2.76985632e-03 2.23158765e+02] [-5.57971036e-03 9.99984419e-01 -1.71168433e-04 -1.30720011e+01] [-2.77076831e-03 1.55710115e-04 9.99996149e-01 -3.10702358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17037174299998 meters 0.03689179498069233 Centerline is valid? [True, True] Translation: X:223.19, Y:-13.08, Z:-3.11 [[ 9.99984887e-01 5.40531414e-03 1.00432379e-03 2.23188218e+02] [-5.40525448e-03 9.99985390e-01 -6.21120383e-05 -1.30795976e+01] [-1.00464485e-03 5.66824740e-05 9.99999494e-01 -3.10977372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20037174299998 meters 0.036192767017902576 Centerline is valid? [True, True] Translation: X:223.22, Y:-13.08, Z:-3.11 [[ 9.99987071e-01 5.07747581e-03 2.76958813e-04 2.23216783e+02] [-5.07747102e-03 9.99987109e-01 -1.79915431e-05 -1.30803396e+01] [-2.77046595e-04 1.65850601e-05 9.99999961e-01 -3.11083060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23037174299998 meters 0.036650695536801725 Centerline is valid? [True, True] Translation: X:223.25, Y:-13.08, Z:-3.11 [[ 9.99987408e-01 5.01218583e-03 -2.50025218e-04 2.23245589e+02] [-5.01218231e-03 9.99987439e-01 1.46663519e-05 -1.30832265e+01] [ 2.50095588e-04 -1.34129952e-05 9.99999969e-01 -3.11176090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26037174299998 meters 0.03294405725119052 Centerline is valid? [True, True] Translation: X:223.27, Y:-13.08, Z:-3.11 [[ 9.99987299e-01 5.02047393e-03 -4.43626456e-04 2.23274919e+02] [-5.02046278e-03 9.99987397e-01 2.62536734e-05 -1.30795013e+01] [ 4.43752671e-04 -2.40261298e-05 9.99999901e-01 -3.11079391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29037174299998 meters 0.03702831226436757 Centerline is valid? [True, True] Translation: X:223.30, Y:-13.09, Z:-3.11 [[ 9.99981090e-01 6.14128816e-03 -3.22382086e-04 2.23302797e+02] [-6.14128234e-03 9.99981142e-01 1.90442554e-05 -1.30871014e+01] [ 3.22492963e-04 -1.70640558e-05 9.99999948e-01 -3.11228540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32037174299998 meters 0.03232669688622775 Centerline is valid? [True, True] Translation: X:223.33, Y:-13.08, Z:-3.11 [[ 9.99977119e-01 6.76412573e-03 9.14578909e-05 2.23332581e+02] [-6.76412518e-03 9.99977123e-01 -6.35121540e-06 -1.30810040e+01] [-9.14987593e-05 5.73243746e-06 9.99999996e-01 -3.10981809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35037174299998 meters 0.03260327361344005 Centerline is valid? [True, True] Translation: X:223.36, Y:-13.08, Z:-3.11 [[ 9.99971721e-01 7.45937759e-03 9.56287633e-04 2.23360555e+02] [-7.45932382e-03 9.99972177e-01 -5.97755185e-05 -1.30828630e+01] [-9.56706915e-04 5.26405690e-05 9.99999541e-01 -3.11011571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38037174299998 meters 0.03169215058986965 Centerline is valid? [True, True] Translation: X:223.39, Y:-13.08, Z:-3.11 [[ 9.99968268e-01 7.80085984e-03 1.61568158e-03 2.23389427e+02] [-7.80070875e-03 9.99969569e-01 -9.97933498e-05 -1.30828557e+01] [-1.61641089e-03 8.71867216e-05 9.99998690e-01 -3.10994722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41037174299998 meters 0.03147039025440304 Centerline is valid? [True, True] Translation: X:223.42, Y:-13.08, Z:-3.11 [[ 9.99955568e-01 9.10949544e-03 2.42469898e-03 2.23418182e+02] [-9.10916063e-03 9.99958500e-01 -1.49090965e-04 -1.30836074e+01] [-2.42595650e-03 1.26997368e-04 9.99997049e-01 -3.10926073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440371743 meters 0.03112291968681354 Centerline is valid? [True, True] Translation: X:223.45, Y:-13.08, Z:-3.11 [[ 9.99952505e-01 9.38742279e-03 2.61989260e-03 2.23446812e+02] [-9.38703355e-03 9.99955928e-01 -1.60830471e-04 -1.30844000e+01] [-2.62128692e-03 1.36229812e-04 9.99996555e-01 -3.10937773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.470371743 meters 0.031244736604438283 Centerline is valid? [True, True] Translation: X:223.47, Y:-13.09, Z:-3.11 [[ 9.99935931e-01 1.07097836e-02 3.66530952e-03 2.23474247e+02] [-1.07090323e-02 9.99942631e-01 -2.24524562e-04 -1.30865893e+01] [-3.66750385e-03 1.85258259e-04 9.99993258e-01 -3.10912870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500371743 meters 0.030516673778026023 Centerline is valid? [True, True] Translation: X:223.50, Y:-13.09, Z:-3.11 [[ 9.99930772e-01 1.12226504e-02 3.53611950e-03 2.23503593e+02] [-1.12219566e-02 9.99937009e-01 -2.15974864e-04 -1.30869447e+01] [-3.53832056e-03 1.76277733e-04 9.99993725e-01 -3.10899037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.530371743 meters 0.028946257143960562 Centerline is valid? [True, True] Translation: X:223.53, Y:-13.09, Z:-3.11 [[ 9.99907872e-01 1.30964334e-02 3.56815645e-03 2.23533029e+02] [-1.30957396e-02 9.99914223e-01 -2.17745989e-04 -1.30854192e+01] [-3.57070208e-03 1.70998281e-04 9.99993610e-01 -3.10889841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560371743 meters 0.031517836886721724 Centerline is valid? [True, True] Translation: X:223.56, Y:-13.09, Z:-3.11 [[ 9.99889185e-01 1.44234346e-02 3.68554723e-03 2.23560766e+02] [-1.44227028e-02 9.99895962e-01 -2.25050740e-04 -1.30917855e+01] [-3.68840980e-03 1.71870248e-04 9.99993183e-01 -3.11027644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.590371743 meters 0.027506438298357975 Centerline is valid? [True, True] Translation: X:223.59, Y:-13.09, Z:-3.11 [[ 9.99828776e-01 1.80826497e-02 3.92898442e-03 2.23591182e+02] [-1.80818508e-02 9.99836481e-01 -2.38760734e-04 -1.30859608e+01] [-3.93265939e-03 1.67676542e-04 9.99992253e-01 -3.10979624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620371743 meters 0.027047102415196037 Centerline is valid? [True, True] Translation: X:223.62, Y:-13.09, Z:-3.11 [[ 9.99785398e-01 2.03702765e-02 3.76946549e-03 2.23620080e+02] [-2.03695556e-02 9.99792493e-01 -2.29554804e-04 -1.30865184e+01] [-3.77335940e-03 1.52723204e-04 9.99992869e-01 -3.11011091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.650371743 meters 0.026764654949061092 Centerline is valid? [True, True] Translation: X:223.65, Y:-13.09, Z:-3.11 [[ 9.99675095e-01 2.51793716e-02 3.96281105e-03 2.23649402e+02] [-2.51786153e-02 9.99682939e-01 -2.40635775e-04 -1.30869161e+01] [-3.96761366e-03 1.40779496e-04 9.99992119e-01 -3.11088837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68037174299997 meters 0.024987164271142524 Centerline is valid? [True, True] Translation: X:223.68, Y:-13.09, Z:-3.11 [[ 9.99599019e-01 2.79423106e-02 4.58562736e-03 2.23678184e+02] [-2.79413264e-02 9.99609526e-01 -2.78550163e-04 -1.30851261e+01] [-4.59162012e-03 1.50309959e-04 9.99989447e-01 -3.11028911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71037174299997 meters 0.024290410758576044 Centerline is valid? [True, True] Translation: X:223.71, Y:-13.08, Z:-3.11 [[ 9.99520622e-01 3.05781770e-02 4.84774459e-03 2.23707601e+02] [-3.05771108e-02 9.99532368e-01 -2.93914856e-04 -1.30844045e+01] [-4.85446501e-03 1.45543937e-04 9.99988206e-01 -3.11060151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74037174299997 meters 0.022500938616988504 Centerline is valid? [True, True] Translation: X:223.74, Y:-13.08, Z:-3.11 [[ 9.99314198e-01 3.65759083e-02 5.77371868e-03 2.23738123e+02] [-3.65745002e-02 9.99330868e-01 -3.49316501e-04 -1.30821295e+01] [-5.78263187e-03 1.37906064e-04 9.99983271e-01 -3.11046112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77037174299997 meters 0.02213199211399323 Centerline is valid? [True, True] Translation: X:223.77, Y:-13.08, Z:-3.11 [[ 9.99203942e-01 3.94234497e-02 6.10518613e-03 2.23766025e+02] [-3.94219237e-02 9.99222585e-01 -3.70146771e-04 -1.30836414e+01] [-6.11503233e-03 1.29173931e-04 9.99981295e-01 -3.11086425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80037174299997 meters 0.021481035042937635 Centerline is valid? [True, True] Translation: X:223.80, Y:-13.08, Z:-3.11 [[ 9.99013166e-01 4.39838518e-02 6.17371333e-03 2.23795288e+02] [-4.39823786e-02 9.99032237e-01 -3.74251690e-04 -1.30838354e+01] [-6.18419967e-03 1.02347768e-04 9.99980872e-01 -3.11102127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83037174299997 meters 0.021304011369568186 Centerline is valid? [True, True] Translation: X:223.82, Y:-13.09, Z:-3.11 [[ 9.98909324e-01 4.62541710e-02 6.38075276e-03 2.23823380e+02] [-4.62526609e-02 9.98929699e-01 -3.84108195e-04 -1.30859421e+01] [-6.39169004e-03 8.85624636e-05 9.99979569e-01 -3.11154298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86037174299997 meters 0.02097069549658338 Centerline is valid? [True, True] Translation: X:223.85, Y:-13.09, Z:-3.11 [[ 9.98819595e-01 4.81225008e-02 6.60613095e-03 2.23851795e+02] [-4.81209280e-02 9.98841438e-01 -3.96913567e-04 -1.30874150e+01] [-6.61757781e-03 7.85518965e-05 9.99978101e-01 -3.11173480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89037174299997 meters 0.020717622413110183 Centerline is valid? [True, True] Translation: X:223.88, Y:-13.09, Z:-3.11 [[ 9.98688849e-01 5.07826885e-02 6.45769912e-03 2.23880870e+02] [-5.07812361e-02 9.98709725e-01 -3.88787329e-04 -1.30912692e+01] [-6.46911058e-03 6.03476257e-05 9.99979073e-01 -3.11239824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92037174299998 meters 0.02076548649065976 Centerline is valid? [True, True] Translation: X:223.91, Y:-13.10, Z:-3.11 [[ 9.98656606e-01 5.13949847e-02 6.59846926e-03 2.23908630e+02] [-5.13934993e-02 9.98678403e-01 -3.94587327e-04 -1.30955174e+01] [-6.61002855e-03 5.49388152e-05 9.99978152e-01 -3.11339901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95037174299998 meters 0.020611461051857963 Centerline is valid? [True, True] Translation: X:223.94, Y:-13.10, Z:-3.11 [[ 9.98672096e-01 5.10099227e-02 7.21338942e-03 2.23936649e+02] [-5.10081421e-02 9.98698145e-01 -4.30725580e-04 -1.31030925e+01] [-7.22596990e-03 6.22120259e-05 9.99973890e-01 -3.11338709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98037174299998 meters 0.02081298168317104 Centerline is valid? [True, True] Translation: X:223.96, Y:-13.11, Z:-3.11 [[ 9.98728316e-01 4.96921824e-02 8.51103411e-03 2.23963812e+02] [-4.96896649e-02 9.98764577e-01 -5.07129619e-04 -1.31088203e+01] [-8.52571976e-03 8.35742771e-05 9.99963652e-01 -3.11328720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01037174299998 meters 0.020971424171979478 Centerline is valid? [True, True] Translation: X:223.99, Y:-13.11, Z:-3.11 [[ 9.98802633e-01 4.80919237e-02 8.97038832e-03 2.23992059e+02] [-4.80890758e-02 9.98842909e-01 -5.33025500e-04 -1.31148375e+01] [-8.98564298e-03 1.01009588e-04 9.99959623e-01 -3.11346571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04037174299998 meters 0.02117639607676402 Centerline is valid? [True, True] Translation: X:224.02, Y:-13.12, Z:-3.11 [[ 9.98871761e-01 4.65436741e-02 9.42820809e-03 2.24019582e+02] [-4.65404652e-02 9.98916249e-01 -5.59581098e-04 -1.31216851e+01] [-9.44403522e-03 1.20156566e-04 9.99955397e-01 -3.11418334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07037174299998 meters 0.02163942858644493 Centerline is valid? [True, True] Translation: X:224.05, Y:-13.13, Z:-3.12 [[ 9.99007268e-01 4.35221675e-02 9.50262458e-03 2.24047427e+02] [-4.35187800e-02 9.99052450e-01 -5.63056158e-04 -1.31329429e+01] [-9.51812580e-03 1.48954565e-04 9.99954691e-01 -3.11520087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10037174299998 meters 0.02285818462817143 Centerline is valid? [True, True] Translation: X:224.07, Y:-13.14, Z:-3.12 [[ 9.99079598e-01 4.19429101e-02 8.98601833e-03 2.24074606e+02] [-4.19398199e-02 9.99119997e-01 -5.32133417e-04 -1.31417156e+01] [-9.00042983e-03 1.54771650e-04 9.99959483e-01 -3.11726143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13037174299998 meters 0.02285818462817143 Centerline is valid? [True, True] Translation: X:224.10, Y:-13.14, Z:-3.12 [[ 9.99083659e-01 4.18460646e-02 8.98609052e-03 2.24102026e+02] [-4.18429815e-02 9.99124058e-01 -5.30910886e-04 -1.31432333e+01] [-9.00043575e-03 1.54419570e-04 9.99959483e-01 -3.11764774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16037174299998 meters 0.022653385670416002 Centerline is valid? [True, True] Translation: X:224.13, Y:-13.15, Z:-3.12 [[ 9.99205336e-01 3.89564847e-02 8.43138263e-03 2.24130221e+02] [-3.89536751e-02 9.99240894e-01 -4.97248430e-04 -1.31526316e+01] [-8.44435337e-03 1.68419945e-04 9.99964332e-01 -3.11819395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.190371743 meters 0.022827214805743918 Centerline is valid? [True, True] Translation: X:224.16, Y:-13.16, Z:-3.12 [[ 9.99257340e-01 3.74672029e-02 8.99869137e-03 2.24158570e+02] [-3.74639484e-02 9.99297839e-01 -5.30016638e-04 -1.31590632e+01] [-9.01223109e-03 1.92496507e-04 9.99959370e-01 -3.11862168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220371743 meters 0.023444710864488308 Centerline is valid? [True, True] Translation: X:224.19, Y:-13.17, Z:-3.12 [[ 9.99309893e-01 3.59002520e-02 9.53465659e-03 2.24187436e+02] [-3.58965340e-02 9.99355354e-01 -5.60852746e-04 -1.31661593e+01] [-9.54864487e-03 2.18204573e-04 9.99954387e-01 -3.11887867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.250371743 meters 0.024115918084637183 Centerline is valid? [True, True] Translation: X:224.22, Y:-13.18, Z:-3.12 [[ 9.99384224e-01 3.34042961e-02 1.07390169e-02 2.24215979e+02] [-3.33994450e-02 9.99441884e-01 -6.30811098e-04 -1.31786565e+01] [-1.07540951e-02 2.71745455e-04 9.99942136e-01 -3.11864335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280371743 meters 0.024912513101218444 Centerline is valid? [True, True] Translation: X:224.24, Y:-13.19, Z:-3.12 [[ 9.99415846e-01 3.23003708e-02 1.11648254e-02 2.24243795e+02] [-3.22950671e-02 9.99478164e-01 -6.55045124e-04 -1.31852369e+01] [-1.11801574e-02 2.94093692e-04 9.99937457e-01 -3.11940862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.310371743 meters 0.0249229367248167 Centerline is valid? [True, True] Translation: X:224.27, Y:-13.19, Z:-3.12 [[ 9.99450040e-01 3.15086730e-02 1.03353886e-02 2.24271934e+02] [-3.15040948e-02 9.99503439e-01 -6.05509684e-04 -1.31949387e+01] [-1.03493352e-02 2.79569616e-04 9.99946405e-01 -3.12006503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340371743 meters 0.02972023151999202 Centerline is valid? [True, True] Translation: X:224.30, Y:-13.21, Z:-3.12 [[ 9.99388514e-01 3.35877818e-02 9.71898398e-03 2.24299156e+02] [-3.35838371e-02 9.99435742e-01 -5.68838914e-04 -1.32107552e+01] [-9.73260601e-03 2.42090302e-04 9.99952608e-01 -3.12338707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.370371743 meters 0.024932621133221144 Centerline is valid? [True, True] Translation: X:224.33, Y:-13.21, Z:-3.12 [[ 9.99480340e-01 3.08272533e-02 9.41966244e-03 2.24327841e+02] [-3.08234336e-02 9.99524694e-01 -5.50449297e-04 -1.32111944e+01] [-9.43215406e-03 2.59816912e-04 9.99955482e-01 -3.12282264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400371743 meters 0.02559284897677817 Centerline is valid? [True, True] Translation: X:224.36, Y:-13.22, Z:-3.12 [[ 9.99504256e-01 3.00642843e-02 9.34780533e-03 2.24356035e+02] [-3.00604955e-02 9.99547932e-01 -5.45591892e-04 -1.32178765e+01] [-9.35998232e-03 2.64321758e-04 9.99956159e-01 -3.12426610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43037174299997 meters 0.025526980364878566 Centerline is valid? [True, True] Translation: X:224.38, Y:-13.22, Z:-3.12 [[ 9.99536871e-01 2.91169972e-02 8.84553850e-03 2.24384547e+02] [-2.91135725e-02 9.99575977e-01 -5.15707027e-04 -1.32239984e+01] [-8.85680363e-03 2.57942961e-04 9.99960744e-01 -3.12481839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46037174299997 meters 0.026576493503066373 Centerline is valid? [True, True] Translation: X:224.41, Y:-13.24, Z:-3.13 [[ 9.99609212e-01 2.66588843e-02 8.40999722e-03 2.24412667e+02] [-2.66557072e-02 9.99644554e-01 -4.89660920e-04 -1.32366300e+01] [-8.42006173e-03 2.65295143e-04 9.99964515e-01 -3.12617032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49037174299997 meters 0.027174191247191545 Centerline is valid? [True, True] Translation: X:224.44, Y:-13.24, Z:-3.13 [[ 9.99644011e-01 2.53115680e-02 8.43661583e-03 2.24440617e+02] [-2.53083250e-02 9.99679572e-01 -4.90953546e-04 -1.32433417e+01] [-8.44633931e-03 2.77262156e-04 9.99964291e-01 -3.12680129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52037174299997 meters 0.027740333995696333 Centerline is valid? [True, True] Translation: X:224.47, Y:-13.25, Z:-3.13 [[ 9.99682173e-01 2.38454877e-02 8.18208929e-03 2.24469466e+02] [-2.38423950e-02 9.99715617e-01 -4.75334944e-04 -1.32499461e+01] [-8.19109703e-03 2.80103264e-04 9.99966413e-01 -3.12729782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55037174299997 meters 0.026927043897544377 Centerline is valid? [True, True] Translation: X:224.50, Y:-13.26, Z:-3.13 [[ 9.99745761e-01 2.07747650e-02 8.76487108e-03 2.24498129e+02] [-2.07711043e-02 9.99784128e-01 -5.08485995e-04 -1.32580575e+01] [-8.77354266e-03 3.26300667e-04 9.99961458e-01 -3.12694763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58037174299997 meters 0.02819918275882008 Centerline is valid? [True, True] Translation: X:224.53, Y:-13.27, Z:-3.13 [[ 9.99763552e-01 1.97211221e-02 9.16067649e-03 2.24526354e+02] [-1.97170844e-02 9.99805458e-01 -5.30882629e-04 -1.32661717e+01] [-9.16936396e-03 3.50135271e-04 9.99957899e-01 -3.12734484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61037174299997 meters 0.028425735912656527 Centerline is valid? [True, True] Translation: X:224.56, Y:-13.27, Z:-3.13 [[ 9.99800490e-01 1.79647689e-02 8.73196421e-03 2.24555188e+02] [-1.79610360e-02 9.99838560e-01 -5.05725751e-04 -1.32747360e+01] [-8.73963976e-03 3.48789730e-04 9.99961748e-01 -3.12753210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64037174299997 meters 0.02832309291698038 Centerline is valid? [True, True] Translation: X:224.58, Y:-13.28, Z:-3.13 [[ 9.99796790e-01 1.80051888e-02 9.06595228e-03 2.24584370e+02] [-1.80011720e-02 9.99837828e-01 -5.24472484e-04 -1.32797007e+01] [-9.07392527e-03 3.61168139e-04 9.99958766e-01 -3.12768599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67037174299998 meters 0.028660417234216893 Centerline is valid? [True, True] Translation: X:224.61, Y:-13.28, Z:-3.13 [[ 9.99801637e-01 1.77278783e-02 9.07794309e-03 2.24613729e+02] [-1.77238425e-02 9.99842783e-01 -5.24842498e-04 -1.32846343e+01] [-9.08582022e-03 3.63842356e-04 9.99958657e-01 -3.12829577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70037174299998 meters 0.029147091786943975 Centerline is valid? [True, True] Translation: X:224.64, Y:-13.29, Z:-3.13 [[ 9.99794073e-01 1.78760933e-02 9.60506003e-03 2.24642399e+02] [-1.78715862e-02 9.99840136e-01 -5.54871125e-04 -1.32920480e+01] [-9.61344346e-03 3.83099204e-04 9.99953716e-01 -3.12819205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73037174299998 meters 0.0289244789802669 Centerline is valid? [True, True] Translation: X:224.67, Y:-13.30, Z:-3.13 [[ 9.99781431e-01 1.83894839e-02 9.94572870e-03 2.24672621e+02] [-1.83846793e-02 9.99830823e-01 -5.74296547e-04 -1.32950631e+01] [-9.95460712e-03 3.91321991e-04 9.99950375e-01 -3.12815013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76037174299998 meters 0.029336124974594428 Centerline is valid? [True, True] Translation: X:224.70, Y:-13.30, Z:-3.13 [[ 9.99746806e-01 1.96112607e-02 1.10327845e-02 2.24702419e+02] [-1.96054227e-02 9.99807592e-01 -6.37066444e-04 -1.33010445e+01] [-1.10431553e-02 4.20602740e-04 9.99938934e-01 -3.12739742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79037174299998 meters 0.02815584575138156 Centerline is valid? [True, True] Translation: X:224.73, Y:-13.30, Z:-3.13 [[ 9.99728908e-01 2.05026197e-02 1.10342110e-02 2.24733063e+02] [-2.04968344e-02 9.99789715e-01 -6.37148818e-04 -1.33028641e+01] [-1.10449539e-02 4.10809696e-04 9.99938918e-01 -3.12778180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82037174299998 meters 0.027433889485767957 Centerline is valid? [True, True] Translation: X:224.76, Y:-13.31, Z:-3.13 [[ 9.99723495e-01 2.10247860e-02 1.05305366e-02 2.24763114e+02] [-2.10195451e-02 9.99778880e-01 -6.08127186e-04 -1.33052158e+01] [-1.05409938e-02 3.86611947e-04 9.99944367e-01 -3.12824502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85037174299998 meters 0.02805327332681098 Centerline is valid? [True, True] Translation: X:224.79, Y:-13.31, Z:-3.13 [[ 9.99707505e-01 2.18332218e-02 1.04026256e-02 2.24792606e+02] [-2.18281547e-02 9.99761557e-01 -6.00401769e-04 -1.33096967e+01] [-1.04132539e-02 3.73156034e-04 9.99945711e-01 -3.12899583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88037174299998 meters 0.028271173833037157 Centerline is valid? [True, True] Translation: X:224.82, Y:-13.32, Z:-3.13 [[ 9.99664476e-01 2.36044178e-02 1.06661977e-02 2.24822000e+02] [-2.35991868e-02 9.99721311e-01 -6.16039468e-04 -1.33152699e+01] [-1.06777664e-02 3.64119180e-04 9.99942925e-01 -3.12983895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91037174299998 meters 0.027198289160008545 Centerline is valid? [True, True] Translation: X:224.85, Y:-13.32, Z:-3.13 [[ 9.99630982e-01 2.48306020e-02 1.10155239e-02 2.24851417e+02] [-2.48250987e-02 9.99691607e-01 -6.36069612e-04 -1.33166321e+01] [-1.10279208e-02 3.62373424e-04 9.99939125e-01 -3.12973207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940371743 meters 0.02634545796665878 Centerline is valid? [True, True] Translation: X:224.88, Y:-13.32, Z:-3.13 [[ 9.99519649e-01 2.84748425e-02 1.22333651e-02 2.24881614e+02] [-2.84683335e-02 9.99594446e-01 -7.05917396e-04 -1.33185899e+01] [-1.22485047e-02 3.57314790e-04 9.99924920e-01 -3.12912444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.970371743 meters 0.02524955683410338 Centerline is valid? [True, True] Translation: X:224.91, Y:-13.32, Z:-3.13 [[ 9.99443158e-01 3.08294890e-02 1.27638953e-02 2.24911494e+02] [-3.08226018e-02 9.99524600e-01 -7.35997759e-04 -1.33186917e+01] [-1.27805178e-02 3.42171461e-04 9.99918267e-01 -3.12880670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000371743 meters 0.024971742979925143 Centerline is valid? [True, True] Translation: X:224.94, Y:-13.32, Z:-3.13 [[ 9.99238055e-01 3.67708289e-02 1.30849329e-02 2.24940139e+02] [-3.67641060e-02 9.99323687e-01 -7.54040183e-04 -1.33208627e+01] [-1.31038101e-02 2.72409785e-04 9.99914104e-01 -3.12963379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.030371743 meters 0.024642306016782266 Centerline is valid? [True, True] Translation: X:224.97, Y:-13.32, Z:-3.13 [[ 9.99120212e-01 3.97742028e-02 1.32971668e-02 2.24967557e+02] [-3.97675352e-02 9.99208665e-01 -7.65567361e-04 -1.33225626e+01] [-1.33170941e-02 2.36098275e-04 9.99911296e-01 -3.13030505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060371743 meters 0.024436080643512957 Centerline is valid? [True, True] Translation: X:225.00, Y:-13.32, Z:-3.13 [[ 9.98990611e-01 4.29344900e-02 1.32056446e-02 2.24996640e+02] [-4.29282053e-02 9.99077871e-01 -7.59128822e-04 -1.33230854e+01] [-1.32260601e-02 1.91467942e-04 9.99912514e-01 -3.13104558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.090371743 meters 0.0238784186086245 Centerline is valid? [True, True] Translation: X:225.02, Y:-13.33, Z:-3.13 [[ 9.98707093e-01 4.88477705e-02 1.40725750e-02 2.25024614e+02] [-4.88412354e-02 9.98806228e-01 -8.07897404e-04 -1.33250078e+01] [-1.40952395e-02 1.19530920e-04 9.99900650e-01 -3.13150866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120371743 meters 0.023846484631849612 Centerline is valid? [True, True] Translation: X:225.05, Y:-13.33, Z:-3.13 [[ 9.98549095e-01 5.18438173e-02 1.45576015e-02 2.25053320e+02] [-5.18371614e-02 9.98655202e-01 -8.34427746e-04 -1.33273162e+01] [-1.45812844e-02 7.85923335e-05 9.99893684e-01 -3.13210316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.150371743 meters 0.023892663124996223 Centerline is valid? [True, True] Translation: X:225.08, Y:-13.33, Z:-3.13 [[ 9.98279601e-01 5.66572061e-02 1.50930453e-02 2.25080651e+02] [-5.66506182e-02 9.98393690e-01 -8.64011675e-04 -1.33309949e+01] [-1.51177537e-02 7.49488135e-06 9.99885720e-01 -3.13229455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18037174299997 meters 0.024336315116653302 Centerline is valid? [True, True] Translation: X:225.11, Y:-13.33, Z:-3.13 [[ 9.98143782e-01 5.90489343e-02 1.49068675e-02 2.25108141e+02] [-5.90427936e-02 9.98255089e-01 -8.52080689e-04 -1.33338671e+01] [-1.49311708e-02 -2.96440628e-05 9.99888523e-01 -3.13326276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21037174299997 meters 0.024327871425249396 Centerline is valid? [True, True] Translation: X:225.14, Y:-13.34, Z:-3.13 [[ 9.98056246e-01 6.04309759e-02 1.52258816e-02 2.25136450e+02] [-6.04247503e-02 9.98172377e-01 -8.69011027e-04 -1.33378320e+01] [-1.52505696e-02 -5.26982114e-05 9.99883702e-01 -3.13388820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24037174299997 meters 0.02429839206836538 Centerline is valid? [True, True] Translation: X:225.16, Y:-13.35, Z:-3.13 [[ 9.97905429e-01 6.28311350e-02 1.53948837e-02 2.25163711e+02] [-6.28250726e-02 9.98024168e-01 -8.77578326e-04 -1.33454244e+01] [-1.54196053e-02 -9.14445102e-05 9.99881107e-01 -3.13418403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27037174299997 meters 0.024564837685661575 Centerline is valid? [True, True] Translation: X:225.19, Y:-13.35, Z:-3.13 [[ 9.97920468e-01 6.24845336e-02 1.58247526e-02 2.25191519e+02] [-6.24781059e-02 9.98045928e-01 -9.00720337e-04 -1.33511344e+01] [-1.58501110e-02 -8.98533084e-05 9.99874375e-01 -3.13492927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30037174299997 meters 0.024228000770428863 Centerline is valid? [True, True] Translation: X:225.22, Y:-13.36, Z:-3.14 [[ 9.97995606e-01 6.09900230e-02 1.68815810e-02 2.25218976e+02] [-6.09825193e-02 9.98138373e-01 -9.59391908e-04 -1.33625868e+01] [-1.69086671e-02 -7.20124287e-05 9.99857036e-01 -3.13512634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33037174299997 meters 0.024273277400022324 Centerline is valid? [True, True] Translation: X:225.25, Y:-13.37, Z:-3.14 [[ 9.98077620e-01 5.95500825e-02 1.71712570e-02 2.25247090e+02] [-5.95421299e-02 9.98225318e-01 -9.74461980e-04 -1.33697563e+01] [-1.71988127e-02 -4.98245193e-05 9.99852088e-01 -3.13584725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36037174299997 meters 0.02414893636152378 Centerline is valid? [True, True] Translation: X:225.28, Y:-13.38, Z:-3.14 [[ 9.98257115e-01 5.65071610e-02 1.70197660e-02 2.25275547e+02] [-5.64989256e-02 9.98402194e-01 -9.64700182e-04 -1.33824086e+01] [-1.70470842e-02 1.42032596e-06 9.99854688e-01 -3.13637238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39037174299997 meters 0.024106557296802555 Centerline is valid? [True, True] Translation: X:225.30, Y:-13.39, Z:-3.14 [[ 9.98363276e-01 5.46067554e-02 1.69961939e-02 2.25303827e+02] [-5.45982856e-02 9.98507937e-01 -9.62296204e-04 -1.33902078e+01] [-1.70233824e-02 3.27581415e-05 9.99855091e-01 -3.13720211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42037174299998 meters 0.02429418325846583 Centerline is valid? [True, True] Translation: X:225.33, Y:-13.40, Z:-3.14 [[ 9.98487205e-01 5.23640453e-02 1.67722405e-02 2.25333224e+02] [-5.23554909e-02 9.98628060e-01 -9.49018931e-04 -1.33986836e+01] [-1.67989245e-02 6.94643735e-05 9.99858886e-01 -3.13753962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45037174299998 meters 0.0239829234346819 Centerline is valid? [True, True] Translation: X:225.36, Y:-13.41, Z:-3.14 [[ 9.98741734e-01 4.69022544e-02 1.77518277e-02 2.25362463e+02] [-4.68918200e-02 9.98899469e-01 -1.00380338e-03 -1.34131848e+01] [-1.77793719e-02 1.70124815e-04 9.99841920e-01 -3.13757626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48037174299998 meters 0.024704936061440096 Centerline is valid? [True, True] Translation: X:225.39, Y:-13.42, Z:-3.14 [[ 9.98858588e-01 4.42204770e-02 1.80574467e-02 2.25392341e+02] [-4.42092501e-02 9.99021772e-01 -1.02063740e-03 -1.34234617e+01] [-1.80849155e-02 2.21166256e-04 9.99836430e-01 -3.13722658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51037174299998 meters 0.02437944140023786 Centerline is valid? [True, True] Translation: X:225.42, Y:-13.44, Z:-3.14 [[ 9.99059146e-01 3.97402987e-02 1.73646538e-02 2.25423313e+02] [-3.97292340e-02 9.99210000e-01 -9.81841213e-04 -1.34355982e+01] [-1.73899544e-02 2.91033052e-04 9.99848741e-01 -3.13773792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54037174299998 meters 0.0242820172599268 Centerline is valid? [True, True] Translation: X:225.45, Y:-13.44, Z:-3.14 [[ 9.99118602e-01 3.82552029e-02 1.72788268e-02 2.25453961e+02] [-3.82440094e-02 9.99267952e-01 -9.77904952e-04 -1.34430098e+01] [-1.73035878e-02 3.16231414e-04 9.99850232e-01 -3.13814888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57037174299998 meters 0.02356292271440746 Centerline is valid? [True, True] Translation: X:225.49, Y:-13.45, Z:-3.14 [[ 9.99175681e-01 3.69698151e-02 1.67687745e-02 2.25486342e+02] [-3.69590499e-02 9.99316328e-01 -9.51531099e-04 -1.34481678e+01] [-1.67924881e-02 3.30988761e-04 9.99858941e-01 -3.13884271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60037174299998 meters 0.02387021278815551 Centerline is valid? [True, True] Translation: X:225.52, Y:-13.46, Z:-3.14 [[ 9.99237638e-01 3.55146235e-02 1.62127581e-02 2.25517065e+02] [-3.55043046e-02 9.99369096e-01 -9.23949357e-04 -1.34607249e+01] [-1.62353431e-02 3.47622272e-04 9.99868138e-01 -3.13864613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63037174299998 meters 0.02392675521826011 Centerline is valid? [True, True] Translation: X:225.55, Y:-13.47, Z:-3.14 [[ 9.99237493e-01 3.56266177e-02 1.59742427e-02 2.25549266e+02] [-3.56165552e-02 9.99365111e-01 -9.14064799e-04 -1.34663550e+01] [-1.59966658e-02 3.44420324e-04 9.99871986e-01 -3.13947549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66037174299998 meters 0.02286555481727365 Centerline is valid? [True, True] Translation: X:225.58, Y:-13.47, Z:-3.14 [[ 9.99257176e-01 3.55239878e-02 1.49379494e-02 2.25581804e+02] [-3.55151267e-02 9.99368770e-01 -8.58135803e-04 -1.34688584e+01] [-1.49590045e-02 3.26975194e-04 9.99888054e-01 -3.14024488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.690371743 meters 0.022935912834562488 Centerline is valid? [True, True] Translation: X:225.61, Y:-13.48, Z:-3.14 [[ 9.99241697e-01 3.62590107e-02 1.41885229e-02 2.25612833e+02] [-3.62510420e-02 9.99342380e-01 -8.18502005e-04 -1.34771943e+01] [-1.42088703e-02 3.03532593e-04 9.99899003e-01 -3.14062150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720371743 meters 0.022091752179137975 Centerline is valid? [True, True] Translation: X:225.64, Y:-13.48, Z:-3.14 [[ 9.99179541e-01 3.79815882e-02 1.40585668e-02 2.25644865e+02] [-3.79739070e-02 9.99278400e-01 -8.13010174e-04 -1.34828267e+01] [-1.40793016e-02 2.78484423e-04 9.99900843e-01 -3.14092882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.750371743 meters 0.021577123047124152 Centerline is valid? [True, True] Translation: X:225.68, Y:-13.49, Z:-3.14 [[ 9.99129492e-01 3.92189383e-02 1.42173252e-02 2.25677205e+02] [-3.92111577e-02 9.99230606e-01 -8.25711536e-04 -1.34857679e+01] [-1.42387700e-02 2.67514969e-04 9.99898588e-01 -3.14072432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780371743 meters 0.02118519011469374 Centerline is valid? [True, True] Translation: X:225.71, Y:-13.49, Z:-3.14 [[ 9.99072588e-01 4.05956906e-02 1.43510818e-02 2.25707874e+02] [-4.05878534e-02 9.99175623e-01 -8.37058805e-04 -1.34895932e+01] [-1.43732321e-02 2.53802901e-04 9.99896668e-01 -3.14031051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.810371743 meters 0.021292248206235726 Centerline is valid? [True, True] Translation: X:225.74, Y:-13.49, Z:-3.14 [[ 9.99011655e-01 4.19065841e-02 1.48172824e-02 2.25739608e+02] [-4.18983425e-02 9.99121503e-01 -8.66341601e-04 -1.34928179e+01] [-1.48405708e-02 2.44665786e-04 9.99889843e-01 -3.14048419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840371743 meters 0.020573186477863083 Centerline is valid? [True, True] Translation: X:225.77, Y:-13.50, Z:-3.14 [[ 9.98873361e-01 4.47948636e-02 1.56661999e-02 2.25770911e+02] [-4.47859876e-02 9.98996183e-01 -9.17123185e-04 -1.34976333e+01] [-1.56915563e-02 2.14463685e-04 9.99876857e-01 -3.13977122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.870371743 meters 0.02040026633897291 Centerline is valid? [True, True] Translation: X:225.80, Y:-13.50, Z:-3.14 [[ 9.98807932e-01 4.60299001e-02 1.62469196e-02 2.25803049e+02] [-4.60204552e-02 9.98940041e-01 -9.54922932e-04 -1.35012698e+01] [-1.62736536e-02 2.06093963e-04 9.99867554e-01 -3.13965951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900371743 meters 0.019887472806767958 Centerline is valid? [True, True] Translation: X:225.83, Y:-13.51, Z:-3.14 [[ 9.98712590e-01 4.77016879e-02 1.72543240e-02 2.25834490e+02] [-4.76912112e-02 9.98861608e-01 -1.01838969e-03 -1.35060120e+01] [-1.72832607e-02 1.94198997e-04 9.99850614e-01 -3.13856086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93037174299997 meters 0.01958918763439958 Centerline is valid? [True, True] Translation: X:225.87, Y:-13.51, Z:-3.14 [[ 9.98677390e-01 4.82377290e-02 1.77930494e-02 2.25866115e+02] [-4.82266005e-02 9.98835864e-01 -1.05424465e-03 -1.35095349e+01] [-1.78231903e-02 1.94752006e-04 9.99841135e-01 -3.13848576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96037174299997 meters 0.019464516385805434 Centerline is valid? [True, True] Translation: X:225.90, Y:-13.51, Z:-3.14 [[ 9.98665662e-01 4.84052274e-02 1.79952798e-02 2.25897800e+02] [-4.83937940e-02 9.98827760e-01 -1.07053445e-03 -1.35122302e+01] [-1.80260045e-02 1.98246130e-04 9.99837499e-01 -3.13919545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99037174299997 meters 0.01934570697368882 Centerline is valid? [True, True] Translation: X:225.93, Y:-13.52, Z:-3.14 [[ 9.98689474e-01 4.81677121e-02 1.72975808e-02 2.25928971e+02] [-4.81570452e-02 9.98839242e-01 -1.03291286e-03 -1.35208140e+01] [-1.73272556e-02 1.98558815e-04 9.99849852e-01 -3.13922547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02037174299997 meters 0.01924487272761982 Centerline is valid? [True, True] Translation: X:225.96, Y:-13.52, Z:-3.14 [[ 9.98716638e-01 4.76566740e-02 1.71440218e-02 2.25962169e+02] [-4.76460636e-02 9.98863753e-01 -1.02704939e-03 -1.35246884e+01] [-1.71734878e-02 2.08886164e-04 9.99852503e-01 -3.14046165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05037174299997 meters 0.01924487272761982 Centerline is valid? [True, True] Translation: X:225.99, Y:-13.53, Z:-3.14 [[ 9.98703269e-01 4.79361248e-02 1.71437332e-02 2.25994645e+02] [-4.79254732e-02 9.98850381e-01 -1.03184763e-03 -1.35267153e+01] [-1.71734872e-02 2.08888080e-04 9.99852503e-01 -3.14091837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08037174299997 meters 0.019111804409570197 Centerline is valid? [True, True] Translation: X:226.03, Y:-13.53, Z:-3.14 [[ 9.98738914e-01 4.73616916e-02 1.66569047e-02 2.26027021e+02] [-4.73514803e-02 9.98877782e-01 -1.00711855e-03 -1.35316787e+01] [-1.66859109e-02 2.17119388e-04 9.99860757e-01 -3.14145276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11037174299997 meters 0.019081952908284135 Centerline is valid? [True, True] Translation: X:226.06, Y:-13.54, Z:-3.14 [[ 9.98855956e-01 4.49132045e-02 1.64189608e-02 2.26057833e+02] [-4.49028787e-02 9.98990859e-01 -9.97195631e-04 -1.35402974e+01] [-1.64471791e-02 2.58796189e-04 9.99864703e-01 -3.14181797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14037174299997 meters 0.01914944843131004 Centerline is valid? [True, True] Translation: X:226.09, Y:-13.55, Z:-3.14 [[ 9.98916379e-01 4.38080696e-02 1.57137120e-02 2.26089480e+02] [-4.37984205e-02 9.99039930e-01 -9.57840592e-04 -1.35456676e+01] [-1.57405868e-02 2.68566893e-04 9.99876073e-01 -3.14256081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17037174299998 meters 0.019021889702296162 Centerline is valid? [True, True] Translation: X:226.12, Y:-13.55, Z:-3.14 [[ 9.99042267e-01 4.12202232e-02 1.46779183e-02 2.26121295e+02] [-4.12114756e-02 9.99150043e-01 -8.98071576e-04 -1.35541263e+01] [-1.47024614e-02 2.92312792e-04 9.99891870e-01 -3.14421120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20037174299998 meters 0.019351721142714235 Centerline is valid? [True, True] Translation: X:226.15, Y:-13.56, Z:-3.15 [[ 9.99107218e-01 3.97985426e-02 1.41718857e-02 2.26153516e+02] [-3.97901972e-02 9.99207677e-01 -8.70465444e-04 -1.35588414e+01] [-1.41953003e-02 3.05786181e-04 9.99899195e-01 -3.14572974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23037174299998 meters 0.019923999691991805 Centerline is valid? [True, True] Translation: X:226.18, Y:-13.56, Z:-3.15 [[ 9.99165760e-01 3.84949282e-02 1.36354073e-02 2.26184440e+02] [-3.84870359e-02 9.99258746e-01 -8.40839774e-04 -1.35649981e+01] [-1.36576680e-02 3.15351904e-04 9.99906680e-01 -3.14675713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26037174299998 meters 0.01987397557040001 Centerline is valid? [True, True] Translation: X:226.22, Y:-13.57, Z:-3.15 [[ 9.99289398e-01 3.54894441e-02 1.26963674e-02 2.26216378e+02] [-3.54823379e-02 9.99369996e-01 -7.84595256e-04 -1.35717902e+01] [-1.27162135e-02 3.33540921e-04 9.99919090e-01 -3.14813279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29037174299998 meters 0.019848063954940036 Centerline is valid? [True, True] Translation: X:226.25, Y:-13.58, Z:-3.15 [[ 9.99330384e-01 3.43799643e-02 1.25220812e-02 2.26248652e+02] [-3.43729570e-02 9.99408775e-01 -7.74445633e-04 -1.35766574e+01] [-1.25413033e-02 3.43506092e-04 9.99921296e-01 -3.14845629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32037174299998 meters 0.02108783542170416 Centerline is valid? [True, True] Translation: X:226.28, Y:-13.59, Z:-3.15 [[ 9.99465593e-01 3.05803773e-02 1.15485118e-02 2.26278973e+02] [-3.05741269e-02 9.99532245e-01 -7.17435227e-04 -1.35854676e+01] [-1.15650494e-02 3.63966158e-04 9.99933056e-01 -3.14894627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35037174299998 meters 0.02231963292673522 Centerline is valid? [True, True] Translation: X:226.31, Y:-13.59, Z:-3.15 [[ 9.99531255e-01 2.82951049e-02 1.16900540e-02 2.26310167e+02] [-2.82885445e-02 9.99599535e-01 -7.26198122e-04 -1.35912136e+01] [-1.17059204e-02 3.95163107e-04 9.99931405e-01 -3.14959286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38037174299998 meters 0.023453988168655227 Centerline is valid? [True, True] Translation: X:226.34, Y:-13.60, Z:-3.15 [[ 9.99661546e-01 2.30711504e-02 1.20214535e-02 2.26340356e+02] [-2.30637962e-02 9.99733714e-01 -7.50053883e-04 -1.35986988e+01] [-1.20355569e-02 4.72539672e-04 9.99927458e-01 -3.14913109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41037174299998 meters 0.02485693839584237 Centerline is valid? [True, True] Translation: X:226.37, Y:-13.60, Z:-3.15 [[ 9.99724405e-01 1.98732392e-02 1.24967766e-02 2.26371472e+02] [-1.98650399e-02 9.99802366e-01 -7.79915073e-04 -1.36046929e+01] [-1.25098062e-02 5.31451167e-04 9.99921608e-01 -3.14897315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440371743 meters 0.026059652134599976 Centerline is valid? [True, True] Translation: X:226.40, Y:-13.61, Z:-3.15 [[ 9.99778483e-01 1.64835367e-02 1.30873350e-02 2.26402348e+02] [-1.64742477e-02 9.99863956e-01 -8.17271666e-04 -1.36098935e+01] [-1.30990261e-02 6.01486628e-04 9.99914023e-01 -3.14888026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.470371743 meters 0.028568000073670642 Centerline is valid? [True, True] Translation: X:226.43, Y:-13.62, Z:-3.15 [[ 9.99864155e-01 1.01240952e-02 1.30066670e-02 2.26432430e+02] [-1.01143804e-02 9.99948518e-01 -8.12477089e-04 -1.36179007e+01] [-1.30142230e-02 6.80812341e-04 9.99915080e-01 -3.14937060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500371743 meters 0.029927513570393163 Centerline is valid? [True, True] Translation: X:226.46, Y:-13.62, Z:-3.15 [[ 9.99892522e-01 7.05589576e-03 1.28513994e-02 2.26463610e+02] [-7.04615883e-03 9.99974853e-01 -8.02777240e-04 -1.36219230e+01] [-1.28567405e-02 7.12137958e-04 9.99917095e-01 -3.15036768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.530371743 meters 0.03028775361465959 Centerline is valid? [True, True] Translation: X:226.49, Y:-13.62, Z:-3.15 [[ 9.99922931e-01 1.93826762e-03 1.22627342e-02 2.26493796e+02] [-1.92901307e-03 9.99997846e-01 -7.66471599e-04 -1.36247720e+01] [-1.22641934e-02 7.42757553e-04 9.99924516e-01 -3.15121265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560371743 meters 0.033071104782203986 Centerline is valid? [True, True] Translation: X:226.52, Y:-13.63, Z:-3.15 [[ 9.99926039e-01 6.60513297e-04 1.21441174e-02 2.26524488e+02] [-6.51345376e-04 9.99999500e-01 -7.58866548e-04 -1.36304890e+01] [-1.21446126e-02 7.50900407e-04 9.99925970e-01 -3.15141661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.590371743 meters 0.03325666798604079 Centerline is valid? [True, True] Translation: X:226.56, Y:-13.63, Z:-3.15 [[ 9.99917780e-01 -3.91371928e-05 1.28231062e-02 2.26556692e+02] [ 4.94362367e-05 9.99999677e-01 -8.02846972e-04 -1.36316592e+01] [-1.28230706e-02 8.03414888e-04 9.99917458e-01 -3.15163286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620371743 meters 0.03178983269934477 Centerline is valid? [True, True] Translation: X:226.59, Y:-13.63, Z:-3.15 [[ 9.99904261e-01 8.74431714e-04 1.38095777e-02 2.26589008e+02] [-8.62522433e-04 9.99999251e-01 -8.68325135e-04 -1.36292814e+01] [-1.38103267e-02 8.56330932e-04 9.99904266e-01 -3.15047141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.650371743 meters 0.032282175572038004 Centerline is valid? [True, True] Translation: X:226.62, Y:-13.63, Z:-3.15 [[ 9.99897921e-01 2.39963636e-03 1.40850480e-02 2.26619188e+02] [-2.38738346e-03 9.99996757e-01 -8.86672482e-04 -1.36304720e+01] [-1.40871301e-02 8.52955561e-04 9.99900408e-01 -3.15031767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68037174299997 meters 0.03191233615776844 Centerline is valid? [True, True] Translation: X:226.65, Y:-13.63, Z:-3.15 [[ 9.99866890e-01 6.14060236e-03 1.51160542e-02 2.26649530e+02] [-6.12691177e-03 9.99980777e-01 -9.51842277e-04 -1.36273769e+01] [-1.51216085e-02 8.59100847e-04 9.99885293e-01 -3.15003059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71037174299997 meters 0.03059245164914178 Centerline is valid? [True, True] Translation: X:226.68, Y:-13.63, Z:-3.15 [[ 9.99845410e-01 8.14885184e-03 1.55805163e-02 2.26680999e+02] [-8.13454910e-03 9.99966433e-01 -9.81143762e-04 -1.36256974e+01] [-1.55879885e-02 8.54251612e-04 9.99878135e-01 -3.14984272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74037174299997 meters 0.030450733877161882 Centerline is valid? [True, True] Translation: X:226.71, Y:-13.62, Z:-3.15 [[ 9.99812903e-01 9.87803836e-03 1.66307945e-02 2.26712236e+02] [-9.86197034e-03 9.99950821e-01 -1.04789723e-03 -1.36248576e+01] [-1.66403278e-02 8.83688771e-04 9.99861150e-01 -3.15032119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77037174299997 meters 0.028540767796347948 Centerline is valid? [True, True] Translation: X:226.74, Y:-13.62, Z:-3.15 [[ 9.99786608e-01 1.25467968e-02 1.64108394e-02 2.26744330e+02] [-1.25314987e-02 9.99920942e-01 -1.03470173e-03 -1.36190383e+01] [-1.64225242e-02 8.28828518e-04 9.99864798e-01 -3.15220029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80037174299997 meters 0.030172726867109964 Centerline is valid? [True, True] Translation: X:226.78, Y:-13.62, Z:-3.15 [[ 9.99777785e-01 1.36841241e-02 1.60351435e-02 2.26775823e+02] [-1.36696403e-02 9.99906053e-01 -1.01251606e-03 -1.36211294e+01] [-1.60474925e-02 7.93096417e-04 9.99870916e-01 -3.15351334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83037174299997 meters 0.028034787740956395 Centerline is valid? [True, True] Translation: X:226.81, Y:-13.62, Z:-3.16 [[ 9.99771650e-01 1.40207347e-02 1.61265858e-02 2.26809276e+02] [-1.40060678e-02 9.99901388e-01 -1.02207037e-03 -1.36155914e+01] [-1.61393257e-02 7.95966929e-04 9.99869436e-01 -3.15500996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86037174299997 meters 0.027706032904001313 Centerline is valid? [True, True] Translation: X:226.84, Y:-13.61, Z:-3.16 [[ 9.99785015e-01 1.33804032e-02 1.58394625e-02 2.26841954e+02] [-1.33661053e-02 9.99910161e-01 -1.00819889e-03 -1.36144399e+01] [-1.58515296e-02 7.96270217e-04 9.99874040e-01 -3.15627044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89037174299997 meters 0.028758220748563674 Centerline is valid? [True, True] Translation: X:226.87, Y:-13.62, Z:-3.16 [[ 9.99781194e-01 1.32048776e-02 1.62233149e-02 2.26872676e+02] [-1.31897887e-02 9.99912474e-01 -1.03672652e-03 -1.36166299e+01] [-1.62355848e-02 8.22517581e-04 9.99867856e-01 -3.15626911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92037174299998 meters 0.028670827371039626 Centerline is valid? [True, True] Translation: X:226.90, Y:-13.61, Z:-3.16 [[ 9.99790866e-01 1.15032922e-02 1.69085171e-02 2.26904436e+02] [-1.14865960e-02 9.99933439e-01 -1.08423210e-03 -1.36148246e+01] [-1.69198639e-02 8.89784042e-04 9.99856453e-01 -3.15607164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95037174299998 meters 0.028673813655246416 Centerline is valid? [True, True] Translation: X:226.94, Y:-13.61, Z:-3.16 [[ 9.99801857e-01 1.05907040e-02 1.68547754e-02 2.26937022e+02] [-1.05739438e-02 9.99943508e-01 -1.08319572e-03 -1.36143796e+01] [-1.68652950e-02 9.04759642e-04 9.99857361e-01 -3.15675225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98037174299998 meters 0.030336217538385443 Centerline is valid? [True, True] Translation: X:226.97, Y:-13.61, Z:-3.16 [[ 9.99815448e-01 8.30573121e-03 1.73229653e-02 2.26968369e+02] [-8.28762025e-03 9.99965033e-01 -1.11701625e-03 -1.36142782e+01] [-1.73316372e-02 9.73243946e-04 9.99849322e-01 -3.15716858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01037174299998 meters 0.03204561239289308 Centerline is valid? [True, True] Translation: X:227.00, Y:-13.62, Z:-3.16 [[ 9.99818657e-01 7.31950304e-03 1.75805870e-02 2.26999447e+02] [-7.30067406e-03 9.99972706e-01 -1.13495231e-03 -1.36165407e+01] [-1.75884144e-02 1.00639636e-03 9.99844805e-01 -3.15761777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04037174299998 meters 0.030583622460818166 Centerline is valid? [True, True] Translation: X:227.03, Y:-13.62, Z:-3.16 [[ 9.99821532e-01 6.47271226e-03 1.77484631e-02 2.27031360e+02] [-6.45332259e-03 9.99978516e-01 -1.14952631e-03 -1.36151106e+01] [-1.77555223e-02 1.03478460e-03 9.99841823e-01 -3.15808930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07037174299998 meters 0.031782668339784236 Centerline is valid? [True, True] Translation: X:227.06, Y:-13.62, Z:-3.16 [[ 9.99829020e-01 5.50279147e-03 1.76535878e-02 2.27063036e+02] [-5.48341747e-03 9.99984310e-01 -1.14567189e-03 -1.36165526e+01] [-1.76596152e-02 1.04867401e-03 9.99843507e-01 -3.15906456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10037174299998 meters 0.0340027156688352 Centerline is valid? [True, True] Translation: X:227.09, Y:-13.62, Z:-3.16 [[ 9.99844707e-01 3.91375110e-03 1.71826986e-02 2.27093528e+02] [-3.89513120e-03 9.99991790e-01 -1.11697565e-03 -1.36183567e+01] [-1.71869291e-02 1.04987332e-03 9.99851743e-01 -3.16106638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13037174299998 meters 0.034726044016974385 Centerline is valid? [True, True] Translation: X:227.13, Y:-13.62, Z:-3.16 [[ 9.99866769e-01 3.18281134e-03 1.60098342e-02 2.27125933e+02] [-3.16653832e-03 9.99994444e-01 -1.04168635e-03 -1.36167775e+01] [-1.60130607e-02 9.90851809e-04 9.99871292e-01 -3.16331326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16037174299998 meters 0.03675597796916595 Centerline is valid? [True, True] Translation: X:227.16, Y:-13.62, Z:-3.16 [[ 9.99880650e-01 3.27916269e-03 1.50974391e-02 2.27158034e+02] [-3.26464961e-03 9.99994185e-01 -9.85838917e-04 -1.36190649e+01] [-1.51005840e-02 9.36433409e-04 9.99885541e-01 -3.16437773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.190371743 meters 0.03538229757007778 Centerline is valid? [True, True] Translation: X:227.19, Y:-13.62, Z:-3.17 [[ 9.99889233e-01 3.22388125e-03 1.45302216e-02 2.27190596e+02] [-3.21037955e-03 9.99994393e-01 -9.52444822e-04 -1.36164562e+01] [-1.45332107e-02 9.05691797e-04 9.99893977e-01 -3.16575110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220371743 meters 0.03397554142048759 Centerline is valid? [True, True] Translation: X:227.22, Y:-13.61, Z:-3.17 [[ 9.99897012e-01 3.78617876e-03 1.38430613e-02 2.27223156e+02] [-3.77393313e-03 9.99992464e-01 -9.10620151e-04 -1.36110353e+01] [-1.38464048e-02 8.58283580e-04 9.99903766e-01 -3.16786035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.250371743 meters 0.0358958374685123 Centerline is valid? [True, True] Translation: X:227.25, Y:-13.61, Z:-3.17 [[ 9.99893675e-01 4.57098462e-03 1.38471658e-02 2.27253976e+02] [-4.55875871e-03 9.99989191e-01 -9.14353766e-04 -1.36139431e+01] [-1.38511956e-02 8.51130660e-04 9.99903705e-01 -3.16840526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280371743 meters 0.03439154260847114 Centerline is valid? [True, True] Translation: X:227.29, Y:-13.61, Z:-3.17 [[ 9.99890760e-01 5.82618612e-03 1.35839244e-02 2.27286717e+02] [-5.81449446e-03 9.99982691e-01 -9.00033514e-04 -1.36113936e+01] [-1.35889330e-02 8.20951542e-04 9.99907329e-01 -3.16923335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.310371743 meters 0.030557254118154586 Centerline is valid? [True, True] Translation: X:227.32, Y:-13.60, Z:-3.17 [[ 9.99867903e-01 8.79975299e-03 1.36653011e-02 2.27318132e+02] [-8.78815012e-03 9.99960970e-01 -9.08893721e-04 -1.36022430e+01] [-1.36727658e-02 7.88680941e-04 9.99906212e-01 -3.16992120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340371743 meters 0.03267405236307997 Centerline is valid? [True, True] Translation: X:227.35, Y:-13.60, Z:-3.17 [[ 9.99836825e-01 1.11702167e-02 1.41968402e-02 2.27348417e+02] [-1.11579279e-02 9.99937302e-01 -9.44517153e-04 -1.36048362e+01] [-1.42065006e-02 7.85955712e-04 9.99898774e-01 -3.17024958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.370371743 meters 0.028099780762451978 Centerline is valid? [True, True] Translation: X:227.38, Y:-13.59, Z:-3.17 [[ 9.99763969e-01 1.61938230e-02 1.44833232e-02 2.27380065e+02] [-1.61815549e-02 9.99868606e-01 -9.63843843e-04 -1.35928470e+01] [-1.44970285e-02 7.29253656e-04 9.99894647e-01 -3.17091396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400371743 meters 0.030115658823546262 Centerline is valid? [True, True] Translation: X:227.41, Y:-13.59, Z:-3.17 [[ 9.99717512e-01 1.86922822e-02 1.46797731e-02 2.27410951e+02] [-1.86799459e-02 9.99825037e-01 -9.77041279e-04 -1.35945278e+01] [-1.46954678e-02 7.02547909e-04 9.99891769e-01 -3.17171302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43037174299997 meters 0.027820810718186418 Centerline is valid? [True, True] Translation: X:227.44, Y:-13.59, Z:-3.17 [[ 9.99694579e-01 1.98017255e-02 1.47864862e-02 2.27443495e+02] [-1.97893196e-02 9.99803687e-01 -9.84862470e-04 -1.35893969e+01] [-1.48030854e-02 6.91947171e-04 9.99890189e-01 -3.17265154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46037174299997 meters 0.029943673354123977 Centerline is valid? [True, True] Translation: X:227.47, Y:-13.59, Z:-3.17 [[ 9.99663875e-01 2.05362689e-02 1.58240092e-02 2.27474914e+02] [-2.05220840e-02 9.99788840e-01 -1.05829069e-03 -1.35913277e+01] [-1.58424012e-02 7.33193322e-04 9.99874232e-01 -3.17263506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49037174299997 meters 0.03102437914822443 Centerline is valid? [True, True] Translation: X:227.51, Y:-13.59, Z:-3.17 [[ 9.99666500e-01 1.98318234e-02 1.65404550e-02 2.27506003e+02] [-1.98161611e-02 9.99803024e-01 -1.11028609e-03 -1.35935316e+01] [-1.65592159e-02 7.82147493e-04 9.99862581e-01 -3.17284716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52037174299997 meters 0.031770382030781766 Centerline is valid? [True, True] Translation: X:227.54, Y:-13.59, Z:-3.17 [[ 9.99717609e-01 1.64618601e-02 1.71379532e-02 2.27536871e+02] [-1.64444938e-02 9.99864115e-01 -1.15376359e-03 -1.35921185e+01] [-1.71546175e-02 8.71612808e-04 9.99852469e-01 -3.17316366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55037174299997 meters 0.03287806244803819 Centerline is valid? [True, True] Translation: X:227.57, Y:-13.59, Z:-3.17 [[ 9.99744542e-01 1.45125638e-02 1.73273041e-02 2.27568804e+02] [-1.44945112e-02 9.99894268e-01 -1.16699733e-03 -1.35934438e+01] [-1.73424082e-02 9.15548411e-04 9.99849190e-01 -3.17383614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58037174299997 meters 0.03478242287020511 Centerline is valid? [True, True] Translation: X:227.60, Y:-13.59, Z:-3.17 [[ 9.99793787e-01 1.04815098e-02 1.73931581e-02 2.27599876e+02] [-1.04626932e-02 9.99944577e-01 -1.17249020e-03 -1.35944620e+01] [-1.74044836e-02 9.90269142e-04 9.99848040e-01 -3.17400468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61037174299997 meters 0.036266137370187655 Centerline is valid? [True, True] Translation: X:227.63, Y:-13.60, Z:-3.17 [[ 9.99800014e-01 9.18982590e-03 1.77617101e-02 2.27630587e+02] [-9.16998749e-03 9.99957237e-01 -1.19804304e-03 -1.35972002e+01] [-1.77719604e-02 1.03492879e-03 9.99841531e-01 -3.17449721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64037174299997 meters 0.036658124191873906 Centerline is valid? [True, True] Translation: X:227.66, Y:-13.60, Z:-3.18 [[ 9.99807888e-01 7.52847315e-03 1.80972139e-02 2.27662245e+02] [-7.50756641e-03 9.99971070e-01 -1.22290859e-03 -1.35966207e+01] [-1.81058970e-02 1.08680762e-03 9.99835484e-01 -3.17561144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67037174299998 meters 0.037253567650270866 Centerline is valid? [True, True] Translation: X:227.69, Y:-13.60, Z:-3.18 [[ 9.99801132e-01 7.40239028e-03 1.85175666e-02 2.27694770e+02] [-7.38042793e-03 9.99971978e-01 -1.25408699e-03 -1.35980583e+01] [-1.85263309e-02 1.11717003e-03 9.99827749e-01 -3.17612472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70037174299998 meters 0.036806874603748235 Centerline is valid? [True, True] Translation: X:227.73, Y:-13.60, Z:-3.18 [[ 9.99803508e-01 7.66411598e-03 1.82813089e-02 2.27727548e+02] [-7.64267027e-03 9.99970022e-01 -1.24267219e-03 -1.35973603e+01] [-1.82902848e-02 1.10271000e-03 9.99832111e-01 -3.17742823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73037174299998 meters 0.03856512510778127 Centerline is valid? [True, True] Translation: X:227.76, Y:-13.60, Z:-3.18 [[ 9.99804051e-01 8.20788776e-03 1.80136188e-02 2.27758895e+02] [-8.18706699e-03 9.99965730e-01 -1.22927720e-03 -1.35998837e+01] [-1.80230913e-02 1.08155762e-03 9.99836986e-01 -3.17827629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76037174299998 meters 0.03861177156447067 Centerline is valid? [True, True] Translation: X:227.79, Y:-13.60, Z:-3.18 [[ 9.99797861e-01 9.74889709e-03 1.75839686e-02 2.27789424e+02] [-9.72923961e-03 9.99951946e-01 -1.20312258e-03 -1.35985789e+01] [-1.75948527e-02 1.03180073e-03 9.99844666e-01 -3.17949284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79037174299998 meters 0.03317456441487953 Centerline is valid? [True, True] Translation: X:227.82, Y:-13.59, Z:-3.18 [[ 9.99787319e-01 1.13456619e-02 1.72218942e-02 2.27822310e+02] [-1.13270235e-02 9.99935152e-01 -1.17941229e-03 -1.35899782e+01] [-1.72341586e-02 9.84088649e-04 9.99850997e-01 -3.18101955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82037174299998 meters 0.034034355097363814 Centerline is valid? [True, True] Translation: X:227.85, Y:-13.59, Z:-3.18 [[ 9.99742674e-01 1.41526336e-02 1.77282077e-02 2.27852617e+02] [-1.41332556e-02 9.99899379e-01 -1.21787931e-03 -1.35911980e+01] [-1.77436600e-02 9.67008624e-04 9.99842101e-01 -3.18111429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85037174299998 meters 0.038266039356547724 Centerline is valid? [True, True] Translation: X:227.88, Y:-13.60, Z:-3.18 [[ 9.99723129e-01 1.56057091e-02 1.76104564e-02 2.27883404e+02] [-1.55867933e-02 9.99877785e-01 -1.21087530e-03 -1.35979944e+01] [-1.76272008e-02 9.36049499e-04 9.99844191e-01 -3.18115226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88037174299998 meters 0.033328365382147264 Centerline is valid? [True, True] Translation: X:227.92, Y:-13.59, Z:-3.18 [[ 9.99690114e-01 1.73358577e-02 1.78646006e-02 2.27916190e+02] [-1.73165918e-02 9.99849297e-01 -1.23257759e-03 -1.35909950e+01] [-1.78832762e-02 9.22841638e-04 9.99839656e-01 -3.18224228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91037174299998 meters 0.037251589674574974 Centerline is valid? [True, True] Translation: X:227.95, Y:-13.60, Z:-3.18 [[ 9.99663644e-01 1.98743176e-02 1.66616399e-02 2.27946131e+02] [-1.98578558e-02 9.99802149e-01 -1.15288905e-03 -1.35961444e+01] [-1.66812563e-02 8.21636822e-04 9.99860521e-01 -3.18310308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940371743 meters 0.037251589674574974 Centerline is valid? [True, True] Translation: X:227.98, Y:-13.60, Z:-3.18 [[ 9.99658408e-01 2.01360243e-02 1.66615745e-02 2.27978635e+02] [-2.01195830e-02 9.99796915e-01 -1.15383319e-03 -1.35985021e+01] [-1.66814244e-02 8.18215117e-04 9.99860521e-01 -3.18356078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.970371743 meters 0.03231993524432146 Centerline is valid? [True, True] Translation: X:228.01, Y:-13.59, Z:-3.18 [[ 9.99637710e-01 2.13722580e-02 1.63608059e-02 2.28011000e+02] [-2.13565013e-02 9.99771277e-01 -1.13720876e-03 -1.35914875e+01] [-1.63813685e-02 7.87387187e-04 9.99865506e-01 -3.18467155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000371743 meters 0.032664333952707986 Centerline is valid? [True, True] Translation: X:228.04, Y:-13.59, Z:-3.19 [[ 9.99611490e-01 2.24777112e-02 1.64809284e-02 2.28041845e+02] [-2.24618048e-02 9.99747041e-01 -1.14963727e-03 -1.35933016e+01] [-1.65026006e-02 7.78999228e-04 9.99863519e-01 -3.18541501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.030371743 meters 0.03179685606076404 Centerline is valid? [True, True] Translation: X:228.07, Y:-13.59, Z:-3.19 [[ 9.99540857e-01 2.52821129e-02 1.67000080e-02 2.28073731e+02] [-2.52661133e-02 9.99680078e-01 -1.16838191e-03 -1.35937215e+01] [-1.67242045e-02 7.45901160e-04 9.99859862e-01 -3.18592334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060371743 meters 0.0304715941669292 Centerline is valid? [True, True] Translation: X:228.11, Y:-13.59, Z:-3.19 [[ 9.99484157e-01 2.72187042e-02 1.70458557e-02 2.28105891e+02] [-2.72022844e-02 9.99629236e-01 -1.19443337e-03 -1.35929252e+01] [-1.70720467e-02 7.30131017e-04 9.99853995e-01 -3.18605439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.090371743 meters 0.030866350274168505 Centerline is valid? [True, True] Translation: X:228.14, Y:-13.59, Z:-3.19 [[ 9.99356009e-01 3.09216867e-02 1.82048585e-02 2.28136197e+02] [-3.09035019e-02 9.99521554e-01 -1.27943546e-03 -1.35939240e+01] [-1.82357107e-02 7.16017635e-04 9.99833459e-01 -3.18500457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120371743 meters 0.02875557150671859 Centerline is valid? [True, True] Translation: X:228.17, Y:-13.59, Z:-3.18 [[ 9.99262286e-01 3.32896437e-02 1.91490036e-02 2.28168307e+02] [-3.32699282e-02 9.99445495e-01 -1.34732648e-03 -1.35917163e+01] [-1.91832374e-02 7.09246561e-04 9.99815733e-01 -3.18466211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.150371743 meters 0.02860686447312692 Centerline is valid? [True, True] Translation: X:228.20, Y:-13.59, Z:-3.18 [[ 9.99190614e-01 3.51880881e-02 1.94914377e-02 2.28200166e+02] [-3.51679262e-02 9.99380469e-01 -1.37630986e-03 -1.35926269e+01] [-1.95277918e-02 6.89722451e-04 9.99809077e-01 -3.18457991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18037174299997 meters 0.02790762528091967 Centerline is valid? [True, True] Translation: X:228.23, Y:-13.59, Z:-3.18 [[ 9.99067352e-01 3.78485641e-02 2.07825001e-02 2.28232506e+02] [-3.78261052e-02 9.99283251e-01 -1.47284656e-03 -1.35938185e+01] [-2.08233494e-02 6.85351872e-04 9.99782936e-01 -3.18491506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21037174299997 meters 0.027112599809895593 Centerline is valid? [True, True] Translation: X:228.26, Y:-13.60, Z:-3.19 [[ 9.99022758e-01 3.88892676e-02 2.10036574e-02 2.28264839e+02] [-3.88664469e-02 9.99243298e-01 -1.49379050e-03 -1.35951863e+01] [-2.10458563e-02 6.75993173e-04 9.99778283e-01 -3.18558389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24037174299997 meters 0.027258219740662462 Centerline is valid? [True, True] Translation: X:228.30, Y:-13.60, Z:-3.19 [[ 9.99025407e-01 3.91748212e-02 2.03364256e-02 2.28297026e+02] [-3.91533848e-02 9.99232158e-01 -1.45133855e-03 -1.35981213e+01] [-2.03776664e-02 6.53684186e-04 9.99792140e-01 -3.18680483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27037174299997 meters 0.027607539141734173 Centerline is valid? [True, True] Translation: X:228.33, Y:-13.60, Z:-3.19 [[ 9.99061758e-01 3.83800197e-02 2.00643294e-02 2.28328206e+02] [-3.83588949e-02 9.99262994e-01 -1.43680137e-03 -1.36023392e+01] [-2.01046863e-02 6.65807799e-04 9.99797659e-01 -3.18750101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30037174299997 meters 0.027242998337762215 Centerline is valid? [True, True] Translation: X:228.36, Y:-13.61, Z:-3.19 [[ 9.99115261e-01 3.71706999e-02 1.96731711e-02 2.28360416e+02] [-3.71500655e-02 9.99308699e-01 -1.41341424e-03 -1.36054677e+01] [-1.97121086e-02 6.81304142e-04 9.99805465e-01 -3.18849729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33037174299997 meters 0.029187618923464182 Centerline is valid? [True, True] Translation: X:228.39, Y:-13.61, Z:-3.19 [[ 9.99264367e-01 3.33004514e-02 1.90211526e-02 2.28390367e+02] [-3.32803913e-02 9.99445115e-01 -1.37027814e-03 -1.36149640e+01] [-1.90562289e-02 7.36238716e-04 9.99818143e-01 -3.18929055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36037174299997 meters 0.030338843787194765 Centerline is valid? [True, True] Translation: X:228.42, Y:-13.62, Z:-3.19 [[ 9.99342549e-01 3.11935586e-02 1.84778680e-02 2.28420637e+02] [-3.11742525e-02 9.99513077e-01 -1.33201049e-03 -1.36209096e+01] [-1.85104209e-02 7.55101030e-04 9.99828382e-01 -3.19010959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39037174299997 meters 0.029291018690132502 Centerline is valid? [True, True] Translation: X:228.45, Y:-13.62, Z:-3.19 [[ 9.99454959e-01 2.81922377e-02 1.71750884e-02 2.28451817e+02] [-2.81751061e-02 9.99602235e-01 -1.23867185e-03 -1.36244186e+01] [-1.72031777e-02 7.54086785e-04 9.99851730e-01 -3.19175080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42037174299998 meters 0.030999422891615797 Centerline is valid? [True, True] Translation: X:228.48, Y:-13.63, Z:-3.19 [[ 9.99477956e-01 2.78205205e-02 1.64266469e-02 2.28482480e+02] [-2.78047860e-02 9.99612669e-01 -1.18551501e-03 -1.36309973e+01] [-1.64532660e-02 7.28156719e-04 9.99864371e-01 -3.19214640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45037174299998 meters 0.029961726200426184 Centerline is valid? [True, True] Translation: X:228.52, Y:-13.63, Z:-3.19 [[ 9.99445225e-01 2.88308146e-02 1.66741127e-02 2.28515162e+02] [-2.88147038e-02 9.99584043e-01 -1.20570527e-03 -1.36331499e+01] [-1.67019385e-02 7.24576753e-04 9.99860250e-01 -3.19249709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48037174299998 meters 0.029106132870009266 Centerline is valid? [True, True] Translation: X:228.55, Y:-13.64, Z:-3.19 [[ 9.99374725e-01 3.08280262e-02 1.73145198e-02 2.28546922e+02] [-3.08109035e-02 9.99524444e-01 -1.25487020e-03 -1.36354935e+01] [-1.73449709e-02 7.20609561e-04 9.99849305e-01 -3.19207156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51037174299998 meters 0.028290581952087085 Centerline is valid? [True, True] Translation: X:228.58, Y:-13.64, Z:-3.19 [[ 9.99177545e-01 3.64984234e-02 1.76663050e-02 2.28576653e+02] [-3.64814190e-02 9.99333507e-01 -1.28395567e-03 -1.36368917e+01] [-1.77013929e-02 6.38407802e-04 9.99843114e-01 -3.19208701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54037174299998 meters 0.027205470305375512 Centerline is valid? [True, True] Translation: X:228.61, Y:-13.64, Z:-3.19 [[ 9.99068776e-01 3.95681997e-02 1.72028816e-02 2.28608251e+02] [-3.95525283e-02 9.99216710e-01 -1.25038899e-03 -1.36373849e+01] [-1.72388824e-02 5.68807137e-04 9.99851238e-01 -3.19263908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57037174299998 meters 0.026533386309485117 Centerline is valid? [True, True] Translation: X:228.64, Y:-13.64, Z:-3.19 [[ 9.98944443e-01 4.27369170e-02 1.68391130e-02 2.28639783e+02] [-4.27223411e-02 9.99086234e-01 -1.22453923e-03 -1.36382487e+01] [-1.68760590e-02 5.03840333e-04 9.99857462e-01 -3.19318373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60037174299998 meters 0.025795506975825163 Centerline is valid? [True, True] Translation: X:228.67, Y:-13.64, Z:-3.19 [[ 9.98819368e-01 4.55694563e-02 1.68313447e-02 2.28670419e+02] [-4.55552872e-02 9.98961069e-01 -1.22447464e-03 -1.36399467e+01] [-1.68696567e-02 4.56272240e-04 9.99857593e-01 -3.19394866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63037174299998 meters 0.02497353876682409 Centerline is valid? [True, True] Translation: X:228.70, Y:-13.64, Z:-3.19 [[ 9.98595644e-01 4.99185617e-02 1.77447943e-02 2.28699555e+02] [-4.99035000e-02 9.98753210e-01 -1.29086220e-03 -1.36426855e+01] [-1.77871082e-02 4.03522031e-04 9.99841715e-01 -3.19398037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66037174299998 meters 0.024205970943836908 Centerline is valid? [True, True] Translation: X:228.73, Y:-13.65, Z:-3.19 [[ 9.98398538e-01 5.36485380e-02 1.79497758e-02 2.28728802e+02] [-5.36337343e-02 9.98559822e-01 -1.30545703e-03 -1.36462604e+01] [-1.79939608e-02 3.40652887e-04 9.99838038e-01 -3.19359907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.690371743 meters 0.024073153994763088 Centerline is valid? [True, True] Translation: X:228.76, Y:-13.65, Z:-3.19 [[ 9.98324953e-01 5.48692367e-02 1.83481688e-02 2.28759044e+02] [-5.48539791e-02 9.98493496e-01 -1.33418393e-03 -1.36497353e+01] [-1.83937328e-02 3.25479042e-04 9.99830768e-01 -3.19387950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720371743 meters 0.023380609546437933 Centerline is valid? [True, True] Translation: X:228.79, Y:-13.65, Z:-3.19 [[ 9.98267470e-01 5.59114531e-02 1.83294010e-02 2.28789667e+02] [-5.58964023e-02 9.98435684e-01 -1.33281923e-03 -1.36533355e+01] [-1.83752479e-02 3.05962512e-04 9.99831114e-01 -3.19421685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.750371743 meters 0.02268763687470404 Centerline is valid? [True, True] Translation: X:228.82, Y:-13.66, Z:-3.20 [[ 9.98223782e-01 5.66444550e-02 1.84576981e-02 2.28820121e+02] [-5.66293180e-02 9.98394370e-01 -1.34214834e-03 -1.36565398e+01] [-1.85040872e-02 2.94517532e-04 9.99828741e-01 -3.19508252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780371743 meters 0.022464765559291704 Centerline is valid? [True, True] Translation: X:228.85, Y:-13.66, Z:-3.20 [[ 9.98239344e-01 5.66797547e-02 1.74819238e-02 2.28849803e+02] [-5.66661836e-02 9.98392372e-01 -1.27107194e-03 -1.36627950e+01] [-1.75258634e-02 2.78200114e-04 9.99846372e-01 -3.19549331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.810371743 meters 0.022450095914979144 Centerline is valid? [True, True] Translation: X:228.88, Y:-13.67, Z:-3.20 [[ 9.98293286e-01 5.59389758e-02 1.67733623e-02 2.28878615e+02] [-5.59263869e-02 9.98434151e-01 -1.21902921e-03 -1.36677257e+01] [-1.68152890e-02 2.78875123e-04 9.99858574e-01 -3.19601419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840371743 meters 0.02247034269192789 Centerline is valid? [True, True] Translation: X:228.91, Y:-13.67, Z:-3.20 [[ 9.98414967e-01 5.41135174e-02 1.54686980e-02 2.28908751e+02] [-5.41025954e-02 9.98534749e-01 -1.12398383e-03 -1.36749998e+01] [-1.55068552e-02 2.85305573e-04 9.99879721e-01 -3.19726362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.870371743 meters 0.02243014435788742 Centerline is valid? [True, True] Translation: X:228.94, Y:-13.68, Z:-3.20 [[ 9.98488111e-01 5.29769070e-02 1.46608491e-02 2.28938719e+02] [-5.29669736e-02 9.98595696e-01 -1.06528406e-03 -1.36804684e+01] [-1.46966963e-02 2.87132660e-04 9.99891956e-01 -3.19774342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900371743 meters 0.022518363721096675 Centerline is valid? [True, True] Translation: X:228.97, Y:-13.69, Z:-3.20 [[ 9.98550287e-01 5.19943383e-02 1.39252789e-02 2.28969324e+02] [-5.19852812e-02 9.98647339e-01 -1.01183619e-03 -1.36860237e+01] [-1.39590525e-02 2.86459773e-04 9.99902527e-01 -3.19833065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93037174299997 meters 0.02321708636552317 Centerline is valid? [True, True] Translation: X:229.00, Y:-13.70, Z:-3.20 [[ 9.98683554e-01 4.95246305e-02 1.33592554e-02 2.28998435e+02] [-4.95160739e-02 9.98772855e-01 -9.70704148e-04 -1.36953988e+01] [-1.33909354e-02 3.07928390e-04 9.99910290e-01 -3.19785840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96037174299997 meters 0.023061422992093464 Centerline is valid? [True, True] Translation: X:229.03, Y:-13.70, Z:-3.20 [[ 9.98679601e-01 4.93585415e-02 1.42404061e-02 2.29027585e+02] [-4.93488009e-02 9.98781070e-01 -1.03480804e-03 -1.37001392e+01] [-1.42741246e-02 3.30694713e-04 9.99898065e-01 -3.19719729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99037174299997 meters 0.022211985258207806 Centerline is valid? [True, True] Translation: X:229.06, Y:-13.70, Z:-3.20 [[ 9.98512922e-01 5.23153521e-02 1.53312929e-02 2.29056592e+02] [-5.23044174e-02 9.98630566e-01 -1.11360445e-03 -1.37043508e+01] [-1.53685563e-02 3.10054088e-04 9.99881849e-01 -3.19526852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02037174299997 meters 0.02160625952407681 Centerline is valid? [True, True] Translation: X:229.09, Y:-13.71, Z:-3.19 [[ 9.98384976e-01 5.47702507e-02 1.50884077e-02 2.29087041e+02] [-5.47599331e-02 9.98498947e-01 -1.09642142e-03 -1.37063203e+01] [-1.51258105e-02 2.68410476e-04 9.99885562e-01 -3.19488758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05037174299997 meters 0.02120506200555664 Centerline is valid? [True, True] Translation: X:229.12, Y:-13.71, Z:-3.20 [[ 9.98226785e-01 5.75444543e-02 1.52289942e-02 2.29117577e+02] [-5.75342661e-02 9.98342919e-01 -1.10663734e-03 -1.37079945e+01] [-1.52674394e-02 2.28486033e-04 9.99883420e-01 -3.19527936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08037174299997 meters 0.0196851193998467 Centerline is valid? [True, True] Translation: X:229.15, Y:-13.71, Z:-3.20 [[ 9.97912250e-01 6.27074840e-02 1.54567726e-02 2.29147050e+02] [-6.26976085e-02 9.98031938e-01 -1.12313859e-03 -1.37088625e+01] [-1.54967819e-02 1.51691084e-04 9.99879906e-01 -3.19513221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11037174299997 meters 0.019486414277454987 Centerline is valid? [True, True] Translation: X:229.18, Y:-13.71, Z:-3.20 [[ 9.97781005e-01 6.47606592e-02 1.54636194e-02 2.29177115e+02] [-6.47510295e-02 9.97900818e-01 -1.12312175e-03 -1.37116305e+01] [-1.55038925e-02 1.19344277e-04 9.99879800e-01 -3.19523245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14037174299997 meters 0.019226066299910045 Centerline is valid? [True, True] Translation: X:229.21, Y:-13.72, Z:-3.19 [[ 9.97489589e-01 6.89192435e-02 1.62683034e-02 2.29205884e+02] [-6.89091437e-02 9.97622240e-01 -1.18123547e-03 -1.37150724e+01] [-1.63110312e-02 5.72352218e-05 9.99866965e-01 -3.19405436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17037174299998 meters 0.018940784465843342 Centerline is valid? [True, True] Translation: X:229.24, Y:-13.72, Z:-3.19 [[ 9.97329642e-01 7.11001519e-02 1.66839057e-02 2.29235041e+02] [-7.10898439e-02 9.97469181e-01 -1.21084525e-03 -1.37174757e+01] [-1.67277730e-02 2.15556141e-05 9.99860081e-01 -3.19383746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20037174299998 meters 0.01900119279251705 Centerline is valid? [True, True] Translation: X:229.26, Y:-13.72, Z:-3.19 [[ 9.97182131e-01 7.30183830e-02 1.72079604e-02 2.29264327e+02] [-7.30077133e-02 9.97330595e-01 -1.24827525e-03 -1.37200007e+01] [-1.72531724e-02 -1.15560598e-05 9.99851153e-01 -3.19351554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23037174299998 meters 0.018521201203882332 Centerline is valid? [True, True] Translation: X:229.29, Y:-13.72, Z:-3.19 [[ 9.96873149e-01 7.69156286e-02 1.81082846e-02 2.29293561e+02] [-7.69044675e-02 9.97037602e-01 -1.31294380e-03 -1.37238814e+01] [-1.81556265e-02 -8.37695555e-05 9.99835170e-01 -3.19222257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26037174299998 meters 0.01848784291183933 Centerline is valid? [True, True] Translation: X:229.32, Y:-13.73, Z:-3.19 [[ 9.96724603e-01 7.88136449e-02 1.81238700e-02 2.29323278e+02] [-7.88027896e-02 9.96889360e-01 -1.31344893e-03 -1.37274787e+01] [-1.81710108e-02 -1.19064645e-04 9.99834886e-01 -3.19248592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29037174299998 meters 0.018121156255822887 Centerline is valid? [True, True] Translation: X:229.35, Y:-13.73, Z:-3.19 [[ 9.96521559e-01 8.13552239e-02 1.80585241e-02 2.29352491e+02] [-8.13448755e-02 9.96685156e-01 -1.30807252e-03 -1.37343926e+01] [-1.81050815e-02 -1.65445928e-04 9.99836076e-01 -3.19394151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32037174299998 meters 0.01854083238625512 Centerline is valid? [True, True] Translation: X:229.38, Y:-13.74, Z:-3.19 [[ 9.96453768e-01 8.22730225e-02 1.76362932e-02 2.29380551e+02] [-8.22633076e-02 9.96609812e-01 -1.27684245e-03 -1.37385864e+01] [-1.76815526e-02 -1.78505350e-04 9.99843653e-01 -3.19410082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35037174299998 meters 0.0187635218586818 Centerline is valid? [True, True] Translation: X:229.41, Y:-13.75, Z:-3.20 [[ 9.96321525e-01 8.39655659e-02 1.71231818e-02 2.29409603e+02] [-8.39566691e-02 9.96468636e-01 -1.23904319e-03 -1.37467634e+01] [-1.71667506e-02 -2.03119910e-04 9.99852620e-01 -3.19501978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38037174299998 meters 0.01861994443778521 Centerline is valid? [True, True] Translation: X:229.44, Y:-13.75, Z:-3.20 [[ 9.96263515e-01 8.47011636e-02 1.68737054e-02 2.29439288e+02] [-8.46926395e-02 9.96406377e-01 -1.22040351e-03 -1.37523430e+01] [-1.69164373e-02 -2.13235157e-04 9.99856884e-01 -3.19589993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41037174299998 meters 0.018394887875126546 Centerline is valid? [True, True] Translation: X:229.47, Y:-13.76, Z:-3.20 [[ 9.96208913e-01 8.54646771e-02 1.62354525e-02 2.29469056e+02] [-8.54568962e-02 9.96341177e-01 -1.17368820e-03 -1.37582921e+01] [-1.62763587e-02 -2.18192731e-04 9.99867507e-01 -3.19625510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440371743 meters 0.018340484279680987 Centerline is valid? [True, True] Translation: X:229.50, Y:-13.76, Z:-3.20 [[ 9.96107473e-01 8.66787230e-02 1.60218799e-02 2.29498682e+02] [-8.66713114e-02 9.96236289e-01 -1.15768974e-03 -1.37647464e+01] [-1.60619253e-02 -2.35453943e-04 9.99870971e-01 -3.19699586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.470371743 meters 0.01833247046975334 Centerline is valid? [True, True] Translation: X:229.53, Y:-13.77, Z:-3.20 [[ 9.95928724e-01 8.87681866e-02 1.56903376e-02 2.29527242e+02] [-8.87613459e-02 9.96052277e-01 -1.13321004e-03 -1.37740802e+01] [-1.57289895e-02 -2.64099053e-04 9.99876257e-01 -3.19745891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500371743 meters 0.018203044401851387 Centerline is valid? [True, True] Translation: X:229.56, Y:-13.79, Z:-3.20 [[ 9.95801127e-01 9.01824053e-02 1.57241799e-02 2.29557080e+02] [-9.01757153e-02 9.95925224e-01 -1.13540250e-03 -1.37856034e+01] [-1.57625007e-02 -2.87304085e-04 9.99875723e-01 -3.19742022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.530371743 meters 0.01802972697623586 Centerline is valid? [True, True] Translation: X:229.59, Y:-13.79, Z:-3.20 [[ 9.95795647e-01 9.02516378e-02 1.56739353e-02 2.29586798e+02] [-9.02449990e-02 9.95918952e-01 -1.13177447e-03 -1.37927743e+01] [-1.57121137e-02 -2.87478193e-04 9.99876516e-01 -3.19758800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560371743 meters 0.018203829412474073 Centerline is valid? [True, True] Translation: X:229.62, Y:-13.80, Z:-3.20 [[ 9.95817191e-01 9.00495683e-02 1.54659906e-02 2.29616332e+02] [-9.00430798e-02 9.95937245e-01 -1.11678473e-03 -1.37997937e+01] [-1.55037220e-02 -2.80491995e-04 9.99879771e-01 -3.19791757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.590371743 meters 0.017010850229040083 Centerline is valid? [True, True] Translation: X:229.65, Y:-13.81, Z:-3.20 [[ 9.95849489e-01 8.97856129e-02 1.49110396e-02 2.29646406e+02] [-8.97795486e-02 9.95961080e-01 -1.07694754e-03 -1.38086273e+01] [-1.49475095e-02 -2.66228755e-04 9.99888244e-01 -3.19769953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620371743 meters 0.01657107841490316 Centerline is valid? [True, True] Translation: X:229.68, Y:-13.82, Z:-3.20 [[ 9.96056793e-01 8.76318208e-02 1.38394080e-02 2.29677046e+02] [-8.76263895e-02 9.96152908e-01 -9.99510227e-04 -1.38219820e+01] [-1.38737555e-02 -2.17128407e-04 9.99903731e-01 -3.19835846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.650371743 meters 0.016325888793116555 Centerline is valid? [True, True] Translation: X:229.71, Y:-13.83, Z:-3.20 [[ 9.96183268e-01 8.62128071e-02 1.36472805e-02 2.29708127e+02] [-8.62073498e-02 9.96276726e-01 -9.88751278e-04 -1.38303359e+01] [-1.36817110e-02 -1.91518403e-04 9.99906383e-01 -3.19880471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68037174299997 meters 0.015168490128295247 Centerline is valid? [True, True] Translation: X:229.74, Y:-13.85, Z:-3.20 [[ 9.96560922e-01 8.17761816e-02 1.33784866e-02 2.29737960e+02] [-8.17704973e-02 9.96650711e-01 -9.72258239e-04 -1.38458270e+01] [-1.34131858e-02 -1.25050934e-04 9.99910031e-01 -3.19876705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71037174299997 meters 0.014651006377626752 Centerline is valid? [True, True] Translation: X:229.77, Y:-13.86, Z:-3.20 [[ 9.96782929e-01 7.90177247e-02 1.34160642e-02 2.29769316e+02] [-7.90117182e-02 9.96873208e-01 -9.77991833e-04 -1.38554569e+01] [-1.34513936e-02 -8.51807169e-05 9.99909522e-01 -3.19885538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74037174299997 meters 0.014041025083038812 Centerline is valid? [True, True] Translation: X:229.80, Y:-13.86, Z:-3.20 [[ 9.97036739e-01 7.57918128e-02 1.31659141e-02 2.29799977e+02] [-7.57857037e-02 9.97123663e-01 -9.63030248e-04 -1.38649834e+01] [-1.32010343e-02 -3.76115243e-05 9.99912862e-01 -3.19878551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77037174299997 meters 0.013990286535495307 Centerline is valid? [True, True] Translation: X:229.83, Y:-13.88, Z:-3.20 [[ 9.97621403e-01 6.76762166e-02 1.30944765e-02 2.29831037e+02] [-6.76694515e-02 9.97707334e-01 -9.59518384e-04 -1.38828855e+01] [-1.31293918e-02 7.11400351e-05 9.99913803e-01 -3.19873970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80037174299997 meters 0.014424107679119332 Centerline is valid? [True, True] Translation: X:229.86, Y:-13.89, Z:-3.20 [[ 9.97917329e-01 6.32609367e-02 1.26118587e-02 2.29862718e+02] [-6.32542710e-02 9.97997013e-01 -9.27118550e-04 -1.38925550e+01] [-1.26452477e-02 1.27433736e-04 9.99920038e-01 -3.19887838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83037174299997 meters 0.015471867716800432 Centerline is valid? [True, True] Translation: X:229.89, Y:-13.91, Z:-3.20 [[ 9.98404102e-01 5.50451332e-02 1.26206827e-02 2.29892938e+02] [-5.50377586e-02 9.98483840e-01 -9.31166103e-04 -1.39071994e+01] [-1.26528039e-02 2.35065972e-04 9.99919922e-01 -3.19861312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86037174299997 meters 0.015471867716800432 Centerline is valid? [True, True] Translation: X:229.93, Y:-13.91, Z:-3.20 [[ 9.98388498e-01 5.53274460e-02 1.26206750e-02 2.29925356e+02] [-5.53200927e-02 9.98468237e-01 -9.31270846e-04 -1.39096553e+01] [-1.26528679e-02 2.31593191e-04 9.99919922e-01 -3.19906976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89037174299997 meters 0.016163892674027926 Centerline is valid? [True, True] Translation: X:229.96, Y:-13.92, Z:-3.20 [[ 9.98563450e-01 5.20493906e-02 1.27238710e-02 2.29957114e+02] [-5.20416034e-02 9.98644473e-01 -9.42580520e-04 -1.39173186e+01] [-1.27556841e-02 2.79055811e-04 9.99918604e-01 -3.19975906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92037174299998 meters 0.01729023873781811 Centerline is valid? [True, True] Translation: X:229.99, Y:-13.92, Z:-3.20 [[ 9.98729489e-01 4.88567525e-02 1.23460390e-02 2.29987542e+02] [-4.88491398e-02 9.98805747e-01 -9.17601336e-04 -1.39247458e+01] [-1.23761257e-02 3.13342130e-04 9.99923364e-01 -3.20025485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95037174299998 meters 0.01764501907480678 Centerline is valid? [True, True] Translation: X:230.02, Y:-13.93, Z:-3.20 [[ 9.98961219e-01 4.39543857e-02 1.20205665e-02 2.30017837e+02] [-4.39467769e-02 9.99033471e-01 -8.96523081e-04 -1.39325627e+01] [-1.20483544e-02 3.67326636e-04 9.99927348e-01 -3.20053946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98037174299998 meters 0.018358885464241668 Centerline is valid? [True, True] Translation: X:230.05, Y:-13.94, Z:-3.20 [[ 9.99018017e-01 4.26215608e-02 1.20998036e-02 2.30048087e+02] [-4.26137535e-02 9.99091214e-01 -9.02447282e-04 -1.39386405e+01] [-1.21272712e-02 3.85943044e-04 9.99926387e-01 -3.20087549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01037174299998 meters 0.02020799615969753 Centerline is valid? [True, True] Translation: X:230.08, Y:-13.95, Z:-3.20 [[ 9.99075946e-01 4.14235591e-02 1.14604976e-02 2.30078709e+02] [-4.14164638e-02 9.99141604e-01 -8.55855013e-04 -1.39476244e+01] [-1.14861126e-02 3.80410871e-04 9.99933960e-01 -3.20155608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04037174299998 meters 0.01943087621980622 Centerline is valid? [True, True] Translation: X:230.11, Y:-13.95, Z:-3.20 [[ 9.99088839e-01 4.12035981e-02 1.11245624e-02 2.30111119e+02] [-4.11968722e-02 9.99150701e-01 -8.33175162e-04 -1.39497915e+01] [-1.11494441e-02 3.74118831e-04 9.99937773e-01 -3.20196326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07037174299998 meters 0.019313756597793576 Centerline is valid? [True, True] Translation: X:230.14, Y:-13.95, Z:-3.20 [[ 9.99102407e-01 4.09115612e-02 1.09829629e-02 2.30143254e+02] [-4.09049582e-02 9.99162701e-01 -8.25255345e-04 -1.39527348e+01] [-1.10075293e-02 3.75256964e-04 9.99939345e-01 -3.20233936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10037174299998 meters 0.020602728521547924 Centerline is valid? [True, True] Translation: X:230.17, Y:-13.96, Z:-3.20 [[ 9.99162510e-01 3.93851810e-02 1.10944461e-02 2.30173598e+02] [-3.93783111e-02 9.99224023e-01 -8.37075521e-04 -1.39578042e+01] [-1.11188054e-02 3.99493928e-04 9.99938104e-01 -3.20297314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13037174299998 meters 0.019780701796771827 Centerline is valid? [True, True] Translation: X:230.21, Y:-13.96, Z:-3.20 [[ 9.99190911e-01 3.87674152e-02 1.07056931e-02 2.30206094e+02] [-3.87609865e-02 9.99248184e-01 -8.07408478e-04 -1.39589075e+01] [-1.07289455e-02 3.91791987e-04 9.99942366e-01 -3.20339233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16037174299998 meters 0.02072722076802075 Centerline is valid? [True, True] Translation: X:230.24, Y:-13.96, Z:-3.20 [[ 9.99235728e-01 3.75833110e-02 1.07450225e-02 2.30236887e+02] [-3.75767335e-02 9.99293414e-01 -8.13442837e-04 -1.39626989e+01] [-1.07680021e-02 4.09058298e-04 9.99941940e-01 -3.20371506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.190371743 meters 0.021262988413034745 Centerline is valid? [True, True] Translation: X:230.27, Y:-13.97, Z:-3.20 [[ 9.99249533e-01 3.71717932e-02 1.08916347e-02 2.30267396e+02] [-3.71649916e-02 9.99308801e-01 -8.26280733e-04 -1.39656657e+01] [-1.09148208e-02 4.20873124e-04 9.99940343e-01 -3.20437834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220371743 meters 0.020405590632716547 Centerline is valid? [True, True] Translation: X:230.30, Y:-13.96, Z:-3.20 [[ 9.99252945e-01 3.70306592e-02 1.10580982e-02 2.30300197e+02] [-3.70236421e-02 9.99314038e-01 -8.38677283e-04 -1.39648710e+01] [-1.10815695e-02 4.28639675e-04 9.99938506e-01 -3.20402435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.250371743 meters 0.02188133370985612 Centerline is valid? [True, True] Translation: X:230.33, Y:-13.97, Z:-3.20 [[ 9.99224835e-01 3.76263915e-02 1.15751091e-02 2.30330940e+02] [-3.76187045e-02 9.99291778e-01 -8.81184841e-04 -1.39682708e+01] [-1.16000672e-02 4.45061168e-04 9.99932618e-01 -3.20426780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280371743 meters 0.021488914671826936 Centerline is valid? [True, True] Translation: X:230.36, Y:-13.97, Z:-3.20 [[ 9.99181191e-01 3.85944372e-02 1.21415487e-02 2.30362821e+02] [-3.85860312e-02 9.99254853e-01 -9.25918809e-04 -1.39686775e+01] [-1.21682367e-02 4.56666482e-04 9.99925860e-01 -3.20416007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.310371743 meters 0.019997898955243565 Centerline is valid? [True, True] Translation: X:230.39, Y:-13.97, Z:-3.20 [[ 9.99057675e-01 4.14271423e-02 1.29442686e-02 2.30394332e+02] [-4.14177792e-02 9.99141424e-01 -9.90696464e-04 -1.39655429e+01] [-1.29741967e-02 4.53640049e-04 9.99915729e-01 -3.20436884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340371743 meters 0.018734377380229466 Centerline is valid? [True, True] Translation: X:230.43, Y:-13.96, Z:-3.21 [[ 9.98968160e-01 4.34350957e-02 1.32667870e-02 2.30426664e+02] [-4.34254327e-02 9.99056155e-01 -1.01570089e-03 -1.39639697e+01] [-1.32983823e-02 4.38536887e-04 9.99911476e-01 -3.20509029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.370371743 meters 0.01765639163880177 Centerline is valid? [True, True] Translation: X:230.46, Y:-13.96, Z:-3.21 [[ 9.98779642e-01 4.75469912e-02 1.33608082e-02 2.30458970e+02] [-4.75375116e-02 9.98868926e-01 -1.02638024e-03 -1.39603767e+01] [-1.33944974e-02 3.89988113e-04 9.99910214e-01 -3.20608552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40037174299997 meters 0.01748380974825956 Centerline is valid? [True, True] Translation: X:230.49, Y:-13.96, Z:-3.21 [[ 9.98689055e-01 4.95700069e-02 1.27666233e-02 2.30490710e+02] [-4.95615116e-02 9.98770591e-01 -9.81146889e-04 -1.39604547e+01] [-1.27995633e-02 3.47127513e-04 9.99918022e-01 -3.20675999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43037174299997 meters 0.017834436203324405 Centerline is valid? [True, True] Translation: X:230.52, Y:-13.96, Z:-3.21 [[ 9.98604134e-01 5.12379814e-02 1.28239322e-02 2.30522104e+02] [-5.12295055e-02 9.98686417e-01 -9.88783248e-04 -1.39612020e+01] [-1.28577502e-02 3.30439331e-04 9.99917281e-01 -3.20766952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46037174299997 meters 0.017605980370159122 Centerline is valid? [True, True] Translation: X:230.55, Y:-13.96, Z:-3.21 [[ 9.98519626e-01 5.28495934e-02 1.28637595e-02 2.30554454e+02] [-5.28411607e-02 9.98602434e-01 -9.94784100e-04 -1.39612383e+01] [-1.28983554e-02 3.13575468e-04 9.99916764e-01 -3.20815653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49037174299997 meters 0.017308141499529077 Centerline is valid? [True, True] Translation: X:230.59, Y:-13.96, Z:-3.21 [[ 9.98486754e-01 5.34365645e-02 1.29898592e-02 2.30587833e+02] [-5.34279739e-02 9.98571197e-01 -1.00770422e-03 -1.39629698e+01] [-1.30251475e-02 3.12157461e-04 9.99915120e-01 -3.20892919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52037174299997 meters 0.016653152604780848 Centerline is valid? [True, True] Translation: X:230.62, Y:-13.96, Z:-3.21 [[ 9.98525689e-01 5.29089807e-02 1.21280139e-02 2.30619910e+02] [-5.29014146e-02 9.98599294e-01 -9.44035799e-04 -1.39614301e+01] [-1.21609741e-02 3.01054902e-04 9.99926007e-01 -3.20950853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55037174299997 meters 0.01764996244120595 Centerline is valid? [True, True] Translation: X:230.65, Y:-13.96, Z:-3.21 [[ 9.98531081e-01 5.29966553e-02 1.12710072e-02 2.30651289e+02] [-5.29900947e-02 9.98594650e-01 -8.80128720e-04 -1.39643204e+01] [-1.13018114e-02 2.81584141e-04 9.99936093e-01 -3.21050206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58037174299997 meters 0.017242320754649924 Centerline is valid? [True, True] Translation: X:230.68, Y:-13.96, Z:-3.21 [[ 9.98518646e-01 5.33892288e-02 1.04930339e-02 2.30684538e+02] [-5.33835500e-02 9.98573744e-01 -8.20731316e-04 -1.39646926e+01] [-1.05218864e-02 2.59360122e-04 9.99944610e-01 -3.21164385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61037174299997 meters 0.017032040552449404 Centerline is valid? [True, True] Translation: X:230.72, Y:-13.97, Z:-3.21 [[ 9.98486331e-01 5.42124305e-02 9.27677221e-03 2.30716613e+02] [-5.42080054e-02 9.98529400e-01 -7.27973565e-04 -1.39653247e+01] [-9.30259501e-03 2.23996336e-04 9.99956705e-01 -3.21274403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64037174299997 meters 0.017224101808105928 Centerline is valid? [True, True] Translation: X:230.75, Y:-13.97, Z:-3.21 [[ 9.98450579e-01 5.48785276e-02 9.20810696e-03 2.30748174e+02] [-5.48741749e-02 9.98493014e-01 -7.24869569e-04 -1.39678645e+01] [-9.23401025e-03 2.18459169e-04 9.99957342e-01 -3.21307258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67037174299998 meters 0.01664530454643242 Centerline is valid? [True, True] Translation: X:230.78, Y:-13.97, Z:-3.21 [[ 9.98330064e-01 5.69797914e-02 9.50722917e-03 2.30780721e+02] [-5.69752232e-02 9.98375310e-01 -7.50873464e-04 -1.39683520e+01] [-9.53456749e-03 2.07943049e-04 9.99954523e-01 -3.21229673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70037174299998 meters 0.015570501766987738 Centerline is valid? [True, True] Translation: X:230.81, Y:-13.97, Z:-3.21 [[ 9.98239166e-01 5.85262630e-02 9.65633083e-03 2.30813607e+02] [-5.85215931e-02 9.98285849e-01 -7.65711468e-04 -1.39673996e+01] [-9.68459266e-03 1.99259313e-04 9.99953083e-01 -3.21245732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73037174299998 meters 0.015600361370568567 Centerline is valid? [True, True] Translation: X:230.84, Y:-13.97, Z:-3.21 [[ 9.98073022e-01 6.13148690e-02 9.52522612e-03 2.30844445e+02] [-6.13104499e-02 9.98118459e-01 -7.55521444e-04 -1.39689077e+01] [-9.55362871e-03 1.70069671e-04 9.99954349e-01 -3.21275557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76037174299998 meters 0.0145487233050829 Centerline is valid? [True, True] Translation: X:230.88, Y:-13.97, Z:-3.21 [[ 9.97690570e-01 6.70662038e-02 1.07541189e-02 2.30876201e+02] [-6.70608661e-02 9.97748519e-01 -8.56584315e-04 -1.39677232e+01] [-1.07873540e-02 1.33425568e-04 9.99941806e-01 -3.21279408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79037174299998 meters 0.014224387066858035 Centerline is valid? [True, True] Translation: X:230.91, Y:-13.97, Z:-3.21 [[ 9.97465772e-01 7.02940382e-02 1.09900735e-02 2.30908294e+02] [-7.02886621e-02 9.97526309e-01 -8.75144829e-04 -1.39688125e+01] [-1.10244049e-02 1.00449449e-04 9.99939224e-01 -3.21283951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82037174299998 meters 0.013919190514352578 Centerline is valid? [True, True] Translation: X:230.94, Y:-13.97, Z:-3.21 [[ 9.97039033e-01 7.59560448e-02 1.19935979e-02 2.30939858e+02] [-7.59500117e-02 9.97111166e-01 -9.58354315e-04 -1.39687298e+01] [-1.20317432e-02 4.46027579e-05 9.99927615e-01 -3.21348034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85037174299998 meters 0.014021853241303152 Centerline is valid? [True, True] Translation: X:230.97, Y:-13.97, Z:-3.21 [[ 9.96885819e-01 7.79131764e-02 1.21737816e-02 2.30973265e+02] [-7.79070736e-02 9.96960148e-01 -9.75454387e-04 -1.39704251e+01] [-1.22127759e-02 2.39929463e-05 9.99925421e-01 -3.21404740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88037174299998 meters 0.013600287243482027 Centerline is valid? [True, True] Translation: X:231.00, Y:-13.97, Z:-3.21 [[ 9.96735195e-01 7.97771250e-02 1.24322480e-02 2.31004848e+02] [-7.97708597e-02 9.96812726e-01 -9.99816675e-04 -1.39729291e+01] [-1.24723855e-02 4.82135821e-06 9.99922217e-01 -3.21461168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91037174299998 meters 0.013784540337263928 Centerline is valid? [True, True] Translation: X:231.04, Y:-13.98, Z:-3.22 [[ 9.96607266e-01 8.13826224e-02 1.22810961e-02 2.31036980e+02] [-8.13765909e-02 9.96682933e-01 -9.90875484e-04 -1.39771177e+01] [-1.23209989e-02 -1.18800237e-05 9.99924094e-01 -3.21587379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940371743 meters 0.01348859274517216 Centerline is valid? [True, True] Translation: X:231.07, Y:-13.98, Z:-3.22 [[ 9.96565248e-01 8.18630352e-02 1.24960230e-02 2.31069373e+02] [-8.18567872e-02 9.96643589e-01 -1.01150772e-03 -1.39813840e+01] [-1.25368863e-02 -1.48508485e-05 9.99921410e-01 -3.21607012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.970371743 meters 0.013486480731089979 Centerline is valid? [True, True] Translation: X:231.10, Y:-13.99, Z:-3.22 [[ 9.96601014e-01 8.14350838e-02 1.24397077e-02 2.31102078e+02] [-8.14288150e-02 9.96678648e-01 -1.01044487e-03 -1.39882925e+01] [-1.24806767e-02 -5.94027330e-06 9.99922113e-01 -3.21682215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000371743 meters 0.013451249434264095 Centerline is valid? [True, True] Translation: X:231.13, Y:-13.99, Z:-3.22 [[ 9.96642453e-01 8.09012248e-02 1.26021200e-02 2.31133362e+02] [-8.08947019e-02 9.96722124e-01 -1.02732828e-03 -1.39933755e+01] [-1.26439239e-02 4.43423983e-06 9.99920062e-01 -3.21750206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.030371743 meters 0.013332977061599301 Centerline is valid? [True, True] Translation: X:231.17, Y:-14.00, Z:-3.22 [[ 9.96735884e-01 7.97180553e-02 1.27518455e-02 2.31166147e+02] [-7.97112360e-02 9.96817451e-01 -1.04294156e-03 -1.39989185e+01] [-1.27944034e-02 2.30719110e-05 9.99918148e-01 -3.21762147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060371743 meters 0.013749538672564943 Centerline is valid? [True, True] Translation: X:231.20, Y:-14.01, Z:-3.22 [[ 9.97081664e-01 7.52025260e-02 1.31429187e-02 2.31196871e+02] [-7.51948374e-02 9.97168277e-01 -1.07888511e-03 -1.40090072e+01] [-1.31868365e-02 8.74569316e-05 9.99913046e-01 -3.21819541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.090371743 meters 0.014644759272577166 Centerline is valid? [True, True] Translation: X:231.23, Y:-14.02, Z:-3.22 [[ 9.97603031e-01 6.81781301e-02 1.18294262e-02 2.31228265e+02] [-6.81713746e-02 9.97673151e-01 -9.73831214e-04 -1.40216201e+01] [-1.18682949e-02 1.65068723e-04 9.99929556e-01 -3.21926175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120371743 meters 0.015532724343830915 Centerline is valid? [True, True] Translation: X:231.26, Y:-14.03, Z:-3.22 [[ 9.97812526e-01 6.51432610e-02 1.12480205e-02 2.31258718e+02] [-6.51369570e-02 9.97875904e-01 -9.26280138e-04 -1.40298734e+01] [-1.12844696e-02 1.91592095e-04 9.99936310e-01 -3.21981794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15037174299997 meters 0.015915513991568195 Centerline is valid? [True, True] Translation: X:231.29, Y:-14.04, Z:-3.22 [[ 9.98033415e-01 6.16590838e-02 1.12897891e-02 2.31290022e+02] [-6.16524783e-02 9.98097241e-01 -9.32519534e-04 -1.40365424e+01] [-1.13258056e-02 2.34642180e-04 9.99935833e-01 -3.22001037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18037174299997 meters 0.01676073849182053 Centerline is valid? [True, True] Translation: X:231.32, Y:-14.04, Z:-3.22 [[ 9.98244802e-01 5.81042474e-02 1.14548069e-02 2.31322066e+02] [-5.80971952e-02 9.98310482e-01 -9.47734236e-04 -1.40431791e+01] [-1.14905212e-02 2.80578622e-04 9.99933942e-01 -3.21985209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21037174299997 meters 0.018987779974874504 Centerline is valid? [True, True] Translation: X:231.35, Y:-14.05, Z:-3.22 [[ 9.98610847e-01 5.13690564e-02 1.17301197e-02 2.31351638e+02] [-5.13611852e-02 9.98679671e-01 -9.71484569e-04 -1.40533173e+01] [-1.17645363e-02 3.67662178e-04 9.99930728e-01 -3.21956720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24037174299997 meters 0.021185092061532712 Centerline is valid? [True, True] Translation: X:231.38, Y:-14.06, Z:-3.22 [[ 9.98876848e-01 4.58485939e-02 1.19561012e-02 2.31381203e+02] [-4.58400201e-02 9.98948303e-01 -9.90314864e-04 -1.40625372e+01] [-1.19889315e-02 4.41134673e-04 9.99928033e-01 -3.21962065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27037174299997 meters 0.021083791204346523 Centerline is valid? [True, True] Translation: X:231.41, Y:-14.07, Z:-3.22 [[ 9.98964294e-01 4.38993161e-02 1.19661914e-02 2.31412572e+02] [-4.38905826e-02 9.99035852e-01 -9.91611494e-04 -1.40666327e+01] [-1.19981853e-02 4.65381364e-04 9.99927911e-01 -3.21956888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30037174299997 meters 0.02261298026189446 Centerline is valid? [True, True] Translation: X:231.44, Y:-14.07, Z:-3.22 [[ 9.99048555e-01 4.18424148e-02 1.22961903e-02 2.31443938e+02] [-4.18329990e-02 9.99124094e-01 -1.02207701e-03 -1.40725405e+01] [-1.23281862e-02 5.06718039e-04 9.99923877e-01 -3.22016188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33037174299997 meters 0.024594814034303566 Centerline is valid? [True, True] Translation: X:231.47, Y:-14.08, Z:-3.22 [[ 9.99120579e-01 3.99694487e-02 1.26693284e-02 2.31474606e+02] [-3.99592917e-02 9.99200753e-01 -1.05392963e-03 -1.40786545e+01] [-1.27013274e-02 5.46745396e-04 9.99919185e-01 -3.22039490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36037174299997 meters 0.0238452804800969 Centerline is valid? [True, True] Translation: X:231.51, Y:-14.08, Z:-3.22 [[ 9.99235642e-01 3.68303704e-02 1.31017181e-02 2.31505975e+02] [-3.68192166e-02 9.99321347e-01 -1.09159599e-03 -1.40800311e+01] [-1.31330304e-02 6.08366623e-04 9.99913573e-01 -3.22033457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39037174299997 meters 0.02409624383503484 Centerline is valid? [True, True] Translation: X:231.54, Y:-14.08, Z:-3.22 [[ 9.99265790e-01 3.60335851e-02 1.30177615e-02 2.31537601e+02] [-3.60225029e-02 9.99350390e-01 -1.08486532e-03 -1.40821316e+01] [-1.30483966e-02 6.15136446e-04 9.99914677e-01 -3.22113567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42037174299998 meters 0.026287612863973058 Centerline is valid? [True, True] Translation: X:231.57, Y:-14.08, Z:-3.22 [[ 9.99293008e-01 3.53816535e-02 1.27131320e-02 2.31568290e+02] [-3.53709961e-02 9.99373686e-01 -1.06224270e-03 -1.40848934e+01] [-1.27427535e-02 6.11815556e-04 9.99918621e-01 -3.22222588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45037174299998 meters 0.023121638185519135 Centerline is valid? [True, True] Translation: X:231.60, Y:-14.08, Z:-3.22 [[ 9.99285050e-01 3.56519167e-02 1.25829285e-02 2.31601784e+02] [-3.56414642e-02 9.99364085e-01 -1.05402621e-03 -1.40814330e+01] [-1.26125049e-02 6.04798640e-04 9.99920276e-01 -3.22290316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48037174299998 meters 0.02289809613194157 Centerline is valid? [True, True] Translation: X:231.63, Y:-14.08, Z:-3.22 [[ 9.99274854e-01 3.58543437e-02 1.28152815e-02 2.31634469e+02] [-3.58434704e-02 9.99356836e-01 -1.07721759e-03 -1.40818851e+01] [-1.28456621e-02 6.17092291e-04 9.99917301e-01 -3.22359162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51037174299998 meters 0.024101345333543068 Centerline is valid? [True, True] Translation: X:231.67, Y:-14.08, Z:-3.22 [[ 9.99251270e-01 3.66197539e-02 1.24857486e-02 2.31665412e+02] [-3.66094478e-02 9.99329095e-01 -1.05306659e-03 -1.40817101e+01] [-1.25159349e-02 5.95181763e-04 9.99921495e-01 -3.22475990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54037174299998 meters 0.022541554094257916 Centerline is valid? [True, True] Translation: X:231.70, Y:-14.08, Z:-3.23 [[ 9.99233928e-01 3.72401781e-02 1.20302263e-02 2.31698069e+02] [-3.72306241e-02 9.99306182e-01 -1.01722262e-03 -1.40795678e+01] [-1.20597610e-02 5.68550527e-04 9.99927117e-01 -3.22617089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57037174299998 meters 0.023321736381726653 Centerline is valid? [True, True] Translation: X:231.73, Y:-14.08, Z:-3.23 [[ 9.99196562e-01 3.89885616e-02 9.28020313e-03 2.31729141e+02] [-3.89829368e-02 9.99239567e-01 -7.86298268e-04 -1.40780915e+01] [-9.30380280e-03 4.23896954e-04 9.99956629e-01 -3.22929628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60037174299998 meters 0.02331341109691767 Centerline is valid? [True, True] Translation: X:231.76, Y:-14.08, Z:-3.23 [[ 9.99181556e-01 3.94770696e-02 8.81929742e-03 2.31760964e+02] [-3.94719923e-02 9.99220396e-01 -7.49085886e-04 -1.40778965e+01] [-8.84199358e-03 4.00357560e-04 9.99960829e-01 -3.23084815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63037174299998 meters 0.02419663781053013 Centerline is valid? [True, True] Translation: X:231.79, Y:-14.08, Z:-3.23 [[ 9.99203456e-01 3.89676838e-02 8.60077309e-03 2.31792083e+02] [-3.89628181e-02 9.99240393e-01 -7.32624662e-04 -1.40761023e+01] [-8.62278856e-03 3.96930736e-04 9.99962744e-01 -3.23201105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66037174299998 meters 0.02525180296693659 Centerline is valid? [True, True] Translation: X:231.82, Y:-14.08, Z:-3.23 [[ 9.99234166e-01 3.81632067e-02 8.64009663e-03 2.31823915e+02] [-3.81582452e-02 9.99271436e-01 -7.38421385e-04 -1.40773269e+01] [-8.66198229e-03 4.08164951e-04 9.99962401e-01 -3.23235807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.690371743 meters 0.023429622957109413 Centerline is valid? [True, True] Translation: X:231.86, Y:-14.07, Z:-3.23 [[ 9.99266265e-01 3.74107682e-02 8.20773507e-03 2.31856203e+02] [-3.74062625e-02 9.99299894e-01 -7.01833579e-04 -1.40707908e+01] [-8.22824493e-03 3.94297925e-04 9.99966070e-01 -3.23233999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720371743 meters 0.023868033696015353 Centerline is valid? [True, True] Translation: X:231.89, Y:-14.07, Z:-3.23 [[ 9.99251497e-01 3.79303197e-02 7.59846821e-03 2.31888502e+02] [-3.79264623e-02 9.99280321e-01 -6.51152080e-04 -1.40705319e+01] [-7.61769815e-03 3.62481672e-04 9.99970919e-01 -3.23320850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.750371743 meters 0.023868033696015353 Centerline is valid? [True, True] Translation: X:231.92, Y:-14.07, Z:-3.23 [[ 9.99240949e-01 3.82072235e-02 7.59832958e-03 2.31920920e+02] [-3.82033619e-02 9.99269772e-01 -6.52764222e-04 -1.40733873e+01] [-7.61772137e-03 3.61987006e-04 9.99970919e-01 -3.23366570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780371743 meters 0.02423888398373819 Centerline is valid? [True, True] Translation: X:231.95, Y:-14.07, Z:-3.23 [[ 9.99185821e-01 3.96288957e-02 7.56608202e-03 2.31952417e+02] [-3.96250890e-02 9.99214405e-01 -6.52438784e-04 -1.40735160e+01] [-7.58599358e-03 3.52100908e-04 9.99971164e-01 -3.23419630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.810371743 meters 0.02294755406452549 Centerline is valid? [True, True] Translation: X:231.98, Y:-14.07, Z:-3.23 [[ 9.99002646e-01 4.39006730e-02 8.15128321e-03 2.31983661e+02] [-4.38963688e-02 9.99035840e-01 -7.06290947e-04 -1.40669314e+01] [-8.17443072e-03 3.47774791e-04 9.99966528e-01 -3.23389551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840371743 meters 0.021479865282601044 Centerline is valid? [True, True] Translation: X:232.01, Y:-14.06, Z:-3.23 [[ 9.98690251e-01 5.02264535e-02 9.75120054e-03 2.32014454e+02] [-5.02205941e-02 9.98737792e-01 -8.44976397e-04 -1.40595826e+01] [-9.78133267e-03 3.54158606e-04 9.99952099e-01 -3.23300665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.870371743 meters 0.020191080921890054 Centerline is valid? [True, True] Translation: X:232.05, Y:-14.06, Z:-3.23 [[ 9.98480500e-01 5.42196800e-02 9.84463505e-03 2.32046573e+02] [-5.42139066e-02 9.98528981e-01 -8.52568830e-04 -1.40565368e+01] [-9.87637941e-03 3.17557228e-04 9.99951177e-01 -3.23306006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90037174299997 meters 0.019080152506187133 Centerline is valid? [True, True] Translation: X:232.08, Y:-14.05, Z:-3.23 [[ 9.98255493e-01 5.81451464e-02 1.02524775e-02 2.32078248e+02] [-5.81390814e-02 9.98308097e-01 -8.88874095e-04 -1.40533879e+01] [-1.02868150e-02 2.91253822e-04 9.99947047e-01 -3.23330724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93037174299997 meters 0.01651531909599586 Centerline is valid? [True, True] Translation: X:232.11, Y:-14.04, Z:-3.23 [[ 9.97820126e-01 6.51335787e-02 1.06119396e-02 2.32109494e+02] [-6.51274703e-02 9.97876528e-01 -9.20539379e-04 -1.40438786e+01] [-1.06493635e-02 2.27403935e-04 9.99943268e-01 -3.23318110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96037174299997 meters 0.016475253771137278 Centerline is valid? [True, True] Translation: X:232.14, Y:-14.04, Z:-3.23 [[ 9.97613956e-01 6.81221881e-02 1.12143735e-02 2.32140485e+02] [-6.81155624e-02 9.97676964e-01 -9.72160007e-04 -1.40435128e+01] [-1.12545478e-02 2.05967035e-04 9.99936644e-01 -3.23331676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99037174299997 meters 0.01658392623392161 Centerline is valid? [True, True] Translation: X:232.17, Y:-14.04, Z:-3.23 [[ 9.97338317e-01 7.19766404e-02 1.16467011e-02 2.32172079e+02] [-7.19697237e-02 9.97406303e-01 -1.01245398e-03 -1.40404959e+01] [-1.16893661e-02 1.71549294e-04 9.99931662e-01 -3.23362520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02037174299997 meters 0.01583775903902592 Centerline is valid? [True, True] Translation: X:232.20, Y:-14.04, Z:-3.23 [[ 9.97256070e-01 7.30450279e-02 1.20314391e-02 2.32204061e+02] [-7.30376867e-02 9.97328630e-01 -1.04901564e-03 -1.40399387e+01] [-1.20759241e-02 1.67388730e-04 9.99927069e-01 -3.23375024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05037174299997 meters 0.015885219900862432 Centerline is valid? [True, True] Translation: X:232.24, Y:-14.04, Z:-3.23 [[ 9.97205600e-01 7.37264685e-02 1.20581741e-02 2.32236575e+02] [-7.37191414e-02 9.97278488e-01 -1.05160338e-03 -1.40407458e+01] [-1.21028886e-02 1.59746536e-04 9.99926745e-01 -3.23402021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08037174299997 meters 0.016222231674042194 Centerline is valid? [True, True] Translation: X:232.27, Y:-14.04, Z:-3.23 [[ 9.97329457e-01 7.21099529e-02 1.15805461e-02 2.32268813e+02] [-7.21030548e-02 9.97396673e-01 -1.01261828e-03 -1.40419380e+01] [-1.16234180e-02 1.74921286e-04 9.99932430e-01 -3.23493347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11037174299997 meters 0.016515831769845963 Centerline is valid? [True, True] Translation: X:232.30, Y:-14.04, Z:-3.24 [[ 9.97459569e-01 7.03458513e-02 1.12191230e-02 2.32300640e+02] [-7.03392361e-02 9.97522644e-01 -9.83622605e-04 -1.40445091e+01] [-1.12605230e-02 1.91979241e-04 9.99936580e-01 -3.23537989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14037174299997 meters 0.01834707618926808 Centerline is valid? [True, True] Translation: X:232.33, Y:-14.05, Z:-3.24 [[ 9.97905312e-01 6.36534383e-02 1.15424415e-02 2.32331093e+02] [-6.36459486e-02 9.97972025e-01 -1.01543122e-03 -1.40500178e+01] [-1.15836694e-02 2.78674576e-04 9.99932868e-01 -3.23626669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17037174299998 meters 0.018817445019552296 Centerline is valid? [True, True] Translation: X:232.36, Y:-14.05, Z:-3.24 [[ 9.98147015e-01 5.98418316e-02 1.10222920e-02 2.32362499e+02] [-5.98347719e-02 9.98207824e-01 -9.69445401e-04 -1.40538125e+01] [-1.10605515e-02 3.08132706e-04 9.99938783e-01 -3.23644614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20037174299998 meters 0.02027580545904028 Centerline is valid? [True, True] Translation: X:232.39, Y:-14.06, Z:-3.24 [[ 9.98365325e-01 5.61085593e-02 1.08861452e-02 2.32394459e+02] [-5.61014181e-02 9.98424613e-01 -9.60496145e-04 -1.40586282e+01] [-1.09228873e-02 3.48197863e-04 9.99940283e-01 -3.23790519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23037174299998 meters 0.023553752050433103 Centerline is valid? [True, True] Translation: X:232.42, Y:-14.07, Z:-3.24 [[ 9.98776109e-01 4.86131564e-02 9.11290204e-03 2.32423377e+02] [-4.86078323e-02 9.98817616e-01 -8.04953681e-04 -1.40662891e+01] [-9.14125843e-03 3.61010092e-04 9.99958153e-01 -3.23954059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26037174299998 meters 0.025022473051998544 Centerline is valid? [True, True] Translation: X:232.45, Y:-14.07, Z:-3.24 [[ 9.98936093e-01 4.53292839e-02 8.48168063e-03 2.32454538e+02] [-4.53245569e-02 9.98972034e-01 -7.48810423e-04 -1.40711717e+01] [-8.50690479e-03 3.63585342e-04 9.99963750e-01 -3.24066876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29037174299998 meters 0.02736110591527382 Centerline is valid? [True, True] Translation: X:232.49, Y:-14.08, Z:-3.24 [[ 9.99184643e-01 3.96454720e-02 7.63452380e-03 2.32485214e+02] [-3.96414734e-02 9.99213740e-01 -6.74422422e-04 -1.40761329e+01] [-7.65525888e-03 3.71228755e-04 9.99970629e-01 -3.24192538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32037174299998 meters 0.02856776053031805 Centerline is valid? [True, True] Translation: X:232.52, Y:-14.08, Z:-3.24 [[ 9.99265961e-01 3.75308273e-02 7.67962729e-03 2.32516526e+02] [-3.75267294e-02 9.99295395e-01 -6.77057578e-04 -1.40796813e+01] [-7.69962672e-03 3.88369296e-04 9.99970282e-01 -3.24256713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35037174299998 meters 0.0300171238334148 Centerline is valid? [True, True] Translation: X:232.55, Y:-14.08, Z:-3.24 [[ 9.99399034e-01 3.39271836e-02 7.10754983e-03 2.32547351e+02] [-3.39235625e-02 9.99424232e-01 -6.29442795e-04 -1.40818503e+01] [-7.12481275e-03 3.87951110e-04 9.99974543e-01 -3.24399471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38037174299998 meters 0.03264811357142032 Centerline is valid? [True, True] Translation: X:232.58, Y:-14.09, Z:-3.24 [[ 9.99454332e-01 3.23196522e-02 6.81744819e-03 2.32577762e+02] [-3.23162835e-02 9.99477510e-01 -6.03735005e-04 -1.40870941e+01] [-6.83339865e-03 3.83090978e-04 9.99976579e-01 -3.24471438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41037174299998 meters 0.031084034653520977 Centerline is valid? [True, True] Translation: X:232.61, Y:-14.09, Z:-3.24 [[ 9.99509971e-01 3.05336635e-02 6.89296503e-03 2.32610178e+02] [-3.05301775e-02 9.99533659e-01 -6.10416155e-04 -1.40861022e+01] [-6.90838880e-03 3.99673587e-04 9.99976057e-01 -3.24467783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440371743 meters 0.0335288004283196 Centerline is valid? [True, True] Translation: X:232.64, Y:-14.09, Z:-3.24 [[ 9.99626130e-01 2.62743668e-02 7.56685758e-03 2.32640965e+02] [-2.62700362e-02 9.99654658e-01 -6.71159542e-04 -1.40887893e+01] [-7.58187872e-03 4.72126993e-04 9.99971146e-01 -3.24445633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.470371743 meters 0.03229560992787113 Centerline is valid? [True, True] Translation: X:232.67, Y:-14.09, Z:-3.24 [[ 9.99697811e-01 2.34491284e-02 7.37737599e-03 2.32672248e+02] [-2.34449358e-02 9.99724916e-01 -6.54287037e-04 -1.40875523e+01] [-7.39068905e-03 4.81127212e-04 9.99972573e-01 -3.24475236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500371743 meters 0.03512485148536357 Centerline is valid? [True, True] Translation: X:232.70, Y:-14.09, Z:-3.25 [[ 9.99835350e-01 1.66372133e-02 7.24401166e-03 2.32702825e+02] [-1.66329909e-02 9.99861456e-01 -6.42748821e-04 -1.40890925e+01] [-7.25370159e-03 5.22153412e-04 9.99973555e-01 -3.24561150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.530371743 meters 0.04607531503041915 Centerline is valid? [True, True] Translation: X:232.73, Y:-14.10, Z:-3.25 [[ 9.99887053e-01 1.30556378e-02 7.44520317e-03 2.32730789e+02] [-1.30510787e-02 9.99914613e-01 -6.60608816e-04 -1.41030925e+01] [-7.45319212e-03 5.63366270e-04 9.99972066e-01 -3.24725670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560371743 meters 0.04180175695290513 Centerline is valid? [True, True] Translation: X:232.76, Y:-14.09, Z:-3.25 [[ 9.99941660e-01 7.02307605e-03 8.20690967e-03 2.32762585e+02] [-7.01733689e-03 9.99975113e-01 -7.27895348e-04 -1.40926849e+01] [-8.21181749e-03 6.70262233e-04 9.99966058e-01 -3.24695330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.590371743 meters 0.039682571087286504 Centerline is valid? [True, True] Translation: X:232.79, Y:-14.09, Z:-3.25 [[ 9.99948622e-01 5.02721800e-03 8.80230583e-03 2.32793730e+02] [-5.02053817e-03 9.99987092e-01 -7.80805638e-04 -1.40880228e+01] [-8.80611749e-03 7.36573209e-04 9.99960954e-01 -3.24728975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620371743 meters 0.044415091989116355 Centerline is valid? [True, True] Translation: X:232.82, Y:-14.09, Z:-3.25 [[ 9.99953712e-01 4.07090884e-03 8.71784437e-03 2.32824634e+02] [-4.06432921e-03 9.99991442e-01 -7.72315550e-04 -1.40924809e+01] [-8.72091379e-03 7.36847612e-04 9.99961701e-01 -3.24791567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65037174299997 meters 0.04472631864522222 Centerline is valid? [True, True] Translation: X:232.86, Y:-14.09, Z:-3.25 [[ 9.99953955e-01 3.50974701e-03 8.93134743e-03 2.32857221e+02] [-3.50279976e-03 9.99993550e-01 -7.93374478e-04 -1.40856636e+01] [-8.93407437e-03 7.62053226e-04 9.99959800e-01 -3.24882440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68037174299997 meters 0.04380086861318284 Centerline is valid? [True, True] Translation: X:232.89, Y:-14.08, Z:-3.25 [[ 9.99951042e-01 4.06379743e-03 9.02210634e-03 2.32889725e+02] [-4.05671008e-03 9.99991449e-01 -8.03715075e-04 -1.40818693e+01] [-9.02529533e-03 7.67075657e-04 9.99958977e-01 -3.24970287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71037174299997 meters 0.04715832893857236 Centerline is valid? [True, True] Translation: X:232.92, Y:-14.08, Z:-3.25 [[ 9.99939676e-01 5.28575930e-03 9.62834786e-03 2.32920697e+02] [-5.27770825e-03 9.99985702e-01 -8.61399338e-04 -1.40782206e+01] [-9.63276334e-03 8.10531764e-04 9.99953275e-01 -3.25071890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74037174299997 meters 0.0434710830867399 Centerline is valid? [True, True] Translation: X:232.95, Y:-14.07, Z:-3.25 [[ 9.99934194e-01 6.12387864e-03 9.70077299e-03 2.32953683e+02] [-6.11575318e-03 9.99980923e-01 -8.67053094e-04 -1.40701860e+01] [-9.70589765e-03 8.07668504e-04 9.99952570e-01 -3.25175599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77037174299997 meters 0.04101098634925712 Centerline is valid? [True, True] Translation: X:232.99, Y:-14.06, Z:-3.25 [[ 9.99929593e-01 7.25009617e-03 9.39384677e-03 2.32986054e+02] [-7.24249642e-03 9.99973418e-01 -8.42780237e-04 -1.40646237e+01] [-9.39970730e-03 7.74685998e-04 9.99955522e-01 -3.25239111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80037174299997 meters 0.04080696775927728 Centerline is valid? [True, True] Translation: X:233.02, Y:-14.06, Z:-3.25 [[ 9.99908210e-01 1.00408303e-02 9.09685864e-03 2.33017766e+02] [-1.00338123e-02 9.99949326e-01 -8.16793158e-04 -1.40554502e+01] [-9.10459895e-03 7.25442013e-04 9.99958289e-01 -3.25450559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83037174299997 meters 0.03831161501523631 Centerline is valid? [True, True] Translation: X:233.05, Y:-14.05, Z:-3.26 [[ 9.99889194e-01 1.19253534e-02 8.90987299e-03 2.33049659e+02] [-1.19186947e-02 9.99928650e-01 -8.00063300e-04 -1.40483684e+01] [-8.91877830e-03 6.93780592e-04 9.99959986e-01 -3.25550351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86037174299997 meters 0.04053228725734021 Centerline is valid? [True, True] Translation: X:233.08, Y:-14.04, Z:-3.26 [[ 9.99837690e-01 1.57619554e-02 8.72668602e-03 2.33079831e+02] [-1.57557078e-02 9.99875564e-01 -7.84214095e-04 -1.40413853e+01] [-8.73796085e-03 6.46591694e-04 9.99961614e-01 -3.25737638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89037174299997 meters 0.03722163427437241 Centerline is valid? [True, True] Translation: X:233.11, Y:-14.03, Z:-3.26 [[ 9.99804405e-01 1.73691766e-02 9.45856368e-03 2.33111804e+02] [-1.73619126e-02 9.99848910e-01 -8.49559206e-04 -1.40330716e+01] [-9.47189072e-03 6.85174280e-04 9.99954906e-01 -3.25796316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92037174299998 meters 0.041364889531022235 Centerline is valid? [True, True] Translation: X:233.14, Y:-14.04, Z:-3.26 [[ 9.99772879e-01 1.90220805e-02 9.60992153e-03 2.33142632e+02] [-1.90146546e-02 9.99818832e-01 -8.63522621e-04 -1.40355098e+01] [-9.62460652e-03 6.80597159e-04 9.99953451e-01 -3.25957279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95037174299998 meters 0.04050418527850785 Centerline is valid? [True, True] Translation: X:233.17, Y:-14.03, Z:-3.26 [[ 9.99704947e-01 2.20866152e-02 1.01094182e-02 2.33174698e+02] [-2.20785486e-02 9.99755826e-01 -9.08852573e-04 -1.40262489e+01] [-1.01270233e-02 6.85383132e-04 9.99948485e-01 -3.26077930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98037174299998 meters 0.03542212294550448 Centerline is valid? [True, True] Translation: X:233.21, Y:-14.01, Z:-3.26 [[ 9.99656010e-01 2.40431783e-02 1.04779769e-02 2.33207631e+02] [-2.40346173e-02 9.99710683e-01 -9.42215463e-04 -1.40103043e+01] [-1.04975993e-02 6.90057185e-04 9.99944661e-01 -3.26192121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01037174299998 meters 0.037366450784552654 Centerline is valid? [True, True] Translation: X:233.24, Y:-14.01, Z:-3.26 [[ 9.99632625e-01 2.49749042e-02 1.05294920e-02 2.33238037e+02] [-2.49663054e-02 9.99687844e-01 -9.47309313e-04 -1.40106481e+01] [-1.05498641e-02 6.84078782e-04 9.99944115e-01 -3.26296361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04037174299998 meters 0.03914802089780703 Centerline is valid? [True, True] Translation: X:233.27, Y:-14.01, Z:-3.26 [[ 9.99615901e-01 2.56565897e-02 1.04780606e-02 2.33268938e+02] [-2.56481107e-02 9.99670589e-01 -9.42812772e-04 -1.40112946e+01] [-1.04987983e-02 6.73708182e-04 9.99944659e-01 -3.26381616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07037174299998 meters 0.03776488301376839 Centerline is valid? [True, True] Translation: X:233.30, Y:-14.00, Z:-3.26 [[ 9.99580890e-01 2.67915736e-02 1.09661682e-02 2.33300136e+02] [-2.67823484e-02 9.99640801e-01 -9.87255605e-04 -1.40027841e+01] [-1.09886793e-02 6.93142099e-04 9.99939382e-01 -3.26356393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10037174299998 meters 0.03771085489494178 Centerline is valid? [True, True] Translation: X:233.33, Y:-14.00, Z:-3.26 [[ 9.99572614e-01 2.69360676e-02 1.13594640e-02 2.33330623e+02] [-2.69261781e-02 9.99636902e-01 -1.02266300e-03 -1.40007225e+01] [-1.13828859e-02 7.16358981e-04 9.99934956e-01 -3.26416432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13037174299998 meters 0.03790280732943947 Centerline is valid? [True, True] Translation: X:233.36, Y:-14.00, Z:-3.26 [[ 9.99572706e-01 2.71740541e-02 1.07691951e-02 2.33362055e+02] [-2.71651795e-02 9.99630488e-01 -9.69522635e-04 -1.39957056e+01] [-1.07915617e-02 6.76561245e-04 9.99941541e-01 -3.26470051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16037174299998 meters 0.03671915180643706 Centerline is valid? [True, True] Translation: X:233.39, Y:-13.99, Z:-3.26 [[ 9.99583719e-01 2.66778984e-02 1.09853693e-02 2.33392692e+02] [-2.66686341e-02 9.99643840e-01 -9.88984232e-04 -1.39924695e+01] [-1.10078408e-02 6.95607743e-04 9.99939170e-01 -3.26488276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.190371743 meters 0.03753367422251582 Centerline is valid? [True, True] Translation: X:233.42, Y:-13.99, Z:-3.27 [[ 9.99604301e-01 2.58686566e-02 1.10478358e-02 2.33421977e+02] [-2.58592368e-02 9.99665099e-01 -9.94660554e-04 -1.39925836e+01] [-1.10698664e-02 7.08578365e-04 9.99938476e-01 -3.26532754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220371743 meters 0.0387462231862395 Centerline is valid? [True, True] Translation: X:233.45, Y:-13.99, Z:-3.27 [[ 9.99651595e-01 2.39773392e-02 1.10352531e-02 2.33452297e+02] [-2.39678282e-02 9.99712237e-01 -9.93330023e-04 -1.39899675e+01] [-1.10558950e-02 7.28492891e-04 9.99938616e-01 -3.26611669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.250371743 meters 0.03899592612128308 Centerline is valid? [True, True] Translation: X:233.48, Y:-13.99, Z:-3.27 [[ 9.99669671e-01 2.31045920e-02 1.12573148e-02 2.33482928e+02] [-2.30946422e-02 9.99732770e-01 -1.01306511e-03 -1.39900399e+01] [-1.12777129e-02 7.52746808e-04 9.99936121e-01 -3.26646675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280371743 meters 0.040073671914087436 Centerline is valid? [True, True] Translation: X:233.51, Y:-13.99, Z:-3.27 [[ 9.99688266e-01 2.20773623e-02 1.16602630e-02 2.33514091e+02] [-2.20666183e-02 9.99755952e-01 -1.04928605e-03 -1.39877718e+01] [-1.16805828e-02 7.91656380e-04 9.99931466e-01 -3.26687057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.310371743 meters 0.03943766476665746 Centerline is valid? [True, True] Translation: X:233.55, Y:-13.99, Z:-3.27 [[ 9.99687733e-01 2.20228582e-02 1.18080830e-02 2.33545132e+02] [-2.20118333e-02 9.99757145e-01 -1.06283805e-03 -1.39859861e+01] [-1.18286221e-02 8.02588609e-04 9.99929717e-01 -3.26745590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340371743 meters 0.03794906997490691 Centerline is valid? [True, True] Translation: X:233.58, Y:-13.98, Z:-3.27 [[ 9.99689692e-01 2.19037971e-02 1.18635296e-02 2.33576164e+02] [-2.18926601e-02 9.99759757e-01 -1.06782877e-03 -1.39834777e+01] [-1.18840690e-02 8.07773191e-04 9.99929056e-01 -3.26786048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.370371743 meters 0.03737012935588406 Centerline is valid? [True, True] Translation: X:233.61, Y:-13.98, Z:-3.27 [[ 9.99685989e-01 2.21211583e-02 1.17719085e-02 2.33606703e+02] [-2.21102077e-02 9.99754978e-01 -1.05958201e-03 -1.39825272e+01] [-1.17924633e-02 7.98969946e-04 9.99930147e-01 -3.26878301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40037174299997 meters 0.03960244193891613 Centerline is valid? [True, True] Translation: X:233.64, Y:-13.98, Z:-3.27 [[ 9.99723041e-01 2.08017566e-02 1.10057890e-02 2.33636506e+02] [-2.07921084e-02 9.99783330e-01 -9.90355500e-04 -1.39830524e+01] [-1.10240055e-02 7.61247656e-04 9.99938944e-01 -3.27000162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43037174299997 meters 0.04027926193621232 Centerline is valid? [True, True] Translation: X:233.67, Y:-13.98, Z:-3.27 [[ 9.99804423e-01 1.71697212e-02 9.81410040e-03 2.33667132e+02] [-1.71618643e-02 9.99852333e-01 -8.84229346e-04 -1.39819763e+01] [-9.82783316e-03 7.15628152e-04 9.99951450e-01 -3.27123168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46037174299997 meters 0.04188905398825127 Centerline is valid? [True, True] Translation: X:233.70, Y:-13.98, Z:-3.27 [[ 9.99850474e-01 1.45320390e-02 9.37284805e-03 2.33697800e+02] [-1.45247579e-02 9.99894154e-01 -8.44441356e-04 -1.39840011e+01] [-9.38412743e-03 7.08176741e-04 9.99955717e-01 -3.27219732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49037174299997 meters 0.04411129857034835 Centerline is valid? [True, True] Translation: X:233.73, Y:-13.99, Z:-3.27 [[ 9.99888460e-01 1.16471375e-02 9.34939943e-03 2.33727793e+02] [-1.16397650e-02 9.99931901e-01 -8.42581039e-04 -1.39873249e+01] [-9.35857640e-03 7.33662246e-04 9.99955938e-01 -3.27257026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52037174299997 meters 0.04793240661693105 Centerline is valid? [True, True] Translation: X:233.76, Y:-13.99, Z:-3.27 [[ 9.99926340e-01 7.00185641e-03 9.91409133e-03 2.33757453e+02] [-6.99334294e-03 9.99975147e-01 -8.93131064e-04 -1.39893313e+01] [-9.92009852e-03 8.23732635e-04 9.99950455e-01 -3.27101270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55037174299997 meters 0.04506270945399065 Centerline is valid? [True, True] Translation: X:233.79, Y:-13.98, Z:-3.27 [[ 9.99919679e-01 5.61752515e-03 1.13612493e-02 2.33790258e+02] [-5.60624331e-03 9.99983760e-01 -1.02461502e-03 -1.39849919e+01] [-1.13668206e-02 9.60838799e-04 9.99934934e-01 -3.27057924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58037174299997 meters 0.05088998976453451 Centerline is valid? [True, True] Translation: X:233.82, Y:-13.99, Z:-3.27 [[ 9.99912593e-01 5.35735563e-03 1.20874149e-02 2.33820900e+02] [-5.34455904e-03 9.99985123e-01 -1.09072474e-03 -1.39890719e+01] [-1.20930784e-02 1.02602750e-03 9.99926350e-01 -3.27016382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61037174299997 meters 0.04601960213313712 Centerline is valid? [True, True] Translation: X:233.85, Y:-13.98, Z:-3.27 [[ 9.99911644e-01 6.11949169e-03 1.18006831e-02 2.33854256e+02] [-6.10731667e-03 9.99980780e-01 -1.06748219e-03 -1.39815801e+01] [-1.18069887e-02 9.95317366e-04 9.99929800e-01 -3.27082053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64037174299997 meters 0.044827106768332015 Centerline is valid? [True, True] Translation: X:233.89, Y:-13.98, Z:-3.27 [[ 9.99903741e-01 7.27274183e-03 1.18158985e-02 2.33885641e+02] [-7.26057501e-03 9.99973067e-01 -1.07226954e-03 -1.39787328e+01] [-1.18233786e-02 9.86376109e-04 9.99929615e-01 -3.27196744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67037174299998 meters 0.044827106768332015 Centerline is valid? [True, True] Translation: X:233.92, Y:-13.98, Z:-3.27 [[ 9.99901632e-01 7.55715464e-03 1.18159092e-02 2.33918194e+02] [-7.54500893e-03 9.99970961e-01 -1.07215225e-03 -1.39817740e+01] [-1.18236685e-02 9.82895646e-04 9.99929615e-01 -3.27242652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70037174299998 meters 0.04106780512601133 Centerline is valid? [True, True] Translation: X:233.95, Y:-13.97, Z:-3.27 [[ 9.99888437e-01 1.02592170e-02 1.08564479e-02 2.33949657e+02] [-1.02490819e-02 9.99946988e-01 -9.88778437e-04 -1.39715132e+01] [-1.08660165e-02 8.77399501e-04 9.99940578e-01 -3.27337469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73037174299998 meters 0.04293851673824108 Centerline is valid? [True, True] Translation: X:233.98, Y:-13.97, Z:-3.27 [[ 9.99877508e-01 1.12210257e-02 1.09113950e-02 2.33981134e+02] [-1.12108526e-02 9.99936663e-01 -9.93055479e-04 -1.39729329e+01] [-1.09218470e-02 8.70607797e-04 9.99939976e-01 -3.27366014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76037174299998 meters 0.04409917176256044 Centerline is valid? [True, True] Translation: X:234.01, Y:-13.97, Z:-3.27 [[ 9.99868267e-01 1.16584319e-02 1.12929108e-02 2.34012832e+02] [-1.16475310e-02 9.99931634e-01 -1.03057835e-03 -1.39701386e+01] [-1.13041537e-02 8.98908056e-04 9.99935702e-01 -3.27386553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79037174299998 meters 0.04548629367564719 Centerline is valid? [True, True] Translation: X:234.04, Y:-13.97, Z:-3.27 [[ 9.99872800e-01 1.15683536e-02 1.09798506e-02 2.34043992e+02] [-1.15580163e-02 9.99932699e-01 -1.00447053e-03 -1.39719489e+01] [-1.09907318e-02 8.77437472e-04 9.99939215e-01 -3.27424451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82037174299998 meters 0.04486486470852923 Centerline is valid? [True, True] Translation: X:234.08, Y:-13.97, Z:-3.27 [[ 9.99885982e-01 1.06186344e-02 1.07363051e-02 2.34075545e+02] [-1.06086638e-02 9.99943241e-01 -9.85210840e-04 -1.39704497e+01] [-1.07461573e-02 8.71200657e-04 9.99941879e-01 -3.27478437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85037174299998 meters 0.04732191531361471 Centerline is valid? [True, True] Translation: X:234.11, Y:-13.97, Z:-3.27 [[ 9.99926136e-01 7.64914935e-03 9.44522866e-03 2.34105592e+02] [-7.64129787e-03 9.99970429e-01 -8.67072648e-04 -1.39696548e+01] [-9.45158172e-03 7.94834797e-04 9.99955017e-01 -3.27495341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88037174299998 meters 0.05042248725507452 Centerline is valid? [True, True] Translation: X:234.14, Y:-13.97, Z:-3.28 [[ 9.99943896e-01 5.83680056e-03 8.83949415e-03 2.34135007e+02] [-5.82985458e-03 9.99982677e-01 -8.11352664e-04 -1.39730276e+01] [-8.84407672e-03 7.59774178e-04 9.99960602e-01 -3.27556575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91037174299998 meters 0.052311884520041055 Centerline is valid? [True, True] Translation: X:234.17, Y:-13.97, Z:-3.28 [[ 9.99974675e-01 2.08774924e-03 6.80365767e-03 2.34166326e+02] [-2.08354384e-03 9.99997634e-01 -6.25137307e-04 -1.39721631e+01] [-6.80494670e-03 6.10945757e-04 9.99976659e-01 -3.27822013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940371743 meters 0.0546692343814738 Centerline is valid? [True, True] Translation: X:234.20, Y:-13.98, Z:-3.28 [[ 9.99984667e-01 5.62307203e-04 5.50904518e-03 2.34196369e+02] [-5.59527442e-04 9.99999715e-01 -5.06109535e-04 -1.39754315e+01] [-5.50932820e-03 5.03019313e-04 9.99984697e-01 -3.27995758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.970371743 meters 0.04949429920045406 Centerline is valid? [True, True] Translation: X:234.23, Y:-13.97, Z:-3.28 [[ 9.99991355e-01 -1.01622460e-03 4.03214289e-03 2.34227888e+02] [ 1.01772750e-03 9.99999413e-01 -3.70695277e-04 -1.39681648e+01] [-4.03176381e-03 3.74795695e-04 9.99991802e-01 -3.28083263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000371743 meters 0.05638302162909783 Centerline is valid? [True, True] Translation: X:234.26, Y:-13.97, Z:-3.28 [[ 9.99987958e-01 -3.66823975e-03 3.26011044e-03 2.34257463e+02] [ 3.66923735e-03 9.99993223e-01 -3.00072489e-04 -1.39742718e+01] [-3.25898761e-03 3.12030995e-04 9.99994641e-01 -3.28244907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.030371743 meters 0.05213879734315262 Centerline is valid? [True, True] Translation: X:234.29, Y:-13.97, Z:-3.28 [[ 9.99985566e-01 -4.13716787e-03 3.42813422e-03 2.34289818e+02] [ 4.13827103e-03 9.99991388e-01 -3.14766296e-04 -1.39682407e+01] [-3.42680245e-03 3.28948301e-04 9.99994074e-01 -3.28123418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060371743 meters 0.050723148346898964 Centerline is valid? [True, True] Translation: X:234.32, Y:-13.96, Z:-3.28 [[ 9.99978071e-01 -4.29969034e-03 5.03686746e-03 2.34322222e+02] [ 4.30207615e-03 9.99990639e-01 -4.62930708e-04 -1.39626301e+01] [-5.03482985e-03 4.84589544e-04 9.99987208e-01 -3.27917143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.090371743 meters 0.048199774242095476 Centerline is valid? [True, True] Translation: X:234.35, Y:-13.96, Z:-3.28 [[ 9.99978284e-01 -3.78773460e-03 5.39292420e-03 2.34354557e+02] [ 3.79046468e-03 9.99992693e-01 -4.96102846e-04 -1.39594200e+01] [-5.39100569e-03 5.16533762e-04 9.99985335e-01 -3.27828640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120371743 meters 0.044629837648750365 Centerline is valid? [True, True] Translation: X:234.39, Y:-13.95, Z:-3.28 [[ 9.99976336e-01 -3.25381557e-03 6.06133516e-03 2.34387450e+02] [ 3.25725799e-03 9.99994539e-01 -5.58145786e-04 -1.39546392e+01] [-6.05948596e-03 5.77875910e-04 9.99981474e-01 -3.27771519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15037174299997 meters 0.05125249632066993 Centerline is valid? [True, True] Translation: X:234.42, Y:-13.96, Z:-3.28 [[ 9.99976389e-01 -2.30333753e-03 6.47425200e-03 2.34417087e+02] [ 2.30725159e-03 9.99997160e-01 -5.97153117e-04 -1.39615258e+01] [-6.47285817e-03 6.12076746e-04 9.99978864e-01 -3.27790166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18037174299997 meters 0.04790937440836708 Centerline is valid? [True, True] Translation: X:234.45, Y:-13.95, Z:-3.28 [[ 9.99982232e-01 -2.17224397e-03 5.55135278e-03 2.34450448e+02] [ 2.17511748e-03 9.99997504e-01 -5.11638251e-04 -1.39542959e+01] [-5.55022751e-03 5.23704005e-04 9.99984460e-01 -3.27799757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21037174299997 meters 0.05009581405152128 Centerline is valid? [True, True] Translation: X:234.48, Y:-13.96, Z:-3.28 [[ 9.99986787e-01 -1.94906665e-03 4.75687436e-03 2.34481264e+02] [ 1.95117579e-03 9.99998000e-01 -4.38787677e-04 -1.39575264e+01] [-4.75600962e-03 4.48063378e-04 9.99988590e-01 -3.27906370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24037174299997 meters 0.046888412468293277 Centerline is valid? [True, True] Translation: X:234.51, Y:-13.95, Z:-3.28 [[ 9.99988943e-01 -1.82471594e-03 4.33406680e-03 2.34514187e+02] [ 1.82646556e-03 9.99998252e-01 -3.99767701e-04 -1.39536625e+01] [-4.33332976e-03 4.07679304e-04 9.99990528e-01 -3.27951207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27037174299997 meters 0.049645650107429294 Centerline is valid? [True, True] Translation: X:234.55, Y:-13.96, Z:-3.28 [[ 9.99991973e-01 -1.56613619e-03 3.68792902e-03 2.34545065e+02] [ 1.56740243e-03 9.99998714e-01 -3.40481086e-04 -1.39582135e+01] [-3.68739104e-03 3.46258822e-04 9.99993142e-01 -3.28096842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30037174299997 meters 0.04646249865597137 Centerline is valid? [True, True] Translation: X:234.58, Y:-13.95, Z:-3.28 [[ 9.99996116e-01 -8.96642867e-04 2.63903080e-03 2.34578174e+02] [ 8.97288194e-04 9.99999568e-01 -2.43357784e-04 -1.39521890e+01] [-2.63881145e-03 2.45724810e-04 9.99996488e-01 -3.28152976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33037174299997 meters 0.04783000053756299 Centerline is valid? [True, True] Translation: X:234.61, Y:-13.95, Z:-3.28 [[ 9.99997694e-01 2.78710013e-04 2.12925518e-03 2.34608456e+02] [-2.78291255e-04 9.99999942e-01 -1.96962730e-04 -1.39513858e+01] [-2.12930995e-03 1.96369723e-04 9.99997714e-01 -3.28260510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36037174299997 meters 0.04950085115195613 Centerline is valid? [True, True] Translation: X:234.64, Y:-13.95, Z:-3.28 [[ 9.99997410e-01 1.17905664e-03 1.94653875e-03 2.34639091e+02] [-1.17870875e-03 9.99999289e-01 -1.79859436e-04 -1.39540356e+01] [-1.94674943e-03 1.77564568e-04 9.99998089e-01 -3.28347102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39037174299997 meters 0.04788246782920898 Centerline is valid? [True, True] Translation: X:234.67, Y:-13.95, Z:-3.28 [[ 9.99997104e-01 1.77937422e-03 1.62023083e-03 2.34669664e+02] [-1.77913330e-03 9.99998406e-01 -1.50127306e-04 -1.39522134e+01] [-1.62049539e-03 1.47244265e-04 9.99998676e-01 -3.28392178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42037174299998 meters 0.04945178920090834 Centerline is valid? [True, True] Translation: X:234.70, Y:-13.95, Z:-3.28 [[ 9.99993843e-01 3.07825622e-03 1.68495235e-03 2.34699344e+02] [-3.07799813e-03 9.99995251e-01 -1.55747033e-04 -1.39525214e+01] [-1.68542378e-03 1.50559793e-04 9.99998568e-01 -3.28429702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45037174299998 meters 0.047521655774732566 Centerline is valid? [True, True] Translation: X:234.73, Y:-13.95, Z:-3.28 [[ 9.99991324e-01 3.82426947e-03 1.65161683e-03 2.34730324e+02] [-3.82402180e-03 9.99992677e-01 -1.53086132e-04 -1.39507556e+01] [-1.65219018e-03 1.46768985e-04 9.99998624e-01 -3.28395212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48037174299998 meters 0.048557373212845006 Centerline is valid? [True, True] Translation: X:234.76, Y:-13.95, Z:-3.28 [[ 9.99983678e-01 5.29358742e-03 2.14986541e-03 2.34759444e+02] [-5.29317026e-03 9.99985971e-01 -1.99685621e-04 -1.39507090e+01] [-2.15089230e-03 1.88302758e-04 9.99997669e-01 -3.28384740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51037174299998 meters 0.048976888403086685 Centerline is valid? [True, True] Translation: X:234.79, Y:-13.95, Z:-3.28 [[ 9.99980201e-01 5.79008793e-03 2.46419929e-03 2.34789147e+02] [-5.78954176e-03 9.99983214e-01 -2.28718636e-04 -1.39519272e+01] [-2.46548223e-03 2.14447523e-04 9.99996938e-01 -3.28405494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54037174299998 meters 0.0486490379174276 Centerline is valid? [True, True] Translation: X:234.82, Y:-13.95, Z:-3.28 [[ 9.99973845e-01 6.60029230e-03 2.95714240e-03 2.34819316e+02] [-6.59951044e-03 9.99978185e-01 -2.74077976e-04 -1.39523836e+01] [-2.95888689e-03 2.54555115e-04 9.99995590e-01 -3.28386651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57037174299998 meters 0.046511598822783995 Centerline is valid? [True, True] Translation: X:234.85, Y:-13.95, Z:-3.28 [[ 9.99959557e-01 8.35278402e-03 3.33395097e-03 2.34849319e+02] [-8.35179954e-03 9.99965075e-01 -3.09102500e-04 -1.39495321e+01] [-3.33641640e-03 2.81245509e-04 9.99994395e-01 -3.28422090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60037174299998 meters 0.050156763016437116 Centerline is valid? [True, True] Translation: X:234.88, Y:-13.96, Z:-3.29 [[ 9.99953125e-01 9.13130512e-03 3.21980055e-03 2.34877880e+02] [-9.13039123e-03 9.99958273e-01 -2.98420228e-04 -1.39557237e+01] [-3.22239116e-03 2.69008201e-04 9.99994772e-01 -3.28558087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63037174299998 meters 0.049601653125341164 Centerline is valid? [True, True] Translation: X:234.91, Y:-13.95, Z:-3.29 [[ 9.99932679e-01 1.14065050e-02 2.12828798e-03 2.34907223e+02] [-1.14061107e-02 9.99934929e-01 -1.97336999e-04 -1.39542933e+01] [-2.13040041e-03 1.73048226e-04 9.99997716e-01 -3.28680649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66037174299998 meters 0.04307960921223663 Centerline is valid? [True, True] Translation: X:234.94, Y:-13.95, Z:-3.29 [[ 9.99919905e-01 1.25636788e-02 1.52866214e-03 2.34937073e+02] [-1.25634758e-02 9.99921066e-01 -1.42286380e-04 -1.39458895e+01] [-1.53032912e-03 1.23069674e-04 9.99998821e-01 -3.28648808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.690371743 meters 0.0433343189912726 Centerline is valid? [True, True] Translation: X:234.96, Y:-13.95, Z:-3.29 [[ 9.99903216e-01 1.38539896e-02 1.27498958e-03 2.34964878e+02] [-1.38538491e-02 9.99904024e-01 -1.18969529e-04 -1.39471140e+01] [-1.27651541e-03 1.01294502e-04 9.99999180e-01 -3.28750160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720371743 meters 0.04373522153479084 Centerline is valid? [True, True] Translation: X:234.99, Y:-13.95, Z:-3.29 [[ 9.99871671e-01 1.59956201e-02 8.84440685e-04 2.34993450e+02] [-1.59955535e-02 9.99872060e-01 -8.23548793e-05 -1.39476303e+01] [-8.85644847e-04 6.81971925e-05 9.99999605e-01 -3.28928323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.750371743 meters 0.04918661849283182 Centerline is valid? [True, True] Translation: X:235.02, Y:-13.96, Z:-3.29 [[ 9.99868935e-01 1.61783297e-02 6.12119237e-04 2.35020159e+02] [-1.61782975e-02 9.99869121e-01 -5.76463456e-05 -1.39560509e+01] [-6.12971745e-04 4.77357431e-05 9.99999811e-01 -3.29108194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780371743 meters 0.04243562874633236 Centerline is valid? [True, True] Translation: X:235.05, Y:-13.95, Z:-3.29 [[ 9.99850205e-01 1.72515513e-02 1.39677563e-03 2.35050251e+02] [-1.72513869e-02 9.99851175e-01 -1.29662173e-04 -1.39466123e+01] [-1.39880463e-03 1.05546433e-04 9.99999016e-01 -3.28989322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.810371743 meters 0.041507944720514126 Centerline is valid? [True, True] Translation: X:235.08, Y:-13.95, Z:-3.29 [[ 9.99839609e-01 1.78372763e-02 1.60879149e-03 2.35079741e+02] [-1.78370597e-02 9.99840896e-01 -1.48868778e-04 -1.39463237e+01] [-1.61119094e-03 1.20148791e-04 9.99998695e-01 -3.28973178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840371743 meters 0.04145240031400515 Centerline is valid? [True, True] Translation: X:235.11, Y:-13.95, Z:-3.29 [[ 9.99834862e-01 1.80576237e-02 2.04213373e-03 2.35108870e+02] [-1.80572754e-02 9.99836936e-01 -1.88871058e-04 -1.39469249e+01] [-2.04521130e-03 1.51964497e-04 9.99997897e-01 -3.28965331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.870371743 meters 0.041045909762431894 Centerline is valid? [True, True] Translation: X:235.14, Y:-13.95, Z:-3.29 [[ 9.99809493e-01 1.93211442e-02 2.76969568e-03 2.35138032e+02] [-1.93205098e-02 9.99813309e-01 -2.55612468e-04 -1.39450299e+01] [-2.77411732e-03 2.02051839e-04 9.99996132e-01 -3.28958547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90037174299997 meters 0.04061419386599216 Centerline is valid? [True, True] Translation: X:235.17, Y:-13.95, Z:-3.29 [[ 9.99792150e-01 2.01622713e-02 3.02319593e-03 2.35166693e+02] [-2.01615202e-02 9.99796697e-01 -2.78703129e-04 -1.39454291e+01] [-3.02820060e-03 2.17692975e-04 9.99995391e-01 -3.28954905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93037174299997 meters 0.038180442552981066 Centerline is valid? [True, True] Translation: X:235.20, Y:-13.94, Z:-3.29 [[ 9.99768687e-01 2.12888423e-02 3.05894313e-03 2.35195914e+02] [-2.12880793e-02 9.99773343e-01 -2.81788624e-04 -1.39417997e+01] [-3.06424875e-03 2.16604419e-04 9.99995282e-01 -3.28974618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96037174299997 meters 0.038553301016273175 Centerline is valid? [True, True] Translation: X:235.22, Y:-13.94, Z:-3.29 [[ 9.99758635e-01 2.17526709e-02 3.08118131e-03 2.35224470e+02] [-2.17518997e-02 9.99763359e-01 -2.83605056e-04 -1.39433804e+01] [-3.08662134e-03 2.16515057e-04 9.99995213e-01 -3.29034914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99037174299997 meters 0.03958340228358555 Centerline is valid? [True, True] Translation: X:235.25, Y:-13.95, Z:-3.29 [[ 9.99760397e-01 2.17156647e-02 2.75302911e-03 2.35251496e+02] [-2.17150474e-02 9.99764168e-01 -2.53902502e-04 -1.39457752e+01] [-2.75789352e-03 1.94059508e-04 9.99996178e-01 -3.29145874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02037174299997 meters 0.040643931155484696 Centerline is valid? [True, True] Translation: X:235.28, Y:-13.95, Z:-3.29 [[ 9.99772089e-01 2.12927592e-02 1.54516346e-03 2.35279436e+02] [-2.12925641e-02 9.99773277e-01 -1.42617432e-04 -1.39476225e+01] [-1.54784986e-03 1.09684436e-04 9.99998796e-01 -3.29304825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05037174299997 meters 0.04172954261605512 Centerline is valid? [True, True] Translation: X:235.31, Y:-13.95, Z:-3.29 [[ 9.99781843e-01 2.08507512e-02 1.23014218e-03 2.35306829e+02] [-2.08506266e-02 9.99782596e-01 -1.13995731e-04 -1.39506082e+01] [-1.23225164e-03 8.83216266e-05 9.99999237e-01 -3.29434298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08037174299997 meters 0.0409626610669287 Centerline is valid? [True, True] Translation: X:235.34, Y:-13.95, Z:-3.29 [[ 9.99801849e-01 1.98960673e-02 6.39155612e-04 2.35335995e+02] [-1.98960334e-02 9.99802053e-01 -5.93516862e-05 -1.39503215e+01] [-6.40209958e-04 4.66232643e-05 9.99999794e-01 -3.29487778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11037174299997 meters 0.0409481676079035 Centerline is valid? [True, True] Translation: X:235.36, Y:-13.95, Z:-3.30 [[ 9.99803516e-01 1.98128162e-02 6.17712235e-04 2.35364419e+02] [-1.98127843e-02 9.99803706e-01 -5.78208275e-05 -1.39516152e+01] [-6.18736575e-04 4.55708674e-05 9.99999808e-01 -3.29518596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14037174299997 meters 0.03813331865309164 Centerline is valid? [True, True] Translation: X:235.39, Y:-13.95, Z:-3.29 [[ 9.99800875e-01 1.99187288e-02 1.20596278e-03 2.35394038e+02] [-1.99186095e-02 9.99801599e-01 -1.10929636e-04 -1.39490424e+01] [-1.20793310e-03 8.68864452e-05 9.99999267e-01 -3.29473858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17037174299998 meters 0.043607950501642304 Centerline is valid? [True, True] Translation: X:235.42, Y:-13.96, Z:-3.30 [[ 9.99782046e-01 2.07910991e-02 1.89472115e-03 2.35421039e+02] [-2.07908070e-02 9.99783833e-01 -1.73777269e-04 -1.39563781e+01] [-1.89792460e-03 1.34346612e-04 9.99998190e-01 -3.29572012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20037174299998 meters 0.03869988321253977 Centerline is valid? [True, True] Translation: X:235.45, Y:-13.95, Z:-3.29 [[ 9.99768852e-01 2.13475230e-02 2.55438589e-03 2.35450171e+02] [-2.13469960e-02 9.99772100e-01 -2.33407119e-04 -1.39503222e+01] [-2.55878641e-03 1.78824703e-04 9.99996710e-01 -3.29467191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23037174299998 meters 0.04356748979827755 Centerline is valid? [True, True] Translation: X:235.48, Y:-13.96, Z:-3.30 [[ 9.99700979e-01 2.43296925e-02 2.45341511e-03 2.35478076e+02] [-2.43292161e-02 9.99703976e-01 -2.23835669e-04 -1.39574349e+01] [-2.45813469e-03 1.64079071e-04 9.99996965e-01 -3.29704130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26037174299998 meters 0.03753251149216105 Centerline is valid? [True, True] Translation: X:235.51, Y:-13.95, Z:-3.30 [[ 9.99665765e-01 2.57418650e-02 2.39071329e-03 2.35508165e+02] [-2.57414169e-02 9.99668611e-01 -2.18016149e-04 -1.39498199e+01] [-2.39553317e-03 1.56402933e-04 9.99997118e-01 -3.29618660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29037174299998 meters 0.03804219613218438 Centerline is valid? [True, True] Translation: X:235.54, Y:-13.95, Z:-3.30 [[ 9.99632693e-01 2.69578269e-02 2.78464971e-03 2.35535748e+02] [-2.69572225e-02 9.99636556e-01 -2.54364416e-04 -1.39522442e+01] [-2.79049476e-03 1.79204565e-04 9.99996091e-01 -3.29701301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32037174299998 meters 0.03417485477690462 Centerline is valid? [True, True] Translation: X:235.57, Y:-13.95, Z:-3.30 [[ 9.99592180e-01 2.84483621e-02 2.48275768e-03 2.35565523e+02] [-2.84478882e-02 9.99595251e-01 -2.25974479e-04 -1.39470797e+01] [-2.48818140e-03 1.55253109e-04 9.99996892e-01 -3.29665991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35037174299998 meters 0.03517479650123556 Centerline is valid? [True, True] Translation: X:235.59, Y:-13.95, Z:-3.30 [[ 9.99585800e-01 2.86880019e-02 2.28616931e-03 2.35593184e+02] [-2.86875989e-02 9.99588404e-01 -2.08909674e-04 -1.39504956e+01] [-2.29122154e-03 1.43238435e-04 9.99997365e-01 -3.29801908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38037174299998 meters 0.03695822008951738 Centerline is valid? [True, True] Translation: X:235.62, Y:-13.96, Z:-3.30 [[ 9.99590591e-01 2.85810078e-02 1.33305376e-03 2.35620483e+02] [-2.85808699e-02 9.99591476e-01 -1.22369362e-04 -1.39550020e+01] [-1.33600661e-03 8.42194271e-05 9.99999104e-01 -3.29970806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41037174299998 meters 0.035420381229449856 Centerline is valid? [True, True] Translation: X:235.65, Y:-13.96, Z:-3.30 [[ 9.99608644e-01 2.79581030e-02 -9.49968318e-04 2.35649155e+02] [-2.79580349e-02 9.99609094e-01 8.48583238e-05 -1.39555385e+01] [ 9.51969447e-04 -5.82658666e-05 9.99999545e-01 -3.30200166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440371743 meters 0.03569108475967583 Centerline is valid? [True, True] Translation: X:235.68, Y:-13.96, Z:-3.30 [[ 9.99613959e-01 2.77497690e-02 -1.37253728e-03 2.35677937e+02] [-2.77496263e-02 9.99614897e-01 1.22952992e-04 -1.39589498e+01] [ 1.37542063e-03 -8.48181301e-05 9.99999051e-01 -3.30354624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.470371743 meters 0.03611087330875546 Centerline is valid? [True, True] Translation: X:235.71, Y:-13.96, Z:-3.31 [[ 9.99628595e-01 2.71717428e-02 -2.09002017e-03 2.35706485e+02] [-2.71714097e-02 9.99630771e-01 1.87598855e-04 -1.39622946e+01] [ 2.09434586e-03 -1.30740385e-04 9.99997798e-01 -3.30525859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500371743 meters 0.03749779863174646 Centerline is valid? [True, True] Translation: X:235.73, Y:-13.97, Z:-3.31 [[ 9.99637365e-01 2.67938725e-02 -2.68836566e-03 2.35733953e+02] [-2.67933206e-02 9.99640965e-01 2.41112740e-04 -1.39669530e+01] [ 2.69386079e-03 -1.68995061e-04 9.99996357e-01 -3.30615066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.530371743 meters 0.036223675444380155 Centerline is valid? [True, True] Translation: X:235.76, Y:-13.97, Z:-3.31 [[ 9.99628906e-01 2.71388651e-02 -2.35197545e-03 2.35763141e+02] [-2.71384438e-02 9.99631662e-01 2.10863289e-04 -1.39679213e+01] [ 2.35683172e-03 -1.46956085e-04 9.99997212e-01 -3.30573417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560371743 meters 0.036223675444380155 Centerline is valid? [True, True] Translation: X:235.79, Y:-13.97, Z:-3.31 [[ 9.99631758e-01 2.70336298e-02 -2.35204145e-03 2.35790544e+02] [-2.70332099e-02 9.99634514e-01 2.10129620e-04 -1.39702960e+01] [ 2.35686237e-03 -1.46469011e-04 9.99997212e-01 -3.30612091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.590371743 meters 0.036496831442599596 Centerline is valid? [True, True] Translation: X:235.82, Y:-13.97, Z:-3.31 [[ 9.99622856e-01 2.74018034e-02 -1.81322868e-03 2.35819590e+02] [-2.74015544e-02 9.99624494e-01 1.62025509e-04 -1.39729865e+01] [ 1.81698759e-03 -1.12279118e-04 9.99998343e-01 -3.30511612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620371743 meters 0.03486381462616984 Centerline is valid? [True, True] Translation: X:235.85, Y:-13.97, Z:-3.30 [[ 9.99619332e-01 2.75700792e-02 -1.03975825e-03 2.35848711e+02] [-2.75699979e-02 9.99619871e-01 9.23928917e-05 -1.39730048e+01] [ 1.04191028e-03 -6.36915880e-05 9.99999455e-01 -3.30382305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65037174299997 meters 0.03796288697638413 Centerline is valid? [True, True] Translation: X:235.88, Y:-13.98, Z:-3.30 [[ 9.99586162e-01 2.87429348e-02 1.16080669e-03 2.35876246e+02] [-2.87428319e-02 9.99586834e-01 -1.05191063e-04 -1.39805408e+01] [-1.16335058e-03 7.17826595e-05 9.99999321e-01 -3.30362916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68037174299997 meters 0.035981801719841215 Centerline is valid? [True, True] Translation: X:235.90, Y:-13.98, Z:-3.30 [[ 9.99570637e-01 2.92230208e-02 2.13459434e-03 2.35904917e+02] [-2.92226762e-02 9.99572908e-01 -1.92425742e-04 -1.39805687e+01] [-2.13930593e-03 1.29964562e-04 9.99997703e-01 -3.30278210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71037174299997 meters 0.03482775640787013 Centerline is valid? [True, True] Translation: X:235.93, Y:-13.98, Z:-3.30 [[ 9.99555956e-01 2.95924438e-02 3.48958056e-03 2.35933400e+02] [-2.95915283e-02 9.99562026e-01 -3.13713881e-04 -1.39815188e+01] [-3.49733578e-03 2.10312557e-04 9.99993862e-01 -3.30253645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74037174299997 meters 0.03582261747994489 Centerline is valid? [True, True] Translation: X:235.96, Y:-13.99, Z:-3.30 [[ 9.99563294e-01 2.93048972e-02 3.80048887e-03 2.35960662e+02] [-2.93038083e-02 9.99570493e-01 -3.41894279e-04 -1.39863336e+01] [-3.80887571e-03 2.30376175e-04 9.99992720e-01 -3.30272455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77037174299997 meters 0.03472699038184337 Centerline is valid? [True, True] Translation: X:235.99, Y:-13.99, Z:-3.30 [[ 9.99578368e-01 2.88141992e-02 3.58154618e-03 2.35989114e+02] [-2.88132324e-02 9.99584761e-01 -3.21241736e-04 -1.39878477e+01] [-3.58931530e-03 2.17910368e-04 9.99993535e-01 -3.30302363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80037174299997 meters 0.03810683276518929 Centerline is valid? [True, True] Translation: X:236.02, Y:-14.00, Z:-3.30 [[ 9.99627557e-01 2.71934041e-02 2.29491669e-03 2.36016680e+02] [-2.71930024e-02 9.99630181e-01 -2.06061164e-04 -1.39961672e+01] [-2.29967149e-03 1.43578743e-04 9.99997345e-01 -3.30496131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83037174299997 meters 0.03418517864052133 Centerline is valid? [True, True] Translation: X:236.05, Y:-13.99, Z:-3.30 [[ 9.99645329e-01 2.65747178e-02 1.73230792e-03 2.36046124e+02] [-2.65744878e-02 9.99646824e-01 -1.55653009e-04 -1.39937434e+01] [-1.73583255e-03 1.09562607e-04 9.99998487e-01 -3.30462205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86037174299997 meters 0.0351000961197098 Centerline is valid? [True, True] Translation: X:236.07, Y:-14.00, Z:-3.31 [[ 9.99667812e-01 2.57188725e-02 1.67510200e-03 2.36074232e+02] [-2.57186564e-02 9.99669209e-01 -1.50419495e-04 -1.39982981e+01] [-1.67841651e-03 1.07288155e-04 9.99998586e-01 -3.30532052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89037174299997 meters 0.03591848265024911 Centerline is valid? [True, True] Translation: X:236.10, Y:-14.00, Z:-3.30 [[ 9.99685446e-01 2.49623230e-02 2.42703715e-03 2.36102014e+02] [-2.49618681e-02 9.99688380e-01 -2.17515984e-04 -1.40029563e+01] [-2.43171054e-03 1.56864182e-04 9.99997031e-01 -3.30481804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92037174299998 meters 0.03894322645865298 Centerline is valid? [True, True] Translation: X:236.13, Y:-14.01, Z:-3.31 [[ 9.99690831e-01 2.47304679e-02 2.57821353e-03 2.36128200e+02] [-2.47299525e-02 9.99694141e-01 -2.31591956e-04 -1.40098242e+01] [-2.58315234e-03 1.67761257e-04 9.99996650e-01 -3.30515502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95037174299998 meters 0.0355973209805825 Centerline is valid? [True, True] Translation: X:236.16, Y:-14.01, Z:-3.30 [[ 9.99678758e-01 2.51245640e-02 3.33715999e-03 2.36157515e+02] [-2.51237100e-02 9.99684305e-01 -2.97585710e-04 -1.40073350e+01] [-3.34358318e-03 2.13648273e-04 9.99994387e-01 -3.30340247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98037174299998 meters 0.03612498544785549 Centerline is valid? [True, True] Translation: X:236.18, Y:-14.01, Z:-3.30 [[ 9.99670061e-01 2.54199301e-02 3.68722847e-03 2.36184974e+02] [-2.54188903e-02 9.99676834e-01 -3.28611825e-04 -1.40103465e+01] [-3.69439018e-03 2.34778148e-04 9.99993148e-01 -3.30351698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01037174299998 meters 0.03785128896881626 Centerline is valid? [True, True] Translation: X:236.21, Y:-14.02, Z:-3.31 [[ 9.99624827e-01 2.72073105e-02 3.15706074e-03 2.36212609e+02] [-2.72065574e-02 9.99629794e-01 -2.81248997e-04 -1.40158109e+01] [-3.16354400e-03 1.95250726e-04 9.99994977e-01 -3.30507242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04037174299998 meters 0.036602868177966756 Centerline is valid? [True, True] Translation: X:236.24, Y:-14.02, Z:-3.31 [[ 9.99593461e-01 2.83377596e-02 3.14388907e-03 2.36241202e+02] [-2.83370198e-02 9.99598387e-01 -2.79603300e-04 -1.40167052e+01] [-3.15054978e-03 1.90401184e-04 9.99995019e-01 -3.30540478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07037174299998 meters 0.03503596585435437 Centerline is valid? [True, True] Translation: X:236.27, Y:-14.02, Z:-3.31 [[ 9.99556274e-01 2.96198316e-02 3.14959063e-03 2.36270150e+02] [-2.96190945e-02 9.99561219e-01 -2.80425121e-04 -1.40165101e+01] [-3.15651480e-03 1.87012667e-04 9.99995001e-01 -3.30562634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10037174299998 meters 0.03217580112641867 Centerline is valid? [True, True] Translation: X:236.30, Y:-14.01, Z:-3.30 [[ 9.99444289e-01 3.31215156e-02 3.75203017e-03 2.36300455e+02] [-3.31205009e-02 9.99451310e-01 -3.32276066e-04 -1.40137151e+01] [-3.76097696e-03 2.07822298e-04 9.99992906e-01 -3.30426719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13037174299998 meters 0.03586458893619105 Centerline is valid? [True, True] Translation: X:236.33, Y:-14.02, Z:-3.30 [[ 9.99377464e-01 3.49669799e-02 4.68992879e-03 2.36328180e+02] [-3.49654132e-02 9.99388437e-01 -4.15675817e-04 -1.40213214e+01] [-4.70159552e-03 2.51431746e-04 9.99988916e-01 -3.30499180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16037174299998 meters 0.03165554701404179 Centerline is valid? [True, True] Translation: X:236.36, Y:-14.02, Z:-3.30 [[ 9.99235724e-01 3.86493397e-02 5.84773085e-03 2.36358446e+02] [-3.86469723e-02 9.99252793e-01 -5.17346935e-04 -1.40162027e+01] [-5.86335650e-03 2.90954447e-04 9.99982768e-01 -3.30308117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.190371743 meters 0.031231089819981815 Centerline is valid? [True, True] Translation: X:236.39, Y:-14.02, Z:-3.30 [[ 9.99157064e-01 4.05964259e-02 6.09036561e-03 2.36387300e+02] [-4.05938937e-02 9.99175583e-01 -5.38853537e-04 -1.40176844e+01] [-6.10722014e-03 2.91167663e-04 9.99981308e-01 -3.30313596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220371743 meters 0.030280899785923035 Centerline is valid? [True, True] Translation: X:236.42, Y:-14.02, Z:-3.30 [[ 9.99067641e-01 4.27068903e-02 6.32227324e-03 2.36416485e+02] [-4.27042077e-02 9.99087603e-01 -5.58759827e-04 -1.40188347e+01] [-6.34036771e-03 2.88251193e-04 9.99979858e-01 -3.30309323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.250371743 meters 0.02859206825290327 Centerline is valid? [True, True] Translation: X:236.45, Y:-14.02, Z:-3.30 [[ 9.98986420e-01 4.45193884e-02 6.64500408e-03 2.36445762e+02] [-4.45164666e-02 9.99008478e-01 -5.87040231e-04 -1.40180871e+01] [-6.66455009e-03 2.90633117e-04 9.99977749e-01 -3.30333815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280371743 meters 0.02759189233359426 Centerline is valid? [True, True] Translation: X:236.48, Y:-14.02, Z:-3.30 [[ 9.98836739e-01 4.78186296e-02 6.20870980e-03 2.36475958e+02] [-4.78161459e-02 9.98856004e-01 -5.47948215e-04 -1.40189521e+01] [-6.22780919e-03 2.50434234e-04 9.99980576e-01 -3.30382068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.310371743 meters 0.026510176699401013 Centerline is valid? [True, True] Translation: X:236.50, Y:-14.02, Z:-3.30 [[ 9.98747848e-01 4.95843871e-02 6.64258932e-03 2.36504445e+02] [-4.95815845e-02 9.98769905e-01 -5.86028179e-04 -1.40203298e+01] [-6.66347615e-03 2.55944279e-04 9.99977766e-01 -3.30401879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340371743 meters 0.026289145464973938 Centerline is valid? [True, True] Translation: X:236.53, Y:-14.02, Z:-3.31 [[ 9.98640377e-01 5.17760881e-02 6.05265349e-03 2.36532576e+02] [-5.17738036e-02 9.98658695e-01 -5.33631351e-04 -1.40233622e+01] [-6.07216437e-03 2.19536921e-04 9.99981540e-01 -3.30558576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.370371743 meters 0.02600919879342025 Centerline is valid? [True, True] Translation: X:236.56, Y:-14.03, Z:-3.31 [[ 9.98580468e-01 5.30146327e-02 5.14763882e-03 2.36561458e+02] [-5.30129978e-02 9.98593719e-01 -4.53618067e-04 -1.40264885e+01] [-5.16444819e-03 1.80082376e-04 9.99986648e-01 -3.30661583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40037174299997 meters 0.02580914974869362 Centerline is valid? [True, True] Translation: X:236.59, Y:-14.03, Z:-3.31 [[ 9.98557310e-01 5.34858063e-02 4.75058671e-03 2.36590223e+02] [-5.34844125e-02 9.98568596e-01 -4.20028845e-04 -1.40292219e+01] [-4.76625228e-03 1.65340534e-04 9.99988628e-01 -3.30728974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43037174299997 meters 0.02612005694698874 Centerline is valid? [True, True] Translation: X:236.62, Y:-14.04, Z:-3.31 [[ 9.98473835e-01 5.50592259e-02 4.29908643e-03 2.36617629e+02] [-5.50581091e-02 9.98483080e-01 -3.77793400e-04 -1.40350166e+01] [-4.31336607e-03 1.40517256e-04 9.99990688e-01 -3.30854541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46037174299997 meters 0.024990960754150783 Centerline is valid? [True, True] Translation: X:236.65, Y:-14.04, Z:-3.31 [[ 9.98431260e-01 5.57994463e-02 4.63047497e-03 2.36646038e+02] [-5.57981540e-02 9.98441986e-01 -4.07897191e-04 -1.40370923e+01] [-4.64602106e-03 1.48885351e-04 9.99989196e-01 -3.30847979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49037174299997 meters 0.025050893368548745 Centerline is valid? [True, True] Translation: X:236.67, Y:-14.04, Z:-3.31 [[ 9.98373800e-01 5.68192937e-02 4.61768380e-03 2.36673148e+02] [-5.68180317e-02 9.98384469e-01 -4.04132491e-04 -1.40425108e+01] [-4.63318631e-03 1.41107586e-04 9.99989257e-01 -3.30874925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52037174299997 meters 0.024905226874712534 Centerline is valid? [True, True] Translation: X:236.70, Y:-14.05, Z:-3.31 [[ 9.98360880e-01 5.70443981e-02 4.63577887e-03 2.36702034e+02] [-5.70431237e-02 9.98371633e-01 -4.06785457e-04 -1.40461958e+01] [-4.65143495e-03 1.41679379e-04 9.99989172e-01 -3.30918418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55037174299997 meters 0.024440203212027247 Centerline is valid? [True, True] Translation: X:236.73, Y:-14.05, Z:-3.31 [[ 9.98376497e-01 5.67724199e-02 4.61107725e-03 2.36729649e+02] [-5.67711595e-02 9.98387136e-01 -4.03887529e-04 -1.40491634e+01] [-4.62656988e-03 1.41455615e-04 9.99989287e-01 -3.30977407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58037174299997 meters 0.025099919148803305 Centerline is valid? [True, True] Translation: X:236.76, Y:-14.06, Z:-3.31 [[ 9.98387916e-01 5.65999981e-02 4.24375542e-03 2.36755874e+02] [-5.65989365e-02 9.98396927e-01 -3.69919431e-04 -1.40553180e+01] [-4.25788981e-03 1.29131046e-04 9.99990927e-01 -3.31114319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61037174299997 meters 0.025758960279496017 Centerline is valid? [True, True] Translation: X:236.78, Y:-14.06, Z:-3.31 [[ 9.98463686e-01 5.52860728e-02 3.70369869e-03 2.36783219e+02] [-5.52852608e-02 9.98470549e-01 -3.21343532e-04 -1.40630674e+01] [-3.71579988e-03 1.16089900e-04 9.99993090e-01 -3.31212728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64037174299997 meters 0.024353495667432848 Centerline is valid? [True, True] Translation: X:236.81, Y:-14.07, Z:-3.31 [[ 9.98529443e-01 5.40730083e-02 3.88083420e-03 2.36811863e+02] [-5.40721026e-02 9.98536977e-01 -3.38009755e-04 -1.40650443e+01] [-3.89343366e-03 1.27667827e-04 9.99992412e-01 -3.31153178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67037174299998 meters 0.02505356918853999 Centerline is valid? [True, True] Translation: X:236.84, Y:-14.07, Z:-3.31 [[ 9.98676746e-01 5.12201396e-02 4.61016099e-03 2.36839984e+02] [-5.12188396e-02 9.98687374e-01 -3.99686500e-04 -1.40737856e+01] [-4.62458157e-03 1.63030517e-04 9.99989293e-01 -3.31202171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70037174299998 meters 0.02514975276967334 Centerline is valid? [True, True] Translation: X:236.87, Y:-14.08, Z:-3.31 [[ 9.98778576e-01 4.91531706e-02 5.03207709e-03 2.36868537e+02] [-4.91516034e-02 9.98791235e-01 -4.34709385e-04 -1.40787085e+01] [-5.04736184e-03 1.86843763e-04 9.99987245e-01 -3.31171551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73037174299998 meters 0.026540787767397638 Centerline is valid? [True, True] Translation: X:236.90, Y:-14.09, Z:-3.31 [[ 9.98873752e-01 4.71628566e-02 5.18584987e-03 2.36895594e+02] [-4.71611803e-02 9.98887193e-01 -4.45126331e-04 -1.40859425e+01] [-5.20107245e-03 2.00054208e-04 9.99986454e-01 -3.31262161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76037174299998 meters 0.02723485300399986 Centerline is valid? [True, True] Translation: X:236.92, Y:-14.09, Z:-3.31 [[ 9.99039200e-01 4.35980792e-02 4.45917465e-03 2.36924768e+02] [-4.35968076e-02 9.99049134e-01 -3.82013680e-04 -1.40938533e+01] [-4.47158964e-03 1.87240861e-04 9.99989985e-01 -3.31318760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79037174299998 meters 0.027455990770072054 Centerline is valid? [True, True] Translation: X:236.95, Y:-14.10, Z:-3.31 [[ 9.99119967e-01 4.17254693e-02 4.27505686e-03 2.36953026e+02] [-4.17242826e-02 9.99129096e-01 -3.66456500e-04 -1.40990055e+01] [-4.28662426e-03 1.87760326e-04 9.99990795e-01 -3.31393327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82037174299998 meters 0.02853615879423111 Centerline is valid? [True, True] Translation: X:236.98, Y:-14.10, Z:-3.31 [[ 9.99183395e-01 4.02093519e-02 3.96872461e-03 2.36980224e+02] [-4.02083173e-02 9.99191261e-01 -3.40158664e-04 -1.41049227e+01] [-3.97919251e-03 1.80305151e-04 9.99992067e-01 -3.31430668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85037174299998 meters 0.02889539165378472 Centerline is valid? [True, True] Translation: X:237.01, Y:-14.11, Z:-3.31 [[ 9.99316426e-01 3.67203617e-02 4.27745279e-03 2.37009144e+02] [-3.67191315e-02 9.99325558e-01 -3.65802161e-04 -1.41115736e+01] [-4.28800028e-03 2.08487757e-04 9.99990785e-01 -3.31427865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88037174299998 meters 0.029862243358840867 Centerline is valid? [True, True] Translation: X:237.04, Y:-14.12, Z:-3.31 [[ 9.99366485e-01 3.52943093e-02 4.57611124e-03 2.37036026e+02] [-3.52928842e-02 9.99376935e-01 -3.91826800e-04 -1.41172569e+01] [-4.58708929e-03 2.30074408e-04 9.99989453e-01 -3.31430882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91037174299998 meters 0.030457037071162645 Centerline is valid? [True, True] Translation: X:237.07, Y:-14.12, Z:-3.31 [[ 9.99448395e-01 3.28513085e-02 4.86794610e-03 2.37065058e+02] [-3.28496753e-02 9.99460218e-01 -4.15096961e-04 -1.41232769e+01] [-4.87895495e-03 2.54957543e-04 9.99988065e-01 -3.31461065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940371743 meters 0.03189485106675844 Centerline is valid? [True, True] Translation: X:237.09, Y:-14.13, Z:-3.32 [[ 9.99497815e-01 3.13342191e-02 4.72057559e-03 2.37092244e+02] [-3.13326648e-02 9.99508930e-01 -4.02870375e-04 -1.41286435e+01] [-4.73088109e-03 2.54759847e-04 9.99988777e-01 -3.31555454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.970371743 meters 0.032913908129903864 Centerline is valid? [True, True] Translation: X:237.12, Y:-14.13, Z:-3.32 [[ 9.99543059e-01 2.99442997e-02 4.12453539e-03 2.37119341e+02] [-2.99431016e-02 9.99551543e-01 -3.51953352e-04 -1.41334892e+01] [-4.13322471e-03 2.28291149e-04 9.99991432e-01 -3.31638413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000371743 meters 0.03249067204180572 Centerline is valid? [True, True] Translation: X:237.15, Y:-14.14, Z:-3.32 [[ 9.99563991e-01 2.91631708e-02 4.61932361e-03 2.37147818e+02] [-2.91616642e-02 9.99574631e-01 -3.93186750e-04 -1.41360494e+01] [-4.62882526e-03 2.58308153e-04 9.99989254e-01 -3.31687212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.030371743 meters 0.033580125886794696 Centerline is valid? [True, True] Translation: X:237.18, Y:-14.14, Z:-3.32 [[ 9.99632644e-01 2.66888152e-02 4.72067772e-03 2.37177206e+02] [-2.66872175e-02 9.99643752e-01 -4.01125672e-04 -1.41417322e+01] [-4.72970156e-03 2.74996563e-04 9.99988777e-01 -3.31704430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060371743 meters 0.03449042523572571 Centerline is valid? [True, True] Translation: X:237.20, Y:-14.15, Z:-3.32 [[ 9.99661626e-01 2.54604455e-02 5.32906290e-03 2.37204964e+02] [-2.54583910e-02 9.99675780e-01 -4.53023332e-04 -1.41467979e+01] [-5.33886929e-03 3.17200673e-04 9.99985698e-01 -3.31708697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.090371743 meters 0.0361943745299837 Centerline is valid? [True, True] Translation: X:237.23, Y:-14.15, Z:-3.32 [[ 9.99740552e-01 2.20154160e-02 5.84385779e-03 2.37234474e+02] [-2.20128938e-02 9.99757564e-01 -4.95578648e-04 -1.41532640e+01] [-5.85335140e-03 3.66809850e-04 9.99982802e-01 -3.31732909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120371743 meters 0.036610892654712276 Centerline is valid? [True, True] Translation: X:237.26, Y:-14.16, Z:-3.32 [[ 9.99777996e-01 2.02365455e-02 5.86859581e-03 2.37263245e+02] [-2.02339702e-02 9.99795148e-01 -4.97861710e-04 -1.41572891e+01] [-5.87746862e-03 3.79006190e-04 9.99982656e-01 -3.31789888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15037174299997 meters 0.03574658323643096 Centerline is valid? [True, True] Translation: X:237.29, Y:-14.16, Z:-3.32 [[ 9.99810588e-01 1.84712923e-02 6.13190758e-03 2.37292576e+02] [-1.84684508e-02 9.99829309e-01 -5.19706745e-04 -1.41593926e+01] [-6.14046057e-03 4.06361472e-04 9.99981065e-01 -3.31829581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18037174299997 meters 0.03945521830106849 Centerline is valid? [True, True] Translation: X:237.32, Y:-14.17, Z:-3.32 [[ 9.99864397e-01 1.50115800e-02 6.77054478e-03 2.37320617e+02] [-1.50080388e-02 9.99887209e-01 -5.73533728e-04 -1.41690120e+01] [-6.77839077e-03 4.71843357e-04 9.99976915e-01 -3.31906547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21037174299997 meters 0.04006904146556185 Centerline is valid? [True, True] Translation: X:237.35, Y:-14.17, Z:-3.32 [[ 9.99883792e-01 1.35270690e-02 7.03004671e-03 2.37350016e+02] [-1.35232166e-02 9.99908380e-01 -5.95242048e-04 -1.41729732e+01] [-7.03745450e-03 5.00104032e-04 9.99975112e-01 -3.31955304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24037174299997 meters 0.04079721288444981 Centerline is valid? [True, True] Translation: X:237.38, Y:-14.18, Z:-3.32 [[ 9.99899024e-01 1.22943396e-02 7.12682173e-03 2.37379420e+02] [-1.22903510e-02 9.99924289e-01 -6.03178246e-04 -1.41769177e+01] [-7.13369783e-03 5.15526198e-04 9.99974422e-01 -3.31965926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27037174299997 meters 0.04108041665757024 Centerline is valid? [True, True] Translation: X:237.41, Y:-14.18, Z:-3.32 [[ 9.99919486e-01 1.03831451e-02 7.29464591e-03 2.37409358e+02] [-1.03789188e-02 9.99945947e-01 -6.16996093e-04 -1.41809105e+01] [-7.30065798e-03 5.41235879e-04 9.99973203e-01 -3.31991459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30037174299997 meters 0.04457543393032662 Centerline is valid? [True, True] Translation: X:237.44, Y:-14.19, Z:-3.32 [[ 9.99926171e-01 9.82681603e-03 7.14752586e-03 2.37438293e+02] [-9.82274517e-03 9.99951573e-01 -6.04430191e-04 -1.41886297e+01] [-7.15311935e-03 5.34177241e-04 9.99974273e-01 -3.32108733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33037174299997 meters 0.04233328070761135 Centerline is valid? [True, True] Translation: X:237.47, Y:-14.19, Z:-3.32 [[ 9.99939645e-01 9.17066232e-03 6.05020956e-03 2.37468313e+02] [-9.16773395e-03 9.99957845e-01 -5.11567664e-04 -1.41887308e+01] [-6.05464593e-03 4.56070076e-04 9.99981566e-01 -3.32254789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36037174299997 meters 0.04545474985959071 Centerline is valid? [True, True] Translation: X:237.50, Y:-14.20, Z:-3.32 [[ 9.99942536e-01 9.18805523e-03 5.52316350e-03 2.37496865e+02] [-9.18561553e-03 9.99957702e-01 -4.66927315e-04 -1.41957367e+01] [-5.52722004e-03 4.16166827e-04 9.99984638e-01 -3.32419733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39037174299997 meters 0.041468341782908966 Centerline is valid? [True, True] Translation: X:237.53, Y:-14.19, Z:-3.32 [[ 9.99937918e-01 1.00264686e-02 4.86104321e-03 2.37526673e+02] [-1.00245881e-02 9.99949668e-01 -4.11059478e-04 -1.41925332e+01] [-4.86492002e-03 3.62304002e-04 9.99988101e-01 -3.32467197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42037174299998 meters 0.04275420987433314 Centerline is valid? [True, True] Translation: X:237.56, Y:-14.20, Z:-3.33 [[ 9.99909385e-01 1.27547283e-02 4.30557362e-03 2.37555937e+02] [-1.27532787e-02 9.99918607e-01 -3.63988818e-04 -1.41957635e+01] [-4.30986576e-03 3.09045656e-04 9.99990665e-01 -3.32571165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45037174299998 meters 0.037301616423641736 Centerline is valid? [True, True] Translation: X:237.59, Y:-14.19, Z:-3.32 [[ 9.99889760e-01 1.41588728e-02 4.47150819e-03 2.37585718e+02] [-1.41573231e-02 9.99899709e-01 -3.78026272e-04 -1.41893591e+01] [-4.47641216e-03 3.14680012e-04 9.99989931e-01 -3.32499930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48037174299998 meters 0.037301616423641736 Centerline is valid? [True, True] Translation: X:237.61, Y:-14.19, Z:-3.33 [[ 9.99890776e-01 1.40869641e-02 4.47151400e-03 2.37613995e+02] [-1.40854140e-02 9.99900724e-01 -3.77957734e-04 -1.41916835e+01] [-4.47639436e-03 3.14933326e-04 9.99989931e-01 -3.32539806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51037174299998 meters 0.03457532945046988 Centerline is valid? [True, True] Translation: X:237.64, Y:-14.19, Z:-3.32 [[ 9.99812446e-01 1.84962528e-02 5.74125100e-03 2.37644862e+02] [-1.84937771e-02 9.99828858e-01 -4.83999468e-04 -1.41889270e+01] [-5.74922061e-03 3.77731276e-04 9.99983402e-01 -3.32435930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54037174299998 meters 0.035635230157734045 Centerline is valid? [True, True] Translation: X:237.67, Y:-14.19, Z:-3.32 [[ 9.99765547e-01 2.06668721e-02 6.46003297e-03 2.37674046e+02] [-2.06637814e-02 9.99786333e-01 -5.44832407e-04 -1.41921614e+01] [-6.46991266e-03 4.11215960e-04 9.99978985e-01 -3.32459706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57037174299998 meters 0.032602915020423257 Centerline is valid? [True, True] Translation: X:237.70, Y:-14.19, Z:-3.32 [[ 9.99705798e-01 2.31039579e-02 7.38413307e-03 2.37704286e+02] [-2.30999892e-02 9.99732966e-01 -6.22313098e-04 -1.41897398e+01] [-7.39653915e-03 4.51556617e-04 9.99972543e-01 -3.32432291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60037174299998 meters 0.03249377615978147 Centerline is valid? [True, True] Translation: X:237.73, Y:-14.19, Z:-3.32 [[ 9.99607287e-01 2.69166069e-02 7.79544192e-03 2.37733475e+02] [-2.69122996e-02 9.99637583e-01 -6.56928103e-04 -1.41908611e+01] [-7.81029899e-03 4.46876850e-04 9.99969399e-01 -3.32457452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63037174299998 meters 0.031174986329329427 Centerline is valid? [True, True] Translation: X:237.76, Y:-14.19, Z:-3.32 [[ 9.99574224e-01 2.80987543e-02 7.86324171e-03 2.37762306e+02] [-2.80944087e-02 9.99605055e-01 -6.62585320e-04 -1.41900379e+01] [-7.87875398e-03 4.41390081e-04 9.99968865e-01 -3.32456877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66037174299998 meters 0.03136676081598996 Centerline is valid? [True, True] Translation: X:237.79, Y:-14.19, Z:-3.32 [[ 9.99540151e-01 2.91268370e-02 8.43288290e-03 2.37791391e+02] [-2.91218812e-02 9.99575616e-01 -7.09895576e-04 -1.41918422e+01] [-8.44998114e-03 4.63987718e-04 9.99964191e-01 -3.32496040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.690371743 meters 0.03081668661707647 Centerline is valid? [True, True] Translation: X:237.82, Y:-14.19, Z:-3.33 [[ 9.99523564e-01 2.97627060e-02 8.17470352e-03 2.37820583e+02] [-2.97580748e-02 9.99556894e-01 -6.87604458e-04 -1.41928728e+01] [-8.19154623e-03 4.44013420e-04 9.99966350e-01 -3.32515268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720371743 meters 0.03063934202662224 Centerline is valid? [True, True] Translation: X:237.85, Y:-14.20, Z:-3.33 [[ 9.99524996e-01 2.98093475e-02 7.82213375e-03 2.37848868e+02] [-2.98051127e-02 9.99555513e-01 -6.57429067e-04 -1.41951014e+01] [-7.83825445e-03 4.23977207e-04 9.99969191e-01 -3.32581334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.750371743 meters 0.03098359397085263 Centerline is valid? [True, True] Translation: X:237.88, Y:-14.20, Z:-3.33 [[ 9.99565721e-01 2.86822552e-02 6.76002742e-03 2.37877631e+02] [-2.86790690e-02 9.99588510e-01 -5.67812235e-04 -1.41971848e+01] [-6.77353187e-03 3.73694353e-04 9.99976990e-01 -3.32718231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780371743 meters 0.030589676096822407 Centerline is valid? [True, True] Translation: X:237.91, Y:-14.20, Z:-3.33 [[ 9.99585336e-01 2.80858898e-02 6.35122482e-03 2.37905906e+02] [-2.80830669e-02 9.99605451e-01 -5.33222095e-04 -1.41988023e+01] [-6.36369497e-03 3.54639116e-04 9.99979689e-01 -3.32809044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.810371743 meters 0.032518627330125456 Centerline is valid? [True, True] Translation: X:237.93, Y:-14.20, Z:-3.33 [[ 9.99613858e-01 2.72236837e-02 5.56833119e-03 2.37933548e+02] [-2.72215025e-02 9.99629317e-01 -4.67137054e-04 -1.42039191e+01] [-5.57898429e-03 3.15378331e-04 9.99984388e-01 -3.32976827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840371743 meters 0.03397828250821793 Centerline is valid? [True, True] Translation: X:237.96, Y:-14.21, Z:-3.33 [[ 9.99657864e-01 2.57052006e-02 4.83720045e-03 2.37962050e+02] [-2.57035399e-02 9.99669527e-01 -4.05184911e-04 -1.42081371e+01] [-4.84601725e-03 2.80713107e-04 9.99988219e-01 -3.33133858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.870371743 meters 0.03486962806870953 Centerline is valid? [True, True] Translation: X:237.99, Y:-14.21, Z:-3.33 [[ 9.99681426e-01 2.48087314e-02 4.64480695e-03 2.37990683e+02] [-2.48071908e-02 9.99692179e-01 -3.89011257e-04 -1.42113732e+01] [-4.65302805e-03 2.73662716e-04 9.99989137e-01 -3.33274181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90037174299997 meters 0.033318965186101016 Centerline is valid? [True, True] Translation: X:238.02, Y:-14.21, Z:-3.33 [[ 9.99707307e-01 2.37236164e-02 4.74237658e-03 2.38019407e+02] [-2.37219998e-02 9.99718515e-01 -3.96849346e-04 -1.42107162e+01] [-4.75045638e-03 2.84234535e-04 9.99988676e-01 -3.33289653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93037174299997 meters 0.03746064860328313 Centerline is valid? [True, True] Translation: X:238.05, Y:-14.22, Z:-3.33 [[ 9.99724675e-01 2.30519540e-02 4.37962882e-03 2.38046375e+02] [-2.30505691e-02 9.99734233e-01 -3.66422097e-04 -1.42182149e+01] [-4.38691161e-03 2.65368275e-04 9.99990342e-01 -3.33396566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96037174299997 meters 0.034937849546619 Centerline is valid? [True, True] Translation: X:238.08, Y:-14.22, Z:-3.33 [[ 9.99736001e-01 2.24940695e-02 4.68459598e-03 2.38075203e+02] [-2.24924821e-02 9.99746936e-01 -3.91269422e-04 -1.42160682e+01] [-4.69221172e-03 2.85797936e-04 9.99988951e-01 -3.33336076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99037174299997 meters 0.034780553357847056 Centerline is valid? [True, True] Translation: X:238.10, Y:-14.22, Z:-3.33 [[ 9.99764610e-01 2.11592942e-02 4.79685649e-03 2.38103473e+02] [-2.11576154e-02 9.99776072e-01 -4.00452846e-04 -1.42168581e+01] [-4.80425564e-03 2.98868539e-04 9.99988415e-01 -3.33326076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02037174299997 meters 0.034876689813393404 Centerline is valid? [True, True] Translation: X:238.13, Y:-14.22, Z:-3.33 [[ 9.99778346e-01 2.04812108e-02 4.87639853e-03 2.38132136e+02] [-2.04794709e-02 9.99790191e-01 -4.06477829e-04 -1.42186922e+01] [-4.88370057e-03 3.06521670e-04 9.99988028e-01 -3.33373053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05037174299997 meters 0.03587749681412407 Centerline is valid? [True, True] Translation: X:238.16, Y:-14.22, Z:-3.33 [[ 9.99817090e-01 1.84657033e-02 4.98034123e-03 2.38160898e+02] [-1.84638662e-02 9.99829442e-01 -4.14602124e-04 -1.42223896e+01] [-4.98714772e-03 3.22569935e-04 9.99987512e-01 -3.33459459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08037174299997 meters 0.037092519062712215 Centerline is valid? [True, True] Translation: X:238.19, Y:-14.23, Z:-3.34 [[ 9.99830954e-01 1.77691439e-02 4.72461045e-03 2.38187987e+02] [-1.77674815e-02 9.99842068e-01 -3.93585410e-04 -1.42260289e+01] [-4.73085796e-03 3.09574447e-04 9.99988762e-01 -3.33571173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11037174299997 meters 0.03592121819702352 Centerline is valid? [True, True] Translation: X:238.22, Y:-14.23, Z:-3.34 [[ 9.99860667e-01 1.63148128e-02 3.53173463e-03 2.38217316e+02] [-1.63138768e-02 9.99866877e-01 -2.93671036e-04 -1.42252061e+01] [-3.53605566e-03 2.36013835e-04 9.99993720e-01 -3.33685346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14037174299997 meters 0.037378006068772555 Centerline is valid? [True, True] Translation: X:238.24, Y:-14.23, Z:-3.34 [[ 9.99880270e-01 1.51948694e-02 2.92592826e-03 2.38244947e+02] [-1.51942207e-02 9.99884531e-01 -2.43787323e-04 -1.42288622e+01] [-2.92929472e-03 1.99300935e-04 9.99995690e-01 -3.33796500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17037174299998 meters 0.03843648654342204 Centerline is valid? [True, True] Translation: X:238.27, Y:-14.23, Z:-3.34 [[ 9.99896759e-01 1.41148897e-02 2.69109495e-03 2.38273235e+02] [-1.41143384e-02 9.99900363e-01 -2.23724404e-04 -1.42321089e+01] [-2.69398466e-03 1.85718281e-04 9.99996354e-01 -3.33900008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20037174299998 meters 0.039225358497266244 Centerline is valid? [True, True] Translation: X:238.30, Y:-14.24, Z:-3.34 [[ 9.99913828e-01 1.29069888e-02 2.39713763e-03 2.38302383e+02] [-1.29065486e-02 9.99916687e-01 -1.99019575e-04 -1.42350365e+01] [-2.39950666e-03 1.68063652e-04 9.99997107e-01 -3.33979837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23037174299998 meters 0.03649407613745686 Centerline is valid? [True, True] Translation: X:238.33, Y:-14.23, Z:-3.34 [[ 9.99931727e-01 1.14429572e-02 2.36630404e-03 2.38332167e+02] [-1.14425249e-02 9.99934513e-01 -1.96152797e-04 -1.42330222e+01] [-2.36839364e-03 1.69062912e-04 9.99997181e-01 -3.33963178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26037174299998 meters 0.03650097775457383 Centerline is valid? [True, True] Translation: X:238.36, Y:-14.23, Z:-3.34 [[ 9.99935335e-01 1.10730823e-02 2.59087949e-03 2.38360921e+02] [-1.10725621e-02 9.99938674e-01 -2.15039900e-04 -1.42349605e+01] [-2.59310176e-03 1.86338320e-04 9.99996621e-01 -3.33973896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29037174299998 meters 0.03674816736665771 Centerline is valid? [True, True] Translation: X:238.39, Y:-14.24, Z:-3.34 [[ 9.99936070e-01 1.08857658e-02 3.05882169e-03 2.38389850e+02] [-1.08850411e-02 9.99940724e-01 -2.53470125e-04 -1.42359704e+01] [-3.06139959e-03 2.20158520e-04 9.99995290e-01 -3.34038493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32037174299998 meters 0.03907944208044876 Centerline is valid? [True, True] Translation: X:238.42, Y:-14.24, Z:-3.34 [[ 9.99936697e-01 1.07959160e-02 3.17010181e-03 2.38417242e+02] [-1.07951374e-02 9.99941696e-01 -2.62613857e-04 -1.42403135e+01] [-3.17275214e-03 2.28375548e-04 9.99994941e-01 -3.34152483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35037174299998 meters 0.03836836243080143 Centerline is valid? [True, True] Translation: X:238.45, Y:-14.24, Z:-3.34 [[ 9.99933919e-01 1.10678983e-02 3.10802798e-03 2.38446292e+02] [-1.10671527e-02 9.99938724e-01 -2.57008538e-04 -1.42407555e+01] [-3.11068208e-03 2.22594534e-04 9.99995137e-01 -3.34153979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38037174299998 meters 0.04542395845349182 Centerline is valid? [True, True] Translation: X:238.47, Y:-14.25, Z:-3.34 [[ 9.99933585e-01 1.09794263e-02 3.50389642e-03 2.38472869e+02] [-1.09784788e-02 9.99939693e-01 -2.89546474e-04 -1.42506562e+01] [-3.50686417e-03 2.51059791e-04 9.99993819e-01 -3.34317534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41037174299998 meters 0.03945386380097336 Centerline is valid? [True, True] Translation: X:238.50, Y:-14.24, Z:-3.34 [[ 9.99934716e-01 1.08143658e-02 3.68961251e-03 2.38502551e+02] [-1.08133162e-02 9.99941488e-01 -3.04317825e-04 -1.42435687e+01] [-3.69268762e-03 2.64401011e-04 9.99993147e-01 -3.34224087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440371743 meters 0.03772176531702368 Centerline is valid? [True, True] Translation: X:238.53, Y:-14.24, Z:-3.34 [[ 9.99936997e-01 1.06787396e-02 3.45925074e-03 2.38531530e+02] [-1.06778167e-02 9.99942950e-01 -2.85147437e-04 -1.42422147e+01] [-3.46209841e-03 2.48192227e-04 9.99993976e-01 -3.34246573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.470371743 meters 0.040032670466506375 Centerline is valid? [True, True] Translation: X:238.56, Y:-14.25, Z:-3.34 [[ 9.99935230e-01 1.07919153e-02 3.61521061e-03 2.38559038e+02] [-1.07909085e-02 9.99941732e-01 -2.97876794e-04 -1.42469392e+01] [-3.61821462e-03 2.58846094e-04 9.99993421e-01 -3.34384914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500371743 meters 0.03842382080803543 Centerline is valid? [True, True] Translation: X:238.59, Y:-14.25, Z:-3.34 [[ 9.99929940e-01 1.11349295e-02 4.01597759e-03 2.38587588e+02] [-1.11336926e-02 9.99937964e-01 -3.30222142e-04 -1.42457617e+01] [-4.01940545e-03 2.85486347e-04 9.99991881e-01 -3.34450678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.530371743 meters 0.04016525030564798 Centerline is valid? [True, True] Translation: X:238.61, Y:-14.25, Z:-3.35 [[ 9.99930422e-01 1.11053335e-02 3.97787141e-03 2.38614952e+02] [-1.11041202e-02 9.99938294e-01 -3.26981972e-04 -1.42491076e+01] [-3.98125720e-03 2.82788459e-04 9.99992035e-01 -3.34545742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560371743 meters 0.0375082792982648 Centerline is valid? [True, True] Translation: X:238.64, Y:-14.24, Z:-3.35 [[ 9.99928883e-01 1.13652092e-02 3.61398884e-03 2.38643742e+02] [-1.13642107e-02 9.99935381e-01 -2.96698989e-04 -1.42448688e+01] [-3.61712736e-03 2.55607758e-04 9.99993426e-01 -3.34581021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.590371743 meters 0.040947376617459244 Centerline is valid? [True, True] Translation: X:238.67, Y:-14.25, Z:-3.35 [[ 9.99924799e-01 1.15467899e-02 4.13142177e-03 2.38670858e+02] [-1.15454877e-02 9.99933291e-01 -3.38903577e-04 -1.42510739e+01] [-4.13505942e-03 2.91178812e-04 9.99991408e-01 -3.34703702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620371743 meters 0.03847585617382929 Centerline is valid? [True, True] Translation: X:238.70, Y:-14.25, Z:-3.35 [[ 9.99924083e-01 1.14990613e-02 4.42716782e-03 2.38699468e+02] [-1.14975684e-02 9.99933835e-01 -3.62505557e-04 -1.42488118e+01] [-4.43104337e-03 3.11576372e-04 9.99990134e-01 -3.34656949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65037174299997 meters 0.0394171821106586 Centerline is valid? [True, True] Translation: X:238.73, Y:-14.25, Z:-3.35 [[ 9.99912045e-01 1.17950628e-02 6.06459236e-03 2.38726903e+02] [-1.17922708e-02 9.99930346e-01 -4.95919184e-04 -1.42505525e+01] [-6.07001934e-03 4.24360250e-04 9.99981487e-01 -3.34654726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68037174299997 meters 0.039183267500358845 Centerline is valid? [True, True] Translation: X:238.76, Y:-14.25, Z:-3.35 [[ 9.99905304e-01 1.19509368e-02 6.82340988e-03 2.38755478e+02] [-1.19474121e-02 9.99928472e-01 -5.57088565e-04 -1.42522872e+01] [-6.82957954e-03 4.75513721e-04 9.99976565e-01 -3.34632863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71037174299997 meters 0.03816090528690975 Centerline is valid? [True, True] Translation: X:238.78, Y:-14.25, Z:-3.35 [[ 9.99897189e-01 1.20426935e-02 7.78367527e-03 2.38784968e+02] [-1.20381158e-02 9.99927338e-01 -6.34698926e-04 -1.42515696e+01] [-7.79075317e-03 5.40932888e-04 9.99969505e-01 -3.34628281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74037174299997 meters 0.03887319806118832 Centerline is valid? [True, True] Translation: X:238.81, Y:-14.25, Z:-3.35 [[ 9.99901791e-01 1.18497275e-02 7.48277768e-03 2.38813961e+02] [-1.18454944e-02 9.99929654e-01 -6.09788604e-04 -1.42543860e+01] [-7.48947712e-03 5.21091516e-04 9.99971818e-01 -3.34687784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77037174299997 meters 0.03878819004958254 Centerline is valid? [True, True] Translation: X:238.84, Y:-14.26, Z:-3.35 [[ 9.99907170e-01 1.15328211e-02 7.25573647e-03 2.38843782e+02] [-1.15288362e-02 9.99933366e-01 -5.90801753e-04 -1.42564764e+01] [-7.26206661e-03 5.07096712e-04 9.99973502e-01 -3.34796695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80037174299997 meters 0.038371305976803084 Centerline is valid? [True, True] Translation: X:238.87, Y:-14.26, Z:-3.35 [[ 9.99917426e-01 1.09049513e-02 6.79880950e-03 2.38873193e+02] [-1.09014395e-02 9.99940424e-01 -5.53385164e-04 -1.42580916e+01] [-6.80443910e-03 4.79222659e-04 9.99976735e-01 -3.34903719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83037174299997 meters 0.039171136830914194 Centerline is valid? [True, True] Translation: X:238.90, Y:-14.26, Z:-3.35 [[ 9.99929692e-01 1.00532650e-02 6.28833665e-03 2.38902924e+02] [-1.00502452e-02 9.99949364e-01 -5.11645353e-04 -1.42615493e+01] [-6.29316194e-03 4.48410055e-04 9.99980097e-01 -3.35010813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86037174299997 meters 0.03997106462491862 Centerline is valid? [True, True] Translation: X:238.93, Y:-14.26, Z:-3.35 [[ 9.99946006e-01 9.13223624e-03 4.95852540e-03 2.38932444e+02] [-9.13034768e-03 9.99958236e-01 -4.03374783e-04 -1.42637686e+01] [-4.96200203e-03 3.58079942e-04 9.99987625e-01 -3.35120139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89037174299997 meters 0.04011148535138128 Centerline is valid? [True, True] Translation: X:238.96, Y:-14.27, Z:-3.35 [[ 9.99949091e-01 9.01879046e-03 4.52522313e-03 2.38962256e+02] [-9.01721694e-03 9.99959276e-01 -3.68005239e-04 -1.42661461e+01] [-4.52835781e-03 3.27181585e-04 9.99989693e-01 -3.35155099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92037174299998 meters 0.04100391171237728 Centerline is valid? [True, True] Translation: X:238.99, Y:-14.27, Z:-3.35 [[ 9.99949400e-01 9.12178226e-03 4.24141633e-03 2.38991011e+02] [-9.12039992e-03 9.99958349e-01 -3.45144806e-04 -1.42686422e+01] [-4.24438801e-03 3.06443929e-04 9.99990946e-01 -3.35180999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95037174299998 meters 0.041581761909454576 Centerline is valid? [True, True] Translation: X:239.02, Y:-14.27, Z:-3.35 [[ 9.99939676e-01 9.92859480e-03 4.69767119e-03 2.39019406e+02] [-9.92691072e-03 9.99950654e-01 -3.81674353e-04 -1.42695650e+01] [-4.70122887e-03 3.35017966e-04 9.99988893e-01 -3.35146322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98037174299998 meters 0.0417293446245491 Centerline is valid? [True, True] Translation: X:239.05, Y:-14.27, Z:-3.35 [[ 9.99931894e-01 1.05634827e-02 4.96178587e-03 2.39048339e+02] [-1.05616124e-02 9.99944143e-01 -4.02983730e-04 -1.42714130e+01] [-4.96576563e-03 3.50551825e-04 9.99987609e-01 -3.35169791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01037174299998 meters 0.04183859708898137 Centerline is valid? [True, True] Translation: X:239.08, Y:-14.27, Z:-3.35 [[ 9.99910226e-01 1.17010782e-02 6.52882981e-03 2.39078272e+02] [-1.16978708e-02 9.99931438e-01 -5.29242854e-04 -1.42727789e+01] [-6.53457489e-03 4.52821934e-04 9.99978547e-01 -3.35108857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04037174299998 meters 0.04201899687732431 Centerline is valid? [True, True] Translation: X:239.11, Y:-14.27, Z:-3.35 [[ 9.99896769e-01 1.25411838e-02 7.01218782e-03 2.39106834e+02] [-1.25375047e-02 9.99921241e-01 -5.68386324e-04 -1.42746572e+01] [-7.01876379e-03 4.80412311e-04 9.99975253e-01 -3.35127523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07037174299998 meters 0.042560000779270066 Centerline is valid? [True, True] Translation: X:239.14, Y:-14.28, Z:-3.35 [[ 9.99876758e-01 1.34211875e-02 8.14491998e-03 2.39135307e+02] [-1.34162607e-02 9.99909781e-01 -6.59230390e-04 -1.42771752e+01] [-8.15303280e-03 5.49874776e-04 9.99966612e-01 -3.35118969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10037174299998 meters 0.04316441018237137 Centerline is valid? [True, True] Translation: X:239.16, Y:-14.28, Z:-3.35 [[ 9.99836281e-01 1.50923781e-02 9.98151730e-03 2.39164436e+02] [-1.50850643e-02 9.99885888e-01 -8.07627502e-04 -1.42793127e+01] [-9.99256730e-03 6.56923448e-04 9.99949857e-01 -3.35060896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13037174299998 meters 0.043923199631561945 Centerline is valid? [True, True] Translation: X:239.19, Y:-14.28, Z:-3.35 [[ 9.99829813e-01 1.52644185e-02 1.03606589e-02 2.39192636e+02] [-1.52565508e-02 9.99883261e-01 -8.37998843e-04 -1.42823789e+01] [-1.03722409e-02 6.79788308e-04 9.99945976e-01 -3.35037539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16037174299998 meters 0.04371064274926542 Centerline is valid? [True, True] Translation: X:239.22, Y:-14.28, Z:-3.35 [[ 9.99821711e-01 1.54131676e-02 1.09078254e-02 2.39221808e+02] [-1.54044614e-02 9.99880955e-01 -8.81729505e-04 -1.42840986e+01] [-1.09201172e-02 7.13543127e-04 9.99940119e-01 -3.35021638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.190371743 meters 0.045610210111972756 Centerline is valid? [True, True] Translation: X:239.25, Y:-14.29, Z:-3.35 [[ 9.99819495e-01 1.49924395e-02 1.16706216e-02 2.39249934e+02] [-1.49824547e-02 9.99887313e-01 -9.42518484e-04 -1.42894303e+01] [-1.16834371e-02 7.67493797e-04 9.99931452e-01 -3.35057329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220371743 meters 0.04651584290755848 Centerline is valid? [True, True] Translation: X:239.28, Y:-14.29, Z:-3.35 [[ 9.99836998e-01 1.41565987e-02 1.12057314e-02 2.39279710e+02] [-1.41473488e-02 9.99899512e-01 -9.04307059e-04 -1.42937365e+01] [-1.12174073e-02 7.45628264e-04 9.99936805e-01 -3.35163253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.250371743 meters 0.04769152578974972 Centerline is valid? [True, True] Translation: X:239.31, Y:-14.30, Z:-3.35 [[ 9.99854072e-01 1.33038036e-02 1.07165372e-02 2.39308806e+02] [-1.32952934e-02 9.99911240e-01 -8.64977042e-04 -1.42986188e+01] [-1.07270935e-02 7.22371312e-04 9.99942202e-01 -3.35331786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280371743 meters 0.04218493997860118 Centerline is valid? [True, True] Translation: X:239.34, Y:-14.29, Z:-3.36 [[ 9.99895215e-01 1.17577006e-02 8.44490347e-03 2.39339293e+02] [-1.17523632e-02 9.99930706e-01 -6.81365245e-04 -1.42945367e+01] [-8.45232958e-03 5.82046275e-04 9.99964109e-01 -3.35587171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.310371743 meters 0.04359606147170032 Centerline is valid? [True, True] Translation: X:239.37, Y:-14.30, Z:-3.36 [[ 9.99908487e-01 1.12608519e-02 7.49738281e-03 2.39368651e+02] [-1.12566333e-02 9.99936459e-01 -6.04639816e-04 -1.42991826e+01] [-7.50371518e-03 5.20189195e-04 9.99971711e-01 -3.35743351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340371743 meters 0.04407119793450656 Centerline is valid? [True, True] Translation: X:239.40, Y:-14.30, Z:-3.36 [[ 9.99921155e-01 1.09295858e-02 6.18295258e-03 2.39398413e+02] [-1.09267081e-02 9.99940177e-01 -4.99009452e-04 -1.43021549e+01] [-6.18803667e-03 4.31410789e-04 9.99980761e-01 -3.35895629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.370371743 meters 0.04407119793450656 Centerline is valid? [True, True] Translation: X:239.43, Y:-14.30, Z:-3.36 [[ 9.99921881e-01 1.08629049e-02 6.18294823e-03 2.39426697e+02] [-1.08600257e-02 9.99940904e-01 -4.99063662e-04 -1.43043683e+01] [-6.18800412e-03 4.31877699e-04 9.99980761e-01 -3.35935494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40037174299997 meters 0.037184866274198564 Centerline is valid? [True, True] Translation: X:239.46, Y:-14.30, Z:-3.36 [[ 9.99930144e-01 1.08027296e-02 4.79666704e-03 2.39455806e+02] [-1.08009964e-02 9.99941593e-01 -3.87106138e-04 -1.42967587e+01] [-4.80056868e-03 3.35270313e-04 9.99988421e-01 -3.35971662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43037174299997 meters 0.04098896783936798 Centerline is valid? [True, True] Translation: X:239.48, Y:-14.30, Z:-3.36 [[ 9.99923763e-01 1.13060421e-02 4.96407588e-03 2.39483023e+02] [-1.13041931e-02 9.99936025e-01 -4.00379861e-04 -1.43045845e+01] [-4.96828501e-03 3.44234465e-04 9.99987599e-01 -3.36030609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46037174299997 meters 0.045826633963213875 Centerline is valid? [True, True] Translation: X:239.51, Y:-14.31, Z:-3.36 [[ 9.99916073e-01 1.19800441e-02 4.93200796e-03 2.39510472e+02] [-1.19782294e-02 9.99928180e-01 -3.97320590e-04 -1.43129646e+01] [-4.93641366e-03 3.38210521e-04 9.99987759e-01 -3.36146032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49037174299997 meters 0.036238559159365 Centerline is valid? [True, True] Translation: X:239.54, Y:-14.30, Z:-3.36 [[ 9.99872373e-01 1.49363778e-02 5.66937994e-03 2.39541428e+02] [-1.49340342e-02 9.99888377e-01 -4.55491267e-04 -1.43004124e+01] [-5.67555050e-03 3.70766420e-04 9.99983825e-01 -3.35947531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52037174299997 meters 0.03522835026770552 Centerline is valid? [True, True] Translation: X:239.57, Y:-14.30, Z:-3.36 [[ 9.99843690e-01 1.65434871e-02 6.23764470e-03 2.39570504e+02] [-1.65406795e-02 9.99863068e-01 -5.01429882e-04 -1.43004311e+01] [-6.24508597e-03 3.98176621e-04 9.99980420e-01 -3.35937290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55037174299997 meters 0.03590691223024359 Centerline is valid? [True, True] Translation: X:239.60, Y:-14.30, Z:-3.36 [[ 9.99804701e-01 1.84266317e-02 7.14280482e-03 2.39599571e+02] [-1.84230045e-02 9.99830118e-01 -5.73281015e-04 -1.43033845e+01] [-7.15215502e-03 4.41577129e-04 9.99974326e-01 -3.35945259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58037174299997 meters 0.034172426892946625 Centerline is valid? [True, True] Translation: X:239.63, Y:-14.30, Z:-3.36 [[ 9.99742463e-01 2.10408988e-02 8.50228825e-03 2.39630054e+02] [-2.10358578e-02 9.99778489e-01 -6.81894444e-04 -1.43023701e+01] [-8.51475258e-03 5.02865904e-04 9.99963622e-01 -3.35914077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61037174299997 meters 0.0343447433654946 Centerline is valid? [True, True] Translation: X:239.66, Y:-14.30, Z:-3.36 [[ 9.99719937e-01 2.18259378e-02 9.14741264e-03 2.39657321e+02] [-2.18201345e-02 9.99761643e-01 -7.33762142e-04 -1.43049010e+01] [-9.16124734e-03 5.33958869e-04 9.99957892e-01 -3.35918923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64037174299997 meters 0.032490856729262066 Centerline is valid? [True, True] Translation: X:239.69, Y:-14.30, Z:-3.36 [[ 9.99714978e-01 2.20850704e-02 9.06713346e-03 2.39686293e+02] [-2.20793861e-02 9.99755957e-01 -7.26544999e-04 -1.43041705e+01] [-9.08096649e-03 5.26141176e-04 9.99958629e-01 -3.35949406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67037174299998 meters 0.03563081510756417 Centerline is valid? [True, True] Translation: X:239.71, Y:-14.31, Z:-3.36 [[ 9.99720047e-01 2.19008314e-02 8.95434647e-03 2.39713467e+02] [-2.18952852e-02 9.99760012e-01 -7.16956841e-04 -1.43120483e+01] [-8.96789949e-03 5.20698157e-04 9.99959652e-01 -3.36081466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70037174299998 meters 0.03579097739721718 Centerline is valid? [True, True] Translation: X:239.74, Y:-14.31, Z:-3.36 [[ 9.99732615e-01 2.15736215e-02 8.32327979e-03 2.39741964e+02] [-2.15688248e-02 9.99767144e-01 -6.65648757e-04 -1.43147545e+01] [-8.33570212e-03 4.85947409e-04 9.99965139e-01 -3.36201160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73037174299998 meters 0.036539629275686845 Centerline is valid? [True, True] Translation: X:239.77, Y:-14.32, Z:-3.36 [[ 9.99742920e-01 2.14222294e-02 7.42842209e-03 2.39769659e+02] [-2.14184067e-02 9.99770423e-01 -5.93775899e-04 -1.43188934e+01] [-7.43943670e-03 4.34518285e-04 9.99972233e-01 -3.36368988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76037174299998 meters 0.034583100926934944 Centerline is valid? [True, True] Translation: X:239.80, Y:-14.32, Z:-3.37 [[ 9.99766811e-01 2.07861757e-02 5.85314449e-03 2.39798020e+02] [-2.07837929e-02 9.99783884e-01 -4.67629821e-04 -1.43189469e+01] [-5.86159977e-03 3.45870232e-04 9.99982761e-01 -3.36575157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79037174299998 meters 0.033790563304209105 Centerline is valid? [True, True] Translation: X:239.83, Y:-14.32, Z:-3.37 [[ 9.99770608e-01 2.06919438e-02 5.52943239e-03 2.39826336e+02] [-2.06898173e-02 9.99785845e-01 -4.41505570e-04 -1.43199956e+01] [-5.53738385e-03 3.27001346e-04 9.99984615e-01 -3.36630709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82037174299998 meters 0.03740094026137494 Centerline is valid? [True, True] Translation: X:239.85, Y:-14.33, Z:-3.37 [[ 9.99773697e-01 2.05931595e-02 5.33642176e-03 2.39853870e+02] [-2.05911811e-02 9.99787889e-01 -4.25413775e-04 -1.43278393e+01] [-5.34405046e-03 3.15434275e-04 9.99985671e-01 -3.36765015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85037174299998 meters 0.03490402744345274 Centerline is valid? [True, True] Translation: X:239.88, Y:-14.33, Z:-3.37 [[ 9.99778757e-01 2.01957860e-02 5.87942250e-03 2.39882413e+02] [-2.01933815e-02 9.99795983e-01 -4.68055204e-04 -1.43257945e+01] [-5.88767574e-03 3.49226229e-04 9.99982607e-01 -3.36673346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88037174299998 meters 0.03656007191678206 Centerline is valid? [True, True] Translation: X:239.91, Y:-14.33, Z:-3.37 [[ 9.99776250e-01 2.00998370e-02 6.59136306e-03 2.39910391e+02] [-2.00968177e-02 9.99797901e-01 -5.23990529e-04 -1.43304194e+01] [-6.60056308e-03 3.91407864e-04 9.99978139e-01 -3.36648568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91037174299998 meters 0.03369207872334797 Centerline is valid? [True, True] Translation: X:239.94, Y:-14.33, Z:-3.37 [[ 9.99774584e-01 1.98874459e-02 7.43443280e-03 2.39939187e+02] [-1.98836057e-02 9.99802127e-01 -5.90104026e-04 -1.43282956e+01] [-7.44469739e-03 4.42147677e-04 9.99972190e-01 -3.36550707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940371743 meters 0.03421881223995554 Centerline is valid? [True, True] Translation: X:239.97, Y:-14.33, Z:-3.36 [[ 9.99780606e-01 1.91374543e-02 8.51454595e-03 2.39967719e+02] [-1.91323965e-02 9.99816731e-01 -6.75080661e-04 -1.43307523e+01] [-8.52590482e-03 5.12028884e-04 9.99963523e-01 -3.36468184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.970371743 meters 0.03444020210118882 Centerline is valid? [True, True] Translation: X:240.00, Y:-14.33, Z:-3.36 [[ 9.99779846e-01 1.91329298e-02 8.61334589e-03 2.39996144e+02] [-1.91277592e-02 9.99816815e-01 -6.82283198e-04 -1.43336309e+01] [-8.62482213e-03 5.17378985e-04 9.99962672e-01 -3.36472558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000371743 meters 0.03521811171778215 Centerline is valid? [True, True] Translation: X:240.02, Y:-14.34, Z:-3.37 [[ 9.99788176e-01 1.88393355e-02 8.28744306e-03 2.40024946e+02] [-1.88345434e-02 9.99822399e-01 -6.55916530e-04 -1.43366783e+01] [-8.29832823e-03 4.99687386e-04 9.99965443e-01 -3.36618034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.030371743 meters 0.03810433276220863 Centerline is valid? [True, True] Translation: X:240.05, Y:-14.34, Z:-3.37 [[ 9.99794520e-01 1.87294489e-02 7.75409454e-03 2.40052515e+02] [-1.87252533e-02 9.99824479e-01 -6.13328492e-04 -1.43433908e+01] [-7.76422084e-03 4.68005080e-04 9.99969748e-01 -3.36761549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060371743 meters 0.037167352084424204 Centerline is valid? [True, True] Translation: X:240.08, Y:-14.34, Z:-3.37 [[ 9.99811803e-01 1.83926066e-02 6.17014740e-03 2.40081515e+02] [-1.83899464e-02 9.99830772e-01 -4.87602593e-04 -1.43430805e+01] [-6.17807152e-03 3.74042147e-04 9.99980846e-01 -3.36920820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.090371743 meters 0.03549931948307393 Centerline is valid? [True, True] Translation: X:240.11, Y:-14.34, Z:-3.37 [[ 9.99816428e-01 1.82880155e-02 5.71478675e-03 2.40109963e+02] [-1.82857335e-02 9.99832700e-01 -4.51308399e-04 -1.43427241e+01] [-5.72208421e-03 3.46726484e-04 9.99983569e-01 -3.36974138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120371743 meters 0.03497820543864399 Centerline is valid? [True, True] Translation: X:240.14, Y:-14.34, Z:-3.37 [[ 9.99841692e-01 1.69179295e-02 5.51136863e-03 2.40138993e+02] [-1.69157883e-02 9.99856823e-01 -4.34897057e-04 -1.43434542e+01] [-5.51793709e-03 3.41599064e-04 9.99984718e-01 -3.37012949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15037174299997 meters 0.03589439208985784 Centerline is valid? [True, True] Translation: X:240.17, Y:-14.35, Z:-3.37 [[ 9.99861756e-01 1.58211352e-02 5.11468413e-03 2.40167722e+02] [-1.58192752e-02 9.99874786e-01 -4.03906212e-04 -1.43465630e+01] [-5.12043396e-03 3.22939779e-04 9.99986838e-01 -3.37083098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18037174299997 meters 0.03805209740951354 Centerline is valid? [True, True] Translation: X:240.19, Y:-14.35, Z:-3.37 [[ 9.99869243e-01 1.55092181e-02 4.57823507e-03 2.40194618e+02] [-1.55077296e-02 9.99879683e-01 -3.60433881e-04 -1.43526683e+01] [-4.58327428e-03 2.89388720e-04 9.99989455e-01 -3.37225106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21037174299997 meters 0.03615267844540511 Centerline is valid? [True, True] Translation: X:240.22, Y:-14.35, Z:-3.37 [[ 9.99887126e-01 1.45576551e-02 3.71615089e-03 2.40223479e+02] [-1.45566680e-02 9.99894003e-01 -2.92539147e-04 -1.43523434e+01] [-3.72001567e-03 2.38411352e-04 9.99993052e-01 -3.37294257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24037174299997 meters 0.03678756067609884 Centerline is valid? [True, True] Translation: X:240.25, Y:-14.36, Z:-3.37 [[ 9.99889557e-01 1.42679514e-02 4.15930415e-03 2.40251771e+02] [-1.42667141e-02 9.99898172e-01 -3.27008457e-04 -1.43555332e+01] [-4.16354636e-03 2.67632739e-04 9.99991297e-01 -3.37349009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27037174299997 meters 0.03775573026134416 Centerline is valid? [True, True] Translation: X:240.28, Y:-14.36, Z:-3.37 [[ 9.99891243e-01 1.40457305e-02 4.49673232e-03 2.40279155e+02] [-1.40442831e-02 9.99901312e-01 -3.53302870e-04 -1.43588451e+01] [-4.50125094e-03 2.90111064e-04 9.99989827e-01 -3.37378053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30037174299997 meters 0.03753555105882932 Centerline is valid? [True, True] Translation: X:240.31, Y:-14.36, Z:-3.37 [[ 9.99883238e-01 1.41320350e-02 5.81341060e-03 2.40308212e+02] [-1.41296232e-02 9.99900068e-01 -4.55743887e-04 -1.43601758e+01] [-5.81927024e-03 3.73549372e-04 9.99982998e-01 -3.37253613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33037174299997 meters 0.03524149141193481 Centerline is valid? [True, True] Translation: X:240.34, Y:-14.36, Z:-3.37 [[ 9.99875336e-01 1.43668099e-02 6.55042314e-03 2.40337564e+02] [-1.43637565e-02 9.99896704e-01 -5.12955335e-04 -1.43588207e+01] [-6.55711605e-03 4.18802704e-04 9.99978414e-01 -3.37135315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36037174299997 meters 0.03548978342011219 Centerline is valid? [True, True] Translation: X:240.37, Y:-14.36, Z:-3.37 [[ 9.99869700e-01 1.44803730e-02 7.13461925e-03 2.40365827e+02] [-1.44767578e-02 9.99895051e-01 -5.58102369e-04 -1.43612061e+01] [-7.14195200e-03 4.54743494e-04 9.99974393e-01 -3.37140273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39037174299997 meters 0.034805791360012085 Centerline is valid? [True, True] Translation: X:240.39, Y:-14.36, Z:-3.37 [[ 9.99851800e-01 1.55528971e-02 7.38146126e-03 2.40394822e+02] [-1.55490607e-02 9.99878940e-01 -5.76851477e-04 -1.43625919e+01] [-7.38953937e-03 4.61991198e-04 9.99972590e-01 -3.37156522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42037174299998 meters 0.03510642952335877 Centerline is valid? [True, True] Translation: X:240.42, Y:-14.37, Z:-3.37 [[ 9.99845918e-01 1.60412062e-02 7.12886372e-03 2.40423051e+02] [-1.60376436e-02 9.99871234e-01 -5.56628402e-04 -1.43651023e+01] [-7.13687476e-03 4.42212459e-04 9.99974434e-01 -3.37251155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45037174299998 meters 0.03507892987090327 Centerline is valid? [True, True] Translation: X:240.45, Y:-14.37, Z:-3.37 [[ 9.99842681e-01 1.64226998e-02 6.70142232e-03 2.40451585e+02] [-1.64195630e-02 9.99865053e-01 -5.22830031e-04 -1.43673609e+01] [-6.70910427e-03 4.12713354e-04 9.99977409e-01 -3.37374584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48037174299998 meters 0.033231809155130194 Centerline is valid? [True, True] Translation: X:240.48, Y:-14.37, Z:-3.38 [[ 9.99838078e-01 1.74777264e-02 4.28333180e-03 2.40480984e+02] [-1.74764550e-02 9.99847219e-01 -3.34066838e-04 -1.43661443e+01] [-4.28851612e-03 2.59155289e-04 9.99990771e-01 -3.37514018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51037174299998 meters 0.03501374851946501 Centerline is valid? [True, True] Translation: X:240.51, Y:-14.37, Z:-3.38 [[ 9.99833502e-01 1.79615779e-02 3.21715251e-03 2.40508789e+02] [-1.79608619e-02 9.99838659e-01 -2.51311783e-04 -1.43703853e+01] [-3.22114741e-03 1.93487108e-04 9.99994793e-01 -3.37679004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54037174299998 meters 0.03216782242491142 Centerline is valid? [True, True] Translation: X:240.54, Y:-14.37, Z:-3.38 [[ 9.99799462e-01 1.99317969e-02 1.93867440e-03 2.40538105e+02] [-1.99315403e-02 9.99801336e-01 -1.51558653e-04 -1.43671913e+01] [-1.94131009e-03 1.12887493e-04 9.99998109e-01 -3.37687182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57037174299998 meters 0.03360244462314017 Centerline is valid? [True, True] Translation: X:240.57, Y:-14.37, Z:-3.38 [[ 9.99774477e-01 2.11750292e-02 1.61660560e-03 2.40565881e+02] [-2.11748520e-02 9.99775780e-01 -1.26652840e-04 -1.43704204e+01] [-1.61892500e-03 9.23928924e-05 9.99998685e-01 -3.37788717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60037174299998 meters 0.03230461383124395 Centerline is valid? [True, True] Translation: X:240.60, Y:-14.37, Z:-3.38 [[ 9.99744324e-01 2.25192094e-02 2.04238025e-03 2.40595101e+02] [-2.25189309e-02 9.99746404e-01 -1.59257349e-04 -1.43701230e+01] [-2.04544866e-03 1.13224411e-04 9.99997902e-01 -3.37740324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63037174299998 meters 0.031783328778741064 Centerline is valid? [True, True] Translation: X:240.62, Y:-14.37, Z:-3.38 [[ 9.99724360e-01 2.33869106e-02 2.06329855e-03 2.40624168e+02] [-2.33866285e-02 9.99726482e-01 -1.60735473e-04 -1.43704610e+01] [-2.06649331e-03 1.12437571e-04 9.99997858e-01 -3.37712134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66037174299998 meters 0.03139917368939256 Centerline is valid? [True, True] Translation: X:240.65, Y:-14.37, Z:-3.38 [[ 9.99672377e-01 2.54550126e-02 2.67975595e-03 2.40653767e+02] [-2.54545466e-02 9.99675959e-01 -2.07864715e-04 -1.43715232e+01] [-2.68417880e-03 1.39584641e-04 9.99996388e-01 -3.37675858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.690371743 meters 0.031109299764376593 Centerline is valid? [True, True] Translation: X:240.68, Y:-14.37, Z:-3.38 [[ 9.99644632e-01 2.64847074e-02 3.02831663e-03 2.40682419e+02] [-2.64841164e-02 9.99649207e-01 -2.35115793e-04 -1.43730594e+01] [-3.03348129e-03 1.54829950e-04 9.99995387e-01 -3.37696642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720371743 meters 0.029715305573922098 Centerline is valid? [True, True] Translation: X:240.71, Y:-14.37, Z:-3.38 [[ 9.99622211e-01 2.72164644e-02 3.83397877e-03 2.40711232e+02] [-2.72155244e-02 9.99629545e-01 -2.97149484e-04 -1.43727443e+01] [-3.84064581e-03 1.92693482e-04 9.99992606e-01 -3.37679729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.750371743 meters 0.029742011017618593 Centerline is valid? [True, True] Translation: X:240.74, Y:-14.37, Z:-3.38 [[ 9.99592775e-01 2.81818070e-02 4.47993258e-03 2.40738981e+02] [-2.81805347e-02 9.99602790e-01 -3.46887548e-04 -1.43746092e+01] [-4.48792902e-03 2.20499392e-04 9.99989905e-01 -3.37675665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780371743 meters 0.030250928076360387 Centerline is valid? [True, True] Translation: X:240.77, Y:-14.38, Z:-3.38 [[ 9.99586812e-01 2.84155001e-02 4.33183287e-03 2.40767575e+02] [-2.84143149e-02 9.99596176e-01 -3.34893863e-04 -1.43769072e+01] [-4.33959975e-03 2.11669425e-04 9.99990561e-01 -3.37748565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.810371743 meters 0.02906244865051522 Centerline is valid? [True, True] Translation: X:240.80, Y:-14.38, Z:-3.38 [[ 9.99592213e-01 2.84241169e-02 2.73447757e-03 2.40796753e+02] [-2.84236442e-02 9.99595944e-01 -2.11591265e-04 -1.43767669e+01] [-2.73938698e-03 1.33781164e-04 9.99996239e-01 -3.37791712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840371743 meters 0.03019429891452709 Centerline is valid? [True, True] Translation: X:240.82, Y:-14.38, Z:-3.38 [[ 9.99599176e-01 2.82305134e-02 2.12719778e-03 2.40823938e+02] [-2.82302263e-02 9.99601434e-01 -1.64878175e-04 -1.43805322e+01] [-2.13100455e-03 1.04760813e-04 9.99997724e-01 -3.37927049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.870371743 meters 0.03134395186329925 Centerline is valid? [True, True] Translation: X:240.85, Y:-14.38, Z:-3.38 [[ 9.99622280e-01 2.74264471e-02 1.75687055e-03 2.40850932e+02] [-2.74262489e-02 9.99623820e-01 -1.36835369e-04 -1.43845923e+01] [-1.75996256e-03 8.85993148e-05 9.99998447e-01 -3.38013380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90037174299997 meters 0.030291720607688116 Centerline is valid? [True, True] Translation: X:240.88, Y:-14.39, Z:-3.38 [[ 9.99661919e-01 2.59710846e-02 1.24508328e-03 2.40879976e+02] [-2.59709845e-02 9.99662692e-01 -9.65079733e-05 -1.43855133e+01] [-1.24716973e-03 6.41393071e-05 9.99999220e-01 -3.37972425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93037174299997 meters 0.03060642454319933 Centerline is valid? [True, True] Translation: X:240.91, Y:-14.39, Z:-3.38 [[ 9.99677386e-01 2.53808975e-02 9.66413693e-04 2.40908935e+02] [-2.53808368e-02 9.99677852e-01 -7.50603328e-05 -1.43885111e+01] [-9.68007464e-04 5.05077291e-05 9.99999530e-01 -3.38068000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96037174299997 meters 0.030877129795421576 Centerline is valid? [True, True] Translation: X:240.94, Y:-14.39, Z:-3.38 [[ 9.99678779e-01 2.53329766e-02 7.61312925e-04 2.40937232e+02] [-2.53329385e-02 9.99679068e-01 -5.97598544e-05 -1.43908441e+01] [-7.62582490e-04 4.04543648e-05 9.99999708e-01 -3.38171276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99037174299997 meters 0.031916575191076664 Centerline is valid? [True, True] Translation: X:240.96, Y:-14.39, Z:-3.38 [[ 9.99662882e-01 2.59611587e-02 -3.74519382e-04 2.40964725e+02] [-2.59611502e-02 9.99662952e-01 2.73899460e-05 -1.43944384e+01] [ 3.75104226e-04 -1.76577584e-05 9.99999929e-01 -3.38302509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02037174299997 meters 0.03313996404282568 Centerline is valid? [True, True] Translation: X:240.99, Y:-14.40, Z:-3.39 [[ 9.99583017e-01 2.88315263e-02 -1.59240799e-03 2.40992999e+02] [-2.88313698e-02 9.99584282e-01 1.21135326e-04 -1.43971072e+01] [ 1.59523852e-03 -7.51735104e-05 9.99998725e-01 -3.38543277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05037174299997 meters 0.030313209058882642 Centerline is valid? [True, True] Translation: X:241.02, Y:-14.39, Z:-3.38 [[ 9.99516710e-01 3.09939788e-02 -2.39174349e-03 2.41022065e+02] [-3.09936327e-02 9.99519565e-01 1.81608367e-04 -1.43936865e+01] [ 2.39622318e-03 -1.07391778e-04 9.99997123e-01 -3.38471400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08037174299997 meters 0.02979874262453308 Centerline is valid? [True, True] Translation: X:241.05, Y:-14.39, Z:-3.39 [[ 9.99432238e-01 3.36305321e-02 -2.04667470e-03 2.41050656e+02] [-3.36302842e-02 9.99434330e-01 1.55411233e-04 -1.43940899e+01] [ 2.05074352e-03 -8.64927444e-05 9.99997893e-01 -3.38507973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11037174299997 meters 0.028318881420029446 Centerline is valid? [True, True] Translation: X:241.08, Y:-14.39, Z:-3.38 [[ 9.99324405e-01 3.67060066e-02 -1.84488382e-03 2.41080246e+02] [-3.67058103e-02 9.99326105e-01 1.40189649e-04 -1.43927116e+01] [ 1.84878636e-03 -7.23769820e-05 9.99998288e-01 -3.38441067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14037174299997 meters 0.026797904982607042 Centerline is valid? [True, True] Translation: X:241.11, Y:-14.39, Z:-3.38 [[ 9.99079007e-01 4.29079470e-02 -2.13471806e-04 2.41110956e+02] [-4.29079446e-02 9.99079030e-01 1.62238203e-05 -1.43901045e+01] [ 2.13971335e-04 -7.04924186e-06 9.99999977e-01 -3.38352707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17037174299998 meters 0.025891697827689537 Centerline is valid? [True, True] Translation: X:241.14, Y:-14.39, Z:-3.38 [[ 9.98952564e-01 4.57475985e-02 9.65181039e-04 2.41139089e+02] [-4.57475477e-02 9.98953030e-01 -7.46957857e-05 -1.43902324e+01] [-9.67587676e-04 3.04628810e-05 9.99999531e-01 -3.38292080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20037174299998 meters 0.023790462275641088 Centerline is valid? [True, True] Translation: X:241.17, Y:-14.39, Z:-3.38 [[ 9.98705196e-01 5.07883645e-02 2.91107442e-03 2.41169189e+02] [-5.07879327e-02 9.98709436e-01 -2.22103442e-04 -1.43865809e+01] [-2.91859776e-03 7.39684094e-05 9.99995738e-01 -3.38053334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23037174299998 meters 0.023437484131095025 Centerline is valid? [True, True] Translation: X:241.20, Y:-14.39, Z:-3.38 [[ 9.98604221e-01 5.27108625e-02 3.34291841e-03 2.41196816e+02] [-5.27103026e-02 9.98609813e-01 -2.55416108e-04 -1.43878513e+01] [-3.35173433e-03 7.88533626e-05 9.99994380e-01 -3.38030335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26037174299998 meters 0.023012156745082855 Centerline is valid? [True, True] Translation: X:241.23, Y:-14.39, Z:-3.38 [[ 9.98549739e-01 5.36980043e-02 3.86575893e-03 2.41226065e+02] [-5.36972632e-02 9.98557218e-01 -2.95314939e-04 -1.43887275e+01] [-3.87603930e-03 8.73059805e-05 9.99992484e-01 -3.37977280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29037174299998 meters 0.023012156745082855 Centerline is valid? [True, True] Translation: X:241.25, Y:-14.39, Z:-3.38 [[ 9.98564968e-01 5.34140588e-02 3.86568301e-03 2.41253357e+02] [-5.34133117e-02 9.98572446e-01 -2.96320562e-04 -1.43907284e+01] [-3.87599222e-03 8.94164015e-05 9.99992484e-01 -3.38015797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32037174299998 meters 0.02287996875008499 Centerline is valid? [True, True] Translation: X:241.28, Y:-14.39, Z:-3.38 [[ 9.98535071e-01 5.39955634e-02 3.49158448e-03 2.41282299e+02] [-5.39949609e-02 9.98541172e-01 -2.66648985e-04 -1.43946532e+01] [-3.50088872e-03 7.77303960e-05 9.99993869e-01 -3.38093212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35037174299998 meters 0.022777803345392193 Centerline is valid? [True, True] Translation: X:241.31, Y:-14.40, Z:-3.38 [[ 9.98562060e-01 5.34893277e-02 3.56420829e-03 2.41309712e+02] [-5.34886989e-02 9.98568418e-01 -2.71590903e-04 -1.43985697e+01] [-3.57363305e-03 8.05555079e-05 9.99993611e-01 -3.38198237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38037174299998 meters 0.023031690992443836 Centerline is valid? [True, True] Translation: X:241.34, Y:-14.40, Z:-3.38 [[ 9.98608428e-01 5.26350402e-02 3.28037004e-03 2.41338447e+02] [-5.26345063e-02 9.98613813e-01 -2.48948912e-04 -1.44030886e+01] [-3.28892627e-03 7.59418242e-05 9.99994589e-01 -3.38288570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41037174299998 meters 0.022999481670929266 Centerline is valid? [True, True] Translation: X:241.37, Y:-14.41, Z:-3.38 [[ 9.98737344e-01 5.01385810e-02 3.13684808e-03 2.41366512e+02] [-5.01380822e-02 9.98742267e-01 -2.37501560e-04 -1.44090125e+01] [-3.14481076e-03 7.99261300e-05 9.99995052e-01 -3.38327043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440371743 meters 0.023073946687463508 Centerline is valid? [True, True] Translation: X:241.40, Y:-14.41, Z:-3.38 [[ 9.98827043e-01 4.83427786e-02 2.74103054e-03 2.41395060e+02] [-4.83423915e-02 9.98830802e-01 -2.07329016e-04 -1.44131164e+01] [-2.74784860e-03 7.45778563e-05 9.99996222e-01 -3.38370845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.470371743 meters 0.023209447622479007 Centerline is valid? [True, True] Translation: X:241.42, Y:-14.42, Z:-3.38 [[ 9.98872563e-01 4.73728775e-02 3.06796095e-03 2.41422052e+02] [-4.73723967e-02 9.98877271e-01 -2.29229702e-04 -1.44181666e+01] [-3.07537574e-03 8.36345972e-05 9.99995268e-01 -3.38425566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500371743 meters 0.02369605760120056 Centerline is valid? [True, True] Translation: X:241.45, Y:-14.42, Z:-3.39 [[ 9.98936714e-01 4.60065657e-02 2.97293307e-03 2.41450826e+02] [-4.60061043e-02 9.98941134e-01 -2.23428300e-04 -1.44231424e+01] [-2.98006430e-03 8.64176629e-05 9.99995556e-01 -3.38505516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.530371743 meters 0.02481171044248403 Centerline is valid? [True, True] Translation: X:241.48, Y:-14.43, Z:-3.39 [[ 9.99046954e-01 4.35966783e-02 2.12457789e-03 2.41477501e+02] [-4.35964399e-02 9.99049211e-01 -1.58422293e-04 -1.44315560e+01] [-2.12946455e-03 6.56472770e-05 9.99997731e-01 -3.38699296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560371743 meters 0.025063062448193806 Centerline is valid? [True, True] Translation: X:241.51, Y:-14.44, Z:-3.39 [[ 9.99097548e-01 4.24360716e-02 1.80837209e-03 2.41505967e+02] [-4.24358977e-02 9.99099183e-01 -1.34423812e-04 -1.44361396e+01] [-1.81244750e-03 5.75626080e-05 9.99998356e-01 -3.38787677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.590371743 meters 0.02495156201271304 Centerline is valid? [True, True] Translation: X:241.53, Y:-14.44, Z:-3.39 [[ 9.99197658e-01 4.00287862e-02 1.31747327e-03 2.41534202e+02] [-4.00286916e-02 9.99198526e-01 -9.81194497e-05 -1.44413634e+01] [-1.32034496e-03 4.53039931e-05 9.99999127e-01 -3.38868410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620371743 meters 0.025294168555190757 Centerline is valid? [True, True] Translation: X:241.56, Y:-14.45, Z:-3.39 [[ 9.99239004e-01 3.89905538e-02 1.07177603e-03 2.41562776e+02] [-3.89904905e-02 9.99239579e-01 -7.99400260e-05 -1.44456478e+01] [-1.07407794e-03 3.80901188e-05 9.99999422e-01 -3.38918122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65037174299997 meters 0.02578852170875746 Centerline is valid? [True, True] Translation: X:241.59, Y:-14.45, Z:-3.39 [[ 9.99320253e-01 3.68324209e-02 1.55094584e-03 2.41590851e+02] [-3.68322865e-02 9.99321455e-01 -1.15116712e-04 -1.44529155e+01] [-1.55413348e-03 5.79135801e-05 9.99998791e-01 -3.39010668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68037174299997 meters 0.026190670143319487 Centerline is valid? [True, True] Translation: X:241.62, Y:-14.46, Z:-3.39 [[ 9.99366221e-01 3.55407116e-02 2.00346230e-03 2.41619287e+02] [-3.55404857e-02 9.99368226e-01 -1.48268073e-04 -1.44575244e+01] [-2.00746612e-03 7.69700805e-05 9.99997982e-01 -3.39041218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71037174299997 meters 0.026723672622280915 Centerline is valid? [True, True] Translation: X:241.65, Y:-14.46, Z:-3.39 [[ 9.99408820e-01 3.43086890e-02 2.21926721e-03 2.41647905e+02] [-3.43084093e-02 9.99411280e-01 -1.63968971e-04 -1.44624522e+01] [-2.22358624e-03 8.77325077e-05 9.99997524e-01 -3.39086634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74037174299997 meters 0.027390977014627896 Centerline is valid? [True, True] Translation: X:241.67, Y:-14.47, Z:-3.39 [[ 9.99453473e-01 3.29588798e-02 2.54297459e-03 2.41674903e+02] [-3.29585068e-02 9.99456703e-01 -1.88447865e-04 -1.44673940e+01] [-2.54780403e-03 1.04532228e-04 9.99996749e-01 -3.39144019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77037174299997 meters 0.028472564558970966 Centerline is valid? [True, True] Translation: X:241.70, Y:-14.48, Z:-3.39 [[ 9.99534887e-01 3.03421199e-02 3.06025805e-03 2.41703620e+02] [-3.03415735e-02 9.99539563e-01 -2.24855393e-04 -1.44750247e+01] [-3.06567158e-03 1.31897765e-04 9.99995292e-01 -3.39251559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80037174299997 meters 0.02862734736676406 Centerline is valid? [True, True] Translation: X:241.73, Y:-14.48, Z:-3.39 [[ 9.99582768e-01 2.87394755e-02 2.88649618e-03 2.41731872e+02] [-2.87389824e-02 9.99586928e-01 -2.12178710e-04 -1.44793224e+01] [-2.89140175e-03 1.29135219e-04 9.99995812e-01 -3.39255895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83037174299997 meters 0.029484827868464885 Centerline is valid? [True, True] Translation: X:241.76, Y:-14.49, Z:-3.39 [[ 9.99666392e-01 2.55567181e-02 3.73609178e-03 2.41761326e+02] [-2.55558732e-02 9.99673358e-01 -2.73716084e-04 -1.44870300e+01] [-3.74186670e-03 1.78145683e-04 9.99992983e-01 -3.39295655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86037174299997 meters 0.030041967727216234 Centerline is valid? [True, True] Translation: X:241.79, Y:-14.49, Z:-3.39 [[ 9.99709275e-01 2.38640659e-02 3.44562129e-03 2.41790681e+02] [-2.38633375e-02 9.99715198e-01 -2.52352968e-04 -1.44915426e+01] [-3.45066214e-03 1.70055579e-04 9.99994032e-01 -3.39356322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89037174299997 meters 0.03237119991318818 Centerline is valid? [True, True] Translation: X:241.82, Y:-14.50, Z:-3.39 [[ 9.99787725e-01 2.03556670e-02 3.18607171e-03 2.41819698e+02] [-2.03550273e-02 9.99792788e-01 -2.33074613e-04 -1.45009058e+01] [-3.19015590e-03 1.68172561e-04 9.99994897e-01 -3.39461488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92037174299998 meters 0.03354401295415093 Centerline is valid? [True, True] Translation: X:241.85, Y:-14.51, Z:-3.40 [[ 9.99821759e-01 1.86261285e-02 3.08495400e-03 2.41848252e+02] [-1.86255195e-02 9.99826504e-01 -2.26006457e-04 -1.45065220e+01] [-3.08862840e-03 1.68507302e-04 9.99995216e-01 -3.39531032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95037174299998 meters 0.0326797745193275 Centerline is valid? [True, True] Translation: X:241.88, Y:-14.51, Z:-3.40 [[ 9.99853089e-01 1.68567620e-02 3.10638318e-03 2.41877829e+02] [-1.68561371e-02 9.99857899e-01 -2.27230074e-04 -1.45082657e+01] [-3.10977212e-03 1.74835070e-04 9.99995149e-01 -3.39585350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98037174299998 meters 0.035219580534232964 Centerline is valid? [True, True] Translation: X:241.91, Y:-14.52, Z:-3.40 [[ 9.99900451e-01 1.37696861e-02 3.07966206e-03 2.41906564e+02] [-1.37690586e-02 9.99905177e-01 -2.24876353e-04 -1.45166954e+01] [-3.08246651e-03 1.82449919e-04 9.99995233e-01 -3.39715843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01037174299998 meters 0.03785857447284084 Centerline is valid? [True, True] Translation: X:241.93, Y:-14.52, Z:-3.40 [[ 9.99921485e-01 1.20545136e-02 3.42235616e-03 2.41934538e+02] [-1.20537271e-02 9.99927320e-01 -2.50348350e-04 -1.45236180e+01] [-3.42512525e-03 2.09076546e-04 9.99994112e-01 -3.39826316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04037174299998 meters 0.036508039886932214 Centerline is valid? [True, True] Translation: X:241.96, Y:-14.53, Z:-3.40 [[ 9.99942761e-01 9.95618637e-03 3.91781376e-03 2.41964392e+02] [-9.95514169e-03 9.99950405e-01 -2.86061903e-04 -1.45252370e+01] [-3.92046755e-03 2.47043138e-04 9.99992284e-01 -3.39796722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07037174299998 meters 0.0404189243753037 Centerline is valid? [True, True] Translation: X:241.99, Y:-14.53, Z:-3.40 [[ 9.99954601e-01 8.72584100e-03 3.82820161e-03 2.41992091e+02] [-8.72483370e-03 9.99961899e-01 -2.79747497e-04 -1.45329364e+01] [-3.83049679e-03 2.46334375e-04 9.99992633e-01 -3.39875888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10037174299998 meters 0.037485806961519604 Centerline is valid? [True, True] Translation: X:242.02, Y:-14.53, Z:-3.40 [[ 9.99957180e-01 8.16445866e-03 4.35669224e-03 2.42021547e+02] [-8.16315210e-03 9.99966630e-01 -3.17595577e-04 -1.45312933e+01] [-4.35913985e-03 2.82017636e-04 9.99990459e-01 -3.39771352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13037174299998 meters 0.034575335177631485 Centerline is valid? [True, True] Translation: X:242.05, Y:-14.53, Z:-3.40 [[ 9.99961940e-01 7.19442308e-03 4.93553405e-03 2.42051882e+02] [-7.19273642e-03 9.99974067e-01 -3.59403271e-04 -1.45288463e+01] [-4.93799176e-03 3.23889596e-04 9.99987756e-01 -3.39676470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16037174299998 meters 0.0408293369275078 Centerline is valid? [True, True] Translation: X:242.08, Y:-14.54, Z:-3.40 [[ 9.99964070e-01 6.40628812e-03 5.55147953e-03 2.42080277e+02] [-6.40414286e-03 9.99979412e-01 -4.04122064e-04 -1.45407293e+01] [-5.55395416e-03 3.68555076e-04 9.99984509e-01 -3.39808508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.190371743 meters 0.03640865234801866 Centerline is valid? [True, True] Translation: X:242.11, Y:-14.54, Z:-3.40 [[ 9.99968806e-01 5.65537950e-03 5.51402479e-03 2.42111110e+02] [-5.65325311e-03 9.99983940e-01 -4.01142810e-04 -1.45369897e+01] [-5.51620485e-03 3.69958119e-04 9.99984717e-01 -3.39778494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220371743 meters 0.04348359279009493 Centerline is valid? [True, True] Translation: X:242.14, Y:-14.55, Z:-3.40 [[ 9.99970913e-01 5.02913068e-03 5.73414390e-03 2.42140476e+02] [-5.02682173e-03 9.99987279e-01 -4.17009438e-04 -1.45499800e+01] [-5.73616815e-03 3.88172789e-04 9.99983473e-01 -3.39990000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.250371743 meters 0.03637114851839713 Centerline is valid? [True, True] Translation: X:242.17, Y:-14.54, Z:-3.40 [[ 9.99981870e-01 3.39502583e-03 4.97334324e-03 2.42172030e+02] [-3.39326856e-03 9.99994177e-01 -3.61733047e-04 -1.45423436e+01] [-4.97454238e-03 3.44850600e-04 9.99987567e-01 -3.39991248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280371743 meters 0.04005654209296596 Centerline is valid? [True, True] Translation: X:242.20, Y:-14.55, Z:-3.40 [[ 9.99985275e-01 2.52986700e-03 4.80097950e-03 2.42202287e+02] [-2.52821992e-03 9.99996743e-01 -3.49108446e-04 -1.45499668e+01] [-4.80184706e-03 3.36965373e-04 9.99988414e-01 -3.40164731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.310371743 meters 0.038734198538484595 Centerline is valid? [True, True] Translation: X:242.23, Y:-14.55, Z:-3.40 [[ 9.99989883e-01 1.66270539e-03 4.17969402e-03 2.42234133e+02] [-1.66145295e-03 9.99998574e-01 -3.03104174e-04 -1.45505673e+01] [-4.18019203e-03 2.96156742e-04 9.99991219e-01 -3.40215745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340371743 meters 0.038400137523189395 Centerline is valid? [True, True] Translation: X:242.26, Y:-14.55, Z:-3.40 [[ 9.99993191e-01 -5.28148156e-04 3.65225893e-03 2.42264746e+02] [ 5.29124070e-04 9.99999825e-01 -2.66247277e-04 -1.45525644e+01] [-3.65211767e-03 2.68177962e-04 9.99993295e-01 -3.40306561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.370371743 meters 0.039365804485342624 Centerline is valid? [True, True] Translation: X:242.30, Y:-14.56, Z:-3.40 [[ 9.99993132e-01 -1.51151485e-03 3.38402951e-03 2.42296441e+02] [ 1.51235443e-03 9.99998826e-01 -2.45553921e-04 -1.45563885e+01] [-3.38365438e-03 2.50670087e-04 9.99994244e-01 -3.40331323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40037174299997 meters 0.043600632840869874 Centerline is valid? [True, True] Translation: X:242.33, Y:-14.57, Z:-3.40 [[ 9.99988610e-01 -3.45520259e-03 3.29255335e-03 2.42325461e+02] [ 3.45601366e-03 9.99993999e-01 -2.40679521e-04 -1.45655195e+01] [-3.29170200e-03 2.52055890e-04 9.99994551e-01 -3.40494440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43037174299997 meters 0.04013873597614689 Centerline is valid? [True, True] Translation: X:242.36, Y:-14.56, Z:-3.41 [[ 9.99987615e-01 -3.59381319e-03 3.44312816e-03 2.42357895e+02] [ 3.59469834e-03 9.99993508e-01 -2.50922054e-04 -1.45628680e+01] [-3.44220404e-03 2.63295953e-04 9.99994041e-01 -3.40509267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46037174299997 meters 0.04175518547921872 Centerline is valid? [True, True] Translation: X:242.39, Y:-14.57, Z:-3.41 [[ 9.99990620e-01 -3.32803965e-03 2.77199081e-03 2.42389216e+02] [ 3.32861094e-03 9.99994440e-01 -2.01502849e-04 -1.45668993e+01] [-2.77130479e-03 2.10727838e-04 9.99996138e-01 -3.40553258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49037174299997 meters 0.03822230559495453 Centerline is valid? [True, True] Translation: X:242.42, Y:-14.56, Z:-3.41 [[ 9.99994622e-01 -2.20985989e-03 2.42316359e-03 2.42421082e+02] [ 2.21029564e-03 9.99997542e-01 -1.77163457e-04 -1.45626108e+01] [-2.42276613e-03 1.82518413e-04 9.99997048e-01 -3.40515417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52037174299997 meters 0.04058471091022843 Centerline is valid? [True, True] Translation: X:242.45, Y:-14.56, Z:-3.41 [[ 9.99993293e-01 2.95265726e-03 2.16696599e-03 2.42451045e+02] [-2.95231981e-03 9.99995629e-01 -1.58907787e-04 -1.45643544e+01] [-2.16742571e-03 1.52509145e-04 9.99997640e-01 -3.40567812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55037174299997 meters 0.038032850778414354 Centerline is valid? [True, True] Translation: X:242.48, Y:-14.56, Z:-3.41 [[ 9.99973668e-01 6.52818141e-03 3.16962364e-03 2.42482047e+02] [-6.52747726e-03 9.99978669e-01 -2.32449431e-04 -1.45612598e+01] [-3.17107350e-03 2.11753664e-04 9.99994950e-01 -3.40537053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58037174299997 meters 0.03552850260496755 Centerline is valid? [True, True] Translation: X:242.51, Y:-14.56, Z:-3.40 [[ 9.99940834e-01 1.01920401e-02 3.80154191e-03 2.42512548e+02] [-1.01910537e-02 9.99948031e-01 -2.78776890e-04 -1.45582679e+01] [-3.80418565e-03 2.40018679e-04 9.99992735e-01 -3.40481877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61037174299997 meters 0.03480390961669421 Centerline is valid? [True, True] Translation: X:242.54, Y:-14.56, Z:-3.40 [[ 9.99886982e-01 1.43135785e-02 4.59842652e-03 2.42542243e+02] [-1.43121780e-02 9.99897519e-01 -3.37339597e-04 -1.45573149e+01] [-4.60278380e-03 2.71487973e-04 9.99989370e-01 -3.40483217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64037174299997 meters 0.02991700473964962 Centerline is valid? [True, True] Translation: X:242.57, Y:-14.55, Z:-3.40 [[ 9.99708640e-01 2.32811768e-02 6.37351064e-03 2.42573496e+02] [-2.32786702e-02 9.99728906e-01 -4.67199401e-04 -1.45479978e+01] [-6.38265977e-03 3.18696425e-04 9.99979580e-01 -3.40399136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67037174299998 meters 0.031146180703589713 Centerline is valid? [True, True] Translation: X:242.60, Y:-14.55, Z:-3.41 [[ 9.99589052e-01 2.78617987e-02 6.74152153e-03 2.42602247e+02] [-2.78590972e-02 9.99611738e-01 -4.94321657e-04 -1.45502370e+01] [-6.75267674e-03 3.06305813e-04 9.99977154e-01 -3.40547463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70037174299998 meters 0.026653186927251257 Centerline is valid? [True, True] Translation: X:242.63, Y:-14.54, Z:-3.41 [[ 9.99324050e-01 3.61691247e-02 6.57549319e-03 2.42633945e+02] [-3.61667380e-02 9.99345654e-01 -4.81556060e-04 -1.45410322e+01] [-6.58860800e-03 2.43416412e-04 9.99978265e-01 -3.40623452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73037174299998 meters 0.025792654389023766 Centerline is valid? [True, True] Translation: X:242.66, Y:-14.54, Z:-3.41 [[ 9.99191194e-01 3.97208759e-02 6.26180807e-03 2.42663846e+02] [-3.97187782e-02 9.99210793e-01 -4.59049839e-04 -1.45391707e+01] [-6.27510007e-03 2.09967191e-04 9.99980289e-01 -3.40703307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76037174299998 meters 0.024813030449808565 Centerline is valid? [True, True] Translation: X:242.69, Y:-14.54, Z:-3.41 [[ 9.99043522e-01 4.32282756e-02 6.58463611e-03 2.42692541e+02] [-4.32260321e-02 9.99065202e-01 -4.82715988e-04 -1.45374927e+01] [-6.59934779e-03 1.97626589e-04 9.99978205e-01 -3.40797455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79037174299998 meters 0.02323997169541351 Centerline is valid? [True, True] Translation: X:242.72, Y:-14.53, Z:-3.41 [[ 9.98711927e-01 5.03394961e-02 6.35787352e-03 2.42722731e+02] [-5.03375536e-02 9.98732153e-01 -4.65286274e-04 -1.45336704e+01] [-6.37323499e-03 1.44647152e-04 9.99979680e-01 -3.40846739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82037174299998 meters 0.022399415926612175 Centerline is valid? [True, True] Translation: X:242.75, Y:-14.53, Z:-3.41 [[ 9.98554342e-01 5.33557421e-02 6.51082529e-03 2.42751383e+02] [-5.33537672e-02 9.98575560e-01 -4.76761741e-04 -1.45326852e+01] [-6.52698898e-03 1.28695450e-04 9.99978691e-01 -3.40871298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85037174299998 meters 0.021683746006712083 Centerline is valid? [True, True] Translation: X:242.78, Y:-14.53, Z:-3.41 [[ 9.98256531e-01 5.86812434e-02 6.35694016e-03 2.42780404e+02] [-5.86794714e-02 9.98276767e-01 -4.65061878e-04 -1.45303494e+01] [-6.37327608e-03 9.12291684e-05 9.99979686e-01 -3.40978663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88037174299998 meters 0.021589957763285143 Centerline is valid? [True, True] Translation: X:242.81, Y:-14.53, Z:-3.41 [[ 9.98149744e-01 6.05022945e-02 6.04662088e-03 2.42807760e+02] [-6.05007262e-02 9.98168055e-01 -4.42113763e-04 -1.45311342e+01] [-6.06229270e-03 7.54707850e-05 9.99981621e-01 -3.41060748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91037174299998 meters 0.02162729261941604 Centerline is valid? [True, True] Translation: X:242.84, Y:-14.53, Z:-3.41 [[ 9.98088747e-01 6.15227923e-02 5.81364047e-03 2.42835196e+02] [-6.15213626e-02 9.98105677e-01 -4.24607887e-04 -1.45327894e+01] [-5.82875062e-03 6.61332709e-05 9.99983011e-01 -3.41183947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940371743 meters 0.021393092806541433 Centerline is valid? [True, True] Translation: X:242.86, Y:-14.54, Z:-3.41 [[ 9.98088485e-01 6.14401768e-02 6.66934855e-03 2.42862552e+02] [-6.14382890e-02 9.98110765e-01 -4.87769589e-04 -1.45363774e+01] [-6.68671723e-03 7.70838467e-05 9.99977641e-01 -3.41302781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.970371743 meters 0.021466431908681135 Centerline is valid? [True, True] Translation: X:242.89, Y:-14.54, Z:-3.41 [[ 9.98116768e-01 6.09298198e-02 7.10459143e-03 2.42889145e+02] [-6.09276884e-02 9.98142049e-01 -5.16252062e-04 -1.45402699e+01] [-7.12284659e-03 8.24135064e-05 9.99974629e-01 -3.41407438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000371743 meters 0.021623822059821718 Centerline is valid? [True, True] Translation: X:242.92, Y:-14.54, Z:-3.41 [[ 9.98179356e-01 5.99294508e-02 6.81420738e-03 2.42917418e+02] [-5.99274656e-02 9.98202611e-01 -4.95317165e-04 -1.45427659e+01] [-6.83164368e-03 8.60571903e-05 9.99976660e-01 -3.41442806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.030371743 meters 0.02184318288457391 Centerline is valid? [True, True] Translation: X:242.95, Y:-14.55, Z:-3.42 [[ 9.98306870e-01 5.77065995e-02 7.30348147e-03 2.42945460e+02] [-5.77042749e-02 9.98333580e-01 -5.28788300e-04 -1.45489144e+01] [-7.32182538e-03 1.06450890e-04 9.99973189e-01 -3.41513228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060371743 meters 0.02159174145391563 Centerline is valid? [True, True] Translation: X:242.97, Y:-14.55, Z:-3.42 [[ 9.98411400e-01 5.58125338e-02 7.72258579e-03 2.42973650e+02] [-5.58098944e-02 9.98441258e-01 -5.57031443e-04 -1.45534399e+01] [-7.74163760e-03 1.25149846e-04 9.99970025e-01 -3.41525189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.090371743 meters 0.02201130234433872 Centerline is valid? [True, True] Translation: X:243.00, Y:-14.56, Z:-3.42 [[ 9.98499284e-01 5.40938675e-02 8.54595081e-03 2.43000618e+02] [-5.40906007e-02 9.98535844e-01 -6.13103763e-04 -1.45588494e+01] [-8.56660336e-03 1.49928055e-04 9.99963295e-01 -3.41542844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120371743 meters 0.02260316285869313 Centerline is valid? [True, True] Translation: X:243.03, Y:-14.57, Z:-3.42 [[ 9.98689633e-01 5.01696794e-02 1.01005073e-02 2.43028682e+02] [-5.01649305e-02 9.98740685e-01 -7.23131649e-04 -1.45684445e+01] [-1.01240669e-02 2.15492833e-04 9.99948727e-01 -3.41609238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15037174299997 meters 0.023101403660478696 Centerline is valid? [True, True] Translation: X:243.06, Y:-14.58, Z:-3.42 [[ 9.98796428e-01 4.78615237e-02 1.07223881e-02 2.43055812e+02] [-4.78560473e-02 9.98853949e-01 -7.66887840e-04 -1.45750444e+01] [-1.07468041e-02 2.52833723e-04 9.99942219e-01 -3.41667974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18037174299997 meters 0.023101403660478696 Centerline is valid? [True, True] Translation: X:243.08, Y:-14.58, Z:-3.42 [[ 9.98801440e-01 4.77567982e-02 1.07224513e-02 2.43083208e+02] [-4.77513252e-02 9.98858961e-01 -7.66003935e-04 -1.45769098e+01] [-1.07467984e-02 2.53074577e-04 9.99942219e-01 -3.41706589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21037174299997 meters 0.02551723480510752 Centerline is valid? [True, True] Translation: X:243.11, Y:-14.59, Z:-3.42 [[ 9.98927957e-01 4.48614316e-02 1.14187516e-02 2.43109813e+02] [-4.48550492e-02 9.98993174e-01 -8.14556225e-04 -1.45870146e+01] [-1.14437971e-02 3.01494321e-04 9.99934472e-01 -3.41782546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24037174299997 meters 0.024641680981883043 Centerline is valid? [True, True] Translation: X:243.14, Y:-14.59, Z:-3.42 [[ 9.99174385e-01 3.90328535e-02 1.12687277e-02 2.43139829e+02] [-3.90262897e-02 9.99237862e-01 -8.01873212e-04 -1.45924995e+01] [-1.12914388e-02 3.61434542e-04 9.99936184e-01 -3.41789399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27037174299997 meters 0.02902776177771159 Centerline is valid? [True, True] Translation: X:243.17, Y:-14.61, Z:-3.42 [[ 9.99303474e-01 3.57135681e-02 1.08215977e-02 2.43167424e+02] [-3.57073215e-02 9.99361994e-01 -7.69960501e-04 -1.46053713e+01] [-1.08421914e-02 3.83013937e-04 9.99941148e-01 -3.41970856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30037174299997 meters 0.026619078301640984 Centerline is valid? [True, True] Translation: X:243.20, Y:-14.61, Z:-3.42 [[ 9.99564274e-01 2.81762557e-02 8.79551561e-03 2.43198044e+02] [-2.81718431e-02 9.99602899e-01 -6.25204955e-04 -1.46079783e+01] [-8.80963884e-03 3.77146651e-04 9.99961123e-01 -3.42122054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33037174299997 meters 0.03139194666102561 Centerline is valid? [True, True] Translation: X:243.23, Y:-14.62, Z:-3.42 [[ 9.99673959e-01 2.41952136e-02 8.15888812e-03 2.43226265e+02] [-2.41912828e-02 9.99707180e-01 -5.80148330e-04 -1.46211900e+01] [-8.17053584e-03 3.82585208e-04 9.99966547e-01 -3.42334133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36037174299997 meters 0.03290770143343155 Centerline is valid? [True, True] Translation: X:243.26, Y:-14.63, Z:-3.42 [[ 9.99757741e-01 2.05718154e-02 7.82691936e-03 2.43256556e+02] [-2.05680910e-02 9.99788300e-01 -5.56054933e-04 -1.46278903e+01] [-7.83670146e-03 3.94935434e-04 9.99969215e-01 -3.42436257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39037174299997 meters 0.03503781665477661 Centerline is valid? [True, True] Translation: X:243.29, Y:-14.64, Z:-3.43 [[ 9.99821914e-01 1.72543584e-02 7.64379900e-03 2.43285381e+02] [-1.72507092e-02 9.99851048e-01 -5.43088961e-04 -1.46356537e+01] [-7.65203109e-03 4.11131291e-04 9.99970638e-01 -3.42521070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42037174299998 meters 0.03637049358352268 Centerline is valid? [True, True] Translation: X:243.32, Y:-14.64, Z:-3.42 [[ 9.99898128e-01 1.15383013e-02 8.40241795e-03 2.43315814e+02] [-1.15336915e-02 9.99933307e-01 -5.96879548e-04 -1.46431135e+01] [-8.40874454e-03 4.99907847e-04 9.99964521e-01 -3.42462744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45037174299998 meters 0.03986313079534756 Centerline is valid? [True, True] Translation: X:243.35, Y:-14.65, Z:-3.43 [[ 9.99925125e-01 8.89797644e-03 8.40067233e-03 2.43345002e+02] [-8.89327564e-03 9.99960276e-01 -5.96764220e-04 -1.46511533e+01] [-8.40564862e-03 5.22010042e-04 9.99964536e-01 -3.42503685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48037174299998 meters 0.0356467181563423 Centerline is valid? [True, True] Translation: X:243.38, Y:-14.65, Z:-3.42 [[ 9.99952168e-01 5.60862548e-03 8.01284467e-03 2.43376607e+02] [-5.60424526e-03 9.99984134e-01 -5.68999134e-04 -1.46488795e+01] [-8.01590884e-03 5.24065971e-04 9.99967735e-01 -3.42468703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51037174299998 meters 0.03796951956504816 Centerline is valid? [True, True] Translation: X:243.41, Y:-14.65, Z:-3.43 [[ 9.99956799e-01 4.92094649e-03 7.88572903e-03 2.43407316e+02] [-4.91668575e-03 9.99987756e-01 -5.59605332e-04 -1.46549930e+01] [-7.88838627e-03 5.20809505e-04 9.99968751e-01 -3.42577964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54037174299998 meters 0.03750577595415961 Centerline is valid? [True, True] Translation: X:243.44, Y:-14.66, Z:-3.43 [[ 9.99956674e-01 5.28486401e-03 7.66296094e-03 2.43439515e+02] [-5.28084855e-03 9.99985908e-01 -5.44147952e-04 -1.46579697e+01] [-7.66572871e-03 5.03657440e-04 9.99970491e-01 -3.42631015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57037174299998 meters 0.03723512093048086 Centerline is valid? [True, True] Translation: X:243.47, Y:-14.66, Z:-3.43 [[ 9.99950833e-01 6.29054209e-03 7.66549868e-03 2.43471794e+02] [-6.28653889e-03 9.99980090e-01 -5.46219616e-04 -1.46603871e+01] [-7.66878208e-03 4.98003305e-04 9.99970470e-01 -3.42650303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60037174299998 meters 0.0343479024723533 Centerline is valid? [True, True] Translation: X:243.50, Y:-14.66, Z:-3.43 [[ 9.99933521e-01 7.90624687e-03 8.39316283e-03 2.43503595e+02] [-7.90147425e-03 9.99968602e-01 -6.01639617e-04 -1.46582944e+01] [-8.39765601e-03 5.35281260e-04 9.99964596e-01 -3.42600962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63037174299998 meters 0.034543387286545456 Centerline is valid? [True, True] Translation: X:243.53, Y:-14.66, Z:-3.43 [[ 9.99911421e-01 9.75794314e-03 9.05170216e-03 2.43534378e+02] [-9.75246438e-03 9.99952233e-01 -6.49215966e-04 -1.46600102e+01] [-9.05760480e-03 5.60882056e-04 9.99958822e-01 -3.42588420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66037174299998 meters 0.03321630732235744 Centerline is valid? [True, True] Translation: X:243.56, Y:-14.66, Z:-3.43 [[ 9.99862374e-01 1.33891510e-02 9.79607726e-03 2.43564977e+02] [-1.33829024e-02 9.99910198e-01 -7.03151180e-04 -1.46585477e+01] [-9.80461215e-03 5.71954463e-04 9.99951770e-01 -3.42566727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.690371743 meters 0.03341362396297064 Centerline is valid? [True, True] Translation: X:243.59, Y:-14.66, Z:-3.43 [[ 9.99845956e-01 1.46436936e-02 9.67607521e-03 2.43594074e+02] [-1.46376549e-02 9.99892623e-01 -6.94614275e-04 -1.46600507e+01] [-9.68520794e-03 5.52872224e-04 9.99952944e-01 -3.42646405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720371743 meters 0.03291443044899597 Centerline is valid? [True, True] Translation: X:243.62, Y:-14.66, Z:-3.43 [[ 9.99827408e-01 1.57898261e-02 9.78952660e-03 2.43623585e+02] [-1.57837007e-02 9.99875183e-01 -7.02656140e-04 -1.46611081e+01] [-9.79939952e-03 5.48019909e-04 9.99951835e-01 -3.42672750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.750371743 meters 0.03254406577317873 Centerline is valid? [True, True] Translation: X:243.65, Y:-14.66, Z:-3.43 [[ 9.99805991e-01 1.69371753e-02 1.00554678e-02 2.43653091e+02] [-1.69307741e-02 9.99856404e-01 -7.21377149e-04 -1.46601178e+01] [-1.00662420e-02 5.50990341e-04 9.99949182e-01 -3.42670650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780371743 meters 0.03328206101211927 Centerline is valid? [True, True] Translation: X:243.68, Y:-14.66, Z:-3.43 [[ 9.99806603e-01 1.67704636e-02 1.02716849e-02 2.43681722e+02] [-1.67637785e-02 9.99859207e-01 -7.36580085e-04 -1.46621151e+01] [-1.02825915e-02 5.64245382e-04 9.99946974e-01 -3.42680675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.810371743 meters 0.03341852480026709 Centerline is valid? [True, True] Translation: X:243.71, Y:-14.66, Z:-3.43 [[ 9.99829835e-01 1.53361887e-02 1.02519529e-02 2.43711517e+02] [-1.53294603e-02 9.99882227e-01 -7.34563923e-04 -1.46624049e+01] [-1.02620109e-02 5.77282021e-04 9.99947178e-01 -3.42625440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840371743 meters 0.03424611172621161 Centerline is valid? [True, True] Translation: X:243.74, Y:-14.67, Z:-3.43 [[ 9.99844089e-01 1.41419618e-02 1.05736578e-02 2.43740946e+02] [-1.41347421e-02 9.99899813e-01 -7.57225708e-04 -1.46652508e+01] [-1.05833071e-02 6.07651722e-04 9.99943811e-01 -3.42662529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.870371743 meters 0.036957417088244134 Centerline is valid? [True, True] Translation: X:243.77, Y:-14.67, Z:-3.43 [[ 9.99863151e-01 1.25739238e-02 1.07506237e-02 2.43770152e+02] [-1.25663748e-02 9.99920744e-01 -7.69457472e-04 -1.46708624e+01] [-1.07594467e-02 6.34255806e-04 9.99941914e-01 -3.42742888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90037174299997 meters 0.037800799544763786 Centerline is valid? [True, True] Translation: X:243.80, Y:-14.67, Z:-3.43 [[ 9.99916853e-01 8.86943547e-03 9.36056992e-03 2.43800601e+02] [-8.86355332e-03 9.99960494e-01 -6.69695362e-04 -1.46738684e+01] [-9.36613994e-03 5.86671768e-04 9.99955965e-01 -3.42975756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93037174299997 meters 0.03880736968156759 Centerline is valid? [True, True] Translation: X:243.83, Y:-14.68, Z:-3.43 [[ 9.99943227e-01 6.97111788e-03 8.05898014e-03 2.43831737e+02] [-6.96669687e-03 9.99975566e-01 -5.76524326e-04 -1.46772260e+01] [-8.06280225e-03 5.20347123e-04 9.99967360e-01 -3.43137985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96037174299997 meters 0.036327349558788496 Centerline is valid? [True, True] Translation: X:243.86, Y:-14.68, Z:-3.43 [[ 9.99964111e-01 4.96471695e-03 6.86501719e-03 2.43862961e+02] [-4.96146150e-03 9.99987571e-01 -4.91157109e-04 -1.46755029e+01] [-6.86737032e-03 4.57078964e-04 9.99976315e-01 -3.43254980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99037174299997 meters 0.03812460744112908 Centerline is valid? [True, True] Translation: X:243.89, Y:-14.68, Z:-3.43 [[ 9.99986742e-01 1.61333191e-03 4.89001117e-03 2.43892948e+02] [-1.61163800e-03 9.99998640e-01 -3.50323607e-04 -1.46792098e+01] [-4.89056971e-03 3.42438035e-04 9.99987982e-01 -3.43489048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02037174299997 meters 0.040269436335406375 Centerline is valid? [True, True] Translation: X:243.92, Y:-14.68, Z:-3.44 [[ 9.99989902e-01 7.94510696e-04 4.42321550e-03 2.43923696e+02] [-7.93126314e-04 9.99999636e-01 -3.14726069e-04 -1.46842470e+01] [-4.42346395e-03 3.11214722e-04 9.99990168e-01 -3.43598741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05037174299997 meters 0.03782657079753397 Centerline is valid? [True, True] Translation: X:243.96, Y:-14.68, Z:-3.44 [[ 9.99993540e-01 -3.90007170e-04 3.57310657e-03 2.43956167e+02] [ 3.90924689e-04 9.99999891e-01 -2.56089845e-04 -1.46820930e+01] [-3.57300630e-03 2.57485007e-04 9.99993584e-01 -3.43600111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08037174299997 meters 0.04618861593939798 Centerline is valid? [True, True] Translation: X:243.99, Y:-14.69, Z:-3.44 [[ 9.99991349e-01 -1.21966385e-03 3.97671559e-03 2.43986769e+02] [ 1.22080204e-03 9.99999215e-01 -2.83800356e-04 -1.46945157e+01] [-3.97636632e-03 2.88652683e-04 9.99992053e-01 -3.43752783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11037174299997 meters 0.03897633904272995 Centerline is valid? [True, True] Translation: X:244.02, Y:-14.69, Z:-3.44 [[ 9.99990155e-01 -1.54320448e-03 4.16035739e-03 2.44019178e+02] [ 1.54446507e-03 9.99998762e-01 -2.99804703e-04 -1.46860769e+01] [-4.15988958e-03 3.06227278e-04 9.99991301e-01 -3.43636556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14037174299997 meters 0.04063682111345382 Centerline is valid? [True, True] Translation: X:244.05, Y:-14.69, Z:-3.44 [[ 9.99987105e-01 -1.75601596e-03 4.76512030e-03 2.44049678e+02] [ 1.75767072e-03 9.99998396e-01 -3.43098098e-04 -1.46901695e+01] [-4.76451017e-03 3.51469186e-04 9.99988588e-01 -3.43694923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17037174299998 meters 0.03861801091597272 Centerline is valid? [True, True] Translation: X:244.08, Y:-14.69, Z:-3.44 [[ 9.99988148e-01 -2.46285705e-03 4.19969879e-03 2.44081898e+02] [ 2.46415210e-03 9.99996918e-01 -3.03220862e-04 -1.46870920e+01] [-4.19893906e-03 3.13565965e-04 9.99991135e-01 -3.43680901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20037174299998 meters 0.04009093568954926 Centerline is valid? [True, True] Translation: X:244.11, Y:-14.69, Z:-3.44 [[ 9.99987330e-01 -2.51384673e-03 4.36126219e-03 2.44113064e+02] [ 2.51524617e-03 9.99996787e-01 -3.15424637e-04 -1.46902359e+01] [-4.36045525e-03 3.26390289e-04 9.99990440e-01 -3.43726681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23037174299998 meters 0.04063177582527522 Centerline is valid? [True, True] Translation: X:244.14, Y:-14.69, Z:-3.44 [[ 9.99990287e-01 -2.29443558e-03 3.76326879e-03 2.44144874e+02] [ 2.29547574e-03 9.99997328e-01 -2.72101318e-04 -1.46917684e+01] [-3.76263442e-03 2.80737167e-04 9.99992882e-01 -3.43790734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26037174299998 meters 0.03902784155744902 Centerline is valid? [True, True] Translation: X:244.18, Y:-14.69, Z:-3.44 [[ 9.99990653e-01 -1.85004160e-03 3.90790777e-03 2.44177786e+02] [ 1.85115973e-03 9.99998247e-01 -2.82523315e-04 -1.46907363e+01] [-3.90737824e-03 2.89754836e-04 9.99992324e-01 -3.43804002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29037174299998 meters 0.041470703770748414 Centerline is valid? [True, True] Translation: X:244.21, Y:-14.69, Z:-3.44 [[ 9.99991531e-01 -1.22889704e-03 3.92794326e-03 2.44209367e+02] [ 1.23002494e-03 9.99999203e-01 -2.84744229e-04 -1.46940302e+01] [-3.92759021e-03 2.89573285e-04 9.99992245e-01 -3.43860267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32037174299998 meters 0.04134421321094531 Centerline is valid? [True, True] Translation: X:244.24, Y:-14.70, Z:-3.44 [[ 9.99990383e-01 -6.51712493e-04 4.33695837e-03 2.44241715e+02] [ 6.53083988e-04 9.99999737e-01 -3.14825599e-04 -1.46951308e+01] [-4.33675205e-03 3.17654969e-04 9.99990546e-01 -3.43913595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35037174299998 meters 0.04005053477375019 Centerline is valid? [True, True] Translation: X:244.27, Y:-14.69, Z:-3.44 [[ 9.99992992e-01 5.72126885e-04 3.69991760e-03 2.44273893e+02] [-5.71135957e-04 9.99999801e-01 -2.68875325e-04 -1.46934107e+01] [-3.70007070e-03 2.66760285e-04 9.99993119e-01 -3.43976851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38037174299998 meters 0.03928695036291435 Centerline is valid? [True, True] Translation: X:244.31, Y:-14.69, Z:-3.44 [[ 9.99994968e-01 1.32359060e-03 2.88300712e-03 2.44305178e+02] [-1.32299152e-03 9.99999103e-01 -2.09694869e-04 -1.46932155e+01] [-2.88328208e-03 2.05879620e-04 9.99995822e-01 -3.44013855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41037174299998 meters 0.03762981043544217 Centerline is valid? [True, True] Translation: X:244.34, Y:-14.69, Z:-3.44 [[ 9.99996113e-01 1.96842891e-03 1.97469242e-03 2.44336271e+02] [-1.96814929e-03 9.99998053e-01 -1.43534834e-04 -1.46916411e+01] [-1.97497112e-03 1.39647787e-04 9.99998040e-01 -3.44068328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440371743 meters 0.04094845036061829 Centerline is valid? [True, True] Translation: X:244.37, Y:-14.70, Z:-3.44 [[ 9.99989573e-01 4.49594894e-03 8.00375902e-04 2.44365639e+02] [-4.49590409e-03 9.99989892e-01 -5.78289516e-05 -1.46958819e+01] [-8.00627808e-04 5.42299353e-05 9.99999678e-01 -3.44241121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.470371743 meters 0.04037165047224928 Centerline is valid? [True, True] Translation: X:244.40, Y:-14.70, Z:-3.44 [[ 9.99983383e-01 5.73375336e-03 5.98755813e-04 2.44395169e+02] [-5.73372794e-03 9.99983561e-01 -4.41613948e-05 -1.46957063e+01] [-5.98999181e-04 4.07275580e-05 9.99999820e-01 -3.44292993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500371743 meters 0.03939003601948087 Centerline is valid? [True, True] Translation: X:244.42, Y:-14.69, Z:-3.44 [[ 9.99958386e-01 9.08764342e-03 8.00344611e-04 2.44424770e+02] [-9.08759933e-03 9.99958705e-01 -5.87154408e-05 -1.46940054e+01] [-8.00845146e-04 5.14397863e-05 9.99999678e-01 -3.44264589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.530371743 meters 0.03810243058328967 Centerline is valid? [True, True] Translation: X:244.45, Y:-14.69, Z:-3.44 [[ 9.99937277e-01 1.11711181e-02 8.05583015e-04 2.44454569e+02] [-1.11710741e-02 9.99937600e-01 -5.92000201e-05 -1.46931613e+01] [-8.06194077e-04 5.01970793e-05 9.99999674e-01 -3.44220966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560371743 meters 0.03443391699870902 Centerline is valid? [True, True] Translation: X:244.48, Y:-14.69, Z:-3.44 [[ 9.99905794e-01 1.35882488e-02 1.93986449e-03 2.44484413e+02] [-1.35879991e-02 9.99907669e-01 -1.41829253e-04 -1.46889067e+01] [-1.94161259e-03 1.15457015e-04 9.99998108e-01 -3.44132407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.590371743 meters 0.03180097248752974 Centerline is valid? [True, True] Translation: X:244.51, Y:-14.69, Z:-3.44 [[ 9.99861955e-01 1.64345743e-02 2.44445206e-03 2.44514703e+02] [-1.64341874e-02 9.99864934e-01 -1.78305479e-04 -1.46862747e+01] [-2.44705227e-03 1.38108282e-04 9.99996996e-01 -3.44081650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620371743 meters 0.03493344001029125 Centerline is valid? [True, True] Translation: X:244.54, Y:-14.69, Z:-3.44 [[ 9.99753934e-01 2.19356013e-02 3.30156380e-03 2.44543956e+02] [-2.19349257e-02 9.99759372e-01 -2.40711019e-04 -1.46908929e+01] [-3.30604949e-03 1.68232232e-04 9.99994521e-01 -3.44225929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65037174299997 meters 0.03165011039139415 Centerline is valid? [True, True] Translation: X:244.57, Y:-14.69, Z:-3.44 [[ 9.99698198e-01 2.44196047e-02 2.68248318e-03 2.44574219e+02] [-2.44191672e-02 9.99701789e-01 -1.95723513e-04 -1.46867259e+01] [-2.68646273e-03 1.30160438e-04 9.99996383e-01 -3.44219058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68037174299997 meters 0.028924724490240403 Centerline is valid? [True, True] Translation: X:244.60, Y:-14.68, Z:-3.44 [[ 9.99625993e-01 2.72490826e-02 2.31550394e-03 2.44604806e+02] [-2.72487647e-02 9.99628669e-01 -1.68739142e-04 -1.46830434e+01] [-2.31924211e-03 1.05581410e-04 9.99997305e-01 -3.44208679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71037174299997 meters 0.027855492615332933 Centerline is valid? [True, True] Translation: X:244.63, Y:-14.68, Z:-3.44 [[ 9.99483522e-01 3.21345028e-02 2.50386169e-04 2.44634490e+02] [-3.21344991e-02 9.99483553e-01 -1.87044500e-05 -1.46812129e+01] [-2.50857916e-04 1.06487554e-05 9.99999968e-01 -3.44399503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74037174299997 meters 0.029482353779632545 Centerline is valid? [True, True] Translation: X:244.66, Y:-14.68, Z:-3.45 [[ 9.99418826e-01 3.40837570e-02 -5.54519994e-04 2.44661755e+02] [-3.40837406e-02 9.99418980e-01 3.90541405e-05 -1.46848946e+01] [ 5.55528919e-04 -2.01313276e-05 9.99999845e-01 -3.44634216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77037174299997 meters 0.025727879216919436 Centerline is valid? [True, True] Translation: X:244.69, Y:-14.68, Z:-3.45 [[ 9.99310184e-01 3.70871471e-02 -1.92367592e-03 2.44690835e+02] [-3.70869489e-02 9.99312033e-01 1.38604837e-04 -1.46802951e+01] [ 1.92749295e-03 -6.71659546e-05 9.99998140e-01 -3.44587764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80037174299997 meters 0.026217443352032774 Centerline is valid? [True, True] Translation: X:244.72, Y:-14.68, Z:-3.45 [[ 9.99263060e-01 3.83101080e-02 -2.38186764e-03 2.44718520e+02] [-3.83098082e-02 9.99265895e-01 1.71417277e-04 -1.46829460e+01] [ 2.38668611e-03 -8.00420601e-05 9.99997149e-01 -3.44738985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83037174299997 meters 0.025890898907271552 Centerline is valid? [True, True] Translation: X:244.75, Y:-14.68, Z:-3.45 [[ 9.99236471e-01 3.89243302e-02 -3.37208237e-03 2.44746878e+02] [-3.89237308e-02 9.99242155e-01 2.43208405e-04 -1.46836607e+01] [ 3.37899358e-03 -1.11768681e-04 9.99994285e-01 -3.44787895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86037174299997 meters 0.025727097759875438 Centerline is valid? [True, True] Translation: X:244.78, Y:-14.69, Z:-3.45 [[ 9.99213910e-01 3.94596826e-02 -3.80734004e-03 2.44775888e+02] [-3.94589230e-02 9.99221156e-01 2.74468365e-04 -1.46850201e+01] [ 3.81520515e-03 -1.24019071e-04 9.99992714e-01 -3.44848301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89037174299997 meters 0.025202562269639472 Centerline is valid? [True, True] Translation: X:244.81, Y:-14.69, Z:-3.45 [[ 9.99161880e-01 4.08062280e-02 -3.22332121e-03 2.44805016e+02] [-4.08057015e-02 9.99167074e-01 2.28957047e-04 -1.46851314e+01] [ 3.22997929e-03 -9.72352699e-05 9.99994779e-01 -3.44760712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92037174299998 meters 0.025008945780472393 Centerline is valid? [True, True] Translation: X:244.83, Y:-14.69, Z:-3.45 [[ 9.99134139e-01 4.15444033e-02 -2.24405860e-03 2.44833155e+02] [-4.15441471e-02 9.99136656e-01 1.60664782e-04 -1.46871950e+01] [ 2.24879593e-03 -6.72981677e-05 9.99997469e-01 -3.44749010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95037174299998 meters 0.024509700802922276 Centerline is valid? [True, True] Translation: X:244.86, Y:-14.69, Z:-3.45 [[ 9.99129375e-01 4.16960672e-02 -1.38926453e-03 2.44862317e+02] [-4.16959698e-02 9.99130340e-01 9.89791761e-05 -1.46880300e+01] [ 1.39218338e-03 -4.09662706e-05 9.99999030e-01 -3.44652612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98037174299998 meters 0.024634278347160095 Centerline is valid? [True, True] Translation: X:244.89, Y:-14.69, Z:-3.44 [[ 9.99129331e-01 4.16775091e-02 1.88800028e-03 2.44891316e+02] [-4.16773251e-02 9.99131113e-01 -1.36709746e-04 -1.46908178e+01] [-1.89205755e-03 5.79039156e-05 9.99998208e-01 -3.44440558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01037174299998 meters 0.02440977460649587 Centerline is valid? [True, True] Translation: X:244.92, Y:-14.69, Z:-3.44 [[ 9.99139527e-01 4.13244763e-02 3.53471327e-03 2.44919955e+02] [-4.13238331e-02 9.99145773e-01 -2.54845138e-04 -1.46930807e+01] [-3.54222516e-03 1.08557949e-04 9.99993720e-01 -3.44343305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04037174299998 meters 0.02483124726006948 Centerline is valid? [True, True] Translation: X:244.95, Y:-14.70, Z:-3.44 [[ 9.99232510e-01 3.88330815e-02 5.13631915e-03 2.44948428e+02] [-3.88316946e-02 9.99245697e-01 -3.69509404e-04 -1.46969332e+01] [-5.14679400e-03 1.69773833e-04 9.99986741e-01 -3.44304921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07037174299998 meters 0.028302163570566616 Centerline is valid? [True, True] Translation: X:244.98, Y:-14.71, Z:-3.44 [[ 9.99311106e-01 3.67544729e-02 5.14021956e-03 2.44975772e+02] [-3.67530575e-02 9.99324310e-01 -3.69577132e-04 -1.47062023e+01] [-5.15032997e-03 1.80403748e-04 9.99986721e-01 -3.44469140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10037174299998 meters 0.028302163570566616 Centerline is valid? [True, True] Translation: X:245.00, Y:-14.71, Z:-3.45 [[ 9.99314686e-01 3.66570131e-02 5.14024573e-03 2.45003181e+02] [-3.66555983e-02 9.99327890e-01 -3.69212443e-04 -1.47080650e+01] [-5.15032515e-03 1.80540634e-04 9.99986721e-01 -3.44507771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13037174299998 meters 0.025853438079955087 Centerline is valid? [True, True] Translation: X:245.03, Y:-14.71, Z:-3.44 [[ 9.99405968e-01 3.41047983e-02 4.95711071e-03 2.45033239e+02] [-3.41034561e-02 9.99418245e-01 -3.55058642e-04 -1.47061218e+01] [-4.96633609e-03 1.85793118e-04 9.99987650e-01 -3.44456705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16037174299998 meters 0.028463718200694696 Centerline is valid? [True, True] Translation: X:245.06, Y:-14.72, Z:-3.45 [[ 9.99608409e-01 2.77023102e-02 3.95097732e-03 2.45062205e+02] [-2.77014093e-02 9.99616202e-01 -2.82571029e-04 -1.47152224e+01] [-3.95728882e-03 1.73012737e-04 9.99992155e-01 -3.44722868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.190371743 meters 0.028304974819928407 Centerline is valid? [True, True] Translation: X:245.09, Y:-14.72, Z:-3.45 [[ 9.99713216e-01 2.37352211e-02 3.18184257e-03 2.45092314e+02] [-2.37346160e-02 9.99718268e-01 -2.27812635e-04 -1.47186674e+01] [-3.18635333e-03 1.52227490e-04 9.99994912e-01 -3.44845183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220371743 meters 0.031755065991734374 Centerline is valid? [True, True] Translation: X:245.12, Y:-14.73, Z:-3.45 [[ 9.99801834e-01 1.97550185e-02 2.45615578e-03 2.45120533e+02] [-1.97546460e-02 9.99804842e-01 -1.75806062e-04 -1.47279364e+01] [-2.45914949e-03 1.27250735e-04 9.99996968e-01 -3.45095367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.250371743 meters 0.03491774726671647 Centerline is valid? [True, True] Translation: X:245.15, Y:-14.74, Z:-3.45 [[ 9.99926660e-01 1.20982063e-02 5.54539727e-04 2.45150455e+02] [-1.20981862e-02 9.99926813e-01 -3.96196431e-05 -1.47377793e+01] [-5.54978469e-04 3.29078125e-05 9.99999845e-01 -3.45294953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280371743 meters 0.03326670536615826 Centerline is valid? [True, True] Translation: X:245.18, Y:-14.74, Z:-3.45 [[ 9.99963472e-01 8.54554605e-03 1.70742959e-04 2.45180515e+02] [-8.54554404e-03 9.99963486e-01 -1.24587795e-05 -1.47382311e+01] [-1.70843191e-04 1.09992329e-05 9.99999985e-01 -3.45268786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.310371743 meters 0.03459368425217531 Centerline is valid? [True, True] Translation: X:245.21, Y:-14.74, Z:-3.45 [[ 9.99984126e-01 5.63445378e-03 1.05201530e-06 2.45210833e+02] [-5.63445378e-03 9.99984126e-01 -7.51923505e-08 -1.47428080e+01] [-1.05242247e-06 6.92636339e-08 1.00000000e+00 -3.45329775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340371743 meters 0.03672389462612009 Centerline is valid? [True, True] Translation: X:245.24, Y:-14.75, Z:-3.45 [[ 9.99997630e-01 2.16576359e-03 -2.22609482e-04 2.45239946e+02] [-2.16576012e-03 9.99997655e-01 1.58633035e-05 -1.47483531e+01] [ 2.22643316e-04 -1.53811471e-05 9.99999975e-01 -3.45356553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.370371743 meters 0.038275600591698246 Centerline is valid? [True, True] Translation: X:245.27, Y:-14.75, Z:-3.45 [[ 9.99998967e-01 1.35206406e-03 4.88022731e-04 2.45268726e+02] [-1.35204754e-03 9.99999085e-01 -3.41666631e-05 -1.47523654e+01] [-4.88068480e-04 3.35067979e-05 9.99999880e-01 -3.45375753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40037174299997 meters 0.0384172586392662 Centerline is valid? [True, True] Translation: X:245.30, Y:-14.75, Z:-3.45 [[ 9.99995827e-01 1.51455770e-03 2.46027656e-03 2.45299313e+02] [-1.51412932e-03 9.99998838e-01 -1.75968783e-04 -1.47546968e+01] [-2.46054022e-03 1.72242872e-04 9.99996958e-01 -3.45286086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43037174299997 meters 0.03826866553362789 Centerline is valid? [True, True] Translation: X:245.33, Y:-14.76, Z:-3.45 [[ 9.99991833e-01 1.44976289e-03 3.77255196e-03 2.45330825e+02] [-1.44875658e-03 9.99998914e-01 -2.69464698e-04 -1.47559897e+01] [-3.77293852e-03 2.63996988e-04 9.99992848e-01 -3.45250562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46037174299997 meters 0.03950647180045395 Centerline is valid? [True, True] Translation: X:245.36, Y:-14.76, Z:-3.45 [[ 9.99987758e-01 1.91697480e-03 4.56162614e-03 2.45361906e+02] [-1.91551146e-03 9.99998113e-01 -3.25140524e-04 -1.47596000e+01] [-4.56224081e-03 3.16398696e-04 9.99989543e-01 -3.45232953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49037174299997 meters 0.03858495390665934 Centerline is valid? [True, True] Translation: X:245.39, Y:-14.76, Z:-3.45 [[ 9.99984363e-01 1.62221417e-03 5.35178177e-03 2.45393349e+02] [-1.62018542e-03 9.99998614e-01 -3.83392723e-04 -1.47599838e+01] [-5.35239630e-03 3.74715849e-04 9.99985606e-01 -3.45188084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52037174299997 meters 0.04036377750765394 Centerline is valid? [True, True] Translation: X:245.42, Y:-14.77, Z:-3.45 [[ 9.99981045e-01 7.46943738e-04 6.11162996e-03 2.45423997e+02] [-7.44289288e-04 9.99999628e-01 -4.36590469e-04 -1.47651614e+01] [-6.11195379e-03 4.32033372e-04 9.99981229e-01 -3.45225414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55037174299997 meters 0.03953121200213821 Centerline is valid? [True, True] Translation: X:245.46, Y:-14.77, Z:-3.45 [[ 9.99984122e-01 -2.40816345e-04 5.63011251e-03 2.45456404e+02] [ 2.43097819e-04 9.99999889e-01 -4.04546343e-04 -1.47667219e+01] [-5.63001446e-03 4.05908588e-04 9.99984069e-01 -3.45372280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58037174299997 meters 0.04403612632887255 Centerline is valid? [True, True] Translation: X:245.49, Y:-14.78, Z:-3.46 [[ 9.99984807e-01 -3.11138256e-03 4.55023306e-03 2.45485399e+02] [ 3.11290601e-03 9.99995101e-01 -3.27761466e-04 -1.47761888e+01] [-4.54919098e-03 3.41920934e-04 9.99989594e-01 -3.45669774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61037174299997 meters 0.040420443040683415 Centerline is valid? [True, True] Translation: X:245.52, Y:-14.77, Z:-3.46 [[ 9.99980222e-01 -5.09402229e-03 3.68869273e-03 2.45516886e+02] [ 5.09503547e-03 9.99986985e-01 -2.65327192e-04 -1.47739129e+01] [-3.68729314e-03 2.84115964e-04 9.99993162e-01 -3.45713981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64037174299997 meters 0.04198652491343459 Centerline is valid? [True, True] Translation: X:245.55, Y:-14.78, Z:-3.46 [[ 9.99959539e-01 -8.80766957e-03 1.82878771e-03 2.45547344e+02] [ 8.80792516e-03 9.99961201e-01 -1.31756824e-04 -1.47792872e+01] [-1.82755628e-03 1.47859319e-04 9.99998319e-01 -3.45969294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67037174299998 meters 0.04813942616438668 Centerline is valid? [True, True] Translation: X:245.58, Y:-14.79, Z:-3.46 [[ 9.99948646e-01 -1.01047287e-02 7.74152044e-04 2.45577139e+02] [ 1.01047747e-02 9.99948944e-01 -5.55561460e-05 -1.47904376e+01] [-7.73551139e-04 6.33759250e-05 9.99999699e-01 -3.46230595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70037174299998 meters 0.04402742164966367 Centerline is valid? [True, True] Translation: X:245.61, Y:-14.79, Z:-3.46 [[ 9.99935168e-01 -1.13690556e-02 -6.35501704e-04 2.45608412e+02] [ 1.13690875e-02 9.99935369e-01 4.65716433e-05 -1.47869697e+01] [ 6.34931155e-04 -5.37936985e-05 9.99999797e-01 -3.46288106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73037174299998 meters 0.044043896514358326 Centerline is valid? [True, True] Translation: X:245.64, Y:-14.79, Z:-3.46 [[ 9.99931602e-01 -1.15428463e-02 -1.88524877e-03 2.45640591e+02] [ 1.15431252e-02 9.99933367e-01 1.37139185e-04 -1.47883988e+01] [ 1.88354018e-03 -1.58891467e-04 9.99998214e-01 -3.46399518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76037174299998 meters 0.04560695753466381 Centerline is valid? [True, True] Translation: X:245.67, Y:-14.79, Z:-3.46 [[ 9.99938847e-01 -1.09325216e-02 -1.66825241e-03 2.45672129e+02] [ 1.09327395e-02 9.99940228e-01 1.21577219e-04 -1.47920955e+01] [ 1.66682355e-03 -1.39808353e-04 9.99998601e-01 -3.46443180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79037174299998 meters 0.04226660088164144 Centerline is valid? [True, True] Translation: X:245.70, Y:-14.79, Z:-3.46 [[ 9.99948444e-01 -1.01293137e-02 -7.11196286e-04 2.45704919e+02] [ 1.01293536e-02 9.99948695e-01 5.24799263e-05 -1.47889446e+01] [ 7.10628212e-04 -5.96811793e-05 9.99999746e-01 -3.46278083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82037174299998 meters 0.04167890050860821 Centerline is valid? [True, True] Translation: X:245.74, Y:-14.79, Z:-3.46 [[ 9.99970173e-01 -7.41722035e-03 2.15345361e-03 2.45735770e+02] [ 7.41757280e-03 9.99972477e-01 -1.55725019e-04 -1.47885908e+01] [-2.15223930e-03 1.71693774e-04 9.99997669e-01 -3.46071976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85037174299998 meters 0.04174868554166047 Centerline is valid? [True, True] Translation: X:245.77, Y:-14.79, Z:-3.46 [[ 9.99979931e-01 -5.40565774e-03 3.30400357e-03 2.45765328e+02] [ 5.40647463e-03 9.99985357e-01 -2.38361665e-04 -1.47899584e+01] [-3.30266668e-03 2.56219893e-04 9.99994513e-01 -3.46010795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88037174299998 meters 0.040534803932108954 Centerline is valid? [True, True] Translation: X:245.80, Y:-14.79, Z:-3.46 [[ 9.99984721e-01 -3.45531476e-03 4.31491904e-03 2.45796832e+02] [ 3.45669380e-03 9.99993977e-01 -3.12181179e-04 -1.47897298e+01] [-4.31381436e-03 3.27091763e-04 9.99990642e-01 -3.45956614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91037174299998 meters 0.03820044578451974 Centerline is valid? [True, True] Translation: X:245.83, Y:-14.79, Z:-3.46 [[ 9.99986842e-01 -1.32793663e-03 4.95507204e-03 2.45827597e+02] [ 1.32973208e-03 9.99999051e-01 -3.59069798e-04 -1.47875296e+01] [-4.95459052e-03 3.65653992e-04 9.99987659e-01 -3.45890812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940371743 meters 0.036372524274140165 Centerline is valid? [True, True] Translation: X:245.86, Y:-14.79, Z:-3.46 [[ 9.99983461e-01 1.64761298e-03 5.51023425e-03 2.45858892e+02] [-1.64543845e-03 9.99998567e-01 -3.99144788e-04 -1.47851027e+01] [-5.51088399e-03 3.90071436e-04 9.99984739e-01 -3.45926663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.970371743 meters 0.035410213299426625 Centerline is valid? [True, True] Translation: X:245.89, Y:-14.79, Z:-3.46 [[ 9.99979848e-01 2.62572193e-03 5.78012521e-03 2.45890884e+02] [-2.62334737e-03 9.99996472e-01 -4.18357102e-04 -1.47858144e+01] [-5.78120330e-03 4.03185395e-04 9.99983207e-01 -3.45985228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000371743 meters 0.03700031126797605 Centerline is valid? [True, True] Translation: X:245.92, Y:-14.79, Z:-3.46 [[ 9.99979339e-01 3.74160067e-03 5.22701841e-03 2.45921444e+02] [-3.73967079e-03 9.99992936e-01 -3.78937100e-04 -1.47901885e+01] [-5.22839932e-03 3.59381943e-04 9.99986267e-01 -3.46114737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.030371743 meters 0.036116708694095126 Centerline is valid? [True, True] Translation: X:245.95, Y:-14.79, Z:-3.46 [[ 9.99980578e-01 3.77212787e-03 4.96128395e-03 2.45953185e+02] [-3.77038882e-03 9.99992827e-01 -3.59829632e-04 -1.47916230e+01] [-4.96260569e-03 3.41116674e-04 9.99987628e-01 -3.46163289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060371743 meters 0.038647683818017496 Centerline is valid? [True, True] Translation: X:245.98, Y:-14.80, Z:-3.46 [[ 9.99982760e-01 3.04955708e-03 5.01789848e-03 2.45983567e+02] [-3.04776731e-03 9.99995289e-01 -3.64286186e-04 -1.47977084e+01] [-5.01898575e-03 3.48986519e-04 9.99987344e-01 -3.46246997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.090371743 meters 0.03780629638420058 Centerline is valid? [True, True] Translation: X:246.01, Y:-14.80, Z:-3.46 [[ 9.99985220e-01 1.05489018e-03 5.33360939e-03 2.46014398e+02] [-1.05284089e-03 9.99999371e-01 -3.87014028e-04 -1.47996501e+01] [-5.33401429e-03 3.81392866e-04 9.99985701e-01 -3.46253355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120371743 meters 0.04230841737703632 Centerline is valid? [True, True] Translation: X:246.05, Y:-14.81, Z:-3.46 [[ 9.99986424e-01 2.25893594e-04 5.20591534e-03 2.46045005e+02] [-2.23937040e-04 9.99999904e-01 -3.76412745e-04 -1.48087636e+01] [-5.20599987e-03 3.75241838e-04 9.99986378e-01 -3.46389119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15037174299997 meters 0.038846862038958194 Centerline is valid? [True, True] Translation: X:246.08, Y:-14.81, Z:-3.46 [[ 9.99984817e-01 -1.80404438e-03 5.20680640e-03 2.46076610e+02] [ 1.80604438e-03 9.99998297e-01 -3.79436453e-04 -1.48074453e+01] [-5.20611301e-03 3.88834416e-04 9.99986373e-01 -3.46415391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18037174299997 meters 0.04153363098802737 Centerline is valid? [True, True] Translation: X:246.11, Y:-14.81, Z:-3.47 [[ 9.99983436e-01 -2.34674940e-03 5.25552741e-03 2.46107596e+02] [ 2.34879111e-03 9.99997168e-01 -3.82350173e-04 -1.48140358e+01] [-5.25461525e-03 3.94687976e-04 9.99986117e-01 -3.46538650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21037174299997 meters 0.041598095069982674 Centerline is valid? [True, True] Translation: X:246.14, Y:-14.82, Z:-3.47 [[ 9.99984894e-01 -3.31684203e-03 4.38286376e-03 2.46139600e+02] [ 3.31827497e-03 9.99994443e-01 -3.19710321e-04 -1.48169994e+01] [-4.38177897e-03 3.34249038e-04 9.99990344e-01 -3.46619097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24037174299997 meters 0.04282796082030625 Centerline is valid? [True, True] Translation: X:246.17, Y:-14.82, Z:-3.47 [[ 9.99984673e-01 -3.88323590e-03 3.94630510e-03 2.46170249e+02] [ 3.88440341e-03 9.99992414e-01 -2.88227870e-04 -1.48212727e+01] [-3.94515590e-03 3.03552493e-04 9.99992172e-01 -3.46709831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27037174299997 meters 0.04297955177708273 Centerline is valid? [True, True] Translation: X:246.20, Y:-14.82, Z:-3.47 [[ 9.99983552e-01 -4.67452380e-03 3.32348731e-03 2.46202142e+02] [ 4.67535579e-03 9.99989041e-01 -2.42610240e-04 -1.48236352e+01] [-3.32231680e-03 2.58144735e-04 9.99994448e-01 -3.46739405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30037174299997 meters 0.04264113095457881 Centerline is valid? [True, True] Translation: X:246.23, Y:-14.83, Z:-3.47 [[ 9.99983749e-01 -4.87619713e-03 2.95379715e-03 2.46234670e+02] [ 4.87685547e-03 9.99988085e-01 -2.15718822e-04 -1.48254914e+01] [-2.95271007e-03 2.30120559e-04 9.99995614e-01 -3.46754831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33037174299997 meters 0.04396228894171835 Centerline is valid? [True, True] Translation: X:246.27, Y:-14.83, Z:-3.47 [[ 9.99983382e-01 -4.78888938e-03 3.20983861e-03 2.46265939e+02] [ 4.78966799e-03 9.99988502e-01 -2.34924475e-04 -1.48294974e+01] [-3.20867668e-03 2.50294633e-04 9.99994821e-01 -3.46826486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36037174299997 meters 0.044704691823091634 Centerline is valid? [True, True] Translation: X:246.30, Y:-14.83, Z:-3.47 [[ 9.99988092e-01 -4.03438021e-03 2.74591568e-03 2.46297268e+02] [ 4.03494730e-03 9.99991839e-01 -2.01015319e-04 -1.48326801e+01] [-2.74508230e-03 2.12092550e-04 9.99996210e-01 -3.46938336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39037174299997 meters 0.04521996491572746 Centerline is valid? [True, True] Translation: X:246.33, Y:-14.84, Z:-3.47 [[ 9.99990942e-01 -3.25824827e-03 2.73860182e-03 2.46328561e+02] [ 3.25880750e-03 9.99994670e-01 -1.99765368e-04 -1.48357214e+01] [-2.73793633e-03 2.08688135e-04 9.99996230e-01 -3.47034622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42037174299998 meters 0.04166778247800049 Centerline is valid? [True, True] Translation: X:246.36, Y:-14.83, Z:-3.47 [[ 9.99995501e-01 -2.04009540e-03 2.19914788e-03 2.46360709e+02] [ 2.04045487e-03 9.99997905e-01 -1.61227918e-04 -1.48328542e+01] [-2.19881435e-03 1.65714455e-04 9.99997569e-01 -3.47052812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45037174299998 meters 0.04510972435095378 Centerline is valid? [True, True] Translation: X:246.39, Y:-14.84, Z:-3.47 [[ 9.99999427e-01 1.22166914e-04 1.06345047e-03 2.46390746e+02] [-1.22083931e-04 9.99999990e-01 -7.80963388e-05 -1.48390614e+01] [-1.06346000e-03 7.79664639e-05 9.99999431e-01 -3.47284982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48037174299998 meters 0.0404127419794313 Centerline is valid? [True, True] Translation: X:246.42, Y:-14.83, Z:-3.47 [[ 9.99998582e-01 1.34092502e-03 1.01879499e-03 2.46422134e+02] [-1.34084920e-03 9.99999098e-01 -7.51066479e-05 -1.48344593e+01] [-1.01889479e-03 7.37404909e-05 9.99999478e-01 -3.47234917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51037174299998 meters 0.03698262554038155 Centerline is valid? [True, True] Translation: X:246.45, Y:-14.83, Z:-3.47 [[ 9.99992293e-01 3.70856209e-03 1.28825744e-03 2.46452908e+02] [-3.70844279e-03 9.99993119e-01 -9.49858893e-05 -1.48310664e+01] [-1.28860084e-03 9.02077283e-05 9.99999166e-01 -3.47156021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54037174299998 meters 0.03624600008665253 Centerline is valid? [True, True] Translation: X:246.48, Y:-14.83, Z:-3.47 [[ 9.99987670e-01 4.67173518e-03 1.68375210e-03 2.46482734e+02] [-4.67153219e-03 9.99989081e-01 -1.24471505e-04 -1.48317475e+01] [-1.68431521e-03 1.16604268e-04 9.99998575e-01 -3.47141856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57037174299998 meters 0.036341814361955826 Centerline is valid? [True, True] Translation: X:246.51, Y:-14.83, Z:-3.47 [[ 9.99984704e-01 5.26152105e-03 1.70535445e-03 2.46512305e+02] [-5.26131379e-03 9.99986151e-01 -1.25996226e-04 -1.48333789e+01] [-1.70599377e-03 1.17021894e-04 9.99998538e-01 -3.47128999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60037174299998 meters 0.03752752616002972 Centerline is valid? [True, True] Translation: X:246.54, Y:-14.84, Z:-3.47 [[ 9.99978664e-01 6.18780112e-03 2.09335650e-03 2.46541347e+02] [-6.18749126e-03 9.99980845e-01 -1.54468935e-04 -1.48372816e+01] [-2.09427222e-03 1.41513015e-04 9.99997797e-01 -3.47153781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63037174299998 meters 0.0380953476447811 Centerline is valid? [True, True] Translation: X:246.57, Y:-14.84, Z:-3.47 [[ 9.99971598e-01 7.35485439e-03 1.64592806e-03 2.46569621e+02] [-7.35466398e-03 9.99972947e-01 -1.21708034e-04 -1.48396732e+01] [-1.64677868e-03 1.09599329e-04 9.99998638e-01 -3.47164860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66037174299998 meters 0.03606833636190668 Centerline is valid? [True, True] Translation: X:246.60, Y:-14.84, Z:-3.47 [[ 9.99968585e-01 7.77975018e-03 1.51828013e-03 2.46598969e+02] [-7.77958833e-03 9.99969732e-01 -1.12481558e-04 -1.48391784e+01] [-1.51910926e-03 1.00666430e-04 9.99998841e-01 -3.47170890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.690371743 meters 0.036271529907162994 Centerline is valid? [True, True] Translation: X:246.63, Y:-14.84, Z:-3.47 [[ 9.99966532e-01 8.07735394e-03 1.30030677e-03 2.46627995e+02] [-8.07723541e-03 9.99967374e-01 -9.63799332e-05 -1.48413672e+01] [-1.30104284e-03 8.58738237e-05 9.99999150e-01 -3.47199154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720371743 meters 0.03494449294223829 Centerline is valid? [True, True] Translation: X:246.66, Y:-14.84, Z:-3.47 [[ 9.99962481e-01 8.50981815e-03 1.61865558e-03 2.46657413e+02] [-8.50963597e-03 9.99963785e-01 -1.19406136e-04 -1.48410765e+01] [-1.61961308e-03 1.05627486e-04 9.99998683e-01 -3.47134945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.750371743 meters 0.036405567351643034 Centerline is valid? [True, True] Translation: X:246.68, Y:-14.85, Z:-3.47 [[ 9.99959307e-01 8.90420562e-03 1.44907050e-03 2.46684834e+02] [-8.90405939e-03 9.99960352e-01 -1.07338159e-04 -1.48450936e+01] [-1.44996881e-03 9.44311816e-05 9.99998944e-01 -3.47167183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780371743 meters 0.035899914222598306 Centerline is valid? [True, True] Translation: X:246.71, Y:-14.85, Z:-3.47 [[ 9.99953269e-01 9.44389007e-03 2.06729741e-03 2.46713630e+02] [-9.44359551e-03 9.99955397e-01 -1.52198396e-04 -1.48462994e+01] [-2.06864255e-03 1.32668563e-04 9.99997852e-01 -3.47135879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.810371743 meters 0.037857435497423535 Centerline is valid? [True, True] Translation: X:246.74, Y:-14.85, Z:-3.47 [[ 9.99950334e-01 9.48780810e-03 3.05136303e-03 2.46741142e+02] [-9.48716812e-03 9.99954971e-01 -2.24143405e-04 -1.48513670e+01] [-3.05335226e-03 1.95183479e-04 9.99995319e-01 -3.47166129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840371743 meters 0.03609605422916815 Centerline is valid? [True, True] Translation: X:246.77, Y:-14.85, Z:-3.47 [[ 9.99948155e-01 9.61711876e-03 3.34633820e-03 2.46770505e+02] [-9.61635031e-03 9.99953732e-01 -2.45653984e-04 -1.48509961e+01] [-3.34854585e-03 2.13461688e-04 9.99994371e-01 -3.47121914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.870371743 meters 0.03599148003779693 Centerline is valid? [True, True] Translation: X:246.80, Y:-14.85, Z:-3.47 [[ 9.99949294e-01 9.53228275e-03 3.24741577e-03 2.46799693e+02] [-9.53156108e-03 9.99954545e-01 -2.37633423e-04 -1.48524816e+01] [-3.24953335e-03 2.06668432e-04 9.99994699e-01 -3.47130939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90037174299997 meters 0.03590342645529497 Centerline is valid? [True, True] Translation: X:246.83, Y:-14.85, Z:-3.47 [[ 9.99948878e-01 9.52091968e-03 3.40504559e-03 2.46827975e+02] [-9.52012717e-03 9.99954652e-01 -2.48879263e-04 -1.48546183e+01] [-3.40726073e-03 2.16450072e-04 9.99994172e-01 -3.47194250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93037174299997 meters 0.03634180122442358 Centerline is valid? [True, True] Translation: X:246.86, Y:-14.86, Z:-3.47 [[ 9.99953778e-01 9.22948994e-03 2.69402215e-03 2.46856955e+02] [-9.22899276e-03 9.99957393e-01 -1.96922659e-04 -1.48577216e+01] [-2.69572486e-03 1.72050446e-04 9.99996352e-01 -3.47275397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96037174299997 meters 0.03968745319926081 Centerline is valid? [True, True] Translation: X:246.88, Y:-14.87, Z:-3.48 [[ 9.99965495e-01 8.15021523e-03 1.60697051e-03 2.46884992e+02] [-8.15003684e-03 9.99966781e-01 -1.17525013e-04 -1.48650509e+01] [-1.60787498e-03 1.04424089e-04 9.99998702e-01 -3.47518627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99037174299997 meters 0.03968745319926081 Centerline is valid? [True, True] Translation: X:246.91, Y:-14.87, Z:-3.48 [[ 9.99966043e-01 8.08277619e-03 1.60696261e-03 2.46913285e+02] [-8.08259754e-03 9.99967328e-01 -1.17634089e-04 -1.48670412e+01] [-1.60786092e-03 1.04641662e-04 9.99998702e-01 -3.47558489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02037174299997 meters 0.04107136799866958 Centerline is valid? [True, True] Translation: X:246.94, Y:-14.87, Z:-3.48 [[ 9.99972100e-01 7.41742364e-03 8.83345696e-04 2.46941045e+02] [-7.41736888e-03 9.99972489e-01 -6.52454423e-05 -1.48714493e+01] [-8.83805347e-04 5.86915211e-05 9.99999608e-01 -3.47644484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05037174299997 meters 0.03702446867233841 Centerline is valid? [True, True] Translation: X:246.97, Y:-14.87, Z:-3.48 [[ 9.99981181e-01 6.10107875e-03 6.44166747e-04 2.46970620e+02] [-6.10104945e-03 9.99981387e-01 -4.74313851e-05 -1.48686410e+01] [-6.44444141e-04 4.35003993e-05 9.99999791e-01 -3.47591110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08037174299997 meters 0.035438009860689644 Centerline is valid? [True, True] Translation: X:247.00, Y:-14.87, Z:-3.48 [[ 9.99982616e-01 5.84528003e-03 7.74290170e-04 2.46999645e+02] [-5.84523757e-03 9.99982915e-01 -5.70772127e-05 -1.48688644e+01] [-7.74610574e-04 5.25503105e-05 9.99999699e-01 -3.47566524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11037174299997 meters 0.0376932787872231 Centerline is valid? [True, True] Translation: X:247.03, Y:-14.87, Z:-3.48 [[ 9.99982450e-01 5.84824931e-03 9.47035578e-04 2.47028197e+02] [-5.84818631e-03 9.99982897e-01 -6.92731961e-05 -1.48744799e+01] [-9.47424507e-04 6.37335399e-05 9.99999549e-01 -3.47675560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14037174299997 meters 0.03683050201960058 Centerline is valid? [True, True] Translation: X:247.06, Y:-14.88, Z:-3.48 [[ 9.99971125e-01 7.46635581e-03 1.41507340e-03 2.47057654e+02] [-7.46621745e-03 9.99972122e-01 -1.03033327e-04 -1.48758363e+01] [-1.41580323e-03 9.24651060e-05 9.99998993e-01 -3.47678298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17037174299998 meters 0.034613932579359824 Centerline is valid? [True, True] Translation: X:247.09, Y:-14.87, Z:-3.48 [[ 9.99962387e-01 8.54706258e-03 1.47404184e-03 2.47086812e+02] [-8.54691341e-03 9.99963469e-01 -1.07469481e-04 -1.48745167e+01] [-1.47490654e-03 9.48669312e-05 9.99998908e-01 -3.47636724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20037174299998 meters 0.03891753765021338 Centerline is valid? [True, True] Translation: X:247.11, Y:-14.88, Z:-3.48 [[ 9.99950019e-01 9.82499935e-03 1.85184777e-03 2.47114534e+02] [-9.82476684e-03 9.99951727e-01 -1.34613578e-04 -1.48826596e+01] [-1.85308096e-03 1.16412877e-04 9.99998276e-01 -3.47775203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23037174299998 meters 0.03874501934585521 Centerline is valid? [True, True] Translation: X:247.14, Y:-14.88, Z:-3.48 [[ 9.99921421e-01 1.22104081e-02 2.83869123e-03 2.47143671e+02] [-1.22098746e-02 9.99925436e-01 -2.05192858e-04 -1.48840803e+01] [-2.84098506e-03 1.70516670e-04 9.99995950e-01 -3.47747678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26037174299998 meters 0.03404287707662346 Centerline is valid? [True, True] Translation: X:247.17, Y:-14.88, Z:-3.48 [[ 9.99904401e-01 1.34266566e-02 3.30347703e-03 2.47173276e+02] [-1.34259392e-02 9.99909839e-01 -2.39240327e-04 -1.48789006e+01] [-3.30639138e-03 1.94865175e-04 9.99994515e-01 -3.47644871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29037174299998 meters 0.03346199846429414 Centerline is valid? [True, True] Translation: X:247.20, Y:-14.88, Z:-3.48 [[ 9.99866764e-01 1.60689349e-02 2.87109606e-03 2.47203578e+02] [-1.60684066e-02 9.99870873e-01 -2.06987491e-04 -1.48796598e+01] [-2.87405140e-03 1.60825974e-04 9.99995857e-01 -3.47691282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32037174299998 meters 0.03375540359107709 Centerline is valid? [True, True] Translation: X:247.23, Y:-14.88, Z:-3.48 [[ 9.99837853e-01 1.77518852e-02 3.02283038e-03 2.47231621e+02] [-1.77513057e-02 9.99842409e-01 -2.18433815e-04 -1.48822928e+01] [-3.02623162e-03 1.64739211e-04 9.99995407e-01 -3.47795184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35037174299998 meters 0.03186871347024817 Centerline is valid? [True, True] Translation: X:247.26, Y:-14.88, Z:-3.48 [[ 9.99805649e-01 1.95815657e-02 2.28623530e-03 2.47260600e+02] [-1.95812388e-02 9.99808256e-01 -1.65291540e-04 -1.48806258e+01] [-2.28903360e-03 1.20492096e-04 9.99997373e-01 -3.47833832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38037174299998 meters 0.03159054457077128 Centerline is valid? [True, True] Translation: X:247.29, Y:-14.88, Z:-3.48 [[ 9.99773241e-01 2.11986417e-02 2.02106090e-03 2.47289590e+02] [-2.11983896e-02 9.99775278e-01 -1.46087816e-04 -1.48815307e+01] [-2.02370359e-03 1.03211453e-04 9.99997947e-01 -3.47903517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41037174299998 meters 0.02879865339642206 Centerline is valid? [True, True] Translation: X:247.32, Y:-14.88, Z:-3.48 [[ 9.99713735e-01 2.38487766e-02 1.91944310e-03 2.47319518e+02] [-2.38485550e-02 9.99715573e-01 -1.38249800e-04 -1.48778789e+01] [-1.92219425e-03 9.24342795e-05 9.99998148e-01 -3.47824216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440371743 meters 0.029839016224497472 Centerline is valid? [True, True] Translation: X:247.35, Y:-14.88, Z:-3.48 [[ 9.99677995e-01 2.52364985e-02 2.65064810e-03 2.47347600e+02] [-2.52360806e-02 9.99681501e-01 -1.91030021e-04 -1.48809160e+01] [-2.65462480e-03 1.24076540e-04 9.99996469e-01 -3.47897839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.470371743 meters 0.03097940380710403 Centerline is valid? [True, True] Translation: X:247.38, Y:-14.88, Z:-3.48 [[ 9.99620795e-01 2.73686525e-02 3.03710868e-03 2.47375492e+02] [-2.73681142e-02 9.99625399e-01 -2.18689540e-04 -1.48841361e+01] [-3.04195621e-03 1.35486675e-04 9.99995364e-01 -3.47920940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500371743 meters 0.02777466039298729 Centerline is valid? [True, True] Translation: X:247.40, Y:-14.88, Z:-3.48 [[ 9.99605098e-01 2.79420927e-02 2.98119640e-03 2.47404673e+02] [-2.79415778e-02 9.99609535e-01 -2.14253689e-04 -1.48803275e+01] [-2.98601905e-03 1.30869748e-04 9.99995533e-01 -3.47829601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.530371743 meters 0.028090856748451572 Centerline is valid? [True, True] Translation: X:247.43, Y:-14.88, Z:-3.48 [[ 9.99591969e-01 2.84271365e-02 2.79175792e-03 2.47432666e+02] [-2.84266866e-02 9.99595860e-01 -2.00694669e-04 -1.48830848e+01] [-2.79633484e-03 1.21252352e-04 9.99996083e-01 -3.47900420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560371743 meters 0.02759957738019521 Centerline is valid? [True, True] Translation: X:247.46, Y:-14.89, Z:-3.48 [[ 9.99586727e-01 2.86213681e-02 2.68203844e-03 2.47461697e+02] [-2.86209546e-02 9.99590318e-01 -1.92416996e-04 -1.48852708e+01] [-2.68644690e-03 1.15574975e-04 9.99996385e-01 -3.47973662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.590371743 meters 0.026887786252875412 Centerline is valid? [True, True] Translation: X:247.49, Y:-14.89, Z:-3.48 [[ 9.99588195e-01 2.85878518e-02 2.48489051e-03 2.47489784e+02] [-2.85874959e-02 9.99591278e-01 -1.78606222e-04 -1.48861377e+01] [-2.48898084e-03 1.07495874e-04 9.99996897e-01 -3.47971851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620371743 meters 0.028190578345291865 Centerline is valid? [True, True] Translation: X:247.52, Y:-14.89, Z:-3.48 [[ 9.99601638e-01 2.81090984e-02 2.53834224e-03 2.47517505e+02] [-2.81087257e-02 9.99604855e-01 -1.82393710e-04 -1.48908418e+01] [-2.54246615e-03 1.10971485e-04 9.99996762e-01 -3.48124583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65037174299997 meters 0.04078632397771133 Centerline is valid? [True, True] Translation: X:247.54, Y:-14.91, Z:-3.49 [[ 9.99554959e-01 2.96743979e-02 3.05200652e-03 2.47543843e+02] [-2.96738692e-02 9.99559610e-01 -2.18378898e-04 -1.49136191e+01] [-3.05714271e-03 1.27716868e-04 9.99995319e-01 -3.48745466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68037174299997 meters 0.027588278002750863 Centerline is valid? [True, True] Translation: X:247.57, Y:-14.89, Z:-3.48 [[ 9.99614993e-01 2.77287839e-02 9.90048559e-04 2.47574474e+02] [-2.77287272e-02 9.99615482e-01 -7.10054788e-05 -1.48946629e+01] [-9.91636763e-04 4.35253548e-05 9.99999507e-01 -3.48256461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71037174299997 meters 0.02783164021289789 Centerline is valid? [True, True] Translation: X:247.60, Y:-14.90, Z:-3.48 [[ 9.99623877e-01 2.74209873e-02 4.40873129e-04 2.47603234e+02] [-2.74209758e-02 9.99623974e-01 -3.22566039e-05 -1.48973566e+01] [-4.41591858e-04 2.01553001e-05 9.99999902e-01 -3.48283580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74037174299997 meters 0.027956169538147814 Centerline is valid? [True, True] Translation: X:247.63, Y:-14.90, Z:-3.48 [[ 9.99637324e-01 2.69286573e-02 2.61956040e-04 2.47631963e+02] [-2.69286531e-02 9.99637358e-01 -1.95494423e-05 -1.48998988e+01] [-2.62387484e-04 1.24882289e-05 9.99999965e-01 -3.48296382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77037174299997 meters 0.028414130336550488 Centerline is valid? [True, True] Translation: X:247.66, Y:-14.90, Z:-3.48 [[ 9.99639667e-01 2.68421478e-02 1.88023938e-04 2.47659961e+02] [-2.68421455e-02 9.99639685e-01 -1.47819270e-05 -1.49028770e+01] [-1.88352969e-04 9.72963473e-06 9.99999982e-01 -3.48339961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80037174299997 meters 0.027956082298568528 Centerline is valid? [True, True] Translation: X:247.69, Y:-14.90, Z:-3.48 [[ 9.99632479e-01 2.71091363e-02 3.19690337e-05 2.47688736e+02] [-2.71091362e-02 9.99632480e-01 -3.25698054e-06 -1.49044465e+01] [-3.20455785e-05 2.38913065e-06 9.99999999e-01 -3.48380762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83037174299997 meters 0.027701237855220738 Centerline is valid? [True, True] Translation: X:247.72, Y:-14.91, Z:-3.48 [[ 9.99622822e-01 2.74622343e-02 1.97872631e-04 2.47717899e+02] [-2.74622317e-02 9.99622842e-01 -1.58513415e-05 -1.49065597e+01] [-1.98233315e-04 1.04113386e-05 9.99999980e-01 -3.48398145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86037174299997 meters 0.027511544702751925 Centerline is valid? [True, True] Translation: X:247.75, Y:-14.91, Z:-3.48 [[ 9.99601435e-01 2.82303205e-02 1.42994560e-04 2.47746577e+02] [-2.82303192e-02 9.99601445e-01 -1.10700094e-05 -1.49082930e+01] [-1.43250079e-04 7.02881518e-06 9.99999990e-01 -3.48441866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89037174299997 meters 0.026764877505312718 Centerline is valid? [True, True] Translation: X:247.78, Y:-14.91, Z:-3.48 [[ 9.99573364e-01 2.92075380e-02 9.52976991e-05 2.47775509e+02] [-2.92075374e-02 9.99573369e-01 -7.70755042e-06 -1.49093752e+01] [-9.54821609e-05 4.92085100e-06 9.99999995e-01 -3.48446985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92037174299998 meters 0.026685574029245807 Centerline is valid? [True, True] Translation: X:247.80, Y:-14.91, Z:-3.48 [[ 9.99510243e-01 3.12921437e-02 2.74826668e-04 2.47804307e+02] [-3.12921393e-02 9.99510281e-01 -2.03111787e-05 -1.49108480e+01] [-2.75327660e-04 1.17013168e-05 9.99999962e-01 -3.48493008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95037174299998 meters 0.025972783963647064 Centerline is valid? [True, True] Translation: X:247.83, Y:-14.91, Z:-3.49 [[ 9.99479943e-01 3.22397386e-02 6.64835797e-04 2.47833348e+02] [-3.22397140e-02 9.99480164e-01 -4.76871099e-05 -1.49120058e+01] [-6.66027612e-04 2.62281940e-05 9.99999778e-01 -3.48516081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98037174299998 meters 0.027037959913739144 Centerline is valid? [True, True] Translation: X:247.86, Y:-14.92, Z:-3.49 [[ 9.99459826e-01 3.28504443e-02 9.51021126e-04 2.47860671e+02] [-3.28503945e-02 9.99460278e-01 -6.79386931e-05 -1.49163085e+01] [-9.52739655e-04 3.66605753e-05 9.99999545e-01 -3.48615967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01037174299998 meters 0.026620481683068825 Centerline is valid? [True, True] Translation: X:247.89, Y:-14.92, Z:-3.49 [[ 9.99453490e-01 3.30039043e-02 1.86135115e-03 2.47889774e+02] [-3.30037167e-02 9.99455220e-01 -1.31384742e-04 -1.49189421e+01] [-1.86467333e-03 6.98814327e-05 9.99998259e-01 -3.48638979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04037174299998 meters 0.026573256447361547 Centerline is valid? [True, True] Translation: X:247.92, Y:-14.92, Z:-3.49 [[ 9.99476992e-01 3.22729875e-02 2.04864089e-03 2.47918682e+02] [-3.22727593e-02 9.99479088e-01 -1.44364646e-04 -1.49219312e+01] [-2.05223281e-03 7.81738479e-05 9.99997891e-01 -3.48698583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07037174299998 meters 0.02791593388793201 Centerline is valid? [True, True] Translation: X:247.95, Y:-14.93, Z:-3.49 [[ 9.99579103e-01 2.89599074e-02 1.71484455e-03 2.47947439e+02] [-2.89597429e-02 9.99580571e-01 -1.20662224e-04 -1.49280601e+01] [-1.71761967e-03 7.09499802e-05 9.99998522e-01 -3.48829476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10037174299998 meters 0.02934003971956565 Centerline is valid? [True, True] Translation: X:247.98, Y:-14.93, Z:-3.49 [[ 9.99640170e-01 2.67841197e-02 1.46318867e-03 2.47975531e+02] [-2.67839976e-02 9.99641239e-01 -1.02981240e-04 -1.49338021e+01] [-1.46542200e-03 6.37541426e-05 9.99998924e-01 -3.48921425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13037174299998 meters 0.03223167216428985 Centerline is valid? [True, True] Translation: X:248.00, Y:-14.94, Z:-3.49 [[ 9.99752089e-01 2.22436311e-02 9.90334240e-04 2.48004087e+02] [-2.22435732e-02 9.99752579e-01 -6.94320142e-05 -1.49422472e+01] [-9.91633631e-04 4.73862291e-05 9.99999507e-01 -3.49080378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16037174299998 meters 0.03298205493921507 Centerline is valid? [True, True] Translation: X:248.03, Y:-14.95, Z:-3.49 [[ 9.99797957e-01 2.00908475e-02 6.34592753e-04 2.48033511e+02] [-2.00908231e-02 9.99798158e-01 -4.47892257e-05 -1.49469976e+01] [-6.35364519e-04 3.20306856e-05 9.99999798e-01 -3.49162593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.190371743 meters 0.03371784024121309 Centerline is valid? [True, True] Translation: X:248.06, Y:-14.95, Z:-3.49 [[ 9.99838055e-01 1.79927325e-02 3.54858783e-04 2.48063005e+02] [-1.79927247e-02 9.99838118e-01 -2.52434675e-05 -1.49511986e+01] [-3.55255536e-04 1.88545031e-05 9.99999937e-01 -3.49222808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220371743 meters 0.03500995320257247 Centerline is valid? [True, True] Translation: X:248.09, Y:-14.96, Z:-3.49 [[ 9.99871356e-01 1.60357703e-02 -3.54837869e-04 2.48092582e+02] [-1.60357627e-02 9.99871419e-01 2.42854131e-05 -1.49559627e+01] [ 3.55181678e-04 -1.85921931e-05 9.99999937e-01 -3.49316781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.250371743 meters 0.03730153060550254 Centerline is valid? [True, True] Translation: X:248.12, Y:-14.96, Z:-3.49 [[ 9.99904629e-01 1.38102148e-02 1.05440659e-04 2.48120924e+02] [-1.38102140e-02 9.99904634e-01 -8.05211839e-06 -1.49617208e+01] [-1.05541806e-04 6.59519239e-06 9.99999994e-01 -3.49320811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280371743 meters 0.0375418520186261 Centerline is valid? [True, True] Translation: X:248.15, Y:-14.96, Z:-3.49 [[ 9.99913666e-01 1.31237200e-02 6.54873443e-04 2.48149779e+02] [-1.31236924e-02 9.99913880e-01 -4.65384846e-05 -1.49641186e+01] [-6.55427803e-04 3.79401091e-05 9.99999784e-01 -3.49259827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.310371743 meters 0.03270803928274354 Centerline is valid? [True, True] Translation: X:248.18, Y:-14.96, Z:-3.49 [[ 9.99916564e-01 1.26739043e-02 2.49763176e-03 2.48179496e+02] [-1.26735071e-02 9.99919673e-01 -1.74776952e-04 -1.49589921e+01] [-2.49964623e-03 1.43108615e-04 9.99996866e-01 -3.49064563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340371743 meters 0.03197518958995228 Centerline is valid? [True, True] Translation: X:248.21, Y:-14.96, Z:-3.49 [[ 9.99919246e-01 1.23796184e-02 2.87163028e-03 2.48208443e+02] [-1.23790932e-02 9.99923356e-01 -2.00605872e-04 -1.49598843e+01] [-2.87389361e-03 1.65041494e-04 9.99995857e-01 -3.49096304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.370371743 meters 0.03287157239291096 Centerline is valid? [True, True] Translation: X:248.24, Y:-14.96, Z:-3.49 [[ 9.99921577e-01 1.21060712e-02 3.20664564e-03 2.48236303e+02] [-1.21054151e-02 9.99926702e-01 -2.23933443e-04 -1.49629809e+01] [-3.20912156e-03 1.85098105e-04 9.99994834e-01 -3.49136689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40037174299997 meters 0.03188877086343214 Centerline is valid? [True, True] Translation: X:248.27, Y:-14.96, Z:-3.49 [[ 9.99917485e-01 1.23974822e-02 3.36548368e-03 2.48265389e+02] [-1.23967634e-02 9.99923130e-01 -2.34367094e-04 -1.49621569e+01] [-3.36813054e-03 1.92626650e-04 9.99994309e-01 -3.49193831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43037174299997 meters 0.032168502581256746 Centerline is valid? [True, True] Translation: X:248.29, Y:-14.96, Z:-3.49 [[ 9.99912046e-01 1.28895974e-02 3.12385045e-03 2.48294138e+02] [-1.28889810e-02 9.99916910e-01 -2.17381075e-04 -1.49634166e+01] [-3.12639285e-03 1.77098707e-04 9.99995097e-01 -3.49247699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46037174299997 meters 0.03252109463311405 Centerline is valid? [True, True] Translation: X:248.32, Y:-14.96, Z:-3.49 [[ 9.99895635e-01 1.38909725e-02 3.96999624e-03 2.48321928e+02] [-1.38899863e-02 9.99903491e-01 -2.75881123e-04 -1.49633806e+01] [-3.97344536e-03 2.20709137e-04 9.99992081e-01 -3.49231175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49037174299997 meters 0.03194009598252552 Centerline is valid? [True, True] Translation: X:248.35, Y:-14.96, Z:-3.49 [[ 9.99883897e-01 1.46316365e-02 4.25535856e-03 2.48350534e+02] [-1.46305128e-02 9.99892925e-01 -2.95073007e-04 -1.49633957e+01] [-4.25922032e-03 2.32780670e-04 9.99990902e-01 -3.49198276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52037174299997 meters 0.031737953647073526 Centerline is valid? [True, True] Translation: X:248.38, Y:-14.96, Z:-3.49 [[ 9.99867033e-01 1.55268870e-02 4.98317101e-03 2.48379825e+02] [-1.55253606e-02 9.99879415e-01 -3.44858103e-04 -1.49636131e+01] [-4.98792469e-03 2.67446721e-04 9.99987524e-01 -3.49181417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55037174299997 meters 0.030863379778274615 Centerline is valid? [True, True] Translation: X:248.41, Y:-14.96, Z:-3.49 [[ 9.99851190e-01 1.63143958e-02 5.60693515e-03 2.48408476e+02] [-1.63124770e-02 9.99866868e-01 -3.87790476e-04 -1.49630399e+01] [-5.61251525e-03 2.96269768e-04 9.99984206e-01 -3.49142555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58037174299997 meters 0.030344998255540143 Centerline is valid? [True, True] Translation: X:248.44, Y:-14.96, Z:-3.49 [[ 9.99824124e-01 1.74962967e-02 6.75287474e-03 2.48437488e+02] [-1.74935449e-02 9.99846867e-01 -4.66356948e-04 -1.49622012e+01] [-6.76000017e-03 3.48143209e-04 9.99977090e-01 -3.49105149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61037174299997 meters 0.030130954946714878 Centerline is valid? [True, True] Translation: X:248.47, Y:-14.96, Z:-3.49 [[ 9.99818525e-01 1.79087750e-02 6.49562994e-03 2.48466405e+02] [-1.79062403e-02 9.99839570e-01 -4.48165073e-04 -1.49626164e+01] [-6.50261393e-03 3.31771431e-04 9.99978803e-01 -3.49184847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64037174299997 meters 0.029839692648642908 Centerline is valid? [True, True] Translation: X:248.50, Y:-14.96, Z:-3.49 [[ 9.99800553e-01 1.89841969e-02 6.20112050e-03 2.48495071e+02] [-1.89819099e-02 9.99819736e-01 -4.27445752e-04 -1.49623434e+01] [-6.20811738e-03 3.09651389e-04 9.99980682e-01 -3.49326309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67037174299998 meters 0.030523801885177237 Centerline is valid? [True, True] Translation: X:248.52, Y:-14.96, Z:-3.49 [[ 9.99795860e-01 1.92511131e-02 6.13463823e-03 2.48522617e+02] [-1.92488817e-02 9.99814634e-01 -4.22572476e-04 -1.49647587e+01] [-6.14163606e-03 3.04401286e-04 9.99981094e-01 -3.49402600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70037174299998 meters 0.03065793163185482 Centerline is valid? [True, True] Translation: X:248.55, Y:-14.97, Z:-3.49 [[ 9.99788118e-01 1.95476890e-02 6.45041790e-03 2.48551040e+02] [-1.95452332e-02 9.99808875e-01 -4.43555014e-04 -1.49662353e+01] [-6.45785554e-03 3.17386111e-04 9.99979097e-01 -3.49455614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73037174299998 meters 0.030553727172270742 Centerline is valid? [True, True] Translation: X:248.58, Y:-14.97, Z:-3.49 [[ 9.99776942e-01 1.96340815e-02 7.78265461e-03 2.48579850e+02] [-1.96305148e-02 9.99807160e-01 -5.34418980e-04 -1.49671067e+01] [-7.79164663e-03 3.81522257e-04 9.99969572e-01 -3.49436796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76037174299998 meters 0.029482047268141597 Centerline is valid? [True, True] Translation: X:248.61, Y:-14.97, Z:-3.49 [[ 9.99781701e-01 1.92485441e-02 8.12668163e-03 2.48608998e+02] [-1.92446474e-02 9.99814649e-01 -5.57437013e-04 -1.49668021e+01] [-8.13590520e-03 4.00920203e-04 9.99966823e-01 -3.49418042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79037174299998 meters 0.03158738608024386 Centerline is valid? [True, True] Translation: X:248.64, Y:-14.97, Z:-3.49 [[ 9.99806451e-01 1.77127227e-02 8.56266295e-03 2.48636834e+02] [-1.77083462e-02 9.99843023e-01 -5.86667844e-04 -1.49713217e+01] [-8.57171029e-03 4.34923696e-04 9.99963168e-01 -3.49447308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82037174299998 meters 0.032187672906051325 Centerline is valid? [True, True] Translation: X:248.67, Y:-14.97, Z:-3.50 [[ 9.99829070e-01 1.63196852e-02 8.68895568e-03 2.48665800e+02] [-1.63151325e-02 9.99866723e-01 -5.94589962e-04 -1.49744280e+01] [-8.69750116e-03 4.52726866e-04 9.99962074e-01 -3.49508653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85037174299998 meters 0.03133785575351362 Centerline is valid? [True, True] Translation: X:248.70, Y:-14.97, Z:-3.50 [[ 9.99860139e-01 1.46079268e-02 8.14315370e-03 2.48695369e+02] [-1.46038754e-02 9.99893203e-01 -5.56766100e-04 -1.49749978e+01] [-8.15041724e-03 4.37766629e-04 9.99966689e-01 -3.49598711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88037174299998 meters 0.03547969636150126 Centerline is valid? [True, True] Translation: X:248.72, Y:-14.98, Z:-3.50 [[ 9.99922153e-01 1.06528129e-02 6.49657568e-03 2.48723697e+02] [-1.06501519e-02 9.99943187e-01 -4.44053593e-04 -1.49843092e+01] [-6.50093701e-03 3.74829507e-04 9.99978798e-01 -3.49862092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91037174299998 meters 0.03547969636150126 Centerline is valid? [True, True] Translation: X:248.75, Y:-14.99, Z:-3.50 [[ 9.99922516e-01 1.06186845e-02 6.49659197e-03 2.48752830e+02] [-1.06160244e-02 9.99943550e-01 -4.43815096e-04 -1.49862659e+01] [-6.50093797e-03 3.74812728e-04 9.99978798e-01 -3.49903120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940371743 meters 0.03294455000338502 Centerline is valid? [True, True] Translation: X:248.78, Y:-14.98, Z:-3.50 [[ 9.99942421e-01 9.20220509e-03 5.52029022e-03 2.48782794e+02] [-9.20026348e-03 9.99957606e-01 -3.77014432e-04 -1.49845832e+01] [-5.52352555e-03 3.26204599e-04 9.99984692e-01 -3.49984262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.970371743 meters 0.03377396184765228 Centerline is valid? [True, True] Translation: X:248.81, Y:-14.99, Z:-3.50 [[ 9.99964199e-01 8.11313717e-03 2.40387029e-03 2.48812159e+02] [-8.11276539e-03 9.99967077e-01 -1.64368529e-04 -1.49868958e+01] [-2.40512470e-03 1.44860608e-04 9.99997097e-01 -3.50196758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000371743 meters 0.03458419259693272 Centerline is valid? [True, True] Translation: X:248.84, Y:-14.99, Z:-3.50 [[ 9.99960025e-01 8.78024402e-03 1.68975351e-03 2.48840532e+02] [-8.78006077e-03 9.99961448e-01 -1.15840977e-04 -1.49889369e+01] [-1.69070548e-03 1.01000208e-04 9.99998566e-01 -3.50284340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.030371743 meters 0.03441921113417741 Centerline is valid? [True, True] Translation: X:248.87, Y:-14.99, Z:-3.50 [[ 9.99942317e-01 1.04864658e-02 2.32316822e-03 2.48869209e+02] [-1.04861245e-02 9.99945006e-01 -1.59064117e-04 -1.49897989e+01] [-2.32470848e-03 1.34693910e-04 9.99997289e-01 -3.50289514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060371743 meters 0.033490279392656634 Centerline is valid? [True, True] Translation: X:248.90, Y:-14.99, Z:-3.50 [[ 9.99911146e-01 1.29827104e-02 3.02490260e-03 2.48897840e+02] [-1.29821461e-02 9.99915707e-01 -2.06081958e-04 -1.49893333e+01] [-3.02732312e-03 1.66793919e-04 9.99995404e-01 -3.50216465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.090371743 meters 0.031695096276051854 Centerline is valid? [True, True] Translation: X:248.93, Y:-14.99, Z:-3.50 [[ 9.99800647e-01 1.91719282e-02 5.57701575e-03 2.48926849e+02] [-1.91701075e-02 9.99816164e-01 -3.79740092e-04 -1.49859720e+01] [-5.58327085e-03 2.72752398e-04 9.99984376e-01 -3.49972257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120371743 meters 0.030613414698387673 Centerline is valid? [True, True] Translation: X:248.96, Y:-14.99, Z:-3.50 [[ 9.99724569e-01 2.25160497e-02 6.61916539e-03 2.48957045e+02] [-2.25135621e-02 9.99746436e-01 -4.50106637e-04 -1.49851815e+01] [-6.62762163e-03 3.00961673e-04 9.99977992e-01 -3.49922580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15037174299997 meters 0.029562594611573945 Centerline is valid? [True, True] Translation: X:248.99, Y:-14.98, Z:-3.50 [[ 9.99567056e-01 2.82057835e-02 8.37468510e-03 2.48986441e+02] [-2.82020022e-02 9.99602082e-01 -5.69295728e-04 -1.49840645e+01] [-8.38741009e-03 3.32866367e-04 9.99964770e-01 -3.49829238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18037174299997 meters 0.02844753078932096 Centerline is valid? [True, True] Translation: X:249.02, Y:-14.98, Z:-3.50 [[ 9.99512273e-01 3.00209494e-02 8.59988315e-03 2.49015077e+02] [-3.00170284e-02 9.99549216e-01 -5.84674325e-04 -1.49834790e+01] [-8.61355895e-03 3.26246227e-04 9.99962849e-01 -3.49851052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21037174299997 meters 0.025240320364151084 Centerline is valid? [True, True] Translation: X:249.04, Y:-14.98, Z:-3.50 [[ 9.99477412e-01 3.11848278e-02 8.50935534e-03 2.49043786e+02] [-3.11810355e-02 9.99513586e-01 -5.77988879e-04 -1.49795344e+01] [-8.52324076e-03 3.12356318e-04 9.99963628e-01 -3.49830536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24037174299997 meters 0.02592102507144956 Centerline is valid? [True, True] Translation: X:249.07, Y:-14.98, Z:-3.50 [[ 9.99487623e-01 3.08844489e-02 8.40495067e-03 2.49071254e+02] [-3.08807427e-02 9.99522913e-01 -5.70406215e-04 -1.49830568e+01] [-8.41855746e-03 3.10562832e-04 9.99964515e-01 -3.49965458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27037174299997 meters 0.025608388231251507 Centerline is valid? [True, True] Translation: X:249.10, Y:-14.99, Z:-3.50 [[ 9.99534332e-01 2.96037302e-02 7.39855118e-03 2.49099737e+02] [-2.96008280e-02 9.99561674e-01 -5.01484225e-04 -1.49856458e+01] [-7.41015400e-03 2.82247460e-04 9.99972505e-01 -3.50052245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30037174299997 meters 0.026533114487265287 Centerline is valid? [True, True] Translation: X:249.13, Y:-14.99, Z:-3.50 [[ 9.99584249e-01 2.79944818e-02 6.90204422e-03 2.49126721e+02] [-2.79919194e-02 9.99608040e-01 -4.67601308e-04 -1.49896557e+01] [-6.91242916e-03 2.74205436e-04 9.99976071e-01 -3.50181627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33037174299997 meters 0.028374988969544438 Centerline is valid? [True, True] Translation: X:249.16, Y:-15.00, Z:-3.50 [[ 9.99710717e-01 2.34220721e-02 5.46715974e-03 2.49155689e+02] [-2.34204014e-02 9.99725637e-01 -3.69419887e-04 -1.49964928e+01] [-5.47431233e-03 2.41269945e-04 9.99984987e-01 -3.50320586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36037174299997 meters 0.028785850270890787 Centerline is valid? [True, True] Translation: X:249.19, Y:-15.00, Z:-3.50 [[ 9.99772260e-01 2.06594412e-02 5.34945205e-03 2.49185043e+02] [-2.06578017e-02 9.99786539e-01 -3.61566331e-04 -1.49998696e+01] [-5.35577991e-03 2.50976068e-04 9.99985626e-01 -3.50384178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39037174299997 meters 0.029825733055707408 Centerline is valid? [True, True] Translation: X:249.21, Y:-15.01, Z:-3.51 [[ 9.99871189e-01 1.54252995e-02 4.43459613e-03 2.49214825e+02] [-1.54241230e-02 9.99880996e-01 -2.99390977e-04 -1.50051074e+01] [-4.43868660e-03 2.30952656e-04 9.99990122e-01 -3.50513772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42037174299998 meters 0.030324980542065203 Centerline is valid? [True, True] Translation: X:249.24, Y:-15.01, Z:-3.51 [[ 9.99905788e-01 1.30825355e-02 4.15479069e-03 2.49244264e+02] [-1.30814815e-02 9.99914394e-01 -2.80760545e-04 -1.50087780e+01] [-4.15810808e-03 2.26383277e-04 9.99991329e-01 -3.50606669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45037174299998 meters 0.03225143052867536 Centerline is valid? [True, True] Translation: X:249.27, Y:-15.01, Z:-3.51 [[ 9.99940094e-01 1.05045306e-02 3.07637395e-03 2.49272486e+02] [-1.05039399e-02 9.99944810e-01 -2.08101108e-04 -1.50142549e+01] [-3.07839018e-03 1.75774594e-04 9.99995246e-01 -3.50780712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48037174299998 meters 0.03607415565938688 Centerline is valid? [True, True] Translation: X:249.30, Y:-15.02, Z:-3.51 [[ 9.99980096e-01 6.16664445e-03 1.33450363e-03 2.49301777e+02] [-6.16652954e-03 9.99980983e-01 -9.02052245e-05 -1.50230588e+01] [-1.33503452e-03 8.19741730e-05 9.99999105e-01 -3.51063880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51037174299998 meters 0.032823132244488684 Centerline is valid? [True, True] Translation: X:249.33, Y:-15.02, Z:-3.51 [[ 9.99988711e-01 4.65932759e-03 9.32112441e-04 2.49331128e+02] [-4.65927039e-03 9.99989144e-01 -6.35221730e-05 -1.50200029e+01] [-9.32398292e-04 5.91784920e-05 9.99999564e-01 -3.50984713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54037174299998 meters 0.038522639343261576 Centerline is valid? [True, True] Translation: X:249.36, Y:-15.03, Z:-3.51 [[ 9.99993827e-01 3.34405380e-03 1.07823899e-03 2.49359450e+02] [-3.34397696e-03 9.99994406e-01 -7.30623703e-05 -1.50300931e+01] [-1.07847728e-03 6.94563129e-05 9.99999416e-01 -3.51142474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57037174299998 meters 0.035176879516794435 Centerline is valid? [True, True] Translation: X:249.39, Y:-15.03, Z:-3.51 [[ 9.99994591e-01 2.59225839e-03 2.02415794e-03 2.49389651e+02] [-2.59198712e-03 9.99996631e-01 -1.36629380e-04 -1.50265945e+01] [-2.02450530e-03 1.31382050e-04 9.99997942e-01 -3.50880427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60037174299998 meters 0.03527950660473696 Centerline is valid? [True, True] Translation: X:249.42, Y:-15.03, Z:-3.51 [[ 9.99991850e-01 2.96603292e-03 2.73903652e-03 2.49419730e+02] [-2.96553891e-03 9.99995586e-01 -1.84404754e-04 -1.50287436e+01] [-2.73957138e-03 1.76280532e-04 9.99996232e-01 -3.50837695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63037174299998 meters 0.03505491100602885 Centerline is valid? [True, True] Translation: X:249.45, Y:-15.03, Z:-3.51 [[ 9.99986242e-01 3.80536058e-03 3.61037518e-03 2.49450543e+02] [-3.80450889e-03 9.99992733e-01 -2.42737963e-04 -1.50304433e+01] [-3.61127265e-03 2.28998919e-04 9.99993453e-01 -3.50790627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66037174299998 meters 0.0354806504183875 Centerline is valid? [True, True] Translation: X:249.48, Y:-15.03, Z:-3.51 [[ 9.99972916e-01 6.10848617e-03 4.10541325e-03 2.49480130e+02] [-6.10740351e-03 9.99981312e-01 -2.76199266e-04 -1.50316872e+01] [-4.10702369e-03 2.51118370e-04 9.99991535e-01 -3.50743904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.690371743 meters 0.03404237725758443 Centerline is valid? [True, True] Translation: X:249.51, Y:-15.03, Z:-3.51 [[ 9.99965144e-01 7.15923314e-03 4.29603290e-03 2.49510482e+02] [-7.15805841e-03 9.99974339e-01 -2.88759818e-04 -1.50308089e+01] [-4.29798996e-03 2.57998498e-04 9.99990730e-01 -3.50751698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720371743 meters 0.033536680480685636 Centerline is valid? [True, True] Translation: X:249.54, Y:-15.03, Z:-3.51 [[ 9.99939966e-01 9.84611174e-03 4.80813816e-03 2.49539562e+02] [-9.84466959e-03 9.99951488e-01 -3.23515938e-04 -1.50317870e+01] [-4.81109028e-03 2.76161984e-04 9.99988389e-01 -3.50711851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.750371743 meters 0.032085464880381935 Centerline is valid? [True, True] Translation: X:249.57, Y:-15.03, Z:-3.51 [[ 9.99930315e-01 1.07757223e-02 4.82178464e-03 2.49568809e+02] [-1.07742820e-02 9.99941903e-01 -3.24580673e-04 -1.50312454e+01] [-4.82500210e-03 2.72606787e-04 9.99988322e-01 -3.50724979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780371743 meters 0.034463288801924466 Centerline is valid? [True, True] Translation: X:249.60, Y:-15.04, Z:-3.51 [[ 9.99922668e-01 1.16133915e-02 4.44827783e-03 2.49597105e+02] [-1.16121768e-02 9.99932532e-01 -2.98802193e-04 -1.50366272e+01] [-4.45144782e-03 2.47124897e-04 9.99990062e-01 -3.50847743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.810371743 meters 0.03325345993138643 Centerline is valid? [True, True] Translation: X:249.63, Y:-15.04, Z:-3.51 [[ 9.99921358e-01 1.18606388e-02 4.07467867e-03 2.49626487e+02] [-1.18596211e-02 9.99929635e-01 -2.73838583e-04 -1.50362619e+01] [-4.07763985e-03 2.25492902e-04 9.99991661e-01 -3.50895242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840371743 meters 0.03352007998571455 Centerline is valid? [True, True] Translation: X:249.65, Y:-15.04, Z:-3.51 [[ 9.99917199e-01 1.23448368e-02 3.63315291e-03 2.49654264e+02] [-1.23440300e-02 9.99923780e-01 -2.44411561e-04 -1.50382749e+01] [-3.63589321e-03 1.99543575e-04 9.99993370e-01 -3.51005026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.870371743 meters 0.03088605378918638 Centerline is valid? [True, True] Translation: X:249.68, Y:-15.04, Z:-3.51 [[ 9.99923308e-01 1.18240509e-02 3.68385172e-03 2.49683160e+02] [-1.18232196e-02 9.99930073e-01 -2.47337685e-04 -1.50354322e+01] [-3.68651865e-03 2.03763728e-04 9.99993184e-01 -3.50944875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90037174299997 meters 0.03211217023314277 Centerline is valid? [True, True] Translation: X:249.71, Y:-15.04, Z:-3.51 [[ 9.99936517e-01 1.06697929e-02 3.62182336e-03 2.49711069e+02] [-1.06689821e-02 9.99943055e-01 -2.43108282e-04 -1.50389066e+01] [-3.62421103e-03 2.04451680e-04 9.99993412e-01 -3.50991668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93037174299997 meters 0.03240712904623326 Centerline is valid? [True, True] Translation: X:249.74, Y:-15.04, Z:-3.51 [[ 9.99948980e-01 9.44874832e-03 3.57187931e-03 2.49739505e+02] [-9.44795374e-03 9.99955338e-01 -2.39261494e-04 -1.50411647e+01] [-3.57398051e-03 2.05502336e-04 9.99993592e-01 -3.51023274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96037174299997 meters 0.034143617329368776 Centerline is valid? [True, True] Translation: X:249.77, Y:-15.05, Z:-3.51 [[ 9.99959248e-01 8.34924345e-03 3.43414203e-03 2.49768206e+02] [-8.34850389e-03 9.99965124e-01 -2.29635546e-04 -1.50452332e+01] [-3.43593955e-03 2.00956240e-04 9.99994077e-01 -3.51084068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99037174299997 meters 0.034774748246684986 Centerline is valid? [True, True] Translation: X:249.80, Y:-15.05, Z:-3.51 [[ 9.99976797e-01 5.94240403e-03 3.33079631e-03 2.49797919e+02] [-5.94169678e-03 9.99982323e-01 -2.22192268e-04 -1.50475077e+01] [-3.33205779e-03 2.02396531e-04 9.99994428e-01 -3.51092623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02037174299997 meters 0.0344902849954338 Centerline is valid? [True, True] Translation: X:249.83, Y:-15.05, Z:-3.51 [[ 9.99981052e-01 4.71119088e-03 3.96225021e-03 2.49827428e+02] [-4.71018015e-03 9.99988872e-01 -2.64380533e-04 -1.50494305e+01] [-3.96345167e-03 2.45712612e-04 9.99992115e-01 -3.51085778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05037174299997 meters 0.035183506537745476 Centerline is valid? [True, True] Translation: X:249.86, Y:-15.05, Z:-3.51 [[ 9.99985118e-01 3.05952541e-03 4.51689287e-03 2.49857915e+02] [-3.05819772e-03 9.99995278e-01 -3.00817551e-04 -1.50524797e+01] [-4.51779191e-03 2.86999523e-04 9.99989754e-01 -3.51119671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08037174299997 meters 0.03593400023887169 Centerline is valid? [True, True] Translation: X:249.89, Y:-15.06, Z:-3.51 [[ 9.99991356e-01 4.97048795e-04 4.12810980e-03 2.49889023e+02] [-4.95919544e-04 9.99999839e-01 -2.74570673e-04 -1.50564311e+01] [-4.12824562e-03 2.72521089e-04 9.99991442e-01 -3.51206409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11037174299997 meters 0.03698990975709056 Centerline is valid? [True, True] Translation: X:249.92, Y:-15.06, Z:-3.51 [[ 9.99993315e-01 -2.53626126e-04 3.64771143e-03 2.49919853e+02] [ 2.54505719e-04 9.99999939e-01 -2.40673349e-04 -1.50603617e+01] [-3.64765017e-03 2.41600103e-04 9.99993318e-01 -3.51340845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14037174299997 meters 0.03673595978124921 Centerline is valid? [True, True] Translation: X:249.95, Y:-15.06, Z:-3.52 [[ 9.99994336e-01 -1.50699553e-03 3.00950684e-03 2.49951939e+02] [ 1.50760555e-03 9.99998843e-01 -2.00440261e-04 -1.50628638e+01] [-3.00920129e-03 2.04976275e-04 9.99995451e-01 -3.51520245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17037174299998 meters 0.03842050394288778 Centerline is valid? [True, True] Translation: X:249.98, Y:-15.07, Z:-3.52 [[ 9.99993622e-01 -1.77149249e-03 3.10130771e-03 2.49983234e+02] [ 1.77214296e-03 9.99998408e-01 -2.07007090e-04 -1.50677961e+01] [-3.10093607e-03 2.12501730e-04 9.99995170e-01 -3.51609228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20037174299998 meters 0.03819452327791104 Centerline is valid? [True, True] Translation: X:250.02, Y:-15.07, Z:-3.52 [[ 9.99993627e-01 -1.75944767e-03 3.10663735e-03 2.50015423e+02] [ 1.76010026e-03 9.99998430e-01 -2.07341791e-04 -1.50694927e+01] [-3.10626767e-03 2.12808463e-04 9.99995153e-01 -3.51632164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23037174299998 meters 0.03625852785553778 Centerline is valid? [True, True] Translation: X:250.05, Y:-15.07, Z:-3.52 [[ 9.99993097e-01 -9.49493099e-04 3.59233717e-03 2.50047947e+02] [ 9.50361923e-04 9.99999520e-01 -2.40155698e-04 -1.50687522e+01] [-3.59210742e-03 2.43568061e-04 9.99993519e-01 -3.51529435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26037174299998 meters 0.03854408166851886 Centerline is valid? [True, True] Translation: X:250.08, Y:-15.07, Z:-3.52 [[ 9.99992487e-01 -1.70556257e-04 3.87258545e-03 2.50078987e+02] [ 1.71562218e-04 9.99999952e-01 -2.59433826e-04 -1.50742804e+01] [-3.87254102e-03 2.60096266e-04 9.99992468e-01 -3.51588747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29037174299998 meters 0.03644878577156624 Centerline is valid? [True, True] Translation: X:250.11, Y:-15.07, Z:-3.52 [[ 9.99993629e-01 1.51514835e-03 3.23215809e-03 2.50110741e+02] [-1.51445559e-03 9.99998830e-01 -2.16772533e-04 -1.50729139e+01] [-3.23248276e-03 2.11876192e-04 9.99994753e-01 -3.51639083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32037174299998 meters 0.03682120198044619 Centerline is valid? [True, True] Translation: X:250.14, Y:-15.08, Z:-3.52 [[ 9.99989590e-01 2.94112641e-03 3.48841749e-03 2.50141425e+02] [-2.94032684e-03 9.99995650e-01 -2.34312679e-04 -1.50757201e+01] [-3.48909146e-03 2.24053153e-04 9.99993888e-01 -3.51727113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35037174299998 meters 0.03652626688408194 Centerline is valid? [True, True] Translation: X:250.17, Y:-15.08, Z:-3.52 [[ 9.99985875e-01 4.04300643e-03 3.45013076e-03 2.50171603e+02] [-4.04223065e-03 9.99991803e-01 -2.31798983e-04 -1.50775012e+01] [-3.45103964e-03 2.17849484e-04 9.99994021e-01 -3.51798720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38037174299998 meters 0.03618197290805573 Centerline is valid? [True, True] Translation: X:250.20, Y:-15.08, Z:-3.52 [[ 9.99967537e-01 6.90804204e-03 4.14772012e-03 2.50201422e+02] [-6.90694415e-03 9.99976108e-01 -2.78963096e-04 -1.50783174e+01] [-4.14954811e-03 2.50305969e-04 9.99991359e-01 -3.51837250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41037174299998 meters 0.03565215676666457 Centerline is valid? [True, True] Translation: X:250.23, Y:-15.08, Z:-3.52 [[ 9.99952487e-01 8.73348140e-03 4.33008742e-03 2.50231194e+02] [-8.73230046e-03 9.99961830e-01 -2.91561187e-04 -1.50792395e+01] [-4.33246848e-03 2.53735710e-04 9.99990583e-01 -3.51861436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440371743 meters 0.03518903327628874 Centerline is valid? [True, True] Translation: X:250.26, Y:-15.08, Z:-3.52 [[ 9.99930050e-01 1.08827164e-02 4.63262694e-03 2.50260962e+02] [-1.08813886e-02 9.99940747e-01 -3.11737048e-04 -1.50800329e+01] [-4.63574499e-03 2.61305828e-04 9.99989221e-01 -3.51877320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.470371743 meters 0.03069404659066372 Centerline is valid? [True, True] Translation: X:250.29, Y:-15.07, Z:-3.52 [[ 9.99869511e-01 1.51950104e-02 5.48388857e-03 2.50291414e+02] [-1.51932172e-02 9.99884509e-01 -3.68496797e-04 -1.50746658e+01] [-5.48885454e-03 2.85130802e-04 9.99984895e-01 -3.51813283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500371743 meters 0.028775548555594777 Centerline is valid? [True, True] Translation: X:250.32, Y:-15.07, Z:-3.52 [[ 9.99837692e-01 1.72069268e-02 5.33956973e-03 2.50320981e+02] [-1.72052515e-02 9.99851914e-01 -3.59540216e-04 -1.50730306e+01] [-5.34496560e-03 2.67613220e-04 9.99985680e-01 -3.51802806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.530371743 meters 0.028167428416552096 Centerline is valid? [True, True] Translation: X:250.35, Y:-15.07, Z:-3.52 [[ 9.99789244e-01 1.97114251e-02 5.73820169e-03 2.50350734e+02] [-1.97095377e-02 9.99805674e-01 -3.85276672e-04 -1.50738010e+01] [-5.74468096e-03 2.72098170e-04 9.99983462e-01 -3.51800507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560371743 meters 0.027107107829326092 Centerline is valid? [True, True] Translation: X:250.38, Y:-15.07, Z:-3.52 [[ 9.99677606e-01 2.47260615e-02 5.77106202e-03 2.50380697e+02] [-2.47242379e-02 9.99694234e-01 -3.87117489e-04 -1.50730171e+01] [-5.77886932e-03 2.44307574e-04 9.99983272e-01 -3.51819101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.590371743 meters 0.026178371072828152 Centerline is valid? [True, True] Translation: X:250.41, Y:-15.07, Z:-3.52 [[ 9.99599116e-01 2.77589729e-02 5.57193401e-03 2.50410519e+02] [-2.77573197e-02 9.99614621e-01 -3.73826266e-04 -1.50732876e+01] [-5.58016374e-03 2.19014452e-04 9.99984407e-01 -3.51887863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620371743 meters 0.024441676185306026 Centerline is valid? [True, True] Translation: X:250.44, Y:-15.07, Z:-3.52 [[ 9.99392554e-01 3.45767056e-02 4.35594815e-03 2.50440327e+02] [-3.45757605e-02 9.99402037e-01 -2.92106144e-04 -1.50728989e+01] [-4.36344352e-03 1.41318485e-04 9.99990470e-01 -3.52060977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65037174299997 meters 0.023991435768537395 Centerline is valid? [True, True] Translation: X:250.47, Y:-15.07, Z:-3.52 [[ 9.99286053e-01 3.76201549e-02 3.47971366e-03 2.50469647e+02] [-3.76195693e-02 9.99292106e-01 -2.33612461e-04 -1.50732661e+01] [-3.48603893e-03 1.02540345e-04 9.99993918e-01 -3.52175885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68037174299997 meters 0.02321472639814715 Centerline is valid? [True, True] Translation: X:250.50, Y:-15.07, Z:-3.52 [[ 9.99166408e-01 4.07109450e-02 3.01796902e-03 2.50497292e+02] [-4.07105165e-02 9.99170963e-01 -2.03305470e-04 -1.50739631e+01] [-3.02374377e-03 8.02729185e-05 9.99995425e-01 -3.52251766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71037174299997 meters 0.02223134656669431 Centerline is valid? [True, True] Translation: X:250.53, Y:-15.07, Z:-3.52 [[ 9.99043278e-01 4.36473374e-02 2.72745309e-03 2.50525859e+02] [-4.36470004e-02 9.99046999e-01 -1.82996390e-04 -1.50741154e+01] [-2.73284113e-03 6.37761670e-05 9.99996264e-01 -3.52291338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74037174299997 meters 0.021437022062932208 Centerline is valid? [True, True] Translation: X:250.55, Y:-15.07, Z:-3.52 [[ 9.98794563e-01 4.89928211e-02 3.02053607e-03 2.50554794e+02] [-4.89924332e-02 9.98799129e-01 -2.02338965e-04 -1.50748054e+01] [-3.02682196e-03 5.41116466e-05 9.99995418e-01 -3.52315800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77037174299997 meters 0.021104134245288595 Centerline is valid? [True, True] Translation: X:250.58, Y:-15.08, Z:-3.52 [[ 9.98699965e-01 5.08637823e-02 3.35485069e-03 2.50583730e+02] [-5.08633155e-02 9.98705599e-01 -2.24386211e-04 -1.50768401e+01] [-3.36192130e-03 5.34556723e-05 9.99994347e-01 -3.52344122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80037174299997 meters 0.021104134245288595 Centerline is valid? [True, True] Translation: X:250.61, Y:-15.08, Z:-3.52 [[ 9.98705400e-01 5.07569705e-02 3.35484138e-03 2.50611128e+02] [-5.07565025e-02 9.98711033e-01 -2.24526983e-04 -1.50785766e+01] [-3.36191341e-03 5.39562954e-05 9.99994347e-01 -3.52382721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83037174299997 meters 0.021060065650633824 Centerline is valid? [True, True] Translation: X:250.64, Y:-15.08, Z:-3.52 [[ 9.98567508e-01 5.33408190e-02 4.20587008e-03 2.50638300e+02] [-5.33401108e-02 9.98576364e-01 -2.80467167e-04 -1.50835927e+01] [-4.21484279e-03 5.57238237e-05 9.99991116e-01 -3.52426203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86037174299997 meters 0.020763061266023664 Centerline is valid? [True, True] Translation: X:250.67, Y:-15.09, Z:-3.52 [[ 9.98571201e-01 5.32899693e-02 3.96672737e-03 2.50666549e+02] [-5.32893394e-02 9.98579079e-01 -2.64396842e-04 -1.50874523e+01] [-3.97518066e-03 5.26347910e-05 9.99992098e-01 -3.52444804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89037174299997 meters 0.02081724684395322 Centerline is valid? [True, True] Translation: X:250.69, Y:-15.09, Z:-3.52 [[ 9.98580559e-01 5.30764714e-02 4.44478497e-03 2.50693832e+02] [-5.30756812e-02 9.98590449e-01 -2.95640332e-04 -1.50913341e+01] [-4.45421136e-03 5.93106985e-05 9.99990078e-01 -3.52426981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92037174299998 meters 0.021130792363922585 Centerline is valid? [True, True] Translation: X:250.72, Y:-15.10, Z:-3.52 [[ 9.98705845e-01 5.06019278e-02 5.10693314e-03 2.50722329e+02] [-5.06008496e-02 9.98718899e-01 -3.40188209e-04 -1.51002834e+01] [-5.11760482e-03 8.13327968e-05 9.99986902e-01 -3.52450361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95037174299998 meters 0.02130096070466068 Centerline is valid? [True, True] Translation: X:250.75, Y:-15.11, Z:-3.52 [[ 9.98806749e-01 4.85660351e-02 5.13979454e-03 2.50750752e+02] [-4.85649310e-02 9.98819970e-01 -3.39488418e-04 -1.51065446e+01] [-5.15021703e-03 8.94695563e-05 9.99986734e-01 -3.52498657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98037174299998 meters 0.021695644906877747 Centerline is valid? [True, True] Translation: X:250.78, Y:-15.11, Z:-3.53 [[ 9.98909325e-01 4.63860325e-02 5.33814952e-03 2.50778469e+02] [-4.63848097e-02 9.98923583e-01 -3.52699580e-04 -1.51141681e+01] [-5.34876378e-03 1.04705850e-04 9.99985690e-01 -3.52581457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01037174299998 meters 0.021688885832458482 Centerline is valid? [True, True] Translation: X:250.81, Y:-15.12, Z:-3.53 [[ 9.99011741e-01 4.40706448e-02 5.77226625e-03 2.50807102e+02] [-4.40691847e-02 9.99028409e-01 -3.79964022e-04 -1.51201525e+01] [-5.78340323e-03 1.25209451e-04 9.99983268e-01 -3.52606864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04037174299998 meters 0.022240139983377046 Centerline is valid? [True, True] Translation: X:250.84, Y:-15.13, Z:-3.53 [[ 9.99188731e-01 3.97758372e-02 6.30573230e-03 2.50835961e+02] [-3.97740144e-02 9.99208615e-01 -4.14258611e-04 -1.51318565e+01] [-6.31721953e-03 1.63118248e-04 9.99980033e-01 -3.52646765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07037174299998 meters 0.02329995180993114 Centerline is valid? [True, True] Translation: X:250.86, Y:-15.14, Z:-3.53 [[ 9.99267829e-01 3.76989061e-02 6.52672210e-03 2.50863208e+02] [-3.76969081e-02 9.99289127e-01 -4.28923967e-04 -1.51391067e+01] [-6.53825239e-03 1.82572678e-04 9.99978609e-01 -3.52742557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10037174299998 meters 0.024204667379162194 Centerline is valid? [True, True] Translation: X:250.89, Y:-15.15, Z:-3.53 [[ 9.99413943e-01 3.36137799e-02 6.47173992e-03 2.50891143e+02] [-3.36117353e-02 9.99434876e-01 -4.24462226e-04 -1.51508016e+01] [-6.48235037e-03 2.06687058e-04 9.99978968e-01 -3.52822768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13037174299998 meters 0.025017055334463915 Centerline is valid? [True, True] Translation: X:250.92, Y:-15.16, Z:-3.53 [[ 9.99490916e-01 3.13289941e-02 6.03349209e-03 2.50919332e+02] [-3.13271763e-02 9.99509105e-01 -3.95593106e-04 -1.51566883e+01] [-6.04292381e-03 2.06379445e-04 9.99981720e-01 -3.52906138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16037174299998 meters 0.026346992210277014 Centerline is valid? [True, True] Translation: X:250.95, Y:-15.17, Z:-3.53 [[ 9.99601841e-01 2.76016553e-02 5.85724706e-03 2.50948472e+02] [-2.75998821e-02 9.99618977e-01 -3.83366377e-04 -1.51670885e+01] [-5.86559686e-03 2.21554408e-04 9.99982773e-01 -3.53031833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.190371743 meters 0.027598010171753767 Centerline is valid? [True, True] Translation: X:250.98, Y:-15.17, Z:-3.53 [[ 9.99655900e-01 2.55727503e-02 5.84093324e-03 2.50976166e+02] [-2.55709511e-02 9.99672937e-01 -3.82518195e-04 -1.51737720e+01] [-5.84880493e-03 2.33028353e-04 9.99982868e-01 -3.53121682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220371743 meters 0.02785313942558684 Centerline is valid? [True, True] Translation: X:251.00, Y:-15.18, Z:-3.53 [[ 9.99697704e-01 2.37460337e-02 6.37389946e-03 2.51004971e+02] [-2.37438591e-02 9.99717988e-01 -4.16631017e-04 -1.51790910e+01] [-6.38199528e-03 2.65164100e-04 9.99979600e-01 -3.53148851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.250371743 meters 0.031135150301162394 Centerline is valid? [True, True] Translation: X:251.03, Y:-15.19, Z:-3.53 [[ 9.99789102e-01 1.91525136e-02 7.41159747e-03 2.51033234e+02] [-1.91494551e-02 9.99816516e-01 -4.83411911e-04 -1.51907160e+01] [-7.41949611e-03 3.41381908e-04 9.99972417e-01 -3.53208555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280371743 meters 0.03266947671407191 Centerline is valid? [True, True] Translation: X:251.06, Y:-15.20, Z:-3.53 [[ 9.99831489e-01 1.65819861e-02 7.87605172e-03 2.51062274e+02] [-1.65784517e-02 9.99862436e-01 -5.13831456e-04 -1.51964715e+01] [-7.88348861e-03 3.83172126e-04 9.99968851e-01 -3.53244551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.310371743 meters 0.030727363741764456 Centerline is valid? [True, True] Translation: X:251.09, Y:-15.20, Z:-3.53 [[ 9.99869746e-01 1.40675183e-02 7.91179770e-03 2.51091881e+02] [-1.40638771e-02 9.99900966e-01 -5.15670288e-04 -1.51976137e+01] [-7.91826836e-03 4.04332569e-04 9.99968568e-01 -3.53207548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340371743 meters 0.03587422324201207 Centerline is valid? [True, True] Translation: X:251.12, Y:-15.21, Z:-3.53 [[ 9.99907876e-01 1.11170106e-02 7.78794082e-03 2.51120599e+02] [-1.11133963e-02 9.99938116e-01 -5.07221289e-04 -1.52091682e+01] [-7.79309765e-03 4.20624090e-04 9.99969545e-01 -3.53334899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.370371743 meters 0.035744553624848914 Centerline is valid? [True, True] Translation: X:251.15, Y:-15.21, Z:-3.53 [[ 9.99957062e-01 5.13204523e-03 7.71602996e-03 2.51151127e+02] [-5.12832172e-03 9.99986724e-01 -5.02275953e-04 -1.52143064e+01] [-7.71850522e-03 4.62684102e-04 9.99970105e-01 -3.53389625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40037174299997 meters 0.03497834646171142 Centerline is valid? [True, True] Translation: X:251.18, Y:-15.22, Z:-3.53 [[ 9.99964688e-01 2.08925054e-03 8.13994546e-03 2.51181864e+02] [-2.08500669e-03 9.99997686e-01 -5.29812065e-04 -1.52163921e+01] [-8.14103354e-03 5.12821515e-04 9.99966730e-01 -3.53439545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43037174299997 meters 0.03792896048891849 Centerline is valid? [True, True] Translation: X:251.21, Y:-15.23, Z:-3.53 [[ 9.99958839e-01 -3.35139013e-03 8.43140832e-03 2.51212315e+02] [ 3.35613683e-03 9.99994218e-01 -5.48892344e-04 -1.52253840e+01] [-8.42952002e-03 5.77166711e-04 9.99964304e-01 -3.53476177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46037174299997 meters 0.04331062076124847 Centerline is valid? [True, True] Translation: X:251.24, Y:-15.24, Z:-3.54 [[ 9.99947072e-01 -6.02763864e-03 8.33790268e-03 2.51241673e+02] [ 6.03237629e-03 9.99981658e-01 -5.43173920e-04 -1.52360537e+01] [-8.33447569e-03 5.93442537e-04 9.99965092e-01 -3.53560259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49037174299997 meters 0.04008559844863989 Centerline is valid? [True, True] Translation: X:251.27, Y:-15.23, Z:-3.54 [[ 9.99929731e-01 -8.41955823e-03 8.34536479e-03 2.51272618e+02] [ 8.42438639e-03 9.99964367e-01 -5.43559414e-04 -1.52342893e+01] [-8.34049088e-03 6.13825796e-04 9.99965029e-01 -3.53570805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52037174299997 meters 0.03897108861265032 Centerline is valid? [True, True] Translation: X:251.30, Y:-15.24, Z:-3.54 [[ 9.99899849e-01 -1.20442810e-02 7.43154787e-03 2.51303473e+02] [ 1.20482106e-02 9.99927300e-01 -4.84221774e-04 -1.52357683e+01] [-7.42517550e-03 5.73710132e-04 9.99972268e-01 -3.53623361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55037174299997 meters 0.04306728834387743 Centerline is valid? [True, True] Translation: X:251.33, Y:-15.24, Z:-3.54 [[ 9.99888414e-01 -1.31079912e-02 7.16522481e-03 2.51334317e+02] [ 1.31116659e-02 9.99913930e-01 -4.66122985e-04 -1.52437025e+01] [-7.15849816e-03 5.60019006e-04 9.99974221e-01 -3.53727001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58037174299997 meters 0.04365655568951809 Centerline is valid? [True, True] Translation: X:251.37, Y:-15.25, Z:-3.54 [[ 9.99879692e-01 -1.40171301e-02 6.64242925e-03 2.51366433e+02] [ 1.40203151e-02 9.99901617e-01 -4.33160704e-04 -1.52464399e+01] [-6.63570407e-03 5.26237542e-04 9.99977845e-01 -3.53802100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61037174299997 meters 0.045233938855790023 Centerline is valid? [True, True] Translation: X:251.40, Y:-15.25, Z:-3.54 [[ 9.99864583e-01 -1.49034331e-02 6.97873202e-03 2.51397781e+02] [ 1.49069748e-02 9.99888781e-01 -4.55761401e-04 -1.52503742e+01] [-6.97116345e-03 5.59731466e-04 9.99975544e-01 -3.53895304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64037174299997 meters 0.045863728149232244 Centerline is valid? [True, True] Translation: X:251.43, Y:-15.25, Z:-3.54 [[ 9.99871761e-01 -1.47067621e-02 6.33816585e-03 2.51430682e+02] [ 1.47096787e-02 9.99891721e-01 -4.13795299e-04 -1.52530275e+01] [-6.33139397e-03 5.06974617e-04 9.99979828e-01 -3.53937911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67037174299998 meters 0.04649011657613642 Centerline is valid? [True, True] Translation: X:251.46, Y:-15.25, Z:-3.54 [[ 9.99881456e-01 -1.40414692e-02 6.31751740e-03 2.51462765e+02] [ 1.40443595e-02 9.99901288e-01 -4.13378075e-04 -1.52540655e+01] [-6.31108935e-03 5.02054558e-04 9.99979959e-01 -3.53991474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70037174299998 meters 0.047226392856415965 Centerline is valid? [True, True] Translation: X:251.49, Y:-15.26, Z:-3.54 [[ 9.99890618e-01 -1.35649397e-02 5.89436418e-03 2.51494079e+02] [ 1.35674504e-02 9.99907883e-01 -3.86173873e-04 -1.52558175e+01] [-5.88858279e-03 4.66103127e-04 9.99982554e-01 -3.54020537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73037174299998 meters 0.04354948180179419 Centerline is valid? [True, True] Translation: X:251.53, Y:-15.25, Z:-3.54 [[ 9.99894328e-01 -1.30711199e-02 6.36229733e-03 2.51526585e+02] [ 1.30740367e-02 9.99914444e-01 -4.17069304e-04 -1.52520472e+01] [-6.35630144e-03 5.00206140e-04 9.99979673e-01 -3.53983277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76037174299998 meters 0.048158526619492846 Centerline is valid? [True, True] Translation: X:251.56, Y:-15.26, Z:-3.54 [[ 9.99896336e-01 -1.23658580e-02 7.37587574e-03 2.51557314e+02] [ 1.23697649e-02 9.99923374e-01 -4.84308781e-04 -1.52588153e+01] [-7.36932166e-03 5.75496425e-04 9.99972681e-01 -3.53993371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79037174299998 meters 0.047890445388793966 Centerline is valid? [True, True] Translation: X:251.59, Y:-15.26, Z:-3.54 [[ 9.99908899e-01 -1.13142892e-02 7.36072444e-03 2.51588778e+02] [ 1.13181555e-02 9.99935831e-01 -4.83824714e-04 -1.52586539e+01] [-7.35477797e-03 5.67090461e-04 9.99972792e-01 -3.54026764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82037174299998 meters 0.039920474438311114 Centerline is valid? [True, True] Translation: X:251.62, Y:-15.25, Z:-3.54 [[ 9.99915936e-01 -1.08602258e-02 7.08350651e-03 2.51621689e+02] [ 1.08637948e-02 9.99940879e-01 -4.65556739e-04 -1.52484174e+01] [-7.07803168e-03 5.42471363e-04 9.99974803e-01 -3.53968257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85037174299998 meters 0.048547224129561126 Centerline is valid? [True, True] Translation: X:251.65, Y:-15.26, Z:-3.54 [[ 9.99921783e-01 -1.03849068e-02 6.97012085e-03 2.51651857e+02] [ 1.03883553e-02 9.99945934e-01 -4.58720720e-04 -1.52605295e+01] [-6.96498024e-03 5.31092932e-04 9.99975603e-01 -3.54102962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88037174299998 meters 0.05009806998347987 Centerline is valid? [True, True] Translation: X:251.68, Y:-15.26, Z:-3.54 [[ 9.99928718e-01 -1.00402313e-02 6.46169744e-03 2.51682794e+02] [ 1.00431860e-02 9.99949476e-01 -4.24972855e-04 -1.52626985e+01] [-6.45710414e-03 4.89838592e-04 9.99979033e-01 -3.54159678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91037174299998 meters 0.05083910902144468 Centerline is valid? [True, True] Translation: X:251.71, Y:-15.26, Z:-3.54 [[ 9.99928005e-01 -1.03774996e-02 6.02431533e-03 2.51714596e+02] [ 1.03800811e-02 9.99946047e-01 -3.97392024e-04 -1.52632818e+01] [-6.01986636e-03 4.59896295e-04 9.99981775e-01 -3.54264545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940371743 meters 0.04279316294879103 Centerline is valid? [True, True] Translation: X:251.75, Y:-15.25, Z:-3.54 [[ 9.99924706e-01 -1.10683697e-02 5.29839554e-03 2.51747232e+02] [ 1.10703772e-02 9.99938660e-01 -3.49697422e-04 -1.52534661e+01] [-5.29419996e-03 4.08326329e-04 9.99985902e-01 -3.54239464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.970371743 meters 0.04416720663531993 Centerline is valid? [True, True] Translation: X:251.78, Y:-15.26, Z:-3.54 [[ 9.99902910e-01 -1.31728775e-02 4.54387278e-03 2.51778507e+02] [ 1.31743778e-02 9.99913169e-01 -3.00413189e-04 -1.52555704e+01] [-4.53952092e-03 3.60246719e-04 9.99989631e-01 -3.54349388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000371743 meters 0.044700335962104015 Centerline is valid? [True, True] Translation: X:251.81, Y:-15.26, Z:-3.54 [[ 9.99887304e-01 -1.43682508e-02 4.35106034e-03 2.51810990e+02] [ 1.43696368e-02 9.99896710e-01 -2.87456027e-04 -1.52572040e+01] [-4.34648068e-03 3.49946789e-04 9.99990493e-01 -3.54394522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.030371743 meters 0.04618800165393975 Centerline is valid? [True, True] Translation: X:251.84, Y:-15.26, Z:-3.54 [[ 9.99877502e-01 -1.51462437e-02 3.94612324e-03 2.51841984e+02] [ 1.51473912e-02 9.99885238e-01 -2.61068504e-04 -1.52598319e+01] [-3.94171617e-03 3.20809997e-04 9.99992180e-01 -3.54465133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060371743 meters 0.045245497029929076 Centerline is valid? [True, True] Translation: X:251.87, Y:-15.26, Z:-3.54 [[ 9.99856375e-01 -1.65846062e-02 3.49005436e-03 2.51873151e+02] [ 1.65855141e-02 9.99862424e-01 -2.31358251e-04 -1.52579207e+01] [-3.48573722e-03 2.89209368e-04 9.99993883e-01 -3.54492790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.090371743 meters 0.044974276774454765 Centerline is valid? [True, True] Translation: X:251.91, Y:-15.26, Z:-3.54 [[ 9.99856447e-01 -1.65038623e-02 3.83505868e-03 2.51906569e+02] [ 1.65049548e-02 9.99863752e-01 -2.53414953e-04 -1.52587404e+01] [-3.83035384e-03 3.16676045e-04 9.99992614e-01 -3.54482033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120371743 meters 0.04555144860869756 Centerline is valid? [True, True] Translation: X:251.94, Y:-15.26, Z:-3.54 [[ 9.99853518e-01 -1.65810314e-02 4.24396663e-03 2.51938542e+02] [ 1.65823741e-02 9.99862463e-01 -2.81400556e-04 -1.52601542e+01] [-4.23871702e-03 3.51734379e-04 9.99990955e-01 -3.54437236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15037174299997 meters 0.0448462866371326 Centerline is valid? [True, True] Translation: X:251.97, Y:-15.26, Z:-3.54 [[ 9.99859088e-01 -1.59023814e-02 5.37756494e-03 2.51970663e+02] [ 1.59045310e-02 9.99873451e-01 -3.57204706e-04 -1.52580204e+01] [-5.37120401e-03 4.42682020e-04 9.99985477e-01 -3.54324356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18037174299997 meters 0.04301244623884945 Centerline is valid? [True, True] Translation: X:252.00, Y:-15.26, Z:-3.54 [[ 9.99866934e-01 -1.53980567e-02 5.38655853e-03 2.52002713e+02] [ 1.54002082e-02 9.99881346e-01 -3.58176867e-04 -1.52564812e+01] [-5.38040416e-03 4.41083329e-04 9.99985428e-01 -3.54315227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21037174299997 meters 0.04112317250621558 Centerline is valid? [True, True] Translation: X:252.04, Y:-15.25, Z:-3.54 [[ 9.99869442e-01 -1.50730750e-02 5.82252974e-03 2.52035371e+02] [ 1.50755863e-02 9.99886282e-01 -3.87655487e-04 -1.52539413e+01] [-5.81602445e-03 4.75382925e-04 9.99982974e-01 -3.54321005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24037174299997 meters 0.04104339574431403 Centerline is valid? [True, True] Translation: X:252.07, Y:-15.25, Z:-3.54 [[ 9.99871857e-01 -1.49435297e-02 5.74107300e-03 2.52067228e+02] [ 1.49459714e-02 9.99888230e-01 -3.82635113e-04 -1.52548727e+01] [-5.73471339e-03 4.68391994e-04 9.99983447e-01 -3.54372239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27037174299997 meters 0.04253507448755485 Centerline is valid? [True, True] Translation: X:252.10, Y:-15.26, Z:-3.54 [[ 9.99872073e-01 -1.48975003e-02 5.82255838e-03 2.52098808e+02] [ 1.49000127e-02 9.99888913e-01 -3.88357554e-04 -1.52578000e+01] [-5.81612601e-03 4.75064066e-04 9.99982973e-01 -3.54466860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30037174299997 meters 0.04264629891645532 Centerline is valid? [True, True] Translation: X:252.13, Y:-15.26, Z:-3.55 [[ 9.99866775e-01 -1.52513544e-02 5.81617748e-03 2.52131295e+02] [ 1.52538712e-02 9.99883577e-01 -3.88612123e-04 -1.52596481e+01] [-5.80957348e-03 4.77279572e-04 9.99983010e-01 -3.54524785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33037174299997 meters 0.04294419469046247 Centerline is valid? [True, True] Translation: X:252.16, Y:-15.26, Z:-3.55 [[ 9.99853495e-01 -1.60486770e-02 5.95213122e-03 2.52163693e+02] [ 1.60513296e-02 9.99871090e-01 -3.98147009e-04 -1.52614528e+01] [-5.94497420e-03 4.93628298e-04 9.99982207e-01 -3.54616777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36037174299997 meters 0.043026876987202936 Centerline is valid? [True, True] Translation: X:252.20, Y:-15.26, Z:-3.55 [[ 9.99851382e-01 -1.62631160e-02 5.72060657e-03 2.52195331e+02] [ 1.62655726e-02 9.99867633e-01 -3.83179772e-04 -1.52633091e+01] [-5.71361765e-03 4.76171766e-04 9.99983564e-01 -3.54661454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39037174299997 meters 0.04444031642737997 Centerline is valid? [True, True] Translation: X:252.23, Y:-15.27, Z:-3.55 [[ 9.99854449e-01 -1.62975078e-02 5.04699711e-03 2.52226717e+02] [ 1.62994214e-02 9.99867098e-01 -3.38246848e-04 -1.52655712e+01] [-5.04081378e-03 4.20460748e-04 9.99987207e-01 -3.54721275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42037174299998 meters 0.045190891347691865 Centerline is valid? [True, True] Translation: X:252.26, Y:-15.27, Z:-3.55 [[ 9.99863038e-01 -1.58067955e-02 4.90422938e-03 2.52258180e+02] [ 1.58085977e-02 9.99874982e-01 -3.28925515e-04 -1.52679467e+01] [-4.89841701e-03 4.06409454e-04 9.99987920e-01 -3.54812192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45037174299998 meters 0.04510327654907302 Centerline is valid? [True, True] Translation: X:252.29, Y:-15.27, Z:-3.55 [[ 9.99878450e-01 -1.50517810e-02 4.06568387e-03 2.52290715e+02] [ 1.50530131e-02 9.99886660e-01 -2.72601128e-04 -1.52693772e+01] [-4.06111993e-03 3.33768786e-04 9.99991698e-01 -3.54910765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48037174299998 meters 0.0466963836267061 Centerline is valid? [True, True] Translation: X:252.32, Y:-15.27, Z:-3.55 [[ 9.99917193e-01 -1.27000194e-02 2.07751453e-03 2.52320398e+02] [ 1.27003371e-02 9.99919338e-01 -1.39798687e-04 -1.52720759e+01] [-2.07557151e-03 1.66172246e-04 9.99997832e-01 -3.55164911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51037174299998 meters 0.04501021174367293 Centerline is valid? [True, True] Translation: X:252.35, Y:-15.27, Z:-3.55 [[ 9.99935900e-01 -1.12033126e-02 1.63742257e-03 2.52351761e+02] [ 1.12035073e-02 9.99937233e-01 -1.09755118e-04 -1.52706639e+01] [-1.63609017e-03 1.28092958e-04 9.99998653e-01 -3.55260757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54037174299998 meters 0.039315340244845565 Centerline is valid? [True, True] Translation: X:252.38, Y:-15.26, Z:-3.55 [[ 9.99975720e-01 -6.92163348e-03 8.06037125e-04 2.52383373e+02] [ 6.92167946e-03 9.99976043e-01 -5.42646349e-05 -1.52617327e+01] [-8.05642215e-04 5.98424480e-05 9.99999674e-01 -3.55214500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57037174299998 meters 0.03781431750269864 Centerline is valid? [True, True] Translation: X:252.41, Y:-15.26, Z:-3.55 [[ 9.99989952e-01 -4.44346886e-03 5.92911820e-04 2.52413934e+02] [ 4.44349331e-03 9.99990127e-01 -3.99185010e-05 -1.52596782e+01] [-5.92728590e-04 4.25526996e-05 9.99999823e-01 -3.55217425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60037174299998 meters 0.03789301966752645 Centerline is valid? [True, True] Translation: X:252.44, Y:-15.26, Z:-3.55 [[ 9.99998411e-01 -1.67760539e-03 6.03464311e-04 2.52443823e+02] [ 1.67763021e-03 9.99998592e-01 -4.06289601e-05 -1.52597903e+01] [-6.03395302e-04 4.16412855e-05 9.99999817e-01 -3.55221308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63037174299998 meters 0.03545081543058746 Centerline is valid? [True, True] Translation: X:252.47, Y:-15.26, Z:-3.55 [[ 9.99998768e-01 1.50699409e-03 4.39115798e-04 2.52474738e+02] [-1.50698136e-03 9.99998864e-01 -2.93211256e-05 -1.52561910e+01] [-4.39159486e-04 2.86593502e-05 9.99999903e-01 -3.55177539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66037174299998 meters 0.03234042044440099 Centerline is valid? [True, True] Translation: X:252.51, Y:-15.25, Z:-3.55 [[ 9.99971164e-01 7.53638655e-03 9.34910255e-04 2.52505652e+02] [-7.53633093e-03 9.99971599e-01 -6.30027585e-05 -1.52497227e+01] [-9.35358517e-04 5.59551486e-05 9.99999561e-01 -3.55077163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.690371743 meters 0.032807955240206556 Centerline is valid? [True, True] Translation: X:252.54, Y:-15.25, Z:-3.55 [[ 9.99941026e-01 1.06508517e-02 2.12241017e-03 2.52535077e+02] [-1.06505713e-02 9.99943271e-01 -1.43351470e-04 -1.52510339e+01] [-2.12381658e-03 1.20738135e-04 9.99997737e-01 -3.55075953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720371743 meters 0.032807955240206556 Centerline is valid? [True, True] Translation: X:252.56, Y:-15.25, Z:-3.55 [[ 9.99941770e-01 1.05807141e-02 2.12238774e-03 2.52563366e+02] [-1.05804329e-02 9.99944015e-01 -1.43685061e-04 -1.52528754e+01] [-2.12378921e-03 1.21220913e-04 9.99997737e-01 -3.55115787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.750371743 meters 0.03142354865427711 Centerline is valid? [True, True] Translation: X:252.59, Y:-15.25, Z:-3.55 [[ 9.99903822e-01 1.35945101e-02 2.74527906e-03 2.52593653e+02] [-1.35940538e-02 9.99907580e-01 -1.84776346e-04 -1.52509866e+01] [-2.74753729e-03 1.47439103e-04 9.99996215e-01 -3.55032571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780371743 meters 0.028353407618542697 Centerline is valid? [True, True] Translation: X:252.62, Y:-15.24, Z:-3.55 [[ 9.99821165e-01 1.84180385e-02 4.29110959e-03 2.52624791e+02] [-1.84169695e-02 9.99830352e-01 -2.88512954e-04 -1.52444407e+01] [-4.29569545e-03 2.09432123e-04 9.99990752e-01 -3.54847673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.810371743 meters 0.02926107877704736 Centerline is valid? [True, True] Translation: X:252.65, Y:-15.25, Z:-3.55 [[ 9.99777140e-01 2.05447455e-02 4.85621964e-03 2.52653015e+02] [-2.05433988e-02 9.99788909e-01 -3.27036217e-04 -1.52458687e+01] [-4.86191341e-03 2.27200077e-04 9.99988155e-01 -3.54917252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840371743 meters 0.029212349396843446 Centerline is valid? [True, True] Translation: X:252.68, Y:-15.24, Z:-3.55 [[ 9.99743706e-01 2.22649133e-02 4.09816853e-03 2.52680808e+02] [-2.22639686e-02 9.99752089e-01 -2.76003701e-04 -1.52448444e+01] [-4.10329774e-03 1.84691467e-04 9.99991564e-01 -3.55032139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.870371743 meters 0.02771612987592331 Centerline is valid? [True, True] Translation: X:252.71, Y:-15.24, Z:-3.55 [[ 9.99745500e-01 2.22723761e-02 3.58844730e-03 2.52708904e+02] [-2.22716517e-02 9.99751927e-01 -2.41724916e-04 -1.52432038e+01] [-3.59294089e-03 1.61742749e-04 9.99993532e-01 -3.55091555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90037174299997 meters 0.030920799692029266 Centerline is valid? [True, True] Translation: X:252.74, Y:-15.25, Z:-3.55 [[ 9.99750579e-01 2.21875162e-02 2.54838220e-03 2.52735840e+02] [-2.21871507e-02 9.99753820e-01 -1.71615732e-04 -1.52494650e+01] [-2.55156257e-03 1.15031587e-04 9.99996738e-01 -3.55347235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93037174299997 meters 0.028654028385135137 Centerline is valid? [True, True] Translation: X:252.76, Y:-15.25, Z:-3.55 [[ 9.99771449e-01 2.13139760e-02 1.66286295e-03 2.52764386e+02] [-2.13138187e-02 9.99772828e-01 -1.12263484e-04 -1.52465003e+01] [-1.66487798e-03 7.67958668e-05 9.99998611e-01 -3.55315108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96037174299997 meters 0.030051683074603264 Centerline is valid? [True, True] Translation: X:252.79, Y:-15.25, Z:-3.55 [[ 9.99821697e-01 1.88695102e-02 7.18774553e-04 2.52793053e+02] [-1.88694801e-02 9.99821954e-01 -4.86928972e-05 -1.52490303e+01] [-7.19565390e-04 3.51213130e-05 9.99999740e-01 -3.55351573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99037174299997 meters 0.03483787601822431 Centerline is valid? [True, True] Translation: X:252.82, Y:-15.26, Z:-3.55 [[ 9.99869105e-01 1.61421106e-02 1.09818419e-03 2.52821271e+02] [-1.61420391e-02 9.99869706e-01 -7.39367351e-05 -1.52569062e+01] [-1.09923460e-03 5.62001249e-05 9.99999394e-01 -3.55465683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02037174299997 meters 0.031012209545343974 Centerline is valid? [True, True] Translation: X:252.85, Y:-15.25, Z:-3.55 [[ 9.99895829e-01 1.44014929e-02 9.63496124e-04 2.52850867e+02] [-1.44014370e-02 9.99896292e-01 -6.49216106e-05 -1.52518441e+01] [-9.64331170e-04 5.10391190e-05 9.99999534e-01 -3.55300320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05037174299997 meters 0.03378308078537994 Centerline is valid? [True, True] Translation: X:252.88, Y:-15.26, Z:-3.55 [[ 9.99917006e-01 1.28363164e-02 1.09983705e-03 2.52878469e+02] [-1.28362424e-02 9.99917609e-01 -7.43960775e-05 -1.52574496e+01] [-1.10070141e-03 6.02721281e-05 9.99999392e-01 -3.55424709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08037174299997 meters 0.03506442852277182 Centerline is valid? [True, True] Translation: X:252.91, Y:-15.26, Z:-3.56 [[ 9.99932695e-01 1.15755641e-02 7.81822295e-04 2.52906390e+02] [-1.15755263e-02 9.99933000e-01 -5.29046136e-05 -1.52607136e+01] [-7.82382314e-04 4.38510483e-05 9.99999693e-01 -3.55539067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11037174299997 meters 0.03288856148125461 Centerline is valid? [True, True] Translation: X:252.94, Y:-15.26, Z:-3.55 [[ 9.99959219e-01 9.00723809e-03 6.55881722e-04 2.52936362e+02] [-9.00721112e-03 9.99959433e-01 -4.40562186e-05 -1.52582286e+01] [-6.56251940e-04 3.81467568e-05 9.99999784e-01 -3.55433230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14037174299997 meters 0.03236339154426976 Centerline is valid? [True, True] Translation: X:252.97, Y:-15.26, Z:-3.55 [[ 9.99970672e-01 7.63131255e-03 6.47243694e-04 2.52966293e+02] [-7.63128601e-03 9.99970880e-01 -4.34686501e-05 -1.52582453e+01] [-6.47556569e-04 3.85280735e-05 9.99999790e-01 -3.55411242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17037174299998 meters 0.03360246751072332 Centerline is valid? [True, True] Translation: X:253.00, Y:-15.26, Z:-3.55 [[ 9.99985527e-01 5.07439727e-03 1.78791573e-03 2.52995611e+02] [-5.07419194e-03 9.99987119e-01 -1.19360819e-04 -1.52605342e+01] [-1.78849838e-03 1.10286864e-04 9.99998395e-01 -3.55329833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20037174299998 meters 0.032787043150734135 Centerline is valid? [True, True] Translation: X:253.02, Y:-15.26, Z:-3.55 [[ 9.99990592e-01 3.78713927e-03 2.11507599e-03 2.53024760e+02] [-3.78684962e-03 9.99992820e-01 -1.40931746e-04 -1.52608480e+01] [-2.11559453e-03 1.32920945e-04 9.99997753e-01 -3.55220131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23037174299998 meters 0.034311926897130036 Centerline is valid? [True, True] Translation: X:253.05, Y:-15.27, Z:-3.55 [[ 9.99994064e-01 2.47867409e-03 2.39343373e-03 2.53053663e+02] [-2.47830053e-03 9.99996916e-01 -1.59031272e-04 -1.52652530e+01] [-2.39382054e-03 1.53098680e-04 9.99997123e-01 -3.55235652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26037174299998 meters 0.03738807119061317 Centerline is valid? [True, True] Translation: X:253.08, Y:-15.27, Z:-3.55 [[ 9.99997665e-01 -6.88168656e-04 2.04870607e-03 2.53083501e+02] [ 6.88448085e-04 9.99999754e-01 -1.35690949e-04 -1.52723649e+01] [-2.04861219e-03 1.37101060e-04 9.99997892e-01 -3.55395543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29037174299998 meters 0.035705417318148004 Centerline is valid? [True, True] Translation: X:253.12, Y:-15.27, Z:-3.55 [[ 9.99997041e-01 -1.98158874e-03 1.41101730e-03 2.53115054e+02] [ 1.98172193e-03 9.99998032e-01 -9.29999034e-05 -1.52722022e+01] [-1.41083024e-03 9.57958721e-05 9.99999000e-01 -3.55418330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32037174299998 meters 0.03791831829256848 Centerline is valid? [True, True] Translation: X:253.15, Y:-15.28, Z:-3.56 [[ 9.99992304e-01 -3.89488645e-03 4.71160269e-04 2.53145331e+02] [ 3.89490148e-03 9.99992414e-01 -3.09802238e-05 -1.52767065e+01] [-4.71036031e-04 3.28151082e-05 9.99999889e-01 -3.55525486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35037174299998 meters 0.04024059888821464 Centerline is valid? [True, True] Translation: X:253.18, Y:-15.28, Z:-3.56 [[ 9.99991360e-01 -4.15525704e-03 -1.15164815e-04 2.53175849e+02] [ 4.15525803e-03 9.99991367e-01 8.38805633e-06 -1.52819640e+01] [ 1.15128966e-04 -8.86652337e-06 9.99999993e-01 -3.55628009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38037174299998 meters 0.03926761755317685 Centerline is valid? [True, True] Translation: X:253.21, Y:-15.28, Z:-3.56 [[ 9.99991434e-01 -4.04847666e-03 -8.61101097e-04 2.53206930e+02] [ 4.04852780e-03 9.99991803e-01 5.76513191e-05 -1.52820426e+01] [ 8.60860638e-04 -6.11370170e-05 9.99999628e-01 -3.55667389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41037174299998 meters 0.03681195243945395 Centerline is valid? [True, True] Translation: X:253.24, Y:-15.28, Z:-3.56 [[ 9.99996319e-01 -2.22198305e-03 -1.55703500e-03 2.53237882e+02] [ 2.22214708e-03 9.99997526e-01 1.03628046e-04 -1.52805218e+01] [ 1.55680089e-03 -1.07087626e-04 9.99998782e-01 -3.55684046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440371743 meters 0.036816736347313604 Centerline is valid? [True, True] Translation: X:253.27, Y:-15.28, Z:-3.56 [[ 9.99998364e-01 -1.07316979e-03 -1.45598024e-03 2.53268579e+02] [ 1.07331166e-03 9.99999419e-01 9.66672970e-05 -1.52819546e+01] [ 1.45587566e-03 -9.82298594e-05 9.99998935e-01 -3.55692521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.470371743 meters 0.03630805445680331 Centerline is valid? [True, True] Translation: X:253.30, Y:-15.28, Z:-3.56 [[ 9.99998259e-01 1.69892644e-03 -7.71423366e-04 2.53298683e+02] [-1.69888744e-03 9.99998556e-01 5.12173239e-05 -1.52817680e+01] [ 7.71509266e-04 -4.99066733e-05 9.99999701e-01 -3.55618190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500371743 meters 0.036738141659981974 Centerline is valid? [True, True] Translation: X:253.33, Y:-15.28, Z:-3.56 [[ 9.99993623e-01 3.57051450e-03 6.88626992e-05 2.53328252e+02] [-3.57051423e-03 9.99993626e-01 -4.13836195e-06 -1.52837227e+01] [-6.88770365e-05 3.89246032e-06 9.99999998e-01 -3.55645517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.530371743 meters 0.03261239859883617 Centerline is valid? [True, True] Translation: X:253.36, Y:-15.28, Z:-3.55 [[ 9.99970577e-01 7.62787400e-03 8.12415096e-04 2.53359269e+02] [-7.62783262e-03 9.99970906e-01 -5.40132882e-05 -1.52780977e+01] [-8.12803467e-04 4.78147326e-05 9.99999669e-01 -3.55490998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560371743 meters 0.032702389835470407 Centerline is valid? [True, True] Translation: X:253.39, Y:-15.28, Z:-3.56 [[ 9.99954757e-01 9.47564744e-03 8.34082175e-04 2.53387592e+02] [-9.47560372e-03 9.99955104e-01 -5.63452944e-05 -1.52793453e+01] [-8.34578637e-04 4.84393130e-05 9.99999651e-01 -3.55536261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.590371743 meters 0.031104182237915882 Centerline is valid? [True, True] Translation: X:253.42, Y:-15.28, Z:-3.56 [[ 9.99935546e-01 1.12657900e-02 1.40890202e-03 2.53416651e+02] [-1.12656681e-02 9.99936536e-01 -9.43853298e-05 -1.52784836e+01] [-1.40987593e-03 7.85070238e-05 9.99999003e-01 -3.55522860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620371743 meters 0.030781864792967073 Centerline is valid? [True, True] Translation: X:253.45, Y:-15.28, Z:-3.55 [[ 9.99892273e-01 1.45417705e-02 1.99465024e-03 2.53446792e+02] [-1.45415352e-02 9.99894258e-01 -1.32414583e-04 -1.52779317e+01] [-1.99636486e-03 1.03395042e-04 9.99998002e-01 -3.55450753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65037174299997 meters 0.031401633883755505 Centerline is valid? [True, True] Translation: X:253.47, Y:-15.28, Z:-3.55 [[ 9.99868118e-01 1.60516937e-02 2.46773947e-03 2.53474688e+02] [-1.60513364e-02 9.99871155e-01 -1.64539071e-04 -1.52803278e+01] [-2.47006265e-03 1.24906855e-04 9.99996942e-01 -3.55459212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68037174299997 meters 0.028989297156595227 Centerline is valid? [True, True] Translation: X:253.50, Y:-15.28, Z:-3.55 [[ 9.99837009e-01 1.78419434e-02 2.76069396e-03 2.53503859e+02] [-1.78415046e-02 9.99840811e-01 -1.83491226e-04 -1.52777659e+01] [-2.76352833e-03 1.34206385e-04 9.99996172e-01 -3.55391999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71037174299997 meters 0.028849738180364643 Centerline is valid? [True, True] Translation: X:253.53, Y:-15.28, Z:-3.56 [[ 9.99764354e-01 2.15478321e-02 2.63204415e-03 2.53532876e+02] [-2.15474475e-02 9.99767812e-01 -1.74376813e-04 -1.52796656e+01] [-2.63519046e-03 1.17621889e-04 9.99996521e-01 -3.55519237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74037174299997 meters 0.027419020556385777 Centerline is valid? [True, True] Translation: X:253.56, Y:-15.28, Z:-3.56 [[ 9.99713458e-01 2.38167249e-02 2.40116803e-03 2.53561441e+02] [-2.38164105e-02 9.99716336e-01 -1.59451157e-04 -1.52788217e+01] [-2.40428451e-03 1.02218264e-04 9.99997104e-01 -3.55572761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77037174299997 meters 0.025403296815623488 Centerline is valid? [True, True] Translation: X:253.59, Y:-15.28, Z:-3.56 [[ 9.99584699e-01 2.87675187e-02 1.69091320e-03 2.53591919e+02] [-2.87673707e-02 9.99586127e-01 -1.11804435e-04 -1.52779018e+01] [-1.69342971e-03 6.31148754e-05 9.99998564e-01 -3.55567725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80037174299997 meters 0.02472128636589683 Centerline is valid? [True, True] Translation: X:253.62, Y:-15.28, Z:-3.56 [[ 9.99508165e-01 3.13116808e-02 1.73403239e-03 2.53621282e+02] [-3.13115283e-02 9.99509667e-01 -1.15056771e-04 -1.52784863e+01] [-1.73678476e-03 6.07049783e-05 9.99998490e-01 -3.55590627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83037174299997 meters 0.024007676007658754 Centerline is valid? [True, True] Translation: X:253.65, Y:-15.28, Z:-3.56 [[ 9.99428105e-01 3.37687904e-02 1.76982825e-03 2.53650716e+02] [-3.37686356e-02 9.99429670e-01 -1.17327647e-04 -1.52787297e+01] [-1.77278088e-03 5.74958632e-05 9.99998427e-01 -3.55583354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86037174299997 meters 0.02351837760767792 Centerline is valid? [True, True] Translation: X:253.68, Y:-15.28, Z:-3.56 [[ 9.99334943e-01 3.64351434e-02 1.46710536e-03 2.53679206e+02] [-3.64350394e-02 9.99336019e-01 -9.75350279e-05 -1.52795662e+01] [-1.46968493e-03 4.40161199e-05 9.99998919e-01 -3.55587747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89037174299997 meters 0.02309806004569464 Centerline is valid? [True, True] Translation: X:253.71, Y:-15.28, Z:-3.56 [[ 9.99146503e-01 4.12285248e-02 2.54440003e-03 2.53708480e+02] [-4.12282311e-02 9.99149741e-01 -1.67813539e-04 -1.52807045e+01] [-2.54915534e-03 6.27691982e-05 9.99996749e-01 -3.55636438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92037174299998 meters 0.022338756089240196 Centerline is valid? [True, True] Translation: X:253.74, Y:-15.28, Z:-3.56 [[ 9.99068491e-01 4.30391018e-02 3.12829297e-03 2.53737289e+02] [-4.30386662e-02 9.99073386e-01 -2.06481401e-04 -1.52819501e+01] [-3.13428102e-03 7.16515045e-05 9.99995086e-01 -3.55634333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95037174299998 meters 0.02333106822872765 Centerline is valid? [True, True] Translation: X:253.76, Y:-15.29, Z:-3.56 [[ 9.98987707e-01 4.47183553e-02 4.88167815e-03 2.53764941e+02] [-4.47173162e-02 9.98999629e-01 -3.21843815e-04 -1.52878110e+01] [-4.89118698e-03 1.03222469e-04 9.99988033e-01 -3.55820757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98037174299998 meters 0.022410965769049798 Centerline is valid? [True, True] Translation: X:253.79, Y:-15.29, Z:-3.56 [[ 9.99003099e-01 4.43117301e-02 5.41090970e-03 2.53792739e+02] [-4.43104536e-02 9.99017746e-01 -3.55628835e-04 -1.52893926e+01] [-5.42135334e-03 1.15514445e-04 9.99985298e-01 -3.55758160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01037174299998 meters 0.023166498595132073 Centerline is valid? [True, True] Translation: X:253.82, Y:-15.30, Z:-3.56 [[ 9.99118806e-01 4.16101521e-02 5.49611419e-03 2.53820633e+02] [-4.16087984e-02 9.99133914e-01 -3.60482047e-04 -1.52965000e+01] [-5.50635379e-03 1.31477686e-04 9.99984831e-01 -3.55897730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04037174299998 meters 0.023508463885047785 Centerline is valid? [True, True] Translation: X:253.85, Y:-15.30, Z:-3.56 [[ 9.99217739e-01 3.91603331e-02 5.51167854e-03 2.53848653e+02] [-3.91589371e-02 9.99232929e-01 -3.61015526e-04 -1.53017362e+01] [-5.52158818e-03 1.44901644e-04 9.99984745e-01 -3.56035301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07037174299998 meters 0.023688708067602312 Centerline is valid? [True, True] Translation: X:253.88, Y:-15.31, Z:-3.56 [[ 9.99331790e-01 3.62021268e-02 5.03782535e-03 2.53878371e+02] [-3.62009270e-02 9.99344477e-01 -3.29171117e-04 -1.53063482e+01] [-5.04643964e-03 1.46577214e-04 9.99987256e-01 -3.56144482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10037174299998 meters 0.025679226989695603 Centerline is valid? [True, True] Translation: X:253.91, Y:-15.31, Z:-3.56 [[ 9.99434237e-01 3.33047789e-02 4.69015026e-03 2.53905858e+02] [-3.33037062e-02 9.99445231e-01 -3.06649649e-04 -1.53147782e+01] [-4.69776121e-03 1.50276771e-04 9.99988954e-01 -3.56323489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13037174299998 meters 0.028355387227927947 Centerline is valid? [True, True] Translation: X:253.93, Y:-15.33, Z:-3.56 [[ 9.99633129e-01 2.67292270e-02 4.37678323e-03 2.53934765e+02] [-2.67282336e-02 9.99642696e-01 -2.85316539e-04 -1.53258566e+01] [-4.38284568e-03 1.68228179e-04 9.99990381e-01 -3.56483555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16037174299998 meters 0.030856775464898893 Centerline is valid? [True, True] Translation: X:253.96, Y:-15.34, Z:-3.57 [[ 9.99752547e-01 2.17379008e-02 4.72323896e-03 2.53962989e+02] [-2.17366882e-02 9.99763683e-01 -3.07909542e-04 -1.53360413e+01] [-4.72881608e-03 2.05165776e-04 9.99988798e-01 -3.56622145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.190371743 meters 0.032150822112971364 Centerline is valid? [True, True] Translation: X:253.99, Y:-15.34, Z:-3.57 [[ 9.99791747e-01 1.98664087e-02 4.66781273e-03 2.53991993e+02] [-1.98652036e-02 9.99802621e-01 -3.04395069e-04 -1.53420712e+01] [-4.67293864e-03 2.11604628e-04 9.99989059e-01 -3.56722339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220371743 meters 0.028451057806611686 Centerline is valid? [True, True] Translation: X:254.02, Y:-15.34, Z:-3.57 [[ 9.99821934e-01 1.81962643e-02 4.99962225e-03 2.54021369e+02] [-1.81948602e-02 9.99834407e-01 -3.26185559e-04 -1.53398025e+01] [-5.00472971e-03 2.35160049e-04 9.99987449e-01 -3.56634366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.250371743 meters 0.029493602571474677 Centerline is valid? [True, True] Translation: X:254.05, Y:-15.35, Z:-3.57 [[ 9.99872789e-01 1.48894383e-02 5.71922743e-03 2.54050797e+02] [-1.48875519e-02 9.99889105e-01 -3.72275688e-04 -1.53461240e+01] [-5.72413618e-03 2.87083035e-04 9.99983576e-01 -3.56688714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280371743 meters 0.029017103663962346 Centerline is valid? [True, True] Translation: X:254.08, Y:-15.35, Z:-3.57 [[ 9.99887508e-01 1.37620095e-02 5.96470613e-03 2.54079143e+02] [-1.37599373e-02 9.99905252e-01 -3.88314547e-04 -1.53484635e+01] [-5.96948497e-03 3.06196882e-04 9.99982136e-01 -3.56720620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.310371743 meters 0.03237574985305447 Centerline is valid? [True, True] Translation: X:254.11, Y:-15.36, Z:-3.57 [[ 9.99908287e-01 1.21920432e-02 5.89679682e-03 2.54106771e+02] [-1.21899958e-02 9.99925626e-01 -3.83020380e-04 -1.53576526e+01] [-5.90102805e-03 3.11103323e-04 9.99982540e-01 -3.56871279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340371743 meters 0.03283785946014421 Centerline is valid? [True, True] Translation: X:254.14, Y:-15.36, Z:-3.57 [[ 9.99918285e-01 1.13704957e-02 5.84252536e-03 2.54135787e+02] [-1.13684708e-02 9.99935305e-01 -3.79682584e-04 -1.53612520e+01] [-5.84646456e-03 3.13230980e-04 9.99982860e-01 -3.56971129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.370371743 meters 0.03221896868640648 Centerline is valid? [True, True] Translation: X:254.16, Y:-15.36, Z:-3.57 [[ 9.99926733e-01 1.07089847e-02 5.64333238e-03 2.54164494e+02] [-1.07070856e-02 9.99942610e-01 -3.66621791e-04 -1.53631172e+01] [-5.64693466e-03 3.06171286e-04 9.99984009e-01 -3.57010454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40037174299997 meters 0.03216150143176662 Centerline is valid? [True, True] Translation: X:254.19, Y:-15.37, Z:-3.57 [[ 9.99929525e-01 1.01681356e-02 6.12820668e-03 2.54193713e+02] [-1.01658909e-02 9.99948247e-01 -3.97325934e-04 -1.53662132e+01] [-6.13192960e-03 3.34999251e-04 9.99981143e-01 -3.57051494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43037174299997 meters 0.03305061902480014 Centerline is valid? [True, True] Translation: X:254.22, Y:-15.37, Z:-3.57 [[ 9.99932234e-01 8.90956864e-03 7.49307798e-03 2.54223385e+02] [-8.90618031e-03 9.99960221e-01 -4.85442517e-04 -1.53709514e+01] [-7.49710500e-03 4.18674917e-04 9.99971809e-01 -3.57054301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46037174299997 meters 0.03287550059771498 Centerline is valid? [True, True] Translation: X:254.25, Y:-15.37, Z:-3.57 [[ 9.99938438e-01 7.55136800e-03 8.13005751e-03 2.54253685e+02] [-7.54733869e-03 9.99971380e-01 -5.26174496e-04 -1.53733518e+01] [-8.13379817e-03 4.64781806e-04 9.99966812e-01 -3.57061368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49037174299997 meters 0.034435309529647726 Centerline is valid? [True, True] Translation: X:254.28, Y:-15.38, Z:-3.57 [[ 9.99943308e-01 6.08230164e-03 8.73996123e-03 2.54283970e+02] [-6.07758997e-03 9.99981371e-01 -5.65554421e-04 -1.53790204e+01] [-8.74323829e-03 5.12404458e-04 9.99961646e-01 -3.57171686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52037174299997 meters 0.03277778336645727 Centerline is valid? [True, True] Translation: X:254.32, Y:-15.38, Z:-3.57 [[ 9.99945132e-01 5.99113946e-03 8.59303164e-03 2.54316429e+02] [-5.98659124e-03 9.99981926e-01 -5.54916819e-04 -1.53789841e+01] [-8.59620092e-03 5.03443404e-04 9.99962925e-01 -3.57210229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55037174299997 meters 0.034601203702650615 Centerline is valid? [True, True] Translation: X:254.35, Y:-15.38, Z:-3.57 [[ 9.99941090e-01 6.03512059e-03 9.02181142e-03 2.54347639e+02] [-6.03008580e-03 9.99981648e-01 -5.85166434e-04 -1.53839329e+01] [-9.02517740e-03 5.30729665e-04 9.99959131e-01 -3.57300474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58037174299997 meters 0.03523041939329275 Centerline is valid? [True, True] Translation: X:254.38, Y:-15.39, Z:-3.57 [[ 9.99941268e-01 6.26944151e-03 8.84051653e-03 2.54378729e+02] [-6.26459821e-03 9.99980212e-01 -5.75438677e-04 -1.53862436e+01] [-8.84394927e-03 5.20022596e-04 9.99960756e-01 -3.57406749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61037174299997 meters 0.03523041939329275 Centerline is valid? [True, True] Translation: X:254.41, Y:-15.39, Z:-3.57 [[ 9.99939717e-01 6.51229395e-03 8.84039182e-03 2.54410477e+02] [-6.50744329e-03 9.99978660e-01 -5.77346343e-04 -1.53883753e+01] [-8.84396302e-03 5.19783191e-04 9.99960756e-01 -3.57451329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64037174299997 meters 0.035185301251730514 Centerline is valid? [True, True] Translation: X:254.44, Y:-15.39, Z:-3.58 [[ 9.99935359e-01 6.88988284e-03 9.04472294e-03 2.54442447e+02] [-6.88480011e-03 9.99976124e-01 -5.92971789e-04 -1.53897453e+01] [-9.04859250e-03 5.30662349e-04 9.99958920e-01 -3.57516095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67037174299998 meters 0.035129827458699296 Centerline is valid? [True, True] Translation: X:254.47, Y:-15.39, Z:-3.58 [[ 9.99936403e-01 7.00045224e-03 8.84216327e-03 2.54473896e+02] [-6.99557087e-03 9.99975361e-01 -5.82864177e-04 -1.53919757e+01] [-8.84602572e-03 5.20971129e-04 9.99960737e-01 -3.57569238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70037174299998 meters 0.034816119805426905 Centerline is valid? [True, True] Translation: X:254.51, Y:-15.39, Z:-3.58 [[ 9.99919578e-01 8.48686946e-03 9.42393090e-03 2.54505714e+02] [-8.48138876e-03 9.99963839e-01 -6.21385647e-04 -1.53931705e+01] [-9.42886374e-03 5.41407652e-04 9.99955401e-01 -3.57653295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73037174299998 meters 0.034799888119997874 Centerline is valid? [True, True] Translation: X:254.54, Y:-15.39, Z:-3.58 [[ 9.99914422e-01 8.95001110e-03 9.54176095e-03 2.54537008e+02] [-8.94440469e-03 9.99959800e-01 -6.30078048e-04 -1.53946582e+01] [-9.54701657e-03 5.44678756e-04 9.99954278e-01 -3.57711252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76037174299998 meters 0.033177849340488744 Centerline is valid? [True, True] Translation: X:254.57, Y:-15.39, Z:-3.58 [[ 9.99898954e-01 1.02333875e-02 9.86713409e-03 2.54568199e+02] [-1.02274500e-02 9.99947486e-01 -6.52024692e-04 -1.53923248e+01] [-9.87328835e-03 5.51043187e-04 9.99951106e-01 -3.57704166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79037174299998 meters 0.03358192257742686 Centerline is valid? [True, True] Translation: X:254.60, Y:-15.39, Z:-3.58 [[ 9.99894733e-01 1.04955181e-02 1.00183775e-02 2.54599228e+02] [-1.04894101e-02 9.99944765e-01 -6.62030613e-04 -1.53943980e+01] [-1.00247725e-02 5.56874052e-04 9.99949596e-01 -3.57716760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82037174299998 meters 0.03289038687336277 Centerline is valid? [True, True] Translation: X:254.63, Y:-15.40, Z:-3.58 [[ 9.99887316e-01 1.08383687e-02 1.03868085e-02 2.54630218e+02] [-1.08318177e-02 9.99941098e-01 -6.86758806e-04 -1.53952507e+01] [-1.03936400e-02 5.74173404e-04 9.99945820e-01 -3.57745934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85037174299998 meters 0.031300960380125864 Centerline is valid? [True, True] Translation: X:254.66, Y:-15.39, Z:-3.58 [[ 9.99880096e-01 1.14214991e-02 1.04567030e-02 2.54661967e+02] [-1.14148875e-02 9.99934609e-01 -6.91751509e-04 -1.53940705e+01] [-1.04639201e-02 5.72306477e-04 9.99945088e-01 -3.57862563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88037174299998 meters 0.03349026386849209 Centerline is valid? [True, True] Translation: X:254.69, Y:-15.40, Z:-3.58 [[ 9.99878402e-01 1.15887011e-02 1.04347568e-02 2.54691647e+02] [-1.15821216e-02 9.99932686e-01 -6.90741787e-04 -1.53993238e+01] [-1.04420592e-02 5.69801171e-04 9.99945318e-01 -3.57962629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91037174299998 meters 0.0334845187840907 Centerline is valid? [True, True] Translation: X:254.72, Y:-15.40, Z:-3.58 [[ 9.99872553e-01 1.22288241e-02 1.02632606e-02 2.54721991e+02] [-1.22224902e-02 9.99925072e-01 -6.79636187e-04 -1.54000503e+01] [-1.02708027e-02 5.54106967e-04 9.99947100e-01 -3.58042859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940371743 meters 0.03135785636453655 Centerline is valid? [True, True] Translation: X:254.75, Y:-15.40, Z:-3.58 [[ 9.99862963e-01 1.27830781e-02 1.05189250e-02 2.54753081e+02] [-1.27764553e-02 9.99918135e-01 -6.96566363e-04 -1.53982682e+01] [-1.05269682e-02 5.62076333e-04 9.99944432e-01 -3.58026638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.970371743 meters 0.032964109891921445 Centerline is valid? [True, True] Translation: X:254.78, Y:-15.40, Z:-3.58 [[ 9.99848424e-01 1.36525677e-02 1.08044874e-02 2.54782711e+02] [-1.36456305e-02 9.99906638e-01 -7.15533232e-04 -1.54013967e+01] [-1.08132475e-02 5.67990732e-04 9.99941374e-01 -3.58051066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000371743 meters 0.03164012179933868 Centerline is valid? [True, True] Translation: X:254.81, Y:-15.40, Z:-3.58 [[ 9.99832139e-01 1.51489052e-02 1.03055747e-02 2.54813199e+02] [-1.51426749e-02 9.99885110e-01 -6.82320567e-04 -1.53989499e+01] [-1.03147272e-02 5.26152064e-04 9.99946663e-01 -3.58101323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.030371743 meters 0.030447170292322908 Centerline is valid? [True, True] Translation: X:254.84, Y:-15.40, Z:-3.58 [[ 9.99823690e-01 1.56327534e-02 1.04022430e-02 2.54842916e+02] [-1.56264330e-02 9.99877663e-01 -6.88601802e-04 -1.53980681e+01] [-1.04117352e-02 5.25930441e-04 9.99945658e-01 -3.58127689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060371743 meters 0.03055627508675531 Centerline is valid? [True, True] Translation: X:254.87, Y:-15.40, Z:-3.58 [[ 9.99820005e-01 1.60814763e-02 1.00669493e-02 2.54872919e+02] [-1.60755830e-02 9.99870558e-01 -6.66062838e-04 -1.53985282e+01] [-1.00763575e-02 5.04110871e-04 9.99949105e-01 -3.58141388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.090371743 meters 0.030906411982722218 Centerline is valid? [True, True] Translation: X:254.90, Y:-15.40, Z:-3.58 [[ 9.99825777e-01 1.56972800e-02 1.01000728e-02 2.54902042e+02] [-1.56913312e-02 9.99876660e-01 -6.67964326e-04 -1.54000142e+01] [-1.01093123e-02 5.09364363e-04 9.99948770e-01 -3.58179960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120371743 meters 0.030338147669710797 Centerline is valid? [True, True] Translation: X:254.93, Y:-15.40, Z:-3.58 [[ 9.99833980e-01 1.53620144e-02 9.79903177e-03 2.54931306e+02] [-1.53564045e-02 9.99881874e-01 -6.47486055e-04 -1.54000333e+01] [-9.80782094e-03 4.96900663e-04 9.99951779e-01 -3.58229880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15037174299997 meters 0.03143532586774564 Centerline is valid? [True, True] Translation: X:254.96, Y:-15.40, Z:-3.58 [[ 9.99855945e-01 1.39645082e-02 9.64787169e-03 2.54959544e+02] [-1.39590077e-02 9.99902365e-01 -6.37237129e-04 -1.54021451e+01] [-9.65582843e-03 5.02470617e-04 9.99953255e-01 -3.58275229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18037174299997 meters 0.03182501786871942 Centerline is valid? [True, True] Translation: X:254.99, Y:-15.40, Z:-3.58 [[ 9.99871130e-01 1.30190109e-02 9.39299161e-03 2.54989069e+02] [-1.30137608e-02 9.99915125e-01 -6.19844273e-04 -1.54038078e+01] [-9.40026415e-03 4.97526248e-04 9.99955693e-01 -3.58263705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21037174299997 meters 0.03182732532669461 Centerline is valid? [True, True] Translation: X:255.02, Y:-15.40, Z:-3.58 [[ 9.99890697e-01 1.06423655e-02 1.02632840e-02 2.55018820e+02] [-1.06359770e-02 9.99943207e-01 -6.76848743e-04 -1.54042802e+01] [-1.02699044e-02 5.67614708e-04 9.99947102e-01 -3.58259964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24037174299997 meters 0.03296080926001128 Centerline is valid? [True, True] Translation: X:255.05, Y:-15.41, Z:-3.58 [[ 9.99894886e-01 9.53299792e-03 1.09242552e-02 2.55048915e+02] [-9.52570117e-03 9.99954370e-01 -7.19778381e-04 -1.54079712e+01] [-1.09306184e-02 6.15641531e-04 9.99940069e-01 -3.58284632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27037174299997 meters 0.03598577749983829 Centerline is valid? [True, True] Translation: X:255.08, Y:-15.41, Z:-3.58 [[ 9.99916253e-01 5.97578859e-03 1.14794409e-02 2.55078948e+02] [-5.96748625e-03 9.99981908e-01 -7.57352637e-04 -1.54149741e+01] [-1.14837590e-02 6.88785805e-04 9.99933822e-01 -3.58371881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30037174299997 meters 0.03615249936079806 Centerline is valid? [True, True] Translation: X:255.11, Y:-15.42, Z:-3.58 [[ 9.99928922e-01 4.21988020e-03 1.11509010e-02 2.55110441e+02] [-4.21194214e-03 9.99990859e-01 -7.35264706e-04 -1.54180902e+01] [-1.11539018e-02 6.88245496e-04 9.99937556e-01 -3.58444389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33037174299997 meters 0.03712955273668236 Centerline is valid? [True, True] Translation: X:255.14, Y:-15.42, Z:-3.59 [[ 9.99937683e-01 1.80237713e-03 1.10173136e-02 2.55141136e+02] [-1.79444784e-03 9.99998124e-01 -7.29554729e-04 -1.54221891e+01] [-1.10186079e-02 7.09739271e-04 9.99939041e-01 -3.58544005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36037174299997 meters 0.038668892233890646 Centerline is valid? [True, True] Translation: X:255.17, Y:-15.43, Z:-3.59 [[ 9.99946529e-01 -2.89118895e-03 9.92879840e-03 2.55171115e+02] [ 2.89786116e-03 9.99995585e-01 -6.57685227e-04 -1.54273454e+01] [-9.92685307e-03 6.86422339e-04 9.99950492e-01 -3.58692416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39037174299997 meters 0.04019543436011708 Centerline is valid? [True, True] Translation: X:255.20, Y:-15.43, Z:-3.59 [[ 9.99946282e-01 -5.01914435e-03 9.06872131e-03 2.55202046e+02] [ 5.02479727e-03 9.99987195e-01 -6.00664433e-04 -1.54318083e+01] [-9.06559036e-03 6.46200653e-04 9.99958698e-01 -3.58824083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42037174299998 meters 0.04119721570212836 Centerline is valid? [True, True] Translation: X:255.23, Y:-15.43, Z:-3.59 [[ 9.99939668e-01 -8.68633960e-03 6.72370494e-03 2.55232167e+02] [ 8.68953047e-03 9.99962146e-01 -4.45501909e-04 -1.54347605e+01] [-6.71958064e-03 5.03900870e-04 9.99977296e-01 -3.58960399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45037174299998 meters 0.04018624678172784 Centerline is valid? [True, True] Translation: X:255.26, Y:-15.44, Z:-3.59 [[ 9.99937065e-01 -9.56253406e-03 5.86712507e-03 2.55264756e+02] [ 9.56497548e-03 9.99954179e-01 -3.88199726e-04 -1.54350998e+01] [-5.86314406e-03 4.44294202e-04 9.99982713e-01 -3.59082374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48037174299998 meters 0.04149007348107592 Centerline is valid? [True, True] Translation: X:255.30, Y:-15.44, Z:-3.59 [[ 9.99937865e-01 -9.99126851e-03 4.94365802e-03 2.55295440e+02] [ 9.99300584e-03 9.99950015e-01 -3.26849959e-04 -1.54390108e+01] [-4.94014527e-03 3.76231654e-04 9.99987727e-01 -3.59187926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51037174299998 meters 0.042916779264438404 Centerline is valid? [True, True] Translation: X:255.33, Y:-15.44, Z:-3.59 [[ 9.99943273e-01 -9.75061887e-03 4.28685969e-03 2.55327557e+02] [ 9.75192201e-03 9.99952409e-01 -2.83185665e-04 -1.54428916e+01] [-4.28389444e-03 3.24974721e-04 9.99990771e-01 -3.59313164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54037174299998 meters 0.04041568004378884 Centerline is valid? [True, True] Translation: X:255.36, Y:-15.44, Z:-3.59 [[ 9.99954883e-01 -8.89041763e-03 3.34543913e-03 2.55360487e+02] [ 8.89120911e-03 9.99960448e-01 -2.21785476e-04 -1.54393764e+01] [-3.34333505e-03 2.51520468e-04 9.99994379e-01 -3.59371370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57037174299998 meters 0.041154002037272444 Centerline is valid? [True, True] Translation: X:255.39, Y:-15.44, Z:-3.59 [[ 9.99964970e-01 -7.78752389e-03 3.06823848e-03 2.55391322e+02] [ 7.78818405e-03 9.99969651e-01 -2.03270724e-04 -1.54409547e+01] [-3.06656239e-03 2.27159609e-04 9.99995272e-01 -3.59429978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60037174299998 meters 0.040181977628429455 Centerline is valid? [True, True] Translation: X:255.42, Y:-15.44, Z:-3.59 [[ 9.99976315e-01 -6.11404593e-03 3.16038898e-03 2.55423337e+02] [ 6.11474247e-03 9.99981283e-01 -2.10780100e-04 -1.54403275e+01] [-3.15904110e-03 2.30100072e-04 9.99994984e-01 -3.59417774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63037174299998 meters 0.040588504703416683 Centerline is valid? [True, True] Translation: X:255.45, Y:-15.44, Z:-3.59 [[ 9.99986663e-01 -2.71676463e-03 4.39242227e-03 2.55452521e+02] [ 2.71808332e-03 9.99996263e-01 -2.94278655e-04 -1.54400855e+01] [-4.39160637e-03 3.06213699e-04 9.99990310e-01 -3.59378823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66037174299998 meters 0.037631562890084305 Centerline is valid? [True, True] Translation: X:255.48, Y:-15.44, Z:-3.59 [[ 9.99989528e-01 -9.00504466e-04 4.48707065e-03 2.55484683e+02] [ 9.01858156e-04 9.99999548e-01 -2.99672472e-04 -1.54369657e+01] [-4.48679877e-03 3.03716035e-04 9.99989888e-01 -3.59333516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.690371743 meters 0.03967422437893128 Centerline is valid? [True, True] Translation: X:255.51, Y:-15.44, Z:-3.59 [[ 9.99987435e-01 9.42947348e-04 4.92351059e-03 2.55514633e+02] [-9.41336540e-04 9.99999503e-01 -3.29473595e-04 -1.54406176e+01] [-4.92381882e-03 3.24834774e-04 9.99987825e-01 -3.59369383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720371743 meters 0.03534066046488266 Centerline is valid? [True, True] Translation: X:255.55, Y:-15.43, Z:-3.59 [[ 9.99976863e-01 3.53290091e-03 5.81303625e-03 2.55545687e+02] [-3.53069734e-03 9.99993691e-01 -3.89293212e-04 -1.54343870e+01] [-5.81437491e-03 3.68760133e-04 9.99983028e-01 -3.59321399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.750371743 meters 0.03996944137761514 Centerline is valid? [True, True] Translation: X:255.58, Y:-15.44, Z:-3.59 [[ 9.99970845e-01 4.32663032e-03 6.29208173e-03 2.55576169e+02] [-4.32407111e-03 9.99990563e-01 -4.20282649e-04 -1.54422841e+01] [-6.29384076e-03 3.93062987e-04 9.99980116e-01 -3.59420724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780371743 meters 0.03453753885067111 Centerline is valid? [True, True] Translation: X:255.61, Y:-15.43, Z:-3.59 [[ 9.99963250e-01 5.62417181e-03 6.47056864e-03 2.55608643e+02] [-5.62148225e-03 9.99984105e-01 -4.33773798e-04 -1.54347100e+01] [-6.47290541e-03 3.97383670e-04 9.99978972e-01 -3.59304217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.810371743 meters 0.03413750272743121 Centerline is valid? [True, True] Translation: X:255.64, Y:-15.43, Z:-3.59 [[ 9.99960427e-01 6.54266834e-03 6.02810521e-03 2.55640107e+02] [-6.54034749e-03 9.99978530e-01 -4.04637872e-04 -1.54344998e+01] [-6.03062320e-03 3.65195956e-04 9.99981749e-01 -3.59350341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840371743 meters 0.03667293029985957 Centerline is valid? [True, True] Translation: X:255.67, Y:-15.44, Z:-3.59 [[ 9.99951643e-01 7.51476860e-03 6.34354556e-03 2.55670324e+02] [-7.51221551e-03 9.99971692e-01 -4.26202621e-04 -1.54397182e+01] [-6.34656880e-03 3.78527930e-04 9.99979789e-01 -3.59418645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.870371743 meters 0.033375412389953604 Centerline is valid? [True, True] Translation: X:255.70, Y:-15.43, Z:-3.59 [[ 9.99941505e-01 9.03405647e-03 5.94742735e-03 2.55700872e+02] [-9.03183681e-03 9.99959132e-01 -3.99965672e-04 -1.54347509e+01] [-5.95079760e-03 3.46226083e-04 9.99982234e-01 -3.59417118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90037174299997 meters 0.03364127692004918 Centerline is valid? [True, True] Translation: X:255.73, Y:-15.44, Z:-3.59 [[ 9.99932897e-01 1.00847050e-02 5.70090645e-03 2.55730183e+02] [-1.00826823e-02 9.99949095e-01 -3.83441400e-04 -1.54360536e+01] [-5.70448314e-03 3.25935242e-04 9.99983676e-01 -3.59472785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93037174299997 meters 0.03367695245266918 Centerline is valid? [True, True] Translation: X:255.76, Y:-15.44, Z:-3.60 [[ 9.99932464e-01 1.04157455e-02 5.15563240e-03 2.55759814e+02] [-1.04140962e-02 9.99945712e-01 -3.46631712e-04 -1.54371693e+01] [-5.15896294e-03 2.92917050e-04 9.99986650e-01 -3.59555834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96037174299997 meters 0.034451345901792746 Centerline is valid? [True, True] Translation: X:255.79, Y:-15.44, Z:-3.60 [[ 9.99935553e-01 1.05856551e-02 4.10279014e-03 2.55788329e+02] [-1.05846116e-02 9.99943943e-01 -2.75971681e-04 -1.54390692e+01] [-4.10548149e-03 2.32527456e-04 9.99991545e-01 -3.59695755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99037174299997 meters 0.03549794285049069 Centerline is valid? [True, True] Translation: X:255.82, Y:-15.44, Z:-3.60 [[ 9.99938360e-01 1.05124886e-02 3.57278326e-03 2.55816163e+02] [-1.05116958e-02 9.99944722e-01 -2.40582555e-04 -1.54421674e+01] [-3.57511489e-03 2.03011714e-04 9.99993589e-01 -3.59864444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.020371743 meters 0.035892404734215136 Centerline is valid? [True, True] Translation: X:255.85, Y:-15.44, Z:-3.60 [[ 9.99944159e-01 1.00694208e-02 3.20726454e-03 2.55845268e+02] [-1.00687808e-02 9.99949285e-01 -2.15622584e-04 -1.54444589e+01] [-3.20927308e-03 1.83317300e-04 9.99994833e-01 -3.59971396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.050371743 meters 0.033358258507109724 Centerline is valid? [True, True] Translation: X:255.87, Y:-15.44, Z:-3.60 [[ 9.99944797e-01 1.01360533e-02 2.76820838e-03 2.55874475e+02] [-1.01355769e-02 9.99948616e-01 -1.86072383e-04 -1.54426622e+01] [-2.76995218e-03 1.58004723e-04 9.99996151e-01 -3.59943597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.080371743 meters 0.03357644238048798 Centerline is valid? [True, True] Translation: X:255.90, Y:-15.44, Z:-3.60 [[ 9.99946621e-01 1.00201544e-02 2.52026139e-03 2.55903227e+02] [-1.00197593e-02 9.99949787e-01 -1.69317153e-04 -1.54440465e+01] [-2.52183143e-03 1.44055702e-04 9.99996810e-01 -3.60002486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11037174300003 meters 0.03235193456466515 Centerline is valid? [True, True] Translation: X:255.93, Y:-15.44, Z:-3.60 [[ 9.99949536e-01 9.82311329e-03 2.10529969e-03 2.55932045e+02] [-9.82283715e-03 9.99951745e-01 -1.41468131e-04 -1.54438440e+01] [-2.10658775e-03 1.20780976e-04 9.99997774e-01 -3.59989385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.140371743 meters 0.033248737217147176 Centerline is valid? [True, True] Translation: X:255.96, Y:-15.45, Z:-3.60 [[ 9.99954815e-01 9.18292639e-03 2.45798953e-03 2.55959920e+02] [-9.18254840e-03 9.99957826e-01 -1.65021697e-04 -1.54472743e+01] [-2.45940125e-03 1.42443633e-04 9.99996966e-01 -3.60080729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17037174300003 meters 0.03817879408291322 Centerline is valid? [True, True] Translation: X:255.99, Y:-15.46, Z:-3.60 [[ 9.99956510e-01 8.79643839e-03 3.09846969e-03 2.55987495e+02] [-8.79584104e-03 9.99961295e-01 -2.06363666e-04 -1.54571990e+01] [-3.10016503e-03 1.79101044e-04 9.99995178e-01 -3.60239959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.200371743 meters 0.03962963865343867 Centerline is valid? [True, True] Translation: X:256.02, Y:-15.46, Z:-3.60 [[ 9.99968763e-01 7.26170770e-03 3.12111533e-03 2.56016629e+02] [-7.26109322e-03 9.99973616e-01 -2.08164950e-04 -1.54622300e+01] [-3.12254462e-03 1.85495738e-04 9.99995108e-01 -3.60296998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23037174300003 meters 0.03479359568171344 Centerline is valid? [True, True] Translation: X:256.05, Y:-15.46, Z:-3.60 [[ 9.99976424e-01 6.26082536e-03 2.82003139e-03 2.56047053e+02] [-6.26031922e-03 9.99980386e-01 -1.88272404e-04 -1.54573977e+01] [-2.82115482e-03 1.70613669e-04 9.99996006e-01 -3.60196822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.260371743 meters 0.03625398073211639 Centerline is valid? [True, True] Translation: X:256.08, Y:-15.46, Z:-3.60 [[ 9.99983169e-01 5.27696178e-03 2.41158780e-03 2.56075681e+02] [-5.27658834e-03 9.99986066e-01 -1.61187092e-04 -1.54621639e+01] [-2.41240477e-03 1.48459423e-04 9.99997079e-01 -3.60278671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.290371743 meters 0.035035388665574776 Centerline is valid? [True, True] Translation: X:256.11, Y:-15.46, Z:-3.60 [[ 9.99990973e-01 3.72771136e-03 2.03898046e-03 2.56105205e+02] [-3.72744160e-03 9.99993044e-01 -1.36086390e-04 -1.54632237e+01] [-2.03947357e-03 1.28484981e-04 9.99997912e-01 -3.60333409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.320371743 meters 0.03609044373288202 Centerline is valid? [True, True] Translation: X:256.13, Y:-15.47, Z:-3.60 [[ 9.99993385e-01 3.24432823e-03 1.64417918e-03 2.56134965e+02] [-3.24415247e-03 9.99994732e-01 -1.09553060e-04 -1.54667588e+01] [-1.64452595e-03 1.04218367e-04 9.99998642e-01 -3.60407228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.350371743 meters 0.036509044906263666 Centerline is valid? [True, True] Translation: X:256.16, Y:-15.47, Z:-3.60 [[ 9.99992765e-01 3.40749917e-03 1.69066106e-03 2.56163962e+02] [-3.40731363e-03 9.99994189e-01 -1.12611530e-04 -1.54695826e+01] [-1.69103496e-03 1.06850102e-04 9.99998564e-01 -3.60443074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380371743 meters 0.03701146159962561 Centerline is valid? [True, True] Translation: X:256.19, Y:-15.47, Z:-3.60 [[ 9.99990176e-01 3.34211688e-03 2.91189162e-03 2.56193143e+02] [-3.34156689e-03 9.99994398e-01 -1.93723113e-04 -1.54727396e+01] [-2.91252275e-03 1.83990929e-04 9.99995742e-01 -3.60339052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.410371743 meters 0.03750703653124384 Centerline is valid? [True, True] Translation: X:256.22, Y:-15.48, Z:-3.60 [[ 9.99984303e-01 3.61652402e-03 4.27944768e-03 2.56223707e+02] [-3.61534015e-03 9.99993424e-01 -2.84345172e-04 -1.54761395e+01] [-4.28044788e-03 2.68869050e-04 9.99990803e-01 -3.60298190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440371743 meters 0.038090584287434275 Centerline is valid? [True, True] Translation: X:256.25, Y:-15.48, Z:-3.60 [[ 9.99979615e-01 3.54286348e-03 5.31196327e-03 2.56253924e+02] [-3.54103838e-03 9.99993668e-01 -3.52950012e-04 -1.54792182e+01] [-5.31318009e-03 3.34132951e-04 9.99985829e-01 -3.60253034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.470371743 meters 0.03676529027174235 Centerline is valid? [True, True] Translation: X:256.29, Y:-15.48, Z:-3.60 [[ 9.99973731e-01 3.65140802e-03 6.26137829e-03 2.56285527e+02] [-3.64887601e-03 9.99993256e-01 -4.15762731e-04 -1.54802322e+01] [-6.26285419e-03 3.92904816e-04 9.99980311e-01 -3.60147834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500371743 meters 0.038308320937310555 Centerline is valid? [True, True] Translation: X:256.32, Y:-15.49, Z:-3.60 [[ 9.99958544e-01 4.24980074e-03 8.05287493e-03 2.56316265e+02] [-4.24563755e-03 9.99990845e-01 -5.34006575e-04 -1.54861617e+01] [-8.05507063e-03 4.99794849e-04 9.99967432e-01 -3.60134666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.530371743 meters 0.038308320937310555 Centerline is valid? [True, True] Translation: X:256.35, Y:-15.49, Z:-3.60 [[ 9.99957508e-01 4.48715297e-03 8.05275981e-03 2.56348022e+02] [-4.48298358e-03 9.99989808e-01 -5.35734926e-04 -1.54883411e+01] [-8.05508166e-03 4.99611772e-04 9.99967432e-01 -3.60179254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560371743 meters 0.03721216102913496 Centerline is valid? [True, True] Translation: X:256.38, Y:-15.49, Z:-3.60 [[ 9.99954708e-01 4.87346417e-03 8.17509881e-03 2.56380192e+02] [-4.86916378e-03 9.99987997e-01 -5.45855490e-04 -1.54901251e+01] [-8.17766088e-03 5.06024872e-04 9.99966434e-01 -3.60242442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.590371743 meters 0.03692496548421822 Centerline is valid? [True, True] Translation: X:256.41, Y:-15.49, Z:-3.60 [[ 9.99956601e-01 5.21448232e-03 7.72042770e-03 2.56412338e+02] [-5.21064420e-03 9.99986291e-01 -5.17168870e-04 -1.54927382e+01] [-7.72301862e-03 4.76918023e-04 9.99970063e-01 -3.60370833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620371743 meters 0.03930674094484601 Centerline is valid? [True, True] Translation: X:256.44, Y:-15.50, Z:-3.61 [[ 9.99959745e-01 5.11205000e-03 7.37390910e-03 2.56443061e+02] [-5.10853293e-03 9.99986829e-01 -4.95716799e-04 -1.54991756e+01] [-7.37634610e-03 4.58026986e-04 9.99972689e-01 -3.60508128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.650371743 meters 0.03729592085270165 Centerline is valid? [True, True] Translation: X:256.47, Y:-15.50, Z:-3.61 [[ 9.99963258e-01 5.28495506e-03 6.74928204e-03 2.56474102e+02] [-5.28199489e-03 9.99985946e-01 -4.56339511e-04 -1.54994523e+01] [-6.75159892e-03 4.20673071e-04 9.99977119e-01 -3.60612862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680371743 meters 0.038058132555338624 Centerline is valid? [True, True] Translation: X:256.50, Y:-15.50, Z:-3.61 [[ 9.99969405e-01 5.23449569e-03 5.81287699e-03 2.56504698e+02] [-5.23229832e-03 9.99986234e-01 -3.93161325e-04 -1.55045129e+01] [-5.81485497e-03 3.62734590e-04 9.99983028e-01 -3.60788489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.710371743 meters 0.037867178466747184 Centerline is valid? [True, True] Translation: X:256.54, Y:-15.51, Z:-3.61 [[ 9.99971843e-01 5.28717183e-03 5.32528152e-03 2.56536321e+02] [-5.28532763e-03 9.99985968e-01 -3.60324430e-04 -1.55079375e+01] [-5.32711189e-03 3.32168427e-04 9.99985756e-01 -3.60893360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740371743 meters 0.03719699160232886 Centerline is valid? [True, True] Translation: X:256.57, Y:-15.51, Z:-3.61 [[ 9.99976086e-01 5.16130497e-03 4.60304089e-03 2.56566983e+02] [-5.15992385e-03 9.99986639e-01 -3.11871618e-04 -1.55100643e+01] [-4.60458905e-03 2.88112820e-04 9.99989357e-01 -3.61000337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.770371743 meters 0.04022171147238752 Centerline is valid? [True, True] Translation: X:256.60, Y:-15.52, Z:-3.61 [[ 9.99981442e-01 5.03632432e-03 3.42792652e-03 2.56597219e+02] [-5.03555826e-03 9.99987295e-01 -2.32071515e-04 -1.55187569e+01] [-3.42905176e-03 2.14805684e-04 9.99994098e-01 -3.61213067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800371743 meters 0.038474110074245 Centerline is valid? [True, True] Translation: X:256.63, Y:-15.52, Z:-3.61 [[ 9.99982154e-01 5.10093367e-03 3.11010682e-03 2.56628146e+02] [-5.10030270e-03 9.99986971e-01 -2.10773798e-04 -1.55198924e+01] [-3.11114144e-03 1.94907551e-04 9.99995141e-01 -3.61278579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.830371743 meters 0.03888499366848823 Centerline is valid? [True, True] Translation: X:256.66, Y:-15.53, Z:-3.61 [[ 9.99979282e-01 5.80704815e-03 2.77738436e-03 2.56657798e+02] [-5.80654768e-03 9.99983124e-01 -1.88224998e-04 -1.55252968e+01] [-2.77843052e-03 1.72094084e-04 9.99996125e-01 -3.61414408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86037174300003 meters 0.03895860166308563 Centerline is valid? [True, True] Translation: X:256.69, Y:-15.53, Z:-3.61 [[ 9.99975247e-01 6.63457586e-03 2.34254267e-03 2.56687481e+02] [-6.63422118e-03 9.99977981e-01 -1.59147403e-04 -1.55281420e+01] [-2.34354696e-03 1.43602517e-04 9.99997244e-01 -3.61483008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.890371743 meters 0.03870586480366804 Centerline is valid? [True, True] Translation: X:256.72, Y:-15.53, Z:-3.62 [[ 9.99954452e-01 9.00316446e-03 3.16808125e-03 2.56716075e+02] [-9.00252787e-03 9.99959453e-01 -2.15139127e-04 -1.55305652e+01] [-3.16988973e-03 1.86608588e-04 9.99994958e-01 -3.61511648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92037174300003 meters 0.03468754710235644 Centerline is valid? [True, True] Translation: X:256.75, Y:-15.53, Z:-3.61 [[ 9.99937938e-01 1.06042940e-02 3.41595886e-03 2.56745800e+02] [-1.06035639e-02 9.99943754e-01 -2.31764763e-04 -1.55266660e+01] [-3.41822443e-03 1.95529041e-04 9.99994139e-01 -3.61384888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.950371743 meters 0.03781667609020773 Centerline is valid? [True, True] Translation: X:256.77, Y:-15.53, Z:-3.62 [[ 9.99917849e-01 1.22885888e-02 3.64503317e-03 2.56773632e+02] [-1.22877689e-02 9.99924472e-01 -2.47242543e-04 -1.55328574e+01] [-3.64779613e-03 2.02432906e-04 9.99993326e-01 -3.61512890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98037174300003 meters 0.03219391294794719 Centerline is valid? [True, True] Translation: X:256.80, Y:-15.53, Z:-3.61 [[ 9.99896051e-01 1.39739711e-02 3.55169179e-03 2.56802742e+02] [-1.39732040e-02 9.99902341e-01 -2.40712969e-04 -1.55259750e+01] [-3.55470865e-03 1.91059434e-04 9.99993664e-01 -3.61403422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.010371743 meters 0.03154342196530889 Centerline is valid? [True, True] Translation: X:256.83, Y:-15.53, Z:-3.61 [[ 9.99871227e-01 1.56400747e-02 3.59402845e-03 2.56832168e+02] [-1.56393015e-02 9.99877669e-01 -2.43136546e-04 -1.55267166e+01] [-3.59739147e-03 1.86897142e-04 9.99993512e-01 -3.61459756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.040371743 meters 0.030503984828706573 Centerline is valid? [True, True] Translation: X:256.86, Y:-15.53, Z:-3.62 [[ 9.99813126e-01 1.89291449e-02 3.92432390e-03 2.56861279e+02] [-1.89282502e-02 9.99820810e-01 -2.65023335e-04 -1.55280793e+01] [-3.92863737e-03 1.90693224e-04 9.99992265e-01 -3.61530845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.070371743 meters 0.030380652385267562 Centerline is valid? [True, True] Translation: X:256.89, Y:-15.53, Z:-3.62 [[ 9.99782594e-01 2.04506288e-02 4.06643776e-03 2.56889933e+02] [-2.04496798e-02 9.99790846e-01 -2.74801879e-04 -1.55300276e+01] [-4.07120711e-03 1.91584786e-04 9.99991694e-01 -3.61572596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.100371743 meters 0.03254593634511193 Centerline is valid? [True, True] Translation: X:256.92, Y:-15.54, Z:-3.62 [[ 9.99760982e-01 2.14433816e-02 4.26144679e-03 2.56917064e+02] [-2.14423493e-02 9.99770045e-01 -2.87787034e-04 -1.55358484e+01] [-4.26663798e-03 1.96342817e-04 9.99990879e-01 -3.61676453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.130371743 meters 0.029488729557857092 Centerline is valid? [True, True] Translation: X:256.95, Y:-15.53, Z:-3.62 [[ 9.99721056e-01 2.31789693e-02 4.53270478e-03 2.56945907e+02] [-2.31778220e-02 9.99731312e-01 -3.05496976e-04 -1.55329669e+01] [-4.53856800e-03 2.00353535e-04 9.99989681e-01 -3.61556373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.160371743 meters 0.03069472211854642 Centerline is valid? [True, True] Translation: X:256.97, Y:-15.54, Z:-3.62 [[ 9.99715018e-01 2.33737723e-02 4.85284667e-03 2.56973647e+02] [-2.33724607e-02 9.99726773e-01 -3.26820193e-04 -1.55374085e+01] [-4.85915976e-03 2.13304087e-04 9.99988171e-01 -3.61610398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.190371743 meters 0.02842732750782486 Centerline is valid? [True, True] Translation: X:257.00, Y:-15.54, Z:-3.62 [[ 9.99719353e-01 2.31994365e-02 4.79588760e-03 2.57002368e+02] [-2.31981561e-02 9.99730835e-01 -3.22444190e-04 -1.55356444e+01] [-4.80207723e-03 2.11097949e-04 9.99988448e-01 -3.61529552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.220371743 meters 0.03070089152541852 Centerline is valid? [True, True] Translation: X:257.03, Y:-15.54, Z:-3.62 [[ 9.99721424e-01 2.30226499e-02 5.19931763e-03 2.57029762e+02] [-2.30211441e-02 9.99734917e-01 -3.49287556e-04 -1.55433498e+01] [-5.20598091e-03 2.29496013e-04 9.99986422e-01 -3.61688461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.250371743 meters 0.030907275279249406 Centerline is valid? [True, True] Translation: X:257.06, Y:-15.55, Z:-3.62 [[ 9.99728231e-01 2.27532522e-02 5.07486521e-03 2.57056891e+02] [-2.27518166e-02 9.99741086e-01 -3.40448769e-04 -1.55470189e+01] [-5.08129757e-03 2.24893843e-04 9.99987065e-01 -3.61759686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.280371743 meters 0.030485002753050244 Centerline is valid? [True, True] Translation: X:257.09, Y:-15.55, Z:-3.62 [[ 9.99739458e-01 2.22036263e-02 5.29302489e-03 2.57085585e+02] [-2.22020602e-02 9.99753441e-01 -3.54449658e-04 -1.55497344e+01] [-5.29958992e-03 2.36841251e-04 9.99985929e-01 -3.61814457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.310371743 meters 0.03064746936839702 Centerline is valid? [True, True] Translation: X:257.11, Y:-15.55, Z:-3.62 [[ 9.99747147e-01 2.18538175e-02 5.29643759e-03 2.57112987e+02] [-2.18522457e-02 9.99761148e-01 -3.54462196e-04 -1.55529931e+01] [-5.30291888e-03 2.38633514e-04 9.99985911e-01 -3.61827423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.340371743 meters 0.02990691891003909 Centerline is valid? [True, True] Translation: X:257.14, Y:-15.55, Z:-3.62 [[ 9.99754565e-01 2.15113280e-02 5.29840853e-03 2.57141545e+02] [-2.15097534e-02 9.99768576e-01 -3.54007390e-04 -1.55542658e+01] [-5.30479752e-03 2.39953043e-04 9.99985901e-01 -3.61834128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.370371743 meters 0.0318148571254283 Centerline is valid? [True, True] Translation: X:257.17, Y:-15.56, Z:-3.62 [[ 9.99774034e-01 2.06534351e-02 5.03147906e-03 2.57169154e+02] [-2.06520050e-02 9.99786668e-01 -3.36024271e-04 -1.55606975e+01] [-5.03734574e-03 2.32038211e-04 9.99987286e-01 -3.61940203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.400371743 meters 0.028104439012907042 Centerline is valid? [True, True] Translation: X:257.20, Y:-15.56, Z:-3.62 [[ 9.99782267e-01 2.02155659e-02 5.17192766e-03 2.57198214e+02] [-2.02140521e-02 9.99795616e-01 -3.44810683e-04 -1.55579526e+01] [-5.17784114e-03 2.40189991e-04 9.99986566e-01 -3.61866956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.430371743 meters 0.02958209369160341 Centerline is valid? [True, True] Translation: X:257.23, Y:-15.56, Z:-3.62 [[ 9.99798793e-01 1.94087022e-02 5.06704355e-03 2.57225721e+02] [-1.94072397e-02 9.99811605e-01 -3.37629515e-04 -1.55634686e+01] [-5.07264189e-03 2.39224253e-04 9.99987105e-01 -3.61975935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.460371743 meters 0.029211664055733114 Centerline is valid? [True, True] Translation: X:257.26, Y:-15.57, Z:-3.62 [[ 9.99836910e-01 1.73714971e-02 4.93806308e-03 2.57255033e+02] [-1.73700878e-02 9.99849075e-01 -3.28141718e-04 -1.55678698e+01] [-4.94301812e-03 2.42313612e-04 9.99987754e-01 -3.62012570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.490371743 meters 0.030650144842808966 Centerline is valid? [True, True] Translation: X:257.28, Y:-15.57, Z:-3.62 [[ 9.99862155e-01 1.58827087e-02 4.83843388e-03 2.57282454e+02] [-1.58813368e-02 9.99873832e-01 -3.21842792e-04 -1.55727485e+01] [-4.84293516e-03 2.44957630e-04 9.99988243e-01 -3.62083838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.520371743 meters 0.03225640307913133 Centerline is valid? [True, True] Translation: X:257.31, Y:-15.58, Z:-3.62 [[ 9.99906427e-01 1.31560855e-02 3.74882421e-03 2.57310322e+02] [-1.31552437e-02 9.99913435e-01 -2.49119691e-04 -1.55787620e+01] [-3.75177713e-03 1.99779684e-04 9.99992942e-01 -3.62235152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.550371743 meters 0.0327465416855661 Centerline is valid? [True, True] Translation: X:257.34, Y:-15.58, Z:-3.62 [[ 9.99924398e-01 1.19411161e-02 2.93411368e-03 2.57339598e+02] [-1.19405963e-02 9.99928690e-01 -1.94600801e-04 -1.55825532e+01] [-2.93622819e-03 1.59551022e-04 9.99995677e-01 -3.62347960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.580371743 meters 0.034029542411011963 Centerline is valid? [True, True] Translation: X:257.37, Y:-15.59, Z:-3.62 [[ 9.99939912e-01 1.07255637e-02 2.26583155e-03 2.57367571e+02] [-1.07252497e-02 9.99942472e-01 -1.50713469e-04 -1.55870638e+01] [-2.26731768e-03 1.26402804e-04 9.99997422e-01 -3.62443721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61037174300003 meters 0.03432501504046842 Centerline is valid? [True, True] Translation: X:257.40, Y:-15.59, Z:-3.63 [[ 9.99948517e-01 9.89808533e-03 2.23389795e-03 2.57396273e+02] [-9.89777831e-03 9.99951005e-01 -1.48447607e-04 -1.55903943e+01] [-2.23525785e-03 1.26329338e-04 9.99997494e-01 -3.62520352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.640371743 meters 0.036243669608075 Centerline is valid? [True, True] Translation: X:257.42, Y:-15.60, Z:-3.63 [[ 9.99968742e-01 7.59283020e-03 2.20531425e-03 2.57424587e+02] [-7.59252617e-03 9.99971166e-01 -1.46199042e-04 -1.55964735e+01] [-2.20636073e-03 1.29450566e-04 9.99997558e-01 -3.62572957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67037174300003 meters 0.03736338978320656 Centerline is valid? [True, True] Translation: X:257.45, Y:-15.60, Z:-3.63 [[ 9.99975760e-01 6.68472220e-03 1.94775854e-03 2.57453109e+02] [-6.68448337e-03 9.99977650e-01 -1.29102371e-04 -1.56000779e+01] [-1.94857802e-03 1.16079482e-04 9.99998095e-01 -3.62596762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.700371743 meters 0.038049229999503 Centerline is valid? [True, True] Translation: X:257.48, Y:-15.60, Z:-3.63 [[ 9.99980020e-01 6.02440210e-03 1.91473692e-03 2.57482719e+02] [-6.02417066e-03 9.99981847e-01 -1.26619586e-04 -1.56031875e+01] [-1.91546497e-03 1.15082354e-04 9.99998159e-01 -3.62583280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73037174300003 meters 0.03830617573172386 Centerline is valid? [True, True] Translation: X:257.51, Y:-15.61, Z:-3.63 [[ 9.99978532e-01 5.98470491e-03 2.66803324e-03 2.57512385e+02] [-5.98425613e-03 9.99982079e-01 -1.76158383e-04 -1.56058220e+01] [-2.66903968e-03 1.60188407e-04 9.99996425e-01 -3.62571409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.760371743 meters 0.038628915487938426 Centerline is valid? [True, True] Translation: X:257.54, Y:-15.61, Z:-3.63 [[ 9.99974722e-01 6.26956913e-03 3.35374259e-03 2.57542018e+02] [-6.26886240e-03 9.99980326e-01 -2.21199040e-04 -1.56083377e+01] [-3.35506343e-03 2.00169297e-04 9.99994352e-01 -3.62527874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.790371743 meters 0.03816121608240175 Centerline is valid? [True, True] Translation: X:257.57, Y:-15.61, Z:-3.62 [[ 9.99963152e-01 7.12629627e-03 4.78645211e-03 2.57571501e+02] [-7.12486823e-03 9.99974568e-01 -3.15337497e-04 -1.56091633e+01] [-4.78857757e-03 2.81223037e-04 9.99988495e-01 -3.62431496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.820371743 meters 0.038536858000596044 Centerline is valid? [True, True] Translation: X:257.60, Y:-15.61, Z:-3.62 [[ 9.99951884e-01 8.37826455e-03 5.10239899e-03 2.57600780e+02] [-8.37665977e-03 9.99964859e-01 -3.35804073e-04 -1.56112129e+01] [-5.10503314e-03 2.93046855e-04 9.99986926e-01 -3.62497912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.850371743 meters 0.03150052206427254 Centerline is valid? [True, True] Translation: X:257.63, Y:-15.60, Z:-3.62 [[ 9.99937984e-01 1.00960278e-02 4.70097824e-03 2.57631283e+02] [-1.00946840e-02 9.99948999e-01 -3.09504069e-04 -1.56020987e+01] [-4.70386325e-03 2.62029986e-04 9.99988902e-01 -3.62424792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880371743 meters 0.02884742273066113 Centerline is valid? [True, True] Translation: X:257.66, Y:-15.60, Z:-3.62 [[ 9.99887179e-01 1.45863888e-02 3.58712638e-03 2.57662123e+02] [-1.45856359e-02 9.99893596e-01 -2.35976695e-04 -1.55977024e+01] [-3.59018674e-03 1.83629553e-04 9.99993538e-01 -3.62436300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.910371743 meters 0.02864410809188173 Centerline is valid? [True, True] Translation: X:257.69, Y:-15.60, Z:-3.62 [[ 9.99854936e-01 1.65892309e-02 3.86058664e-03 2.57690079e+02] [-1.65883712e-02 9.99862371e-01 -2.54607923e-04 -1.55983829e+01] [-3.86427907e-03 1.90530145e-04 9.99992515e-01 -3.62450579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940371743 meters 0.028317635959636236 Centerline is valid? [True, True] Translation: X:257.72, Y:-15.60, Z:-3.62 [[ 9.99822383e-01 1.83112720e-02 4.46087168e-03 2.57719122e+02] [-1.83101447e-02 9.99832312e-01 -2.93423923e-04 -1.55988575e+01] [-4.46549661e-03 2.11692600e-04 9.99990007e-01 -3.62469574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.970371743 meters 0.02702521587367236 Centerline is valid? [True, True] Translation: X:257.75, Y:-15.60, Z:-3.62 [[ 9.99792299e-01 1.98168849e-02 4.75916759e-03 2.57748022e+02] [-1.98156207e-02 9.99803602e-01 -3.12646218e-04 -1.55982712e+01] [-4.76442858e-03 2.18275421e-04 9.99988626e-01 -3.62414079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000371743 meters 0.027906600149954663 Centerline is valid? [True, True] Translation: X:257.78, Y:-15.60, Z:-3.63 [[ 9.99758784e-01 2.14128342e-02 4.88502760e-03 2.57775670e+02] [-2.14115223e-02 9.99770696e-01 -3.20692366e-04 -1.56005986e+01] [-4.89077438e-03 2.16019133e-04 9.99988017e-01 -3.62529160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.030371743 meters 0.02849722381804376 Centerline is valid? [True, True] Translation: X:257.80, Y:-15.60, Z:-3.63 [[ 9.99750618e-01 2.18259297e-02 4.72553505e-03 2.57803679e+02] [-2.18247086e-02 9.99761765e-01 -3.09823146e-04 -1.56032434e+01] [-4.73117144e-03 2.06612456e-04 9.99988787e-01 -3.62629911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060371743 meters 0.028071096717259516 Centerline is valid? [True, True] Translation: X:257.83, Y:-15.60, Z:-3.63 [[ 9.99734455e-01 2.25473933e-02 4.75750454e-03 2.57832954e+02] [-2.25461650e-02 9.99745754e-01 -3.11655086e-04 -1.56040980e+01] [-4.76332198e-03 2.04308846e-04 9.99988634e-01 -3.62736910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.090371743 meters 0.026252278062593944 Centerline is valid? [True, True] Translation: X:257.86, Y:-15.60, Z:-3.63 [[ 9.99718164e-01 2.32670259e-02 4.71576480e-03 2.57861910e+02] [-2.32658308e-02 9.99729266e-01 -3.08137900e-04 -1.56030594e+01] [-4.72165753e-03 1.98334870e-04 9.99988833e-01 -3.62757469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120371743 meters 0.02665605957962147 Centerline is valid? [True, True] Translation: X:257.89, Y:-15.61, Z:-3.63 [[ 9.99696221e-01 2.42491910e-02 4.40947293e-03 2.57889357e+02] [-2.42481560e-02 9.99705929e-01 -2.88040064e-04 -1.56055606e+01] [-4.41516097e-03 1.81030976e-04 9.99990237e-01 -3.62818432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.150371743 meters 0.026001474505434448 Centerline is valid? [True, True] Translation: X:257.92, Y:-15.61, Z:-3.63 [[ 9.99633407e-01 2.68328953e-02 3.61203758e-03 2.57918641e+02] [-2.68322194e-02 9.99639923e-01 -2.35473376e-04 -1.56065267e+01] [-3.61705540e-03 1.38468068e-04 9.99993449e-01 -3.62824953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180371743 meters 0.025345715973341343 Centerline is valid? [True, True] Translation: X:257.95, Y:-15.61, Z:-3.63 [[ 9.99602873e-01 2.78851892e-02 4.06359365e-03 2.57947084e+02] [-2.78843428e-02 9.99611121e-01 -2.64785163e-04 -1.56073265e+01] [-4.06939699e-03 1.51369371e-04 9.99991709e-01 -3.62786099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.210371743 meters 0.025587721900812536 Centerline is valid? [True, True] Translation: X:257.98, Y:-15.61, Z:-3.63 [[ 9.99562955e-01 2.92189090e-02 4.48946061e-03 2.57975246e+02] [-2.92178914e-02 9.99573024e-01 -2.92104981e-04 -1.56103568e+01] [-4.49607871e-03 1.60804745e-04 9.99989880e-01 -3.62794237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240371743 meters 0.0242031087239447 Centerline is valid? [True, True] Translation: X:258.00, Y:-15.61, Z:-3.63 [[ 9.99495456e-01 3.10818741e-02 6.53845904e-03 2.58004475e+02] [-3.10797622e-02 9.99516817e-01 -4.24380172e-04 -1.56119754e+01] [-6.54849031e-03 2.20952301e-04 9.99978534e-01 -3.62659851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.270371743 meters 0.024541492018537437 Centerline is valid? [True, True] Translation: X:258.03, Y:-15.62, Z:-3.63 [[ 9.99468214e-01 3.17651601e-02 7.36646240e-03 2.58031721e+02] [-3.17624999e-02 9.99495330e-01 -4.77866371e-04 -1.56153134e+01] [-7.37792428e-03 2.43634986e-04 9.99972753e-01 -3.62673061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300371743 meters 0.0238246206451683 Centerline is valid? [True, True] Translation: X:258.06, Y:-15.62, Z:-3.63 [[ 9.99424883e-01 3.28884617e-02 8.26152353e-03 2.58060042e+02] [-3.28851621e-02 9.99458994e-01 -5.34953463e-04 -1.56171026e+01] [-8.27464779e-03 2.62964262e-04 9.99965730e-01 -3.62661442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.330371743 meters 0.024102723281010676 Centerline is valid? [True, True] Translation: X:258.09, Y:-15.62, Z:-3.63 [[ 9.99395740e-01 3.37045556e-02 8.49457388e-03 2.58088008e+02] [-3.37011013e-02 9.99431805e-01 -5.49507154e-04 -1.56211782e+01] [-8.50826820e-03 2.62898614e-04 9.99963769e-01 -3.62705235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36037174300003 meters 0.023357266214468212 Centerline is valid? [True, True] Translation: X:258.12, Y:-15.62, Z:-3.63 [[ 9.99334213e-01 3.55794972e-02 8.07647511e-03 2.58116901e+02] [-3.55764418e-02 9.99366822e-01 -5.21698952e-04 -1.56249634e+01] [-8.08992305e-03 2.34019365e-04 9.99967249e-01 -3.62852825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.390371743 meters 0.02234907678618558 Centerline is valid? [True, True] Translation: X:258.15, Y:-15.63, Z:-3.63 [[ 9.99316007e-01 3.62675761e-02 7.22360652e-03 2.58145993e+02] [-3.62651528e-02 9.99342094e-01 -4.66222326e-04 -1.56266876e+01] [-7.23576282e-03 2.03938239e-04 9.99973801e-01 -3.62914638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42037174300003 meters 0.023008928697392916 Centerline is valid? [True, True] Translation: X:258.17, Y:-15.63, Z:-3.63 [[ 9.99296133e-01 3.69157692e-02 6.66823727e-03 2.58173098e+02] [-3.69137204e-02 9.99318364e-01 -4.30104833e-04 -1.56336611e+01] [-6.67956961e-03 1.83652650e-04 9.99977675e-01 -3.63127216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.450371743 meters 0.023008928697392916 Centerline is valid? [True, True] Translation: X:258.20, Y:-15.64, Z:-3.63 [[ 9.99299982e-01 3.68114024e-02 6.66826808e-03 2.58200513e+02] [-3.68093545e-02 9.99322214e-01 -4.29626427e-04 -1.56353315e+01] [-6.67956357e-03 1.83871038e-04 9.99977675e-01 -3.63165836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48037174300003 meters 0.02253987464878964 Centerline is valid? [True, True] Translation: X:258.23, Y:-15.64, Z:-3.63 [[ 9.99307574e-01 3.65816094e-02 6.79404701e-03 2.58229134e+02] [-3.65794849e-02 9.99330651e-01 -4.36749630e-04 -1.56379817e+01] [-6.80547643e-03 1.87924473e-04 9.99976825e-01 -3.63160560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.510371743 meters 0.02266273705487869 Centerline is valid? [True, True] Translation: X:258.26, Y:-15.64, Z:-3.63 [[ 9.99312314e-01 3.63122054e-02 7.50490778e-03 2.58255375e+02] [-3.63096076e-02 9.99340472e-01 -4.82145720e-04 -1.56429715e+01] [-7.51746586e-03 2.09313898e-04 9.99971722e-01 -3.63193556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.540371743 meters 0.023669260441235955 Centerline is valid? [True, True] Translation: X:258.28, Y:-15.65, Z:-3.63 [[ 9.99391456e-01 3.38129920e-02 8.56734393e-03 2.58283524e+02] [-3.38095286e-02 9.99428144e-01 -5.48802291e-04 -1.56516775e+01] [-8.58100129e-03 2.58810461e-04 9.99963149e-01 -3.63177546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.570371743 meters 0.024025345912864857 Centerline is valid? [True, True] Translation: X:258.31, Y:-15.66, Z:-3.63 [[ 9.99445229e-01 3.19763450e-02 9.31388034e-03 2.58311547e+02] [-3.19721782e-02 9.99488582e-01 -5.95961909e-04 -1.56575969e+01] [-9.32817374e-03 2.97846244e-04 9.99956447e-01 -3.63197924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.600371743 meters 0.025160912872527783 Centerline is valid? [True, True] Translation: X:258.34, Y:-15.67, Z:-3.63 [[ 9.99577635e-01 2.73516834e-02 9.82022020e-03 2.58340044e+02] [-2.73468390e-02 9.99625808e-01 -6.27279270e-04 -1.56671036e+01] [-9.83370270e-03 3.58462349e-04 9.99951584e-01 -3.63210136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.630371743 meters 0.026142944047628593 Centerline is valid? [True, True] Translation: X:258.37, Y:-15.67, Z:-3.63 [[ 9.99645814e-01 2.48205219e-02 9.60151261e-03 2.58367868e+02] [-2.48157783e-02 9.99691853e-01 -6.12885721e-04 -1.56739686e+01] [-9.61376608e-03 3.74399637e-04 9.99953717e-01 -3.63307029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.660371743 meters 0.02722970752670419 Centerline is valid? [True, True] Translation: X:258.40, Y:-15.68, Z:-3.63 [[ 9.99699220e-01 2.25760583e-02 9.58077968e-03 2.58396865e+02] [-2.25712404e-02 9.99745051e-01 -6.10720913e-04 -1.56812977e+01] [-9.59212474e-03 3.94287139e-04 9.99953917e-01 -3.63393355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.690371743 meters 0.02818920798969768 Centerline is valid? [True, True] Translation: X:258.43, Y:-15.69, Z:-3.64 [[ 9.99785429e-01 1.86995484e-02 8.91190111e-03 2.58426209e+02] [-1.86952293e-02 9.99825068e-01 -5.67713153e-04 -1.56916255e+01] [-8.92095811e-03 4.00981303e-04 9.99960127e-01 -3.63558897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.720371743 meters 0.029538377303537682 Centerline is valid? [True, True] Translation: X:258.45, Y:-15.70, Z:-3.64 [[ 9.99809205e-01 1.75838189e-02 8.50661787e-03 2.58454862e+02] [-1.75798433e-02 9.99845316e-01 -5.41909287e-04 -1.56989206e+01] [-8.51483086e-03 3.92260884e-04 9.99963671e-01 -3.63648834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.750371743 meters 0.029512848722903974 Centerline is valid? [True, True] Translation: X:258.48, Y:-15.70, Z:-3.64 [[ 9.99827588e-01 1.65202334e-02 8.47798933e-03 2.58484390e+02] [-1.65162502e-02 9.99863452e-01 -5.39639000e-04 -1.57031984e+01] [-8.48574664e-03 3.99521368e-04 9.99963916e-01 -3.63674754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.780371743 meters 0.029480267524554002 Centerline is valid? [True, True] Translation: X:258.51, Y:-15.71, Z:-3.64 [[ 9.99846291e-01 1.56122832e-02 7.97816051e-03 2.58513357e+02] [-1.56087289e-02 9.99878048e-01 -5.07574298e-04 -1.57085545e+01] [-7.98511195e-03 3.82967335e-04 9.99968045e-01 -3.63757262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.810371743 meters 0.029528664833104585 Centerline is valid? [True, True] Translation: X:258.54, Y:-15.71, Z:-3.64 [[ 9.99855710e-01 1.53339327e-02 7.30954535e-03 2.58543178e+02] [-1.53309434e-02 9.99882366e-01 -4.64818228e-04 -1.57121032e+01] [-7.31581300e-03 3.52688933e-04 9.99973177e-01 -3.63820583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.840371743 meters 0.03028956765611042 Centerline is valid? [True, True] Translation: X:258.57, Y:-15.72, Z:-3.64 [[ 9.99860170e-01 1.53387690e-02 6.66053578e-03 2.58571444e+02] [-1.53362875e-02 9.99882303e-01 -4.23481738e-04 -1.57184495e+01] [-6.66624754e-03 3.21274630e-04 9.99977729e-01 -3.63921813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.870371743 meters 0.02993884288466561 Centerline is valid? [True, True] Translation: X:258.60, Y:-15.72, Z:-3.64 [[ 9.99865480e-01 1.49698217e-02 6.70273676e-03 2.58599723e+02] [-1.49673019e-02 9.99887893e-01 -4.25933013e-04 -1.57214707e+01] [-6.70836147e-03 3.25553832e-04 9.99977446e-01 -3.63978799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.900371743 meters 0.029885374683465794 Centerline is valid? [True, True] Translation: X:258.63, Y:-15.73, Z:-3.64 [[ 9.99869932e-01 1.45808241e-02 6.89334839e-03 2.58629571e+02] [-1.45781551e-02 9.99893637e-01 -4.37275178e-04 -1.57255609e+01] [-6.89899103e-03 3.36726001e-04 9.99976145e-01 -3.64069320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.930371743 meters 0.03070473270285692 Centerline is valid? [True, True] Translation: X:258.66, Y:-15.73, Z:-3.64 [[ 9.99900358e-01 1.22862143e-02 6.95151674e-03 2.58659457e+02] [-1.22834474e-02 9.99924459e-01 -4.40589424e-04 -1.57310225e+01] [-6.95640479e-03 3.55156933e-04 9.99975741e-01 -3.64164217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.960371743 meters 0.03250716112372714 Centerline is valid? [True, True] Translation: X:258.69, Y:-15.74, Z:-3.64 [[ 9.99915987e-01 1.07843837e-02 7.19135248e-03 2.58689097e+02] [-1.07813857e-02 9.99941775e-01 -4.55531040e-04 -1.57368510e+01] [-7.19584639e-03 3.77960025e-04 9.99974038e-01 -3.64201287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.990371743 meters 0.033281133943256436 Centerline is valid? [True, True] Translation: X:258.72, Y:-15.74, Z:-3.64 [[ 9.99924033e-01 9.42312696e-03 7.94558514e-03 2.58719684e+02] [-9.41942505e-03 9.99955510e-01 -5.03201724e-04 -1.57412205e+01] [-7.94997337e-03 4.28320654e-04 9.99968307e-01 -3.64181304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.020371743 meters 0.036215428523617595 Centerline is valid? [True, True] Translation: X:258.75, Y:-15.75, Z:-3.64 [[ 9.99935048e-01 5.96071012e-03 9.71445525e-03 2.58749169e+02] [-5.95501364e-03 9.99982080e-01 -6.15212436e-04 -1.57488893e+01] [-9.71794826e-03 5.57322763e-04 9.99952624e-01 -3.64142450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.050371743 meters 0.0374450583663719 Centerline is valid? [True, True] Translation: X:258.78, Y:-15.75, Z:-3.64 [[ 9.99933777e-01 4.82275744e-03 1.04490545e-02 2.58780160e+02] [-4.81610171e-03 9.99988183e-01 -6.62038109e-04 -1.57536036e+01] [-1.04521239e-02 6.11670557e-04 9.99945188e-01 -3.64160434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.080371743 meters 0.03876720790178927 Centerline is valid? [True, True] Translation: X:258.81, Y:-15.76, Z:-3.64 [[ 9.99945070e-01 1.83897478e-03 1.03186813e-02 2.58810664e+02] [-1.83229487e-03 9.99998106e-01 -6.56777212e-04 -1.57578535e+01] [-1.03198696e-02 6.37834268e-04 9.99946545e-01 -3.64179417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11037174300003 meters 0.039507339750896216 Centerline is valid? [True, True] Translation: X:258.84, Y:-15.76, Z:-3.64 [[ 9.99950057e-01 8.05540210e-04 9.96169244e-03 2.58842143e+02] [-7.99270086e-04 9.99999480e-01 -6.33388686e-04 -1.57609631e+01] [-9.96219748e-03 6.25394970e-04 9.99950181e-01 -3.64225027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.140371743 meters 0.04147168596036063 Centerline is valid? [True, True] Translation: X:258.87, Y:-15.77, Z:-3.64 [[ 9.99949431e-01 -4.84403361e-04 1.00449795e-02 2.58872511e+02] [ 4.90873644e-04 9.99999674e-01 -6.41675529e-04 -1.57660757e+01] [-1.00446654e-02 6.46573895e-04 9.99949342e-01 -3.64325355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17037174300003 meters 0.04211316012159669 Centerline is valid? [True, True] Translation: X:258.90, Y:-15.77, Z:-3.64 [[ 9.99944122e-01 -2.65208206e-03 1.02332035e-02 2.58903146e+02] [ 2.65891446e-03 9.99996251e-01 -6.54121634e-04 -1.57695317e+01] [-1.02314303e-02 6.81294296e-04 9.99947425e-01 -3.64468401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.200371743 meters 0.04294096612361851 Centerline is valid? [True, True] Translation: X:258.94, Y:-15.77, Z:-3.65 [[ 9.99950072e-01 -3.00989210e-03 9.52856328e-03 2.58935574e+02] [ 3.01583130e-03 9.99995267e-01 -6.08998077e-04 -1.57732826e+01] [-9.52668516e-03 6.37704210e-04 9.99954417e-01 -3.64590049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23037174300003 meters 0.043677923075461374 Centerline is valid? [True, True] Translation: X:258.97, Y:-15.78, Z:-3.65 [[ 9.99952143e-01 -3.20223185e-03 9.24428344e-03 2.58967396e+02] [ 3.20783561e-03 9.99994680e-01 -5.91422964e-04 -1.57768030e+01] [-9.24234039e-03 6.21048802e-04 9.99957096e-01 -3.64746445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.260371743 meters 0.04381393018484434 Centerline is valid? [True, True] Translation: X:259.00, Y:-15.78, Z:-3.65 [[ 9.99970556e-01 -2.39666651e-03 7.28999564e-03 2.59000083e+02] [ 2.40013072e-03 9.99997011e-01 -4.66488420e-04 -1.57785780e+01] [-7.28885584e-03 4.83971627e-04 9.99973319e-01 -3.64968398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.290371743 meters 0.04435197941167211 Centerline is valid? [True, True] Translation: X:259.03, Y:-15.78, Z:-3.65 [[ 9.99974710e-01 -1.79436163e-03 6.88188339e-03 2.59031376e+02] [ 1.79744087e-03 9.99998287e-01 -4.41282362e-04 -1.57801098e+01] [-6.88107979e-03 4.53640981e-04 9.99976222e-01 -3.65052509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.320371743 meters 0.03447286759205322 Centerline is valid? [True, True] Translation: X:259.06, Y:-15.77, Z:-3.65 [[ 9.99973763e-01 2.60553011e-04 7.23921914e-03 2.59063617e+02] [-2.57195830e-04 9.99999859e-01 -4.64676144e-04 -1.57659569e+01] [-7.23933919e-03 4.62802055e-04 9.99973689e-01 -3.64835744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.350371743 meters 0.03575867787726697 Centerline is valid? [True, True] Translation: X:259.09, Y:-15.77, Z:-3.65 [[ 9.99969564e-01 1.71910185e-03 7.61022615e-03 2.59094161e+02] [-1.71543486e-03 9.99998409e-01 -4.88351715e-04 -1.57689696e+01] [-7.61105357e-03 4.75282004e-04 9.99970923e-01 -3.64891143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380371743 meters 0.033719398798126424 Centerline is valid? [True, True] Translation: X:259.13, Y:-15.77, Z:-3.65 [[ 9.99966503e-01 3.13697166e-03 7.55991367e-03 2.59126718e+02] [-3.13338574e-03 9.99994973e-01 -4.86131626e-04 -1.57674161e+01] [-7.56140064e-03 4.62427216e-04 9.99971305e-01 -3.64923983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.410371743 meters 0.03543194424072635 Centerline is valid? [True, True] Translation: X:259.16, Y:-15.77, Z:-3.65 [[ 9.99955469e-01 5.89290210e-03 7.37111838e-03 2.59156046e+02] [-5.88955951e-03 9.99982544e-01 -4.75096300e-04 -1.57697070e+01] [-7.37378941e-03 4.31662504e-04 9.99972720e-01 -3.65076543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440371743 meters 0.033809221022110585 Centerline is valid? [True, True] Translation: X:259.19, Y:-15.77, Z:-3.65 [[ 9.99945817e-01 6.97879879e-03 7.72394217e-03 2.59187990e+02] [-6.97516545e-03 9.99975550e-01 -4.97238390e-04 -1.57684046e+01] [-7.72722345e-03 4.43335674e-04 9.99970046e-01 -3.65096733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.470371743 meters 0.03562832690152404 Centerline is valid? [True, True] Translation: X:259.22, Y:-15.77, Z:-3.65 [[ 9.99944877e-01 7.46756970e-03 7.38097002e-03 2.59219349e+02] [-7.46426675e-03 9.99972029e-01 -4.74940944e-04 -1.57708334e+01] [-7.38431022e-03 4.19821234e-04 9.99972647e-01 -3.65217392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500371743 meters 0.036191880988535916 Centerline is valid? [True, True] Translation: X:259.25, Y:-15.77, Z:-3.65 [[ 9.99949931e-01 7.23147901e-03 6.91671609e-03 2.59250802e+02] [-7.22856180e-03 9.99973774e-01 -4.46668964e-04 -1.57731360e+01] [-6.91976477e-03 3.96648690e-04 9.99975979e-01 -3.65309456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.530371743 meters 0.03457650265973376 Centerline is valid? [True, True] Translation: X:259.28, Y:-15.77, Z:-3.65 [[ 9.99962584e-01 5.71818403e-03 6.49096218e-03 2.59282513e+02] [-5.71558194e-03 9.99983578e-01 -4.19358682e-04 -1.57714016e+01] [-6.49325356e-03 3.82243365e-04 9.99978846e-01 -3.65381011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560371743 meters 0.038228768854561286 Centerline is valid? [True, True] Translation: X:259.31, Y:-15.78, Z:-3.65 [[ 9.99968526e-01 4.86915406e-03 6.26400329e-03 2.59313043e+02] [-4.86672225e-03 9.99988076e-01 -4.03403689e-04 -1.57785119e+01] [-6.26589283e-03 3.72905828e-04 9.99980300e-01 -3.65492457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.590371743 meters 0.03571782830982905 Centerline is valid? [True, True] Translation: X:259.35, Y:-15.78, Z:-3.65 [[ 9.99973741e-01 3.92113321e-03 6.09436592e-03 2.59345103e+02] [-3.91880585e-03 9.99992244e-01 -3.93781186e-04 -1.57758777e+01] [-6.09586273e-03 3.69888209e-04 9.99981352e-01 -3.65450597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620371743 meters 0.03591204599245187 Centerline is valid? [True, True] Translation: X:259.38, Y:-15.78, Z:-3.65 [[ 9.99978312e-01 2.98625501e-03 5.87013404e-03 2.59376980e+02] [-2.98407252e-03 9.99995475e-01 -3.80517909e-04 -1.57760216e+01] [-5.87124380e-03 3.62992750e-04 9.99982698e-01 -3.65418538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.650371743 meters 0.03441746057033058 Centerline is valid? [True, True] Translation: X:259.41, Y:-15.77, Z:-3.65 [[ 9.99976949e-01 2.97370292e-03 6.10394683e-03 2.59409499e+02] [-2.97133464e-03 9.99995507e-01 -3.97023961e-04 -1.57747969e+01] [-6.10510004e-03 3.78877941e-04 9.99981292e-01 -3.65392911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680371743 meters 0.03679947769128533 Centerline is valid? [True, True] Translation: X:259.44, Y:-15.78, Z:-3.65 [[ 9.99973579e-01 3.51201784e-03 6.36443893e-03 2.59441057e+02] [-3.50944270e-03 9.99993755e-01 -4.15737333e-04 -1.57792164e+01] [-6.36585926e-03 3.93390716e-04 9.99979660e-01 -3.65473297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.710371743 meters 0.03668662735928873 Centerline is valid? [True, True] Translation: X:259.47, Y:-15.78, Z:-3.65 [[ 9.99963406e-01 5.76148108e-03 6.32390475e-03 2.59472804e+02] [-5.75896394e-03 9.99983330e-01 -4.16174060e-04 -1.57788068e+01] [-6.32619711e-03 3.79739691e-04 9.99979917e-01 -3.65483484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740371743 meters 0.033753044613560046 Centerline is valid? [True, True] Translation: X:259.50, Y:-15.78, Z:-3.66 [[ 9.99956403e-01 7.13746439e-03 6.02065616e-03 2.59504583e+02] [-7.13520527e-03 9.99974465e-01 -3.96624456e-04 -1.57751617e+01] [-6.02333332e-03 3.53648547e-04 9.99981797e-01 -3.65502389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.770371743 meters 0.03275092653735519 Centerline is valid? [True, True] Translation: X:259.53, Y:-15.77, Z:-3.66 [[ 9.99921964e-01 1.07272067e-02 6.40250670e-03 2.59534366e+02] [-1.07247218e-02 9.99942399e-01 -4.22315389e-04 -1.57740028e+01] [-6.40666817e-03 3.53617331e-04 9.99979415e-01 -3.65550470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800371743 meters 0.032468451178133635 Centerline is valid? [True, True] Translation: X:259.57, Y:-15.77, Z:-3.66 [[ 9.99900603e-01 1.25655925e-02 6.39457843e-03 2.59565009e+02] [-1.25631513e-02 9.99920992e-01 -4.21792434e-04 -1.57744949e+01] [-6.39937328e-03 3.41414452e-04 9.99979466e-01 -3.65555322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.830371743 meters 0.03214655448508799 Centerline is valid? [True, True] Translation: X:259.60, Y:-15.77, Z:-3.66 [[ 9.99860287e-01 1.50984233e-02 7.17240497e-03 2.59595004e+02] [-1.50954162e-02 9.99885946e-01 -4.73217680e-04 -1.57741689e+01] [-7.17873177e-03 3.64881128e-04 9.99974166e-01 -3.65652112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86037174300003 meters 0.03184819700205186 Centerline is valid? [True, True] Translation: X:259.62, Y:-15.78, Z:-3.66 [[ 9.99852521e-01 1.56741466e-02 7.01841855e-03 2.59624179e+02] [-1.56712813e-02 9.99877091e-01 -4.63062151e-04 -1.57759908e+01] [-7.02481402e-03 3.53006248e-04 9.99975263e-01 -3.65744490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.890371743 meters 0.03222746686953542 Centerline is valid? [True, True] Translation: X:259.65, Y:-15.78, Z:-3.66 [[ 9.99860742e-01 1.55628214e-02 6.02458799e-03 2.59652453e+02] [-1.55607073e-02 9.99878846e-01 -3.97625495e-04 -1.57783702e+01] [-6.03004626e-03 3.03823272e-04 9.99981773e-01 -3.65848906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92037174300003 meters 0.030906418342159767 Centerline is valid? [True, True] Translation: X:259.68, Y:-15.78, Z:-3.66 [[ 9.99870158e-01 1.51822003e-02 5.40070175e-03 2.59681012e+02] [-1.51804972e-02 9.99884706e-01 -3.56190981e-04 -1.57780427e+01] [-5.40548684e-03 2.74159395e-04 9.99985353e-01 -3.65943833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.950371743 meters 0.031535017319012495 Centerline is valid? [True, True] Translation: X:259.71, Y:-15.78, Z:-3.66 [[ 9.99912173e-01 1.27076652e-02 3.76309661e-03 2.59710538e+02] [-1.27068222e-02 9.99919234e-01 -2.47859381e-04 -1.57809308e+01] [-3.76594240e-03 2.00020613e-04 9.99992889e-01 -3.66084871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98037174300003 meters 0.03309291737634779 Centerline is valid? [True, True] Translation: X:259.74, Y:-15.79, Z:-3.66 [[ 9.99933335e-01 1.09860618e-02 3.55415130e-03 2.59739121e+02] [-1.09852986e-02 9.99939632e-01 -2.34181092e-04 -1.57855621e+01] [-3.55650947e-03 1.95122067e-04 9.99993657e-01 -3.66160597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.010371743 meters 0.03176448656451139 Centerline is valid? [True, True] Translation: X:259.77, Y:-15.79, Z:-3.66 [[ 9.99956076e-01 8.75617378e-03 3.34302639e-03 2.59768473e+02] [-8.75548655e-03 9.99961646e-01 -2.20150988e-04 -1.57852639e+01] [-3.34482585e-03 1.90871495e-04 9.99994388e-01 -3.66175588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.040371743 meters 0.03473250636040674 Centerline is valid? [True, True] Translation: X:259.80, Y:-15.79, Z:-3.66 [[ 9.99982515e-01 4.73745841e-03 3.53925357e-03 2.59797545e+02] [-4.73666482e-03 9.99988755e-01 -2.32573606e-04 -1.57923984e+01] [-3.54031558e-03 2.15805282e-04 9.99993710e-01 -3.66274236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.070371743 meters 0.03553036680244519 Centerline is valid? [True, True] Translation: X:259.83, Y:-15.80, Z:-3.66 [[ 9.99988325e-01 2.72923252e-03 3.98774114e-03 2.59828474e+02] [-2.72821171e-03 9.99996244e-01 -2.61403516e-04 -1.57956538e+01] [-3.98843960e-03 2.50521062e-04 9.99992015e-01 -3.66308947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.100371743 meters 0.037053518252492264 Centerline is valid? [True, True] Translation: X:259.86, Y:-15.80, Z:-3.66 [[ 9.99990662e-01 1.76031908e-04 4.31799658e-03 2.59859547e+02] [-1.74811628e-04 9.99999945e-01 -2.82979192e-04 -1.58000385e+01] [-4.31804616e-03 2.82221714e-04 9.99990637e-01 -3.66359832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.130371743 meters 0.0379303484146895 Centerline is valid? [True, True] Translation: X:259.89, Y:-15.80, Z:-3.66 [[ 9.99989995e-01 -4.84472012e-04 4.44691490e-03 2.59891856e+02] [ 4.85764562e-04 9.99999840e-01 -2.89586806e-04 -1.58030763e+01] [-4.44677389e-03 2.91744063e-04 9.99990070e-01 -3.66391658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.160371743 meters 0.036614165934389944 Centerline is valid? [True, True] Translation: X:259.92, Y:-15.80, Z:-3.66 [[ 9.99987846e-01 -8.39684052e-04 4.85824238e-03 2.59923759e+02] [ 8.41238884e-04 9.99999596e-01 -3.18005417e-04 -1.58021860e+01] [-4.85797339e-03 3.22088494e-04 9.99988148e-01 -3.66366773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.190371743 meters 0.036884224786112974 Centerline is valid? [True, True] Translation: X:259.96, Y:-15.80, Z:-3.66 [[ 9.99982315e-01 -1.22887036e-03 5.81892293e-03 2.59956140e+02] [ 1.23112677e-03 9.99999168e-01 -3.84206181e-04 -1.58021233e+01] [-5.81844596e-03 3.91363218e-04 9.99982996e-01 -3.66289282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.220371743 meters 0.038683559399412995 Centerline is valid? [True, True] Translation: X:259.99, Y:-15.81, Z:-3.66 [[ 9.99981868e-01 -1.06559135e-03 5.92682236e-03 2.59987329e+02] [ 1.06793288e-03 9.99999353e-01 -3.91922691e-04 -1.58054901e+01] [-5.92640089e-03 3.98245034e-04 9.99982359e-01 -3.66298881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.250371743 meters 0.037384356782031974 Centerline is valid? [True, True] Translation: X:260.02, Y:-15.80, Z:-3.66 [[ 9.99979142e-01 -9.25523587e-04 6.39209543e-03 2.60019387e+02] [ 9.28246039e-04 9.99999480e-01 -4.22955603e-04 -1.58031841e+01] [-6.39170065e-03 4.28880219e-04 9.99979481e-01 -3.66199280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.280371743 meters 0.03761279456094692 Centerline is valid? [True, True] Translation: X:260.05, Y:-15.81, Z:-3.66 [[ 9.99977593e-01 -6.27434015e-04 6.66482411e-03 2.60051281e+02] [ 6.30390624e-04 9.99999704e-01 -4.41522489e-04 -1.58052448e+01] [-6.66454511e-03 4.45714038e-04 9.99977692e-01 -3.66200004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.310371743 meters 0.03808635020236086 Centerline is valid? [True, True] Translation: X:260.08, Y:-15.81, Z:-3.66 [[ 9.99974612e-01 -3.80784170e-04 7.11553947e-03 2.60083648e+02] [ 3.84152062e-04 9.99999815e-01 -4.71954358e-04 -1.58077250e+01] [-7.11535844e-03 4.74675825e-04 9.99974573e-01 -3.66269394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.340371743 meters 0.03808635020236086 Centerline is valid? [True, True] Translation: X:260.12, Y:-15.81, Z:-3.66 [[ 9.99974646e-01 -2.75287847e-04 7.11552253e-03 2.60116179e+02] [ 2.78654890e-04 9.99999850e-01 -4.72209869e-04 -1.58099815e+01] [-7.11539147e-03 4.74180672e-04 9.99974573e-01 -3.66315164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.370371743 meters 0.03885648131183665 Centerline is valid? [True, True] Translation: X:260.15, Y:-15.81, Z:-3.66 [[ 9.99971347e-01 -3.38092880e-04 7.56253028e-03 2.60147328e+02] [ 3.41907433e-04 9.99999815e-01 -5.03114453e-04 -1.58127340e+01] [-7.56235878e-03 5.05685722e-04 9.99971277e-01 -3.66371370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.400371743 meters 0.040086666562160915 Centerline is valid? [True, True] Translation: X:260.18, Y:-15.82, Z:-3.67 [[ 9.99973596e-01 -5.11974936e-04 7.24887085e-03 2.60178031e+02] [ 5.15486728e-04 9.99999751e-01 -4.82600507e-04 -1.58151780e+01] [-7.24862197e-03 4.86324461e-04 9.99973610e-01 -3.66504118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.430371743 meters 0.04037677659626445 Centerline is valid? [True, True] Translation: X:260.21, Y:-15.82, Z:-3.67 [[ 9.99974234e-01 -3.61713038e-04 7.16948463e-03 2.60210618e+02] [ 3.65144574e-04 9.99999819e-01 -4.77327610e-04 -1.58173864e+01] [-7.16931068e-03 4.79933210e-04 9.99974185e-01 -3.66614196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.460371743 meters 0.04112966833850804 Centerline is valid? [True, True] Translation: X:260.24, Y:-15.82, Z:-3.67 [[ 9.99977157e-01 -2.02609218e-04 6.75611245e-03 2.60242078e+02] [ 2.05653690e-04 9.99999878e-01 -4.49933155e-04 -1.58200438e+01] [-6.75602046e-03 4.51312297e-04 9.99977076e-01 -3.66733520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.490371743 meters 0.041615579818441835 Centerline is valid? [True, True] Translation: X:260.27, Y:-15.82, Z:-3.67 [[ 9.99985828e-01 -2.07605388e-04 5.31986437e-03 2.60273881e+02] [ 2.09499988e-04 9.99999915e-01 -3.55581965e-04 -1.58210725e+01] [-5.31979009e-03 3.56691437e-04 9.99985786e-01 -3.66873630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.520371743 meters 0.042595465983121986 Centerline is valid? [True, True] Translation: X:260.30, Y:-15.82, Z:-3.67 [[ 9.99988470e-01 -3.89045666e-04 4.78622713e-03 2.60304976e+02] [ 3.90575765e-04 9.99999873e-01 -3.18757449e-04 -1.58235511e+01] [-4.78610251e-03 3.20623158e-04 9.99988495e-01 -3.66946536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.550371743 meters 0.04404803673776368 Centerline is valid? [True, True] Translation: X:260.34, Y:-15.83, Z:-3.67 [[ 9.99993804e-01 -1.32653054e-03 3.26068110e-03 2.60336754e+02] [ 1.32724484e-03 9.99999096e-01 -2.16910816e-04 -1.58254245e+01] [-3.26039041e-03 2.21237194e-04 9.99994660e-01 -3.67121408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.580371743 meters 0.044647276979637954 Centerline is valid? [True, True] Translation: X:260.37, Y:-15.83, Z:-3.67 [[ 9.99994162e-01 -1.83998142e-03 2.87922615e-03 2.60368537e+02] [ 1.84054128e-03 9.99998288e-01 -1.91808857e-04 -1.58274136e+01] [-2.87886829e-03 1.97107072e-04 9.99995837e-01 -3.67181832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61037174300003 meters 0.03775949187916832 Centerline is valid? [True, True] Translation: X:260.40, Y:-15.82, Z:-3.67 [[ 9.99993243e-01 -2.57045396e-03 2.62824968e-03 2.60401030e+02] [ 2.57092809e-03 9.99996679e-01 -1.77034551e-04 -1.58189121e+01] [-2.62778590e-03 1.83790396e-04 9.99996530e-01 -3.67092814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.640371743 meters 0.04488759353060479 Centerline is valid? [True, True] Translation: X:260.43, Y:-15.83, Z:-3.67 [[ 9.99984742e-01 -4.97887386e-03 2.39317278e-03 2.60430028e+02] [ 4.97927602e-03 9.99987590e-01 -1.62116957e-04 -1.58286625e+01] [-2.39233592e-03 1.74030752e-04 9.99997123e-01 -3.67354807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67037174300003 meters 0.04198001609448363 Centerline is valid? [True, True] Translation: X:260.46, Y:-15.83, Z:-3.67 [[ 9.99980241e-01 -5.92245145e-03 2.10777847e-03 2.60462647e+02] [ 5.92276375e-03 9.99982450e-01 -1.41951648e-04 -1.58256208e+01] [-2.10690078e-03 1.54432717e-04 9.99997769e-01 -3.67322430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.700371743 meters 0.03994150238218861 Centerline is valid? [True, True] Translation: X:260.49, Y:-15.82, Z:-3.67 [[ 9.99972595e-01 -6.95391242e-03 2.54011270e-03 2.60494842e+02] [ 6.95437018e-03 9.99975803e-01 -1.71425987e-04 -1.58222365e+01] [-2.53885915e-03 1.89086173e-04 9.99996759e-01 -3.67305622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73037174300003 meters 0.043780300888173584 Centerline is valid? [True, True] Translation: X:260.53, Y:-15.83, Z:-3.67 [[ 9.99970677e-01 -7.07814142e-03 2.92320096e-03 2.60525727e+02] [ 7.07874985e-03 9.99974926e-01 -1.97843552e-04 -1.58283701e+01] [-2.92172730e-03 2.18530359e-04 9.99995708e-01 -3.67440083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.760371743 meters 0.04069407408256376 Centerline is valid? [True, True] Translation: X:260.56, Y:-15.82, Z:-3.67 [[ 9.99969573e-01 -6.96117237e-03 3.52062613e-03 2.60557943e+02] [ 6.96205472e-03 9.99975736e-01 -2.38430830e-04 -1.58246119e+01] [-3.51888095e-03 2.62934367e-04 9.99993774e-01 -3.67369005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.790371743 meters 0.05257573763277754 Centerline is valid? [True, True] Translation: X:260.59, Y:-15.84, Z:-3.67 [[ 9.99972737e-01 -5.94169386e-03 4.38423167e-03 2.60588240e+02] [ 5.94305568e-03 9.99982296e-01 -2.97656239e-04 -1.58387800e+01] [-4.38238547e-03 3.23703857e-04 9.99990345e-01 -3.67465468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.820371743 meters 0.042798818234702315 Centerline is valid? [True, True] Translation: X:260.62, Y:-15.83, Z:-3.67 [[ 9.99974947e-01 -5.27230432e-03 4.72310683e-03 2.60621024e+02] [ 5.27387808e-03 9.99986042e-01 -3.20812454e-04 -1.58264180e+01] [-4.72134948e-03 3.45713506e-04 9.99988795e-01 -3.67237213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.850371743 meters 0.05379402277923097 Centerline is valid? [True, True] Translation: X:260.65, Y:-15.84, Z:-3.67 [[ 9.99973058e-01 -4.78841975e-03 5.56374827e-03 2.60651037e+02] [ 4.79060009e-03 9.99988453e-01 -3.78621305e-04 -1.58420500e+01] [-5.56187103e-03 4.05264797e-04 9.99984451e-01 -3.67424508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880371743 meters 0.03794347197797201 Centerline is valid? [True, True] Translation: X:260.68, Y:-15.82, Z:-3.67 [[ 9.99971275e-01 -4.43876768e-03 6.14378006e-03 2.60684537e+02] [ 4.44142114e-03 9.99990049e-01 -4.18316749e-04 -1.58209104e+01] [-6.14186212e-03 4.45591847e-04 9.99981039e-01 -3.67206448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.910371743 meters 0.03866041338350995 Centerline is valid? [True, True] Translation: X:260.72, Y:-15.82, Z:-3.67 [[ 9.99972031e-01 -4.80472200e-03 5.73173915e-03 2.60716301e+02] [ 4.80703948e-03 9.99988370e-01 -3.90615277e-04 -1.58234449e+01] [-5.72979570e-03 4.18157048e-04 9.99983497e-01 -3.67265048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940371743 meters 0.03991670489751654 Centerline is valid? [True, True] Translation: X:260.75, Y:-15.83, Z:-3.67 [[ 9.99972964e-01 -4.88696757e-03 5.49442206e-03 2.60747601e+02] [ 4.88910115e-03 9.99987978e-01 -3.74954680e-04 -1.58264110e+01] [-5.49252361e-03 4.01807328e-04 9.99984835e-01 -3.67351228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.970371743 meters 0.04061860548698567 Centerline is valid? [True, True] Translation: X:260.78, Y:-15.83, Z:-3.68 [[ 9.99973560e-01 -5.58545926e-03 4.65647617e-03 2.60780137e+02] [ 5.58699910e-03 9.99984342e-01 -3.17744533e-04 -1.58271305e+01] [-4.65462851e-03 3.43751860e-04 9.99989108e-01 -3.67521436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000371743 meters 0.04026200663443909 Centerline is valid? [True, True] Translation: X:260.81, Y:-15.83, Z:-3.68 [[ 9.99976689e-01 -5.64996109e-03 3.83388542e-03 2.60812345e+02] [ 5.65100577e-03 9.99983999e-01 -2.61707487e-04 -1.58276837e+01] [-3.83234544e-03 2.83366695e-04 9.99992616e-01 -3.67587513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.030371743 meters 0.03825364464042199 Centerline is valid? [True, True] Translation: X:260.85, Y:-15.83, Z:-3.68 [[ 9.99980030e-01 -5.07294542e-03 3.76885773e-03 2.60845111e+02] [ 5.07395179e-03 9.99987094e-01 -2.57507319e-04 -1.58256951e+01] [-3.76750277e-03 2.76625179e-04 9.99992865e-01 -3.67721212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060371743 meters 0.040726119648796286 Centerline is valid? [True, True] Translation: X:260.88, Y:-15.83, Z:-3.68 [[ 9.99980383e-01 -4.75429198e-03 4.07808732e-03 2.60876105e+02] [ 4.75546730e-03 9.99988654e-01 -2.78555651e-04 -1.58300420e+01] [-4.07671672e-03 2.97943397e-04 9.99991646e-01 -3.67821066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.090371743 meters 0.04133625915469729 Centerline is valid? [True, True] Translation: X:260.91, Y:-15.83, Z:-3.68 [[ 9.99981586e-01 -4.22057866e-03 4.36046837e-03 2.60907477e+02] [ 4.22192290e-03 9.99991043e-01 -2.99120449e-04 -1.58318589e+01] [-4.35916685e-03 3.17524503e-04 9.99990448e-01 -3.67841390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120371743 meters 0.04136293225007166 Centerline is valid? [True, True] Translation: X:260.94, Y:-15.83, Z:-3.68 [[ 9.99979906e-01 -3.98822734e-03 4.92768298e-03 2.60939376e+02] [ 3.98994222e-03 9.99991983e-01 -3.38228863e-04 -1.58327165e+01] [-4.92629454e-03 3.57883237e-04 9.99987802e-01 -3.67836710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.150371743 meters 0.039079499972476874 Centerline is valid? [True, True] Translation: X:260.97, Y:-15.83, Z:-3.68 [[ 9.99975618e-01 -4.67044133e-03 5.19129308e-03 2.60972292e+02] [ 4.67235583e-03 9.99989021e-01 -3.56723767e-04 -1.58296064e+01] [-5.18957002e-03 3.80970638e-04 9.99986462e-01 -3.67775630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180371743 meters 0.0394320397205003 Centerline is valid? [True, True] Translation: X:261.00, Y:-15.83, Z:-3.68 [[ 9.99972489e-01 -5.15572881e-03 5.33294790e-03 2.61004813e+02] [ 5.15775828e-03 9.99986631e-01 -3.66869109e-04 -1.58314094e+01] [-5.33098513e-03 3.94365072e-04 9.99985712e-01 -3.67840143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.210371743 meters 0.04306356732059487 Centerline is valid? [True, True] Translation: X:261.04, Y:-15.84, Z:-3.68 [[ 9.99967153e-01 -6.02540456e-03 5.42110524e-03 2.61035368e+02] [ 6.02751745e-03 9.99981765e-01 -3.73499286e-04 -1.58378833e+01] [-5.41875590e-03 4.06162824e-04 9.99985236e-01 -3.67989608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240371743 meters 0.04237725727771018 Centerline is valid? [True, True] Translation: X:261.07, Y:-15.84, Z:-3.68 [[ 9.99965758e-01 -6.49435658e-03 5.12888694e-03 2.61067911e+02] [ 6.49625441e-03 9.99978837e-01 -3.53454785e-04 -1.58381776e+01] [-5.12648293e-03 3.86761237e-04 9.99986785e-01 -3.68038037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.270371743 meters 0.04271731053680317 Centerline is valid? [True, True] Translation: X:261.10, Y:-15.84, Z:-3.68 [[ 9.99964716e-01 -6.52924794e-03 5.28538692e-03 2.61099944e+02] [ 6.53126597e-03 9.99978605e-01 -3.64642479e-04 -1.58399903e+01] [-5.28289299e-03 3.99149881e-04 9.99985966e-01 -3.68077939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300371743 meters 0.04421724265217674 Centerline is valid? [True, True] Translation: X:261.13, Y:-15.84, Z:-3.68 [[ 9.99966260e-01 -5.86419025e-03 5.75239557e-03 2.61130765e+02] [ 5.86657338e-03 9.99982713e-01 -3.97499088e-04 -1.58424304e+01] [-5.74996512e-03 4.31232528e-04 9.99983376e-01 -3.68128427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.330371743 meters 0.039129823692850445 Centerline is valid? [True, True] Translation: X:261.16, Y:-15.84, Z:-3.68 [[ 9.99969163e-01 -5.13991220e-03 5.93758495e-03 2.61163714e+02] [ 5.14243957e-03 9.99986693e-01 -4.10467633e-04 -1.58366495e+01] [-5.93539617e-03 4.40988648e-04 9.99982288e-01 -3.68113049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36037174300003 meters 0.03961095124006547 Centerline is valid? [True, True] Translation: X:261.20, Y:-15.84, Z:-3.68 [[ 9.99973390e-01 -4.37867462e-03 5.83495081e-03 2.61195372e+02] [ 4.38110488e-03 9.99990321e-01 -4.03782822e-04 -1.58387362e+01] [-5.83312630e-03 4.29335608e-04 9.99982895e-01 -3.68138695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.390371743 meters 0.0406397931306645 Centerline is valid? [True, True] Translation: X:261.23, Y:-15.84, Z:-3.68 [[ 9.99975643e-01 -3.57768568e-03 5.99280530e-03 2.61227006e+02] [ 3.58023769e-03 9.99993505e-01 -4.15171275e-04 -1.58411413e+01] [-5.99128102e-03 4.36616830e-04 9.99981957e-01 -3.68159217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42037174300003 meters 0.037087196443902584 Centerline is valid? [True, True] Translation: X:261.26, Y:-15.84, Z:-3.68 [[ 9.99981975e-01 -1.16705244e-03 5.88955495e-03 2.61258435e+02] [ 1.16948047e-03 9.99999233e-01 -4.08833188e-04 -1.58358187e+01] [-5.88907330e-03 4.15713539e-04 9.99982573e-01 -3.68143303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.450371743 meters 0.037068260135192516 Centerline is valid? [True, True] Translation: X:261.29, Y:-15.84, Z:-3.68 [[ 9.99978602e-01 9.57388603e-04 6.47137638e-03 2.61288875e+02] [-9.54500282e-04 9.99999443e-01 -4.49396153e-04 -1.58360863e+01] [-6.47180302e-03 4.43209606e-04 9.99978959e-01 -3.68228705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48037174300003 meters 0.036397835723486684 Centerline is valid? [True, True] Translation: X:261.32, Y:-15.84, Z:-3.68 [[ 9.99978411e-01 1.61183572e-03 6.37027205e-03 2.61320798e+02] [-1.60905208e-03 9.99998608e-01 -4.42074567e-04 -1.58362276e+01] [-6.37097573e-03 4.31814923e-04 9.99979612e-01 -3.68299312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.510371743 meters 0.03758475208253905 Centerline is valid? [True, True] Translation: X:261.35, Y:-15.84, Z:-3.68 [[ 9.99977919e-01 2.02201020e-03 6.33030934e-03 2.61352271e+02] [-2.01926578e-03 9.99997865e-01 -4.39898828e-04 -1.58393959e+01] [-6.33118530e-03 4.27106537e-04 9.99979867e-01 -3.68388594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.540371743 meters 0.036177036179328194 Centerline is valid? [True, True] Translation: X:261.38, Y:-15.84, Z:-3.69 [[ 9.99987664e-01 1.53095583e-03 4.72523526e-03 2.61384962e+02] [-1.52942970e-03 9.99998777e-01 -3.26570681e-04 -1.58380121e+01] [-4.72572944e-03 3.19339737e-04 9.99988783e-01 -3.68522085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.570371743 meters 0.03693096599238397 Centerline is valid? [True, True] Translation: X:261.42, Y:-15.84, Z:-3.69 [[ 9.99987963e-01 1.15872788e-03 4.76763222e-03 2.61416633e+02] [-1.15716326e-03 9.99999276e-01 -3.30922178e-04 -1.58415036e+01] [-4.76801221e-03 3.25401266e-04 9.99988580e-01 -3.68617749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.600371743 meters 0.0381869238476997 Centerline is valid? [True, True] Translation: X:261.45, Y:-15.85, Z:-3.69 [[ 9.99987735e-01 -9.86332142e-04 4.85354890e-03 2.61448041e+02] [ 9.87993404e-04 9.99999454e-01 -3.39892046e-04 -1.58452415e+01] [-4.85321101e-03 3.44683152e-04 9.99988164e-01 -3.68763897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.630371743 meters 0.039433268115525735 Centerline is valid? [True, True] Translation: X:261.48, Y:-15.85, Z:-3.69 [[ 9.99987295e-01 -1.89049280e-03 4.67289878e-03 2.61478593e+02] [ 1.89203935e-03 9.99998157e-01 -3.26563139e-04 -1.58486657e+01] [-4.67227280e-03 3.35400298e-04 9.99989029e-01 -3.68801855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.660371743 meters 0.039706756175039166 Centerline is valid? [True, True] Translation: X:261.51, Y:-15.85, Z:-3.69 [[ 9.99986837e-01 -2.36087663e-03 4.55539701e-03 2.61510299e+02] [ 2.36235667e-03 9.99997159e-01 -3.19544018e-04 -1.58505412e+01] [-4.55462966e-03 3.30301284e-04 9.99989573e-01 -3.68866461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.690371743 meters 0.040275029805494744 Centerline is valid? [True, True] Translation: X:261.54, Y:-15.85, Z:-3.69 [[ 9.99987359e-01 -2.98983602e-03 4.04260130e-03 2.61542015e+02] [ 2.99100724e-03 9.99995487e-01 -2.83706246e-04 -1.58526494e+01] [-4.04173482e-03 2.95794110e-04 9.99991788e-01 -3.68908611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.720371743 meters 0.04153845522990761 Centerline is valid? [True, True] Translation: X:261.57, Y:-15.86, Z:-3.69 [[ 9.99987497e-01 -3.51889677e-03 3.55289174e-03 2.61574096e+02] [ 3.51980445e-03 9.99993774e-01 -2.49257447e-04 -1.58556461e+01] [-3.55199251e-03 2.61759815e-04 9.99993657e-01 -3.69018826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.750371743 meters 0.04026141481798174 Centerline is valid? [True, True] Translation: X:261.61, Y:-15.86, Z:-3.69 [[ 9.99990280e-01 -3.25748543e-03 2.97115238e-03 2.61606847e+02] [ 3.25811917e-03 9.99994671e-01 -2.08483426e-04 -1.58554124e+01] [-2.97045741e-03 2.18161769e-04 9.99995564e-01 -3.69125122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.780371743 meters 0.039534155491482155 Centerline is valid? [True, True] Translation: X:261.64, Y:-15.86, Z:-3.69 [[ 9.99991621e-01 -3.05288821e-03 2.72709296e-03 2.61639452e+02] [ 3.05342165e-03 9.99995320e-01 -1.91465324e-04 -1.58559644e+01] [-2.72649568e-03 1.99790685e-04 9.99996263e-01 -3.69193647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.810371743 meters 0.040217359302234065 Centerline is valid? [True, True] Translation: X:261.67, Y:-15.86, Z:-3.69 [[ 9.99992303e-01 -2.12955227e-03 3.29517182e-03 2.61670237e+02] [ 2.13032822e-03 9.99997704e-01 -2.31989773e-04 -1.58584830e+01] [-3.29467022e-03 2.39007785e-04 9.99994544e-01 -3.69198929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.840371743 meters 0.0445113919315756 Centerline is valid? [True, True] Translation: X:261.70, Y:-15.86, Z:-3.69 [[ 9.99991121e-01 -9.09821786e-06 4.21397486e-03 2.61700675e+02] [ 1.03511230e-05 9.99999956e-01 -2.97299740e-04 -1.58642549e+01] [-4.21397197e-03 2.97340719e-04 9.99991077e-01 -3.69180318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.870371743 meters 0.03669704480821439 Centerline is valid? [True, True] Translation: X:261.73, Y:-15.85, Z:-3.69 [[ 9.99985754e-01 1.18823852e-03 5.20380122e-03 2.61732774e+02] [-1.18634258e-03 9.99999229e-01 -3.67409868e-04 -1.58547066e+01] [-5.20423378e-03 3.61231143e-04 9.99986393e-01 -3.68988799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.900371743 meters 0.03757433195226783 Centerline is valid? [True, True] Translation: X:261.76, Y:-15.86, Z:-3.69 [[ 9.99978237e-01 2.58756922e-03 6.06870671e-03 2.61762760e+02] [-2.58501355e-03 9.99996567e-01 -4.28928541e-04 -1.58578066e+01] [-6.06979576e-03 4.13231518e-04 9.99981493e-01 -3.68976509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.930371743 meters 0.03534393854849087 Centerline is valid? [True, True] Translation: X:261.79, Y:-15.86, Z:-3.69 [[ 9.99964437e-01 4.01064453e-03 7.41885594e-03 2.61794627e+02] [-4.00686454e-03 9.99991835e-01 -5.24304325e-04 -1.58562108e+01] [-7.42089816e-03 4.94559328e-04 9.99972342e-01 -3.68936232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.960371743 meters 0.035510681707183266 Centerline is valid? [True, True] Translation: X:261.83, Y:-15.86, Z:-3.69 [[ 9.99958834e-01 4.68794914e-03 7.76870534e-03 2.61826468e+02] [-4.68383062e-03 9.99988881e-01 -5.48251378e-04 -1.58587508e+01] [-7.77118913e-03 5.11841509e-04 9.99969673e-01 -3.68960385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.990371743 meters 0.036255427114689556 Centerline is valid? [True, True] Translation: X:261.86, Y:-15.86, Z:-3.69 [[ 9.99954475e-01 5.24343193e-03 7.97209634e-03 2.61857670e+02] [-5.23909476e-03 9.99986116e-01 -5.64829957e-04 -1.58621125e+01] [-7.97494731e-03 5.23037675e-04 9.99968063e-01 -3.69049745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.020371743 meters 0.035630255981029986 Centerline is valid? [True, True] Translation: X:261.89, Y:-15.86, Z:-3.69 [[ 9.99963823e-01 4.74267496e-03 7.06120395e-03 2.61890207e+02] [-4.73925187e-03 9.99988644e-01 -5.01427742e-04 -1.58647619e+01] [-7.06350187e-03 4.67944778e-04 9.99974944e-01 -3.69242790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.050371743 meters 0.036248354920262155 Centerline is valid? [True, True] Translation: X:261.92, Y:-15.87, Z:-3.69 [[ 9.99973066e-01 4.05015945e-03 6.12079343e-03 2.61921091e+02] [-4.04755742e-03 9.99991713e-01 -4.37441368e-04 -1.58681832e+01] [-6.12251441e-03 4.12655323e-04 9.99981172e-01 -3.69404599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.080371743 meters 0.039858140215567224 Centerline is valid? [True, True] Translation: X:261.95, Y:-15.88, Z:-3.70 [[ 9.99991964e-01 1.75530981e-03 3.60436588e-03 2.61950424e+02] [-1.75439160e-03 9.99998428e-01 -2.57894569e-04 -1.58764269e+01] [-3.60481290e-03 2.51569027e-04 9.99993471e-01 -3.69719303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11037174300003 meters 0.042163969903659136 Centerline is valid? [True, True] Translation: X:261.98, Y:-15.88, Z:-3.70 [[ 9.99996483e-01 2.57080855e-04 2.63972589e-03 2.61980579e+02] [-2.56584728e-04 9.99999949e-01 -1.88283291e-04 -1.58824501e+01] [-2.63977416e-03 1.87605315e-04 9.99996498e-01 -3.69940815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.140371743 meters 0.03908449314426038 Centerline is valid? [True, True] Translation: X:262.01, Y:-15.88, Z:-3.70 [[ 9.99997200e-01 -1.43779155e-03 1.87976763e-03 2.62011488e+02] [ 1.43804668e-03 9.99998957e-01 -1.34379561e-04 -1.58812032e+01] [-1.87957246e-03 1.37082378e-04 9.99998224e-01 -3.70005855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17037174300003 meters 0.04168071370593631 Centerline is valid? [True, True] Translation: X:262.04, Y:-15.89, Z:-3.70 [[ 9.99994304e-01 -3.35069374e-03 4.06453345e-04 2.62041216e+02] [ 3.35070541e-03 9.99994386e-01 -2.80316262e-05 -1.58877792e+01] [-4.06357138e-04 2.93933719e-05 9.99999917e-01 -3.70198751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.200371743 meters 0.06907407028150657 Centerline is valid? [True, True] Translation: X:262.07, Y:-15.93, Z:-3.71 [[ 9.99997718e-01 -1.57944919e-03 1.43873146e-03 2.62068833e+02] [ 1.57959891e-03 9.99998747e-01 -1.02932410e-04 -1.59269933e+01] [-1.43856708e-03 1.05204794e-04 9.99998960e-01 -3.70890696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23037174300003 meters 0.04218286339833965 Centerline is valid? [True, True] Translation: X:262.10, Y:-15.89, Z:-3.70 [[ 9.99994606e-01 -3.28345842e-03 8.36361569e-05 2.62102109e+02] [ 3.28345891e-03 9.99994609e-01 -5.75397937e-06 -1.58924981e+01] [-8.36168134e-05 6.02856423e-06 9.99999996e-01 -3.70324782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.260371743 meters 0.04218286339833965 Centerline is valid? [True, True] Translation: X:262.13, Y:-15.89, Z:-3.70 [[ 9.99994720e-01 -3.24854193e-03 8.36535088e-05 2.62132962e+02] [ 3.24854240e-03 9.99994723e-01 -5.51221092e-06 -1.58947434e+01] [-8.36351609e-05 5.78393380e-06 9.99999996e-01 -3.70368221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.290371743 meters 0.04122049122499506 Centerline is valid? [True, True] Translation: X:262.16, Y:-15.89, Z:-3.70 [[ 9.99997513e-01 -1.96454735e-03 1.05595240e-03 2.62164091e+02] [ 1.96462799e-03 9.99998067e-01 -7.53280587e-05 -1.58946964e+01] [-1.05580237e-03 7.74024250e-05 9.99999440e-01 -3.70306900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.320371743 meters 0.03753791461839913 Centerline is valid? [True, True] Translation: X:262.20, Y:-15.89, Z:-3.70 [[ 9.99998148e-01 -5.86639505e-04 1.83324634e-03 2.62195859e+02] [ 5.86880998e-04 9.99999819e-01 -1.31194380e-04 -1.58911286e+01] [-1.83316905e-03 1.32270035e-04 9.99998311e-01 -3.70217282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.350371743 meters 0.042520359841686804 Centerline is valid? [True, True] Translation: X:262.23, Y:-15.90, Z:-3.70 [[ 9.99990630e-01 2.26975156e-03 3.68627396e-03 2.62225581e+02] [-2.26879067e-03 9.99997391e-01 -2.64829246e-04 -1.58986982e+01] [-3.68686544e-03 2.56463381e-04 9.99993171e-01 -3.70256183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380371743 meters 0.03919811596491135 Centerline is valid? [True, True] Translation: X:262.26, Y:-15.90, Z:-3.70 [[ 9.99981383e-01 3.88497524e-03 4.70536174e-03 2.62257071e+02] [-3.88342895e-03 9.99992402e-01 -3.37716413e-04 -1.58960731e+01] [-4.70663801e-03 3.19437188e-04 9.99988873e-01 -3.70169129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.410371743 meters 0.042305482192786716 Centerline is valid? [True, True] Translation: X:262.29, Y:-15.90, Z:-3.70 [[ 9.99969607e-01 5.37348350e-03 5.64891505e-03 2.62287101e+02] [-5.37127600e-03 9.99985492e-01 -4.05880896e-04 -1.59020786e+01] [-5.65101409e-03 3.75526679e-04 9.99983962e-01 -3.70220913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440371743 meters 0.042035158680261114 Centerline is valid? [True, True] Translation: X:262.32, Y:-15.90, Z:-3.70 [[ 9.99960443e-01 6.61807761e-03 5.94256256e-03 2.62318461e+02] [-6.61565660e-03 9.99978025e-01 -4.26967368e-04 -1.59034263e+01] [-5.94525768e-03 3.87636525e-04 9.99982252e-01 -3.70245649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.470371743 meters 0.041836694820682446 Centerline is valid? [True, True] Translation: X:262.35, Y:-15.90, Z:-3.70 [[ 9.99947723e-01 8.19390242e-03 6.11649636e-03 2.62348290e+02] [-8.19136401e-03 9.99966353e-01 -4.39948106e-04 -1.59049382e+01] [-6.11989545e-03 3.89822659e-04 9.99981197e-01 -3.70242149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500371743 meters 0.0349368172854815 Centerline is valid? [True, True] Translation: X:262.38, Y:-15.90, Z:-3.70 [[ 9.99944872e-01 8.58527901e-03 6.04531252e-03 2.62379238e+02] [-8.58280645e-03 9.99963073e-01 -4.34827986e-04 -1.58973782e+01] [-6.04882241e-03 3.82918268e-04 9.99981632e-01 -3.70188535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.530371743 meters 0.037837570341911785 Centerline is valid? [True, True] Translation: X:262.41, Y:-15.90, Z:-3.70 [[ 9.99944375e-01 8.74513053e-03 5.89655504e-03 2.62408754e+02] [-8.74278009e-03 9.99961691e-01 -4.24271946e-04 -1.59041146e+01] [-5.90003946e-03 3.72696062e-04 9.99982525e-01 -3.70362888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560371743 meters 0.03460270140686855 Centerline is valid? [True, True] Translation: X:262.44, Y:-15.90, Z:-3.70 [[ 9.99947255e-01 9.18300188e-03 4.60006542e-03 2.62438845e+02] [-9.18157537e-03 9.99957794e-01 -3.31129099e-04 -1.59027669e+01] [-4.60291203e-03 2.88875786e-04 9.99989365e-01 -3.70499787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.590371743 meters 0.03444782401178667 Centerline is valid? [True, True] Translation: X:262.47, Y:-15.91, Z:-3.71 [[ 9.99946914e-01 9.53380320e-03 3.90854211e-03 2.62467986e+02] [-9.53277627e-03 9.99954523e-01 -2.81285294e-04 -1.59054027e+01] [-3.91104607e-03 2.44011104e-04 9.99992322e-01 -3.70649032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620371743 meters 0.03370149303812139 Centerline is valid? [True, True] Translation: X:262.50, Y:-15.91, Z:-3.71 [[ 9.99943059e-01 1.04045721e-02 2.37143533e-03 2.62497171e+02] [-1.04041957e-02 9.99945860e-01 -1.70987558e-04 -1.59070937e+01] [-2.37308599e-03 1.46304944e-04 9.99997174e-01 -3.70873066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.650371743 meters 0.033750637219914156 Centerline is valid? [True, True] Translation: X:262.53, Y:-15.91, Z:-3.71 [[ 9.99933859e-01 1.14094147e-02 1.45023932e-03 2.62525573e+02] [-1.14092744e-02 9.99934907e-01 -1.05001822e-04 -1.59088640e+01] [-1.45134293e-03 8.84486983e-05 9.99998943e-01 -3.70988519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680371743 meters 0.03299956467308728 Centerline is valid? [True, True] Translation: X:262.55, Y:-15.91, Z:-3.71 [[ 9.99919078e-01 1.27167278e-02 3.48356488e-04 2.62554880e+02] [-1.27167194e-02 9.99919139e-01 -2.63212865e-05 -1.59094923e+01] [-3.48663040e-04 2.18892049e-05 9.99999939e-01 -3.71064482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.710371743 meters 0.033381997935319284 Centerline is valid? [True, True] Translation: X:262.58, Y:-15.91, Z:-3.71 [[ 9.99863716e-01 1.65067849e-02 -2.74932797e-04 2.62584153e+02] [-1.65067803e-02 9.99863754e-01 1.91810659e-05 -1.59118481e+01] [ 2.75211956e-04 -1.46401965e-05 9.99999962e-01 -3.71271512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740371743 meters 0.03184975093015618 Centerline is valid? [True, True] Translation: X:262.61, Y:-15.91, Z:-3.71 [[ 9.99823051e-01 1.88112347e-02 -6.84691541e-05 2.62614151e+02] [-1.88112344e-02 9.99823053e-01 4.40810533e-06 -1.59108059e+01] [ 6.85399604e-05 -3.11933600e-06 9.99999998e-01 -3.71251551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.770371743 meters 0.02917743479802314 Centerline is valid? [True, True] Translation: X:262.65, Y:-15.91, Z:-3.71 [[ 9.99713751e-01 2.38836112e-02 1.41040451e-03 2.62645390e+02] [-2.38834925e-02 9.99714744e-01 -1.00949401e-04 -1.59068096e+01] [-1.41241322e-03 6.72351192e-05 9.99999000e-01 -3.71064269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800371743 meters 0.028596734472516972 Centerline is valid? [True, True] Translation: X:262.68, Y:-15.91, Z:-3.71 [[ 9.99646179e-01 2.64537235e-02 2.77809289e-03 2.62675503e+02] [-2.64532725e-02 9.99650031e-01 -1.98947958e-04 -1.59065497e+01] [-2.78238356e-03 1.25387918e-04 9.99996121e-01 -3.71024912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.830371743 meters 0.02796436129456673 Centerline is valid? [True, True] Translation: X:262.70, Y:-15.91, Z:-3.71 [[ 9.99574035e-01 2.89285571e-02 3.85846703e-03 2.62704726e+02] [-2.89277055e-02 9.99581468e-01 -2.76329034e-04 -1.59072762e+01] [-3.86484594e-03 1.64594730e-04 9.99992518e-01 -3.70969514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86037174300003 meters 0.027140468771657638 Centerline is valid? [True, True] Translation: X:262.73, Y:-15.91, Z:-3.71 [[ 9.99439117e-01 3.29650899e-02 5.89523582e-03 2.62733405e+02] [-3.29631742e-02 9.99456478e-01 -4.21867950e-04 -1.59059427e+01] [-5.90593854e-03 2.27305647e-04 9.99982534e-01 -3.70838033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.890371743 meters 0.026166845709312297 Centerline is valid? [True, True] Translation: X:262.76, Y:-15.91, Z:-3.71 [[ 9.99390452e-01 3.42358628e-02 6.82866190e-03 2.62762060e+02] [-3.42333243e-02 9.99413749e-01 -4.88321709e-04 -1.59051048e+01] [-6.84137671e-03 2.54256256e-04 9.99976565e-01 -3.70763249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92037174300003 meters 0.025465486680070665 Centerline is valid? [True, True] Translation: X:262.79, Y:-15.91, Z:-3.71 [[ 9.99355043e-01 3.51078149e-02 7.54576028e-03 2.62791300e+02] [-3.51047448e-02 9.99383493e-01 -5.38973793e-04 -1.59052665e+01] [-7.56003046e-03 2.73734190e-04 9.99971385e-01 -3.70727575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.950371743 meters 0.027223709344799667 Centerline is valid? [True, True] Translation: X:262.82, Y:-15.91, Z:-3.71 [[ 9.99335145e-01 3.55120001e-02 8.25629164e-03 2.62819317e+02] [-3.55083440e-02 9.99369206e-01 -5.89042058e-04 -1.59098627e+01] [-8.27200169e-03 2.95483186e-04 9.99965743e-01 -3.70773403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98037174300003 meters 0.025278567016795733 Centerline is valid? [True, True] Translation: X:262.85, Y:-15.91, Z:-3.71 [[ 9.99359541e-01 3.46944396e-02 8.76379731e-03 2.62847841e+02] [-3.46902939e-02 9.99397915e-01 -6.24674544e-04 -1.59080051e+01] [-8.78019350e-03 3.20255762e-04 9.99961402e-01 -3.70776764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.010371743 meters 0.026203724561117758 Centerline is valid? [True, True] Translation: X:262.88, Y:-15.91, Z:-3.71 [[ 9.99396322e-01 3.35827978e-02 8.89872866e-03 2.62875680e+02] [-3.35784867e-02 9.99435883e-01 -6.33467609e-04 -1.59117980e+01] [-8.91498235e-03 3.34279357e-04 9.99960205e-01 -3.70858186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.040371743 meters 0.02672370865743711 Centerline is valid? [True, True] Translation: X:262.90, Y:-15.92, Z:-3.71 [[ 9.99483310e-01 3.11190335e-02 8.04483206e-03 2.62904985e+02] [-3.11154378e-02 9.99515634e-01 -5.71760368e-04 -1.59161260e+01] [-8.05872805e-03 3.21146473e-04 9.99967476e-01 -3.70996557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.070371743 meters 0.027210090221732593 Centerline is valid? [True, True] Translation: X:262.93, Y:-15.92, Z:-3.71 [[ 9.99542002e-01 2.93488460e-02 7.37783183e-03 2.62933761e+02] [-2.93457736e-02 9.99569183e-01 -5.24372520e-04 -1.59189305e+01] [-7.39004306e-03 3.07624175e-04 9.99972646e-01 -3.71097257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.100371743 meters 0.028838546275305563 Centerline is valid? [True, True] Translation: X:262.96, Y:-15.92, Z:-3.71 [[ 9.99644997e-01 2.59694572e-02 5.95544605e-03 2.62961981e+02] [-2.59673977e-02 9.99662701e-01 -4.22899230e-04 -1.59245728e+01] [-5.96441975e-03 2.68101664e-04 9.99982177e-01 -3.71276918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.130371743 meters 0.028579055672585472 Centerline is valid? [True, True] Translation: X:262.99, Y:-15.93, Z:-3.71 [[ 9.99691524e-01 2.42412548e-02 5.40531852e-03 2.62990326e+02] [-2.42395312e-02 9.99706106e-01 -3.84162202e-04 -1.59265651e+01] [-5.41304250e-03 2.53021310e-04 9.99985317e-01 -3.71315920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.160371743 meters 0.029364177519471197 Centerline is valid? [True, True] Translation: X:263.02, Y:-15.93, Z:-3.71 [[ 9.99733206e-01 2.25193559e-02 5.13772037e-03 2.63018993e+02] [-2.25177809e-02 9.99746376e-01 -3.64217857e-04 -1.59305228e+01] [-5.14461928e-03 2.48430624e-04 9.99986735e-01 -3.71395978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.190371743 meters 0.03055794553867488 Centerline is valid? [True, True] Translation: X:263.05, Y:-15.93, Z:-3.71 [[ 9.99765839e-01 2.10838170e-02 4.87242667e-03 2.63046794e+02] [-2.10823841e-02 9.99777682e-01 -3.45279212e-04 -1.59348394e+01] [-4.87862325e-03 2.42475991e-04 9.99988070e-01 -3.71491974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.220371743 meters 0.03038103866778856 Centerline is valid? [True, True] Translation: X:263.08, Y:-15.94, Z:-3.71 [[ 9.99816780e-01 1.85567445e-02 4.69617383e-03 2.63075722e+02] [-1.85553887e-02 9.99827779e-01 -3.32100915e-04 -1.59381219e+01] [-4.70152776e-03 2.44900736e-04 9.99988918e-01 -3.71472900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.250371743 meters 0.03220359844396942 Centerline is valid? [True, True] Translation: X:263.10, Y:-15.94, Z:-3.72 [[ 9.99833986e-01 1.76015972e-02 4.71007076e-03 2.63102898e+02] [-1.76002225e-02 9.99845049e-01 -3.33154658e-04 -1.59435246e+01] [-4.71520498e-03 2.50201056e-04 9.99988852e-01 -3.71534414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.280371743 meters 0.03175608416693316 Centerline is valid? [True, True] Translation: X:263.13, Y:-15.95, Z:-3.72 [[ 9.99868936e-01 1.54784216e-02 4.74657409e-03 2.63132375e+02] [-1.54770060e-02 9.99880168e-01 -3.34813302e-04 -1.59457011e+01] [-4.75118768e-03 2.61306664e-04 9.99988679e-01 -3.71534694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.310371743 meters 0.03186687252040619 Centerline is valid? [True, True] Translation: X:263.16, Y:-15.95, Z:-3.72 [[ 9.99884575e-01 1.43558319e-02 4.97451401e-03 2.63160664e+02] [-1.43542626e-02 9.99896911e-01 -3.51013482e-04 -1.59486584e+01] [-4.97904028e-03 2.79567486e-04 9.99987565e-01 -3.71553883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.340371743 meters 0.03252946994890978 Centerline is valid? [True, True] Translation: X:263.19, Y:-15.95, Z:-3.72 [[ 9.99897756e-01 1.34495919e-02 4.85656256e-03 2.63189250e+02] [-1.34480872e-02 9.99909512e-01 -3.42366408e-04 -1.59519115e+01] [-4.86072779e-03 2.77019927e-04 9.99988148e-01 -3.71578482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.370371743 meters 0.033246023386748515 Centerline is valid? [True, True] Translation: X:263.22, Y:-15.96, Z:-3.72 [[ 9.99925365e-01 1.11849087e-02 4.91541136e-03 2.63218625e+02] [-1.11833433e-02 9.99937405e-01 -3.45829190e-04 -1.59570098e+01] [-4.91897174e-03 2.90832647e-04 9.99987859e-01 -3.71571946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.400371743 meters 0.03483743321258694 Centerline is valid? [True, True] Translation: X:263.25, Y:-15.96, Z:-3.72 [[ 9.99938768e-01 9.87866547e-03 4.98728725e-03 2.63246548e+02] [-9.87703945e-03 9.99951159e-01 -3.50558274e-04 -1.59620114e+01] [-4.99050671e-03 3.01277176e-04 9.99987502e-01 -3.71640531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.430371743 meters 0.034866837295962 Centerline is valid? [True, True] Translation: X:263.28, Y:-15.97, Z:-3.72 [[ 9.99953207e-01 8.28399003e-03 4.99586717e-03 2.63276321e+02] [-8.28233837e-03 9.99965639e-01 -3.51204128e-04 -1.59656706e+01] [-4.99860488e-03 3.09810232e-04 9.99987459e-01 -3.71678845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.460371743 meters 0.034238052935295894 Centerline is valid? [True, True] Translation: X:263.31, Y:-15.97, Z:-3.72 [[ 9.99976802e-01 5.12676437e-03 4.48460165e-03 2.63305935e+02] [-5.12540307e-03 9.99986815e-01 -3.14990530e-04 -1.59693194e+01] [-4.48615741e-03 2.91997832e-04 9.99989895e-01 -3.71708036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.490371743 meters 0.03658963631586351 Centerline is valid? [True, True] Translation: X:263.34, Y:-15.98, Z:-3.72 [[ 9.99987118e-01 3.67974620e-03 3.49609302e-03 2.63336109e+02] [-3.67891143e-03 9.99993203e-01 -2.45172584e-04 -1.59761606e+01] [-3.49697143e-03 2.32307609e-04 9.99993859e-01 -3.71818594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.520371743 meters 0.038403668073170846 Centerline is valid? [True, True] Translation: X:263.37, Y:-15.98, Z:-3.72 [[ 9.99994456e-01 1.93557037e-03 2.70942408e-03 2.63365648e+02] [-1.93506480e-03 9.99998110e-01 -1.89206151e-04 -1.59834301e+01] [-2.70978518e-03 1.83962191e-04 9.99996312e-01 -3.71966694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.550371743 meters 0.03811821102588308 Centerline is valid? [True, True] Translation: X:263.40, Y:-15.99, Z:-3.72 [[ 9.99996067e-01 1.66292234e-03 2.25861313e-03 2.63396428e+02] [-1.66256894e-03 9.99998605e-01 -1.58338480e-04 -1.59863841e+01] [-2.25887328e-03 1.54582757e-04 9.99997437e-01 -3.72028633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.580371743 meters 0.03743779649215443 Centerline is valid? [True, True] Translation: X:263.43, Y:-15.99, Z:-3.72 [[ 9.99996409e-01 1.94544272e-03 1.84302034e-03 2.63426926e+02] [-1.94520714e-03 9.99998100e-01 -1.29606384e-04 -1.59884157e+01] [-1.84326898e-03 1.26020862e-04 9.99998293e-01 -3.72085154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61037174300003 meters 0.03906055316945901 Centerline is valid? [True, True] Translation: X:263.46, Y:-15.99, Z:-3.72 [[ 9.99994195e-01 2.85958944e-03 1.85282572e-03 2.63456569e+02] [-2.85935331e-03 9.99995904e-01 -1.30082480e-04 -1.59936196e+01] [-1.85319011e-03 1.24783842e-04 9.99998275e-01 -3.72204375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.640371743 meters 0.034838421569419326 Centerline is valid? [True, True] Translation: X:263.49, Y:-15.99, Z:-3.72 [[ 9.99986392e-01 5.16659637e-03 7.22227402e-04 2.63487524e+02] [-5.16656102e-03 9.99986652e-01 -5.08017485e-05 -1.59899092e+01] [-7.22480234e-04 4.70696252e-05 9.99999738e-01 -3.72153659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67037174300003 meters 0.035364352447637366 Centerline is valid? [True, True] Translation: X:263.52, Y:-15.99, Z:-3.72 [[ 9.99979192e-01 6.44858353e-03 1.77744457e-04 2.63515992e+02] [-6.44858128e-03 9.99979208e-01 -1.32458027e-05 -1.59929546e+01] [-1.77826178e-04 1.20993275e-05 9.99999984e-01 -3.72249446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.700371743 meters 0.03486982945549387 Centerline is valid? [True, True] Translation: X:263.55, Y:-15.99, Z:-3.72 [[ 9.99956813e-01 9.28728830e-03 -3.44280545e-04 2.63545798e+02] [-9.28728060e-03 9.99956872e-01 2.39452306e-05 -1.59948438e+01] [ 3.44488083e-04 -2.07467665e-05 9.99999940e-01 -3.72366158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73037174300003 meters 0.034228398110281485 Centerline is valid? [True, True] Translation: X:263.57, Y:-16.00, Z:-3.72 [[ 9.99943845e-01 1.05826746e-02 -5.60184688e-04 2.63574357e+02] [-1.05826548e-02 9.99944001e-01 3.83307074e-05 -1.59958165e+01] [ 5.60558959e-04 -3.24003138e-05 9.99999842e-01 -3.72362531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.760371743 meters 0.03294182686052257 Centerline is valid? [True, True] Translation: X:263.60, Y:-16.00, Z:-3.72 [[ 9.99918151e-01 1.27930171e-02 -1.70479321e-04 2.63604092e+02] [-1.27930154e-02 9.99918166e-01 1.14649122e-05 -1.59960607e+01] [ 1.70612040e-04 -9.28302926e-06 9.99999985e-01 -3.72386123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.790371743 meters 0.03347694496900396 Centerline is valid? [True, True] Translation: X:263.63, Y:-16.00, Z:-3.72 [[ 9.99906856e-01 1.36413724e-02 -4.39026904e-04 2.63632099e+02] [-1.36413608e-02 9.99906952e-01 2.95358169e-05 -1.59982544e+01] [ 4.39388962e-04 -2.35441414e-05 9.99999903e-01 -3.72445031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.820371743 meters 0.03266765510468221 Centerline is valid? [True, True] Translation: X:263.66, Y:-16.00, Z:-3.72 [[ 9.99894020e-01 1.45545197e-02 -3.38013614e-04 2.63660873e+02] [-1.45545129e-02 9.99894077e-01 2.26794652e-05 -1.59996093e+01] [ 3.38307899e-04 -1.77574381e-05 9.99999943e-01 -3.72486453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.850371743 meters 0.032582395399568156 Centerline is valid? [True, True] Translation: X:263.69, Y:-16.00, Z:-3.72 [[ 9.99889039e-01 1.48965635e-02 3.46229241e-05 2.63689238e+02] [-1.48965634e-02 9.99889040e-01 -3.40665077e-06 -1.60010511e+01] [-3.46698300e-05 2.89051020e-06 9.99999999e-01 -3.72471045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880371743 meters 0.03257670785942737 Centerline is valid? [True, True] Translation: X:263.72, Y:-16.00, Z:-3.72 [[ 9.99899491e-01 1.41742964e-02 3.12458812e-04 2.63717493e+02] [-1.41742899e-02 9.99899539e-01 -2.30584945e-05 -1.60031010e+01] [-3.12754261e-04 1.86272951e-05 9.99999951e-01 -3.72461601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.910371743 meters 0.033525297242726834 Centerline is valid? [True, True] Translation: X:263.75, Y:-16.01, Z:-3.72 [[ 9.99930217e-01 1.17682634e-02 1.03430857e-03 2.63746747e+02] [-1.17681945e-02 9.99930750e-01 -7.26992609e-05 -1.60080230e+01] [-1.03509248e-03 6.05222434e-05 9.99999462e-01 -3.72467164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940371743 meters 0.03503026259423484 Centerline is valid? [True, True] Translation: X:263.77, Y:-16.01, Z:-3.73 [[ 9.99946414e-01 1.02548800e-02 1.41661770e-03 2.63774501e+02] [-1.02547489e-02 9.99947414e-01 -9.97754182e-05 -1.60131809e+01] [-1.41756639e-03 8.52430128e-05 9.99998992e-01 -3.72522730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.970371743 meters 0.034383831719674685 Centerline is valid? [True, True] Translation: X:263.80, Y:-16.02, Z:-3.73 [[ 9.99963580e-01 8.42212979e-03 1.38086689e-03 2.63804031e+02] [-8.42200418e-03 9.99964530e-01 -9.67502298e-05 -1.60153412e+01] [-1.38163275e-03 8.51170395e-05 9.99999042e-01 -3.72519894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000371743 meters 0.03903718989335575 Centerline is valid? [True, True] Translation: X:263.83, Y:-16.03, Z:-3.73 [[ 9.99990183e-01 4.24831901e-03 1.25934426e-03 2.63832522e+02] [-4.24821146e-03 9.99990972e-01 -8.80611378e-05 -1.60256588e+01] [-1.25970700e-03 8.27103126e-05 9.99999203e-01 -3.72597007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.030371743 meters 0.03788378033380203 Centerline is valid? [True, True] Translation: X:263.86, Y:-16.03, Z:-3.73 [[ 9.99996912e-01 2.24797087e-03 1.05957205e-03 2.63862406e+02] [-2.24789341e-03 9.99997471e-01 -7.42904350e-05 -1.60268214e+01] [-1.05973637e-03 7.19084006e-05 9.99999436e-01 -3.72589294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060371743 meters 0.03838675960149774 Centerline is valid? [True, True] Translation: X:263.89, Y:-16.03, Z:-3.73 [[ 9.99999933e-01 3.16532808e-04 1.86344373e-04 2.63892911e+02] [-3.16530395e-04 9.99999950e-01 -1.29786848e-05 -1.60307039e+01] [-1.86348472e-04 1.29197003e-05 9.99999983e-01 -3.72679826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.090371743 meters 0.03715156870188849 Centerline is valid? [True, True] Translation: X:263.92, Y:-16.03, Z:-3.73 [[ 9.99996134e-01 -2.73807284e-03 -4.85326005e-04 2.63923395e+02] [ 2.73808956e-03 9.99996251e-01 3.38024334e-05 -1.60325946e+01] [ 4.85231632e-04 -3.51311688e-05 9.99999882e-01 -3.72750205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120371743 meters 0.039319430049035056 Centerline is valid? [True, True] Translation: X:263.95, Y:-16.04, Z:-3.73 [[ 9.99992531e-01 -3.78692757e-03 -7.72953067e-04 2.63953297e+02] [ 3.78697051e-03 9.99992828e-01 5.41012438e-05 -1.60388649e+01] [ 7.72742646e-04 -5.70279902e-05 9.99999700e-01 -3.72869524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.150371743 meters 0.039319430049035056 Centerline is valid? [True, True] Translation: X:263.98, Y:-16.04, Z:-3.73 [[ 9.99992665e-01 -3.75131325e-03 -7.72933850e-04 2.63984151e+02] [ 3.75135639e-03 9.99992962e-01 5.43769469e-05 -1.60410458e+01] [ 7.72724425e-04 -5.72760984e-05 9.99999700e-01 -3.72912959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180371743 meters 0.03767931998664504 Centerline is valid? [True, True] Translation: X:264.02, Y:-16.04, Z:-3.73 [[ 9.99988900e-01 -4.65394270e-03 -7.35673462e-04 2.64015646e+02] [ 4.65398208e-03 9.99989169e-01 5.18159152e-05 -1.60419446e+01] [ 7.35424346e-04 -5.52391511e-05 9.99999728e-01 -3.72848110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.210371743 meters 0.03832068758831458 Centerline is valid? [True, True] Translation: X:264.05, Y:-16.05, Z:-3.73 [[ 9.99989897e-01 -4.44793412e-03 -6.49166709e-04 2.64046823e+02] [ 4.44796479e-03 9.99990107e-01 4.58012636e-05 -1.60451677e+01] [ 6.48956565e-04 -4.86882715e-05 9.99999788e-01 -3.72839430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240371743 meters 0.0386166874659978 Centerline is valid? [True, True] Translation: X:264.08, Y:-16.05, Z:-3.73 [[ 9.99992392e-01 -3.87680973e-03 -4.31513674e-04 2.64078604e+02] [ 3.87682341e-03 9.99992485e-01 3.08843208e-05 -1.60477162e+01] [ 4.31390698e-04 -3.25569882e-05 9.99999906e-01 -3.72865903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.270371743 meters 0.039698765293740064 Centerline is valid? [True, True] Translation: X:264.11, Y:-16.05, Z:-3.73 [[ 9.99994007e-01 -3.42365972e-03 -5.14232909e-04 2.64110012e+02] [ 3.42367903e-03 9.99994139e-01 3.66853786e-05 -1.60507518e+01] [ 5.14104296e-04 -3.84457271e-05 9.99999867e-01 -3.72911391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300371743 meters 0.0397619915599567 Centerline is valid? [True, True] Translation: X:264.14, Y:-16.05, Z:-3.73 [[ 9.99996583e-01 -2.38085747e-03 -1.07938820e-03 2.64141122e+02] [ 2.38094084e-03 9.99997163e-01 7.59606911e-05 -1.60528627e+01] [ 1.07920429e-03 -7.85303910e-05 9.99999415e-01 -3.72966634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.330371743 meters 0.03820896110580674 Centerline is valid? [True, True] Translation: X:264.17, Y:-16.05, Z:-3.73 [[ 9.99996285e-01 -2.37586727e-03 -1.33590756e-03 2.64171442e+02] [ 2.37599416e-03 9.99997173e-01 9.34034523e-05 -1.60522742e+01] [ 1.33568187e-03 -9.65772139e-05 9.99999103e-01 -3.72980329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36037174300003 meters 0.03812765567140807 Centerline is valid? [True, True] Translation: X:264.20, Y:-16.05, Z:-3.73 [[ 9.99997557e-01 -1.84345620e-03 -1.21940511e-03 2.64202276e+02] [ 1.84356153e-03 9.99998297e-01 8.52578804e-05 -1.60544659e+01] [ 1.21924587e-03 -8.75057205e-05 9.99999253e-01 -3.73019097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.390371743 meters 0.03825798209704524 Centerline is valid? [True, True] Translation: X:264.23, Y:-16.06, Z:-3.73 [[ 9.99996368e-01 -1.84615480e-03 -1.96379762e-03 2.64232789e+02] [ 1.84642798e-03 9.99998286e-01 1.37304019e-04 -1.60561863e+01] [ 1.96354077e-03 -1.40929531e-04 9.99998062e-01 -3.73062291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42037174300003 meters 0.038487649485296024 Centerline is valid? [True, True] Translation: X:264.26, Y:-16.06, Z:-3.73 [[ 9.99997628e-01 -1.72883437e-03 -1.32452672e-03 2.64263125e+02] [ 1.72895854e-03 9.99998501e-01 9.26077312e-05 -1.60585764e+01] [ 1.32436463e-03 -9.48975634e-05 9.99999119e-01 -3.73137387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.450371743 meters 0.04007113272439061 Centerline is valid? [True, True] Translation: X:264.29, Y:-16.06, Z:-3.73 [[ 9.99997543e-01 -1.64536815e-03 -1.48545288e-03 2.64292583e+02] [ 1.64552434e-03 9.99998641e-01 1.03929040e-04 -1.60614507e+01] [ 1.48527986e-03 -1.06373134e-04 9.99998891e-01 -3.73218098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48037174300003 meters 0.040272577501236514 Centerline is valid? [True, True] Translation: X:264.32, Y:-16.06, Z:-3.73 [[ 9.99996971e-01 -1.72364906e-03 -1.75722069e-03 2.64322670e+02] [ 1.72386761e-03 9.99998507e-01 1.22868565e-04 -1.60635639e+01] [ 1.75700628e-03 -1.25897409e-04 9.99998449e-01 -3.73319353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.510371743 meters 0.0383961592856288 Centerline is valid? [True, True] Translation: X:264.35, Y:-16.06, Z:-3.73 [[ 9.99996562e-01 -1.82122824e-03 -1.88652126e-03 2.64353203e+02] [ 1.82148031e-03 9.99998332e-01 1.31909533e-04 -1.60622257e+01] [ 1.88627787e-03 -1.35345341e-04 9.99998212e-01 -3.73349627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.540371743 meters 0.0396286338178427 Centerline is valid? [True, True] Translation: X:264.38, Y:-16.06, Z:-3.73 [[ 9.99994581e-01 -2.68172220e-03 -1.90932049e-03 2.64382406e+02] [ 2.68198143e-03 9.99996395e-01 1.33221531e-04 -1.60647867e+01] [ 1.90895635e-03 -1.38341571e-04 9.99998168e-01 -3.73422616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.570371743 meters 0.03958464124207167 Centerline is valid? [True, True] Translation: X:264.41, Y:-16.07, Z:-3.73 [[ 9.99993910e-01 -2.97333563e-03 -1.82761044e-03 2.64412973e+02] [ 2.97357406e-03 9.99995571e-01 1.27757965e-04 -1.60656754e+01] [ 1.82722248e-03 -1.33191722e-04 9.99998322e-01 -3.73427825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.600371743 meters 0.041115756983702505 Centerline is valid? [True, True] Translation: X:264.44, Y:-16.07, Z:-3.73 [[ 9.99993404e-01 -3.16465720e-03 -1.78238238e-03 2.64443288e+02] [ 3.16488583e-03 9.99994984e-01 1.25468364e-04 -1.60688987e+01] [ 1.78197638e-03 -1.31108573e-04 9.99998404e-01 -3.73479022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.630371743 meters 0.040633269454089044 Centerline is valid? [True, True] Translation: X:264.47, Y:-16.07, Z:-3.73 [[ 9.99989162e-01 -4.37615992e-03 -1.58925508e-03 2.64474236e+02] [ 4.37634212e-03 9.99990418e-01 1.11183652e-04 -1.60682192e+01] [ 1.58875329e-03 -1.18137571e-04 9.99998731e-01 -3.73468631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.660371743 meters 0.04353347544329816 Centerline is valid? [True, True] Translation: X:264.50, Y:-16.07, Z:-3.74 [[ 9.99986377e-01 -5.10763298e-03 -1.07570172e-03 2.64504585e+02] [ 5.10771715e-03 9.99986953e-01 7.55199204e-05 -1.60737138e+01] [ 1.07530195e-03 -8.10132718e-05 9.99999419e-01 -3.73576133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.690371743 meters 0.044020474259153654 Centerline is valid? [True, True] Translation: X:264.54, Y:-16.07, Z:-3.74 [[ 9.99972738e-01 -7.35896707e-03 -6.07416826e-04 2.64535448e+02] [ 7.35899464e-03 9.99972921e-01 4.31744510e-05 -1.60748738e+01] [ 6.07082658e-04 -4.76432512e-05 9.99999815e-01 -3.73535729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.720371743 meters 0.041947594152504604 Centerline is valid? [True, True] Translation: X:264.57, Y:-16.07, Z:-3.73 [[ 9.99962913e-01 -8.60186669e-03 -4.24361752e-04 2.64567288e+02] [ 8.60188063e-03 9.99963003e-01 3.10452521e-05 -1.60733021e+01] [ 4.24079005e-04 -3.46944099e-05 9.99999909e-01 -3.73489368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.750371743 meters 0.04074457319116534 Centerline is valid? [True, True] Translation: X:264.60, Y:-16.07, Z:-3.73 [[ 9.99949544e-01 -1.00407517e-02 -3.05507060e-04 2.64599332e+02] [ 1.00407591e-02 9.99949590e-01 2.24506403e-05 -1.60732395e+01] [ 3.05266238e-04 -2.55170302e-05 9.99999953e-01 -3.73453565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.780371743 meters 0.046870759475126485 Centerline is valid? [True, True] Translation: X:264.63, Y:-16.08, Z:-3.74 [[ 9.99936492e-01 -1.12699689e-02 -7.78552086e-06 2.64629233e+02] [ 1.12699689e-02 9.99936492e-01 1.05322459e-06 -1.60836023e+01] [ 7.77315640e-06 -1.14090027e-06 1.00000000e+00 -3.73625980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.810371743 meters 0.04363479198195016 Centerline is valid? [True, True] Translation: X:264.66, Y:-16.08, Z:-3.74 [[ 9.99898120e-01 -1.42640285e-02 -5.35962058e-04 2.64659795e+02] [ 1.42640507e-02 9.99898263e-01 3.76899276e-05 -1.60802286e+01] [ 5.35369920e-04 -4.53310777e-05 9.99999856e-01 -3.73620154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.840371743 meters 0.0473055246487602 Centerline is valid? [True, True] Translation: X:264.69, Y:-16.09, Z:-3.74 [[ 9.99879051e-01 -1.55316789e-02 -8.06778267e-04 2.64690704e+02] [ 1.55317303e-02 9.99879374e-01 5.74395936e-05 -1.60870627e+01] [ 8.05788815e-04 -6.99633088e-05 9.99999673e-01 -3.73748676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.870371743 meters 0.04278065387630434 Centerline is valid? [True, True] Translation: X:264.72, Y:-16.08, Z:-3.74 [[ 9.99861924e-01 -1.65576527e-02 -1.40578970e-03 2.64723511e+02] [ 1.65578094e-02 9.99862905e-01 9.99270579e-05 -1.60827790e+01] [ 1.40394241e-03 -1.23190058e-04 9.99999007e-01 -3.73693203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.900371743 meters 0.043887487631996396 Centerline is valid? [True, True] Translation: X:264.76, Y:-16.09, Z:-3.74 [[ 9.99840656e-01 -1.77323134e-02 -2.05628341e-03 2.64755569e+02] [ 1.77326505e-02 9.99842754e-01 1.45821035e-04 -1.60862417e+01] [ 2.05337432e-03 -1.82261154e-04 9.99997875e-01 -3.73796662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.930371743 meters 0.046945049197486315 Centerline is valid? [True, True] Translation: X:264.79, Y:-16.09, Z:-3.74 [[ 9.99851903e-01 -1.70981416e-02 -1.95613814e-03 2.64786498e+02] [ 1.70984475e-02 9.99853801e-01 1.39774568e-04 -1.60928280e+01] [ 1.95346227e-03 -1.73200793e-04 9.99998077e-01 -3.73950641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.960371743 meters 0.04482636587049591 Centerline is valid? [True, True] Translation: X:264.82, Y:-16.09, Z:-3.74 [[ 9.99866932e-01 -1.62635970e-02 -1.26998847e-03 2.64818978e+02] [ 1.62637252e-02 9.99867733e-01 9.06992871e-05 -1.60911852e+01] [ 1.26834540e-03 -1.11341961e-04 9.99999189e-01 -3.73826691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.990371743 meters 0.04434000586879943 Centerline is valid? [True, True] Translation: X:264.85, Y:-16.09, Z:-3.74 [[ 9.99881558e-01 -1.53700537e-02 -7.94718639e-04 2.64851051e+02] [ 1.53701040e-02 9.99881871e-01 5.71906725e-05 -1.60921845e+01] [ 7.93745736e-04 -6.93988068e-05 9.99999683e-01 -3.73810280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.020371743 meters 0.0440052536759222 Centerline is valid? [True, True] Translation: X:264.88, Y:-16.09, Z:-3.74 [[ 9.99896575e-01 -1.43687836e-02 -6.14051279e-04 2.64883374e+02] [ 1.43688136e-02 9.99896762e-01 4.44539046e-05 -1.60933131e+01] [ 6.13349137e-04 -5.32724953e-05 9.99999810e-01 -3.73734966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.050371743 meters 0.04395187302750981 Centerline is valid? [True, True] Translation: X:264.91, Y:-16.09, Z:-3.74 [[ 9.99923221e-01 -1.23886997e-02 -2.70173688e-04 2.64913342e+02] [ 1.23887053e-02 9.99923257e-01 1.91191995e-05 -1.60944290e+01] [ 2.69916092e-04 -2.24648337e-05 9.99999963e-01 -3.73731208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.080371743 meters 0.045030733463386007 Centerline is valid? [True, True] Translation: X:264.94, Y:-16.10, Z:-3.74 [[ 9.99934106e-01 -1.14797063e-02 -3.03179162e-05 2.64944790e+02] [ 1.14797064e-02 9.99934106e-01 3.13719524e-06 -1.60977784e+01] [ 3.02799042e-05 -3.48502929e-06 1.00000000e+00 -3.73845030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11037174300003 meters 0.044170079314391326 Centerline is valid? [True, True] Translation: X:264.98, Y:-16.10, Z:-3.74 [[ 9.99956519e-01 -9.32499150e-03 6.06150277e-05 2.64975249e+02] [ 9.32499177e-03 9.99956521e-01 -4.29378508e-06 -1.60992861e+01] [-6.05723530e-05 4.85883303e-06 9.99999998e-01 -3.73917038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.140371743 meters 0.044412042189205164 Centerline is valid? [True, True] Translation: X:265.01, Y:-16.10, Z:-3.74 [[ 9.99963546e-01 -8.53680854e-03 -1.74571547e-04 2.65007345e+02] [ 8.53681100e-03 9.99963561e-01 1.33572717e-05 -1.61012600e+01] [ 1.74451157e-04 -1.48470690e-05 9.99999985e-01 -3.73966986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17037174300003 meters 0.04447776521812726 Centerline is valid? [True, True] Translation: X:265.04, Y:-16.10, Z:-3.74 [[ 9.99971513e-01 -7.54762580e-03 7.52455642e-05 2.65038395e+02] [ 7.54762618e-03 9.99971516e-01 -4.84961479e-06 -1.61028259e+01] [-7.52068181e-05 5.41740204e-06 9.99999997e-01 -3.73976266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.200371743 meters 0.04088285784816704 Centerline is valid? [True, True] Translation: X:265.07, Y:-16.10, Z:-3.74 [[ 9.99983171e-01 -5.78422186e-03 4.47537109e-04 2.65070250e+02] [ 5.78423642e-03 9.99983271e-01 -3.12626893e-05 -1.60992803e+01] [-4.47348792e-04 3.38508236e-05 9.99999899e-01 -3.73860569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23037174300003 meters 0.04016861717297905 Centerline is valid? [True, True] Translation: X:265.10, Y:-16.10, Z:-3.74 [[ 9.99986509e-01 -5.17889876e-03 4.00514260e-04 2.65102818e+02] [ 5.17891017e-03 9.99986589e-01 -2.74506169e-05 -1.61005272e+01] [-4.00366724e-04 2.95244739e-05 9.99999919e-01 -3.73860520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.260371743 meters 0.04021441989150401 Centerline is valid? [True, True] Translation: X:265.13, Y:-16.10, Z:-3.74 [[ 9.99989400e-01 -4.59241592e-03 3.32300417e-04 2.65134685e+02] [ 4.59242369e-03 9.99989455e-01 -2.26283296e-05 -1.61029002e+01] [-3.32192994e-04 2.41541540e-05 9.99999945e-01 -3.73931006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.290371743 meters 0.040172971697045666 Centerline is valid? [True, True] Translation: X:265.17, Y:-16.11, Z:-3.74 [[ 9.99991898e-01 -4.02544024e-03 1.85927315e-05 2.65166590e+02] [ 4.02544025e-03 9.99991898e-01 -3.20611126e-07 -1.61055135e+01] [-1.85912904e-05 3.95452467e-07 1.00000000e+00 -3.74062929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.320371743 meters 0.03882986878773914 Centerline is valid? [True, True] Translation: X:265.20, Y:-16.11, Z:-3.74 [[ 9.99991617e-01 -4.04519208e-03 -6.35083747e-04 2.65197818e+02] [ 4.04522194e-03 9.99991817e-01 4.57411250e-05 -1.61055779e+01] [ 6.34893518e-04 -4.83097962e-05 9.99999797e-01 -3.74088776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.350371743 meters 0.03798275375365 Centerline is valid? [True, True] Translation: X:265.23, Y:-16.11, Z:-3.74 [[ 9.99992599e-01 -3.77123543e-03 -7.61870730e-04 2.65229542e+02] [ 3.77127828e-03 9.99992887e-01 5.48036563e-05 -1.61064470e+01] [ 7.61658633e-04 -5.76764772e-05 9.99999708e-01 -3.74124722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380371743 meters 0.039623169669622746 Centerline is valid? [True, True] Translation: X:265.26, Y:-16.11, Z:-3.74 [[ 9.99993291e-01 -3.21968664e-03 -1.74710239e-03 2.65260037e+02] [ 3.21991005e-03 9.99994808e-01 1.25076358e-04 -1.61098457e+01] [ 1.74669062e-03 -1.30701031e-04 9.99998466e-01 -3.74213747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.410371743 meters 0.039822886241078395 Centerline is valid? [True, True] Translation: X:265.29, Y:-16.11, Z:-3.74 [[ 9.99995282e-01 -2.50922991e-03 -1.77174909e-03 2.65290277e+02] [ 2.50945961e-03 9.99996843e-01 1.27430444e-04 -1.61120832e+01] [ 1.77142374e-03 -1.31875976e-04 9.99998422e-01 -3.74274227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440371743 meters 0.039482995328479556 Centerline is valid? [True, True] Translation: X:265.32, Y:-16.11, Z:-3.74 [[ 9.99998208e-01 -8.05856738e-04 -1.71313461e-03 2.65320607e+02] [ 8.06067376e-04 9.99999668e-01 1.22268360e-04 -1.61141042e+01] [ 1.71303551e-03 -1.23649043e-04 9.99998525e-01 -3.74329774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.470371743 meters 0.036551577653734534 Centerline is valid? [True, True] Translation: X:265.35, Y:-16.11, Z:-3.74 [[ 9.99998590e-01 9.87560151e-05 -1.67655188e-03 2.65351092e+02] [-9.85560178e-05 9.99999988e-01 1.19373063e-04 -1.61114486e+01] [ 1.67656365e-03 -1.19207661e-04 9.99998587e-01 -3.74266981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500371743 meters 0.0382561328675396 Centerline is valid? [True, True] Translation: X:265.38, Y:-16.12, Z:-3.74 [[ 9.99998723e-01 9.90079955e-04 -1.25429172e-03 2.65380514e+02] [-9.89968818e-04 9.99999506e-01 8.92228452e-05 -1.61155123e+01] [ 1.25437944e-03 -8.79810216e-05 9.99999209e-01 -3.74299493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.530371743 meters 0.03564512859508176 Centerline is valid? [True, True] Translation: X:265.41, Y:-16.11, Z:-3.74 [[ 9.99995740e-01 2.88415077e-03 -4.49629041e-04 2.65411087e+02] [-2.88413675e-03 9.99995840e-01 3.18119362e-05 -1.61131736e+01] [ 4.49718921e-04 -3.05150091e-05 9.99999898e-01 -3.74227845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560371743 meters 0.03783626091766328 Centerline is valid? [True, True] Translation: X:265.44, Y:-16.12, Z:-3.74 [[ 9.99991939e-01 4.00574955e-03 -2.75258730e-04 2.65439485e+02] [-4.00574452e-03 9.99991977e-01 1.88563547e-05 -1.61187041e+01] [ 2.75332055e-04 -1.77535866e-05 9.99999962e-01 -3.74343180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.590371743 meters 0.03513106495081166 Centerline is valid? [True, True] Translation: X:265.47, Y:-16.12, Z:-3.74 [[ 9.99989969e-01 4.46963458e-03 2.91933820e-04 2.65468824e+02] [-4.46962841e-03 9.99990011e-01 -2.17953518e-05 -1.61171104e+01] [-2.92028321e-04 2.04902975e-05 9.99999957e-01 -3.74277645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620371743 meters 0.035824404291821335 Centerline is valid? [True, True] Translation: X:265.50, Y:-16.12, Z:-3.74 [[ 9.99987834e-01 4.91201002e-03 4.51782985e-04 2.65497709e+02] [-4.91199577e-03 9.99987936e-01 -3.26480230e-05 -1.61208630e+01] [-4.51937902e-04 3.04284697e-05 9.99999897e-01 -3.74316320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.650371743 meters 0.03604326361010461 Centerline is valid? [True, True] Translation: X:265.53, Y:-16.12, Z:-3.74 [[ 9.99986747e-01 5.05659084e-03 9.67756566e-04 2.65526456e+02] [-5.05652565e-03 9.99987213e-01 -6.97900411e-05 -1.61237706e+01] [-9.68097092e-04 6.48956303e-05 9.99999529e-01 -3.74342536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680371743 meters 0.03778746597138253 Centerline is valid? [True, True] Translation: X:265.55, Y:-16.13, Z:-3.74 [[ 9.99985979e-01 5.26487541e-03 5.67946474e-04 2.65554814e+02] [-5.26485292e-03 9.99986140e-01 -4.10852949e-05 -1.61289498e+01] [-5.68154911e-04 3.80945642e-05 9.99999838e-01 -3.74431874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.710371743 meters 0.037011525378835945 Centerline is valid? [True, True] Translation: X:265.58, Y:-16.13, Z:-3.74 [[ 9.99981547e-01 6.06802979e-03 2.92522851e-04 2.65583781e+02] [-6.06802369e-03 9.99981589e-01 -2.17385011e-05 -1.61303410e+01] [-2.92649375e-04 1.99630644e-05 9.99999957e-01 -3.74459412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740371743 meters 0.03963717821148463 Centerline is valid? [True, True] Translation: X:265.61, Y:-16.14, Z:-3.75 [[ 9.99977479e-01 6.68817747e-03 5.56953266e-04 2.65611505e+02] [-6.68815584e-03 9.99977633e-01 -4.06896518e-05 -1.61364212e+01] [-5.57212948e-04 3.69637452e-05 9.99999844e-01 -3.74552416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.770371743 meters 0.03454479231516973 Centerline is valid? [True, True] Translation: X:265.64, Y:-16.13, Z:-3.74 [[ 9.99971161e-01 7.52587029e-03 1.01870927e-03 2.65640830e+02] [-7.52579967e-03 9.99971678e-01 -7.31388516e-05 -1.61311157e+01] [-1.01923086e-03 6.54701405e-05 9.99999478e-01 -3.74446857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800371743 meters 0.03803660280502971 Centerline is valid? [True, True] Translation: X:265.67, Y:-16.14, Z:-3.75 [[ 9.99943150e-01 1.06376517e-02 7.32837945e-04 2.65669175e+02] [-1.06376162e-02 9.99943418e-01 -5.23613861e-05 -1.61387644e+01] [-7.33353481e-04 4.45627606e-05 9.99999730e-01 -3.74612996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.830371743 meters 0.033968686212205036 Centerline is valid? [True, True] Translation: X:265.70, Y:-16.13, Z:-3.75 [[ 9.99924769e-01 1.22247979e-02 1.00482776e-03 2.65698011e+02] [-1.22247317e-02 9.99925273e-01 -7.20271616e-05 -1.61347606e+01] [-1.00563318e-03 5.97379932e-05 9.99999493e-01 -3.74529254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86037174300003 meters 0.032701087361033186 Centerline is valid? [True, True] Translation: X:265.73, Y:-16.14, Z:-3.75 [[ 9.99896648e-01 1.43146978e-02 1.33494870e-03 2.65728267e+02] [-1.43145837e-02 9.99897537e-01 -9.50329719e-05 -1.61353123e+01] [-1.33617228e-03 7.59139152e-05 9.99999104e-01 -3.74520878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.890371743 meters 0.03097219815230685 Centerline is valid? [True, True] Translation: X:265.76, Y:-16.13, Z:-3.75 [[ 9.99809902e-01 1.94892126e-02 5.74662609e-04 2.65758877e+02] [-1.94891924e-02 9.99810067e-01 -4.06452126e-05 -1.61339127e+01] [-5.75345605e-04 2.94377759e-05 9.99999834e-01 -3.74574819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92037174300003 meters 0.029543747612030716 Centerline is valid? [True, True] Translation: X:265.79, Y:-16.13, Z:-3.75 [[ 9.99757881e-01 2.20032617e-02 1.87665509e-04 2.65788417e+02] [-2.20032595e-02 9.99757899e-01 -1.37541943e-05 -1.61330419e+01] [-1.87922713e-04 9.62161125e-06 9.99999982e-01 -3.74611279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.950371743 meters 0.028546611017102097 Centerline is valid? [True, True] Translation: X:265.82, Y:-16.13, Z:-3.75 [[ 9.99645016e-01 2.66394642e-02 -4.25884080e-04 2.65818989e+02] [-2.66394540e-02 9.99645106e-01 2.95342068e-05 -1.61322760e+01] [ 4.26519712e-04 -1.81784033e-05 9.99999909e-01 -3.74694265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98037174300003 meters 0.02833650888482885 Centerline is valid? [True, True] Translation: X:265.85, Y:-16.13, Z:-3.75 [[ 9.99589978e-01 2.86328889e-02 -1.81371704e-04 2.65847015e+02] [-2.86328873e-02 9.99589995e-01 1.15430973e-05 -1.61340151e+01] [ 1.81627853e-04 -6.34516882e-06 9.99999983e-01 -3.74733449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.010371743 meters 0.0279331296516343 Centerline is valid? [True, True] Translation: X:265.88, Y:-16.14, Z:-3.75 [[ 9.99553621e-01 2.98742069e-02 -2.99514630e-04 2.65875670e+02] [-2.98742022e-02 9.99553666e-01 2.01001924e-05 -1.61354150e+01] [ 2.99981424e-04 -1.11434594e-05 9.99999955e-01 -3.74753026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.040371743 meters 0.0279331296516343 Centerline is valid? [True, True] Translation: X:265.90, Y:-16.14, Z:-3.75 [[ 9.99556761e-01 2.97689798e-02 -2.99551412e-04 2.65903086e+02] [-2.97689753e-02 9.99556806e-01 1.95766359e-05 -1.61372532e+01] [ 3.00001429e-04 -1.06506202e-05 9.99999955e-01 -3.74791655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.070371743 meters 0.028790626681245626 Centerline is valid? [True, True] Translation: X:265.93, Y:-16.14, Z:-3.75 [[ 9.99532435e-01 3.05732677e-02 4.32180724e-04 2.65931120e+02] [-3.05732570e-02 9.99532528e-01 -3.13324593e-05 -1.61418289e+01] [-4.32936628e-04 1.81046370e-05 9.99999906e-01 -3.74892433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.100371743 meters 0.026243920773990757 Centerline is valid? [True, True] Translation: X:265.96, Y:-16.14, Z:-3.75 [[ 9.99531792e-01 3.05617727e-02 1.47478516e-03 2.65959750e+02] [-3.05616517e-02 9.99532878e-01 -1.04495326e-04 -1.61400515e+01] [-1.47728982e-03 5.93745304e-05 9.99998907e-01 -3.74669999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.130371743 meters 0.02954988988793284 Centerline is valid? [True, True] Translation: X:265.99, Y:-16.15, Z:-3.75 [[ 9.99549852e-01 2.99348117e-02 2.00026220e-03 2.65986774e+02] [-2.99345885e-02 9.99551850e-01 -1.41426897e-04 -1.61494263e+01] [-2.00359937e-03 8.14862082e-05 9.99997989e-01 -3.74865339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.160371743 meters 0.02746458055796663 Centerline is valid? [True, True] Translation: X:266.02, Y:-16.15, Z:-3.75 [[ 9.99612119e-01 2.76647454e-02 3.20524556e-03 2.66015133e+02] [-2.76641641e-02 9.99617248e-01 -2.25555301e-04 -1.61502779e+01] [-3.21025867e-03 1.36797374e-04 9.99994838e-01 -3.74773221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.190371743 meters 0.0281082562675383 Centerline is valid? [True, True] Translation: X:266.04, Y:-16.15, Z:-3.75 [[ 9.99662518e-01 2.58409897e-02 2.66338540e-03 2.66043149e+02] [-2.58405819e-02 9.99666059e-01 -1.87385997e-04 -1.61549316e+01] [-2.66733823e-03 1.18499329e-04 9.99996436e-01 -3.74809085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.220371743 meters 0.02962359474073552 Centerline is valid? [True, True] Translation: X:266.07, Y:-16.16, Z:-3.75 [[ 9.99715317e-01 2.36960088e-02 2.78991462e-03 2.66071596e+02] [-2.36955546e-02 9.99719202e-01 -1.95767793e-04 -1.61606320e+01] [-2.79377014e-03 1.29603487e-04 9.99996089e-01 -3.74873729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.250371743 meters 0.03046474452039885 Centerline is valid? [True, True] Translation: X:266.10, Y:-16.17, Z:-3.75 [[ 9.99804126e-01 1.96395133e-02 2.44949647e-03 2.66101486e+02] [-1.96391526e-02 9.99807119e-01 -1.71220186e-04 -1.61674289e+01] [-2.45238669e-03 1.23080613e-04 9.99996985e-01 -3.74880384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.280371743 meters 0.03146787023379809 Centerline is valid? [True, True] Translation: X:266.13, Y:-16.17, Z:-3.75 [[ 9.99843332e-01 1.75198562e-02 2.52303092e-03 2.66130307e+02] [-1.75194659e-02 9.99846507e-01 -1.76714863e-04 -1.61726314e+01] [-2.52573967e-03 1.32485023e-04 9.99996802e-01 -3.74918174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.310371743 meters 0.031846048498033235 Centerline is valid? [True, True] Translation: X:266.16, Y:-16.18, Z:-3.75 [[ 9.99879295e-01 1.52710835e-02 2.86162473e-03 2.66159253e+02] [-1.52705730e-02 9.99883378e-01 -2.00181177e-04 -1.61768157e+01] [-2.86434799e-03 1.56458365e-04 9.99995886e-01 -3.74914975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.340371743 meters 0.03278069061070941 Centerline is valid? [True, True] Translation: X:266.19, Y:-16.18, Z:-3.75 [[ 9.99924255e-01 1.18059485e-02 3.47903470e-03 2.66188909e+02] [-1.18051755e-02 9.99930287e-01 -2.42646932e-04 -1.61841294e+01] [-3.48165684e-03 2.01557938e-04 9.99993919e-01 -3.74917898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.370371743 meters 0.03454834502555879 Centerline is valid? [True, True] Translation: X:266.22, Y:-16.19, Z:-3.75 [[ 9.99940499e-01 1.02923760e-02 3.61470511e-03 2.66216615e+02] [-1.02915299e-02 9.99947009e-01 -2.52586548e-04 -1.61900432e+01] [-3.61711328e-03 2.15370673e-04 9.99993435e-01 -3.75012735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.400371743 meters 0.03240268271754563 Centerline is valid? [True, True] Translation: X:266.25, Y:-16.19, Z:-3.75 [[ 9.99950030e-01 9.18619221e-03 3.94350182e-03 2.66246503e+02] [-9.18517948e-03 9.99957778e-01 -2.74845588e-04 -1.61900768e+01] [-3.94586010e-03 2.38610082e-04 9.99992187e-01 -3.74985136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.430371743 meters 0.03390578636545174 Centerline is valid? [True, True] Translation: X:266.28, Y:-16.20, Z:-3.75 [[ 9.99956584e-01 8.53045975e-03 3.74990442e-03 2.66275083e+02] [-8.52953915e-03 9.99963589e-01 -2.61423491e-04 -1.61965759e+01] [-3.75199795e-03 2.29427185e-04 9.99992935e-01 -3.75119414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.460371743 meters 0.03535107652872959 Centerline is valid? [True, True] Translation: X:266.30, Y:-16.20, Z:-3.75 [[ 9.99959129e-01 8.40681536e-03 3.32644821e-03 2.66303824e+02] [-8.40609061e-03 9.99964641e-01 -2.31798567e-04 -1.62014951e+01] [-3.32827928e-03 2.03826668e-04 9.99994440e-01 -3.75212060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.490371743 meters 0.03383851324114671 Centerline is valid? [True, True] Translation: X:266.33, Y:-16.20, Z:-3.75 [[ 9.99958036e-01 8.53545706e-03 3.32739993e-03 2.66333804e+02] [-8.53473381e-03 9.99963552e-01 -2.31499813e-04 -1.62020867e+01] [-3.32925461e-03 2.03091625e-04 9.99994437e-01 -3.75215862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.520371743 meters 0.034424146492854274 Centerline is valid? [True, True] Translation: X:266.36, Y:-16.21, Z:-3.75 [[ 9.99953803e-01 9.01341501e-03 3.33925535e-03 2.66362288e+02] [-9.01268965e-03 9.99959358e-01 -2.32204717e-04 -1.62054376e+01] [-3.34121259e-03 2.02098318e-04 9.99994398e-01 -3.75254217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.550371743 meters 0.03443173355401903 Centerline is valid? [True, True] Translation: X:266.39, Y:-16.21, Z:-3.75 [[ 9.99942228e-01 9.99853796e-03 3.94591477e-03 2.66391523e+02] [-9.99753137e-03 9.99949986e-01 -2.74739455e-04 -1.62082484e+01] [-3.94846441e-03 2.35274176e-04 9.99992177e-01 -3.75238940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.580371743 meters 0.03413285676421471 Centerline is valid? [True, True] Translation: X:266.42, Y:-16.21, Z:-3.75 [[ 9.99934114e-01 1.05224711e-02 4.58744329e-03 2.66420031e+02] [-1.05211201e-02 9.99944601e-01 -3.18539044e-04 -1.62104916e+01] [-4.59054096e-03 2.70253015e-04 9.99989427e-01 -3.75227670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61037174300003 meters 0.03493429494860108 Centerline is valid? [True, True] Translation: X:266.45, Y:-16.21, Z:-3.75 [[ 9.99927150e-01 1.10984964e-02 4.74522320e-03 2.66448405e+02] [-1.10970599e-02 9.99938372e-01 -3.28959053e-04 -1.62139322e+01] [-4.74858171e-03 2.76277062e-04 9.99988687e-01 -3.75272157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.640371743 meters 0.03504358919811155 Centerline is valid? [True, True] Translation: X:266.48, Y:-16.22, Z:-3.75 [[ 9.99919248e-01 1.18933613e-02 4.47716501e-03 2.66476699e+02] [-1.18920913e-02 9.99929238e-01 -3.10178584e-04 -1.62166959e+01] [-4.48053726e-03 2.56910681e-04 9.99989929e-01 -3.75365953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67037174300003 meters 0.03536285787652127 Centerline is valid? [True, True] Translation: X:266.50, Y:-16.22, Z:-3.75 [[ 9.99918886e-01 1.20968048e-02 3.98600137e-03 2.66504782e+02] [-1.20957987e-02 9.99926805e-01 -2.76412959e-04 -1.62192145e+01] [-3.98905333e-03 2.28176668e-04 9.99992018e-01 -3.75460296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.700371743 meters 0.033100304596079634 Centerline is valid? [True, True] Translation: X:266.53, Y:-16.22, Z:-3.75 [[ 9.99916551e-01 1.23775522e-02 3.69968023e-03 2.66533591e+02] [-1.23766891e-02 9.99923373e-01 -2.56103532e-04 -1.62176068e+01] [-3.70256667e-03 2.10292368e-04 9.99993123e-01 -3.75447757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73037174300003 meters 0.0325128827790638 Centerline is valid? [True, True] Translation: X:266.56, Y:-16.22, Z:-3.75 [[ 9.99917828e-01 1.21815199e-02 3.99344305e-03 2.66562128e+02] [-1.21805141e-02 9.99925777e-01 -2.76086036e-04 -1.62187304e+01] [-3.99650979e-03 2.27421160e-04 9.99991988e-01 -3.75483355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.760371743 meters 0.03374584027283585 Centerline is valid? [True, True] Translation: X:266.59, Y:-16.22, Z:-3.76 [[ 9.99923087e-01 1.17145481e-02 4.07305132e-03 2.66589953e+02] [-1.17134985e-02 9.99931355e-01 -2.81451629e-04 -1.62228783e+01] [-4.07606881e-03 2.33720301e-04 9.99991665e-01 -3.75551720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.790371743 meters 0.03457718383305071 Centerline is valid? [True, True] Translation: X:266.62, Y:-16.23, Z:-3.76 [[ 9.99927144e-01 1.09005462e-02 5.18514558e-03 2.66618787e+02] [-1.08988392e-02 9.99940542e-01 -3.57343621e-04 -1.62263728e+01] [-5.18873252e-03 3.00805519e-04 9.99986493e-01 -3.75540291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.820371743 meters 0.03512716784465875 Centerline is valid? [True, True] Translation: X:266.65, Y:-16.23, Z:-3.76 [[ 9.99932382e-01 1.02105695e-02 5.56563420e-03 2.66648607e+02] [-1.02085963e-02 9.99947818e-01 -3.82814778e-04 -1.62291990e+01] [-5.56925252e-03 3.25971580e-04 9.99984438e-01 -3.75544351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.850371743 meters 0.03516284011795675 Centerline is valid? [True, True] Translation: X:266.68, Y:-16.23, Z:-3.76 [[ 9.99940414e-01 9.18137258e-03 5.90519669e-03 2.66678598e+02] [-9.17913566e-03 9.99957789e-01 -4.05796826e-04 -1.62313389e+01] [-5.90867319e-03 3.51568045e-04 9.99982482e-01 -3.75557690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880371743 meters 0.037791475124296224 Centerline is valid? [True, True] Translation: X:266.71, Y:-16.24, Z:-3.76 [[ 9.99957321e-01 6.69147680e-03 6.37034304e-03 2.66707737e+02] [-6.68882410e-03 9.99977534e-01 -4.37629090e-04 -1.62383677e+01] [-6.37312831e-03 3.95000308e-04 9.99979613e-01 -3.75599943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.910371743 meters 0.036051183156695976 Centerline is valid? [True, True] Translation: X:266.74, Y:-16.24, Z:-3.76 [[ 9.99960277e-01 5.79858656e-03 6.76912275e-03 2.66739492e+02] [-5.79557442e-03 9.99983098e-01 -4.64513409e-04 -1.62384843e+01] [-6.77170186e-03 4.25264002e-04 9.99976981e-01 -3.75637682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940371743 meters 0.04286814464908917 Centerline is valid? [True, True] Translation: X:266.77, Y:-16.25, Z:-3.76 [[ 9.99969537e-01 4.34236633e-03 6.48613017e-03 2.66769008e+02] [-4.33957019e-03 9.99990485e-01 -4.45105553e-04 -1.62506254e+01] [-6.48800127e-03 4.16944977e-04 9.99978866e-01 -3.75830184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.970371743 meters 0.03701843462443569 Centerline is valid? [True, True] Translation: X:266.80, Y:-16.24, Z:-3.76 [[ 9.99971914e-01 4.24712185e-03 6.17525021e-03 2.66800839e+02] [-4.24458220e-03 9.99990902e-01 -4.24310521e-04 -1.62447107e+01] [-6.17699613e-03 3.98087246e-04 9.99980843e-01 -3.75801464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000371743 meters 0.04137443991932251 Centerline is valid? [True, True] Translation: X:266.83, Y:-16.25, Z:-3.76 [[ 9.99971925e-01 4.55320522e-03 5.95129289e-03 2.66831413e+02] [-4.55085985e-03 9.99989562e-01 -4.07577192e-04 -1.62531238e+01] [-5.95308655e-03 3.80482249e-04 9.99982208e-01 -3.75968150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.030371743 meters 0.03498506889005194 Centerline is valid? [True, True] Translation: X:266.86, Y:-16.24, Z:-3.76 [[ 9.99969503e-01 5.74845830e-03 5.28666523e-03 2.66863104e+02] [-5.74661099e-03 9.99983422e-01 -3.64553401e-04 -1.62447619e+01] [-5.28867321e-03 3.34161874e-04 9.99985959e-01 -3.75946410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060371743 meters 0.03499701798505408 Centerline is valid? [True, True] Translation: X:266.89, Y:-16.25, Z:-3.76 [[ 9.99963042e-01 6.87148213e-03 5.16691911e-03 2.66893587e+02] [-6.86973077e-03 9.99976340e-01 -3.56628129e-04 -1.62467094e+01] [-5.16924742e-03 3.21119606e-04 9.99986588e-01 -3.75990260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.090371743 meters 0.03524592058421581 Centerline is valid? [True, True] Translation: X:266.92, Y:-16.25, Z:-3.76 [[ 9.99956566e-01 7.85468563e-03 5.01697717e-03 2.66923763e+02] [-7.85304357e-03 9.99969104e-01 -3.46916166e-04 -1.62481060e+01] [-5.01954709e-03 3.07502558e-04 9.99987355e-01 -3.76032594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120371743 meters 0.035013037250428765 Centerline is valid? [True, True] Translation: X:266.95, Y:-16.25, Z:-3.76 [[ 9.99932573e-01 1.02403383e-02 5.47580884e-03 2.66953868e+02] [-1.02384215e-02 9.99947515e-01 -3.77969112e-04 -1.62489207e+01] [-5.47939197e-03 3.21879988e-04 9.99984936e-01 -3.76084162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.150371743 meters 0.035289235267077716 Centerline is valid? [True, True] Translation: X:266.98, Y:-16.25, Z:-3.76 [[ 9.99923868e-01 1.09598337e-02 5.66921262e-03 2.66983689e+02] [-1.09577890e-02 9.99939885e-01 -3.91605744e-04 -1.62507816e+01] [-5.67316375e-03 3.29453895e-04 9.99983853e-01 -3.76127478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180371743 meters 0.03550956493098648 Centerline is valid? [True, True] Translation: X:267.01, Y:-16.25, Z:-3.76 [[ 9.99907250e-01 1.24737647e-02 5.46780141e-03 2.67012688e+02] [-1.24718862e-02 9.99922152e-01 -3.77519969e-04 -1.62523813e+01] [-5.47208484e-03 3.09291156e-04 9.99984980e-01 -3.76278100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.210371743 meters 0.035723905536207176 Centerline is valid? [True, True] Translation: X:267.04, Y:-16.25, Z:-3.76 [[ 9.99905612e-01 1.27168211e-02 5.20100158e-03 2.67041856e+02] [-1.27151240e-02 9.99919095e-01 -3.59241412e-04 -1.62541265e+01] [-5.20514920e-03 2.93076123e-04 9.99986410e-01 -3.76359711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240371743 meters 0.035803448797904716 Centerline is valid? [True, True] Translation: X:267.07, Y:-16.26, Z:-3.76 [[ 9.99901515e-01 1.29746209e-02 5.34969836e-03 2.67070898e+02] [-1.29728312e-02 9.99915781e-01 -3.69118916e-04 -1.62558220e+01] [-5.35403699e-03 2.99681830e-04 9.99985622e-01 -3.76402990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.270371743 meters 0.035087023978461446 Centerline is valid? [True, True] Translation: X:267.10, Y:-16.26, Z:-3.76 [[ 9.99906752e-01 1.25958757e-02 5.27547293e-03 2.67099709e+02] [-1.25941318e-02 9.99920625e-01 -3.63660863e-04 -1.62564419e+01] [-5.27963482e-03 2.97186951e-04 9.99986018e-01 -3.76415980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300371743 meters 0.03271592242876162 Centerline is valid? [True, True] Translation: X:267.13, Y:-16.26, Z:-3.76 [[ 9.99917445e-01 1.12868997e-02 6.14079556e-03 2.67129128e+02] [-1.12845173e-02 9.99936239e-01 -4.22478633e-04 -1.62557620e+01] [-6.14517248e-03 3.53147841e-04 9.99981056e-01 -3.76374973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.330371743 meters 0.03824796954853005 Centerline is valid? [True, True] Translation: X:267.16, Y:-16.27, Z:-3.76 [[ 9.99929892e-01 9.92541942e-03 6.45739482e-03 2.67156767e+02] [-9.92275750e-03 9.99950670e-01 -4.44136279e-04 -1.62662971e+01] [-6.46148451e-03 3.80029978e-04 9.99979052e-01 -3.76487148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36037174300003 meters 0.03499841294599086 Centerline is valid? [True, True] Translation: X:267.19, Y:-16.26, Z:-3.76 [[ 9.99955202e-01 6.77955336e-03 6.60545954e-03 2.67187034e+02] [-6.77670370e-03 9.99976935e-01 -4.53696380e-04 -1.62644803e+01] [-6.60838304e-03 4.08912814e-04 9.99978081e-01 -3.76491984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.390371743 meters 0.03310659893580943 Centerline is valid? [True, True] Translation: X:267.22, Y:-16.26, Z:-3.77 [[ 9.99966135e-01 5.26686899e-03 6.32364597e-03 2.67218665e+02] [-5.26423044e-03 9.99986050e-01 -4.33823416e-04 -1.62643294e+01] [-6.32584265e-03 4.00519595e-04 9.99979911e-01 -3.76567228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42037174300003 meters 0.03631109086429442 Centerline is valid? [True, True] Translation: X:267.25, Y:-16.27, Z:-3.77 [[ 9.99974615e-01 3.84448278e-03 5.99917337e-03 2.67248370e+02] [-3.84208053e-03 9.99992534e-01 -4.11903161e-04 -1.62716585e+01] [-6.00071214e-03 3.88843397e-04 9.99981920e-01 -3.76744425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.450371743 meters 0.04106465493034958 Centerline is valid? [True, True] Translation: X:267.28, Y:-16.28, Z:-3.77 [[ 9.99991645e-01 1.06486842e-03 3.94664425e-03 2.67277674e+02] [-1.06380656e-03 9.99999397e-01 -2.71143088e-04 -1.62811822e+01] [-3.94693060e-03 2.66942356e-04 9.99992175e-01 -3.77112979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48037174300003 meters 0.03783088396465122 Centerline is valid? [True, True] Translation: X:267.31, Y:-16.28, Z:-3.77 [[ 9.99996061e-01 2.26786535e-04 2.79762075e-03 2.67309649e+02] [-2.26256918e-04 9.99999956e-01 -1.89624943e-04 -1.62790488e+01] [-2.79766364e-03 1.88991215e-04 9.99996069e-01 -3.77179730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.510371743 meters 0.03738845099862219 Centerline is valid? [True, True] Translation: X:267.34, Y:-16.28, Z:-3.77 [[ 9.99998157e-01 -5.64684904e-04 1.83495244e-03 2.67341221e+02] [ 5.64917155e-04 9.99999832e-01 -1.26054357e-04 -1.62806019e+01] [-1.83488095e-03 1.27090721e-04 9.99998309e-01 -3.77275323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.540371743 meters 0.03881896389158366 Centerline is valid? [True, True] Translation: X:267.37, Y:-16.28, Z:-3.77 [[ 9.99998098e-01 -1.85667681e-03 5.98026333e-04 2.67372258e+02] [ 1.85670152e-03 9.99998276e-01 -4.07711480e-05 -1.62835745e+01] [-5.97949603e-04 4.18814269e-05 9.99999820e-01 -3.77401766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.570371743 meters 0.03824551593256399 Centerline is valid? [True, True] Translation: X:267.40, Y:-16.28, Z:-3.77 [[ 9.99997381e-01 -2.27103560e-03 2.82621255e-04 2.67403663e+02] [ 2.27104106e-03 9.99997421e-01 -1.90124522e-05 -1.62840712e+01] [-2.82577349e-04 1.96542469e-05 9.99999960e-01 -3.77410800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.600371743 meters 0.047697248581586284 Centerline is valid? [True, True] Translation: X:267.43, Y:-16.30, Z:-3.78 [[ 9.99996003e-01 -2.53865618e-03 1.24466643e-03 2.67432721e+02] [ 2.53876481e-03 9.99996774e-01 -8.57044954e-05 -1.62979088e+01] [-1.24444484e-03 8.88640682e-05 9.99999222e-01 -3.77591535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.630371743 meters 0.03953646377044585 Centerline is valid? [True, True] Translation: X:267.47, Y:-16.29, Z:-3.77 [[ 9.99994959e-01 -2.67043768e-03 1.71800499e-03 2.67465047e+02] [ 2.67064468e-03 9.99996427e-01 -1.18205341e-04 -1.62881494e+01] [-1.71768319e-03 1.22792926e-04 9.99998517e-01 -3.77392237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.660371743 meters 0.039585537304824565 Centerline is valid? [True, True] Translation: X:267.50, Y:-16.29, Z:-3.77 [[ 9.99993870e-01 -2.35527450e-03 2.59071582e-03 2.67497222e+02] [ 2.35574400e-03 9.99997209e-01 -1.78188560e-04 -1.62898810e+01] [-2.59028890e-03 1.84290531e-04 9.99996628e-01 -3.77384803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.690371743 meters 0.04138937263490675 Centerline is valid? [True, True] Translation: X:267.53, Y:-16.29, Z:-3.77 [[ 9.99985882e-01 -2.25777075e-03 4.81028991e-03 2.67528178e+02] [ 2.25939477e-03 9.99997392e-01 -3.32206709e-04 -1.62935013e+01] [-4.80952732e-03 3.43070363e-04 9.99988375e-01 -3.77351851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.720371743 meters 0.04127912652303031 Centerline is valid? [True, True] Translation: X:267.56, Y:-16.29, Z:-3.77 [[ 9.99983788e-01 -1.81184368e-03 5.39828650e-03 2.67560741e+02] [ 1.81388379e-03 9.99998285e-01 -3.73046530e-04 -1.62949968e+01] [-5.39760134e-03 3.82832346e-04 9.99985360e-01 -3.77320871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.750371743 meters 0.04187856447589963 Centerline is valid? [True, True] Translation: X:267.59, Y:-16.30, Z:-3.77 [[ 9.99984033e-01 -1.79071924e-03 5.35975273e-03 2.67592648e+02] [ 1.79273198e-03 9.99998324e-01 -3.70748678e-04 -1.62968419e+01] [-5.35907984e-03 3.80351359e-04 9.99985568e-01 -3.77389518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.780371743 meters 0.04210113879319476 Centerline is valid? [True, True] Translation: X:267.62, Y:-16.30, Z:-3.78 [[ 9.99987688e-01 -2.47945134e-03 4.29845959e-03 2.67624394e+02] [ 2.48074619e-03 9.99996879e-01 -2.95930683e-04 -1.62977921e+01] [-4.29771243e-03 3.06590426e-04 9.99990718e-01 -3.77514847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.810371743 meters 0.03900331319337345 Centerline is valid? [True, True] Translation: X:267.66, Y:-16.30, Z:-3.78 [[ 9.99988706e-01 -3.10697021e-03 3.59642517e-03 2.67657133e+02] [ 3.10788746e-03 9.99995139e-01 -2.49485126e-04 -1.62956629e+01] [-3.59563255e-03 2.60659593e-04 9.99993502e-01 -3.77610837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.840371743 meters 0.04493163932997448 Centerline is valid? [True, True] Translation: X:267.69, Y:-16.31, Z:-3.78 [[ 9.99986631e-01 -4.34420073e-03 2.80456601e-03 2.67687895e+02] [ 4.34475834e-03 9.99990543e-01 -1.92761169e-04 -1.63062367e+01] [-2.80370209e-03 2.04943754e-04 9.99996049e-01 -3.77901114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.870371743 meters 0.04126743652945277 Centerline is valid? [True, True] Translation: X:267.72, Y:-16.30, Z:-3.78 [[ 9.99969650e-01 -7.71104352e-03 1.11305594e-03 2.67718734e+02] [ 7.71113477e-03 9.99970266e-01 -7.77136641e-05 -1.63028335e+01] [-1.11242359e-03 8.62942299e-05 9.99999378e-01 -3.78025144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.900371743 meters 0.041959383742610705 Centerline is valid? [True, True] Translation: X:267.75, Y:-16.31, Z:-3.78 [[ 9.99956776e-01 -9.29610523e-03 -1.69194645e-04 2.67749545e+02] [ 9.29610748e-03 9.99956790e-01 1.24910981e-05 -1.63052844e+01] [ 1.69071216e-04 -1.40634098e-05 9.99999986e-01 -3.78122583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.930371743 meters 0.04318021768552483 Centerline is valid? [True, True] Translation: X:267.78, Y:-16.31, Z:-3.78 [[ 9.99922022e-01 -1.24049692e-02 -1.43784160e-03 2.67779915e+02] [ 1.24051266e-02 9.99923048e-01 1.00605373e-04 -1.63069757e+01] [ 1.43648295e-03 -1.18434135e-04 9.99998961e-01 -3.78205981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.960371743 meters 0.04318021768552483 Centerline is valid? [True, True] Translation: X:267.81, Y:-16.31, Z:-3.78 [[ 9.99922904e-01 -1.23336104e-02 -1.43776799e-03 2.67811637e+02] [ 1.23337693e-02 9.99923931e-01 1.01657295e-04 -1.63092567e+01] [ 1.43640482e-03 -1.19382556e-04 9.99998961e-01 -3.78250647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.990371743 meters 0.047718132603693106 Centerline is valid? [True, True] Translation: X:267.84, Y:-16.32, Z:-3.78 [[ 9.99908918e-01 -1.34380179e-02 -1.25489026e-03 2.67842494e+02] [ 1.34381397e-02 9.99909700e-01 8.86659010e-05 -1.63175472e+01] [ 1.25358545e-03 -1.05521216e-04 9.99999209e-01 -3.78357771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.020371743 meters 0.04230333276395005 Centerline is valid? [True, True] Translation: X:267.87, Y:-16.31, Z:-3.78 [[ 9.99898787e-01 -1.41990753e-02 -8.95479657e-04 2.67874919e+02] [ 1.41991381e-02 9.99899185e-01 6.38226459e-05 -1.63117600e+01] [ 8.94483156e-04 -7.65312256e-05 9.99999597e-01 -3.78240175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.050371743 meters 0.04779315191697451 Centerline is valid? [True, True] Translation: X:267.91, Y:-16.32, Z:-3.78 [[ 9.99897289e-01 -1.43157408e-02 -6.86552846e-04 2.67905226e+02] [ 1.43157783e-02 9.99897523e-01 4.98246233e-05 -1.63206396e+01] [ 6.85769213e-04 -5.96480441e-05 9.99999763e-01 -3.78379805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.080371743 meters 0.05569576257625978 Centerline is valid? [True, True] Translation: X:267.94, Y:-16.33, Z:-3.78 [[ 9.99904101e-01 -1.38464156e-02 2.57310777e-04 2.67935461e+02] [ 1.38464205e-02 9.99904134e-01 -1.73575616e-05 -1.63314108e+01] [-2.57045770e-04 2.09187303e-05 9.99999967e-01 -3.78488150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11037174300003 meters 0.04374516505324432 Centerline is valid? [True, True] Translation: X:267.97, Y:-16.32, Z:-3.78 [[ 9.99918041e-01 -1.27586830e-02 1.06157828e-03 2.67968360e+02] [ 1.27587686e-02 9.99918601e-01 -7.39299355e-05 -1.63166309e+01] [-1.06054862e-03 8.74683079e-05 9.99999434e-01 -3.78234002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.140371743 meters 0.043540933864383596 Centerline is valid? [True, True] Translation: X:268.00, Y:-16.32, Z:-3.78 [[ 9.99928601e-01 -1.18040660e-02 1.85924897e-03 2.67999377e+02] [ 1.18043287e-02 9.99930318e-01 -1.30365631e-04 -1.63174539e+01] [-1.85758057e-03 1.52303509e-04 9.99998263e-01 -3.78220172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17037174300003 meters 0.04286205288749854 Centerline is valid? [True, True] Translation: X:268.03, Y:-16.32, Z:-3.78 [[ 9.99945892e-01 -9.82867065e-03 3.40737964e-03 2.68030747e+02] [ 9.82954397e-03 9.99951660e-01 -2.39650515e-04 -1.63168516e+01] [-3.40485948e-03 2.73130536e-04 9.99994166e-01 -3.78160528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.200371743 meters 0.04231569212082428 Centerline is valid? [True, True] Translation: X:268.06, Y:-16.32, Z:-3.78 [[ 9.99952588e-01 -8.73135408e-03 4.31100471e-03 2.68062650e+02] [ 8.73274101e-03 9.99961823e-01 -3.02999170e-04 -1.63175922e+01] [-4.30819454e-03 3.40631692e-04 9.99990662e-01 -3.78153407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23037174300003 meters 0.042445354185083745 Centerline is valid? [True, True] Translation: X:268.09, Y:-16.32, Z:-3.78 [[ 9.99962755e-01 -7.32463838e-03 4.56493148e-03 2.68094736e+02] [ 7.32618028e-03 9.99973112e-01 -3.21141043e-04 -1.63174307e+01] [-4.56245649e-03 3.54572593e-04 9.99989529e-01 -3.78153485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.260371743 meters 0.04128179342102001 Centerline is valid? [True, True] Translation: X:268.13, Y:-16.32, Z:-3.78 [[ 9.99964184e-01 -7.11691336e-03 4.58031557e-03 2.68127246e+02] [ 7.11846385e-03 9.99974611e-01 -3.22298552e-04 -1.63175734e+01] [-4.57790552e-03 3.54891820e-04 9.99989458e-01 -3.78149321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.290371743 meters 0.04675864524353839 Centerline is valid? [True, True] Translation: X:268.16, Y:-16.33, Z:-3.78 [[ 9.99960824e-01 -7.37798221e-03 4.89038017e-03 2.68157599e+02] [ 7.37975570e-03 9.99972710e-01 -3.44702793e-04 -1.63272592e+01] [-4.88770350e-03 3.80779100e-04 9.99987983e-01 -3.78280047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.320371743 meters 0.038740766533652174 Centerline is valid? [True, True] Translation: X:268.19, Y:-16.32, Z:-3.78 [[ 9.99957755e-01 -7.95185409e-03 4.61049327e-03 2.68190456e+02] [ 7.95343649e-03 9.99968318e-01 -3.24982533e-04 -1.63181208e+01] [-4.60776299e-03 3.61638069e-04 9.99989319e-01 -3.78215949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.350371743 meters 0.04059821028983 Centerline is valid? [True, True] Translation: X:268.22, Y:-16.32, Z:-3.78 [[ 9.99947434e-01 -9.63229257e-03 3.51406332e-03 2.68219918e+02] [ 9.63322170e-03 9.99953569e-01 -2.47572044e-04 -1.63238783e+01] [-3.51151547e-03 2.81410781e-04 9.99993795e-01 -3.78386261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380371743 meters 0.04497340845478801 Centerline is valid? [True, True] Translation: X:268.25, Y:-16.33, Z:-3.79 [[ 9.99933075e-01 -1.11765362e-02 2.98841991e-03 2.68249796e+02] [ 1.11772164e-02 9.99937511e-01 -2.11009440e-04 -1.63326087e+01] [-2.98587481e-03 2.44397534e-04 9.99995512e-01 -3.78571238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.410371743 meters 0.04297482328122223 Centerline is valid? [True, True] Translation: X:268.28, Y:-16.33, Z:-3.79 [[ 9.99923503e-01 -1.21598250e-02 2.26411271e-03 2.68282259e+02] [ 1.21602173e-02 9.99926049e-01 -1.59567328e-04 -1.63334629e+01] [-2.26200497e-03 1.87087224e-04 9.99997424e-01 -3.78616140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440371743 meters 0.049203806575512425 Centerline is valid? [True, True] Translation: X:268.31, Y:-16.35, Z:-3.79 [[ 9.99895767e-01 -1.43084225e-02 1.92960232e-03 2.68311194e+02] [ 1.43087114e-02 9.99897616e-01 -1.35993504e-04 -1.63457350e+01] [-1.92745891e-03 1.63589452e-04 9.99998129e-01 -3.78820451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.470371743 meters 0.04556265592726218 Centerline is valid? [True, True] Translation: X:268.34, Y:-16.34, Z:-3.79 [[ 9.99889344e-01 -1.47852933e-02 1.64142368e-03 2.68343393e+02] [ 1.47855029e-02 9.99890682e-01 -1.15643022e-04 -1.63437377e+01] [-1.63953443e-03 1.39899500e-04 9.99998646e-01 -3.78804685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500371743 meters 0.04548154367923654 Centerline is valid? [True, True] Translation: X:268.38, Y:-16.35, Z:-3.79 [[ 9.99886165e-01 -1.49559060e-02 1.99464054e-03 2.68375328e+02] [ 1.49562166e-02 9.99888140e-01 -1.40892479e-04 -1.63463647e+01] [-1.99231024e-03 1.70708716e-04 9.99998001e-01 -3.78789206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.530371743 meters 0.04389000021890512 Centerline is valid? [True, True] Translation: X:268.41, Y:-16.35, Z:-3.79 [[ 9.99902949e-01 -1.35274078e-02 3.33188662e-03 2.68406982e+02] [ 1.35282703e-02 9.99908461e-01 -2.36454031e-04 -1.63468453e+01] [-3.32838301e-03 2.81505745e-04 9.99994421e-01 -3.78638339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560371743 meters 0.04470765161990049 Centerline is valid? [True, True] Translation: X:268.44, Y:-16.35, Z:-3.79 [[ 9.99915227e-01 -1.24184232e-02 3.91440178e-03 2.68438465e+02] [ 1.24196065e-02 9.99922835e-01 -2.78145650e-04 -1.63505174e+01] [-3.91064560e-03 3.26737400e-04 9.99992300e-01 -3.78690716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.590371743 meters 0.04315512038256445 Centerline is valid? [True, True] Translation: X:268.47, Y:-16.35, Z:-3.79 [[ 9.99943450e-01 -9.76072170e-03 4.22188745e-03 2.68469247e+02] [ 9.76207745e-03 9.99952305e-01 -3.00633833e-04 -1.63506720e+01] [-4.21875168e-03 3.41831224e-04 9.99991043e-01 -3.78597415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620371743 meters 0.04501912517617784 Centerline is valid? [True, True] Translation: X:268.50, Y:-16.36, Z:-3.79 [[ 9.99952752e-01 -8.54982286e-03 4.62549171e-03 2.68499734e+02] [ 8.55143707e-03 9.99963382e-01 -3.29314353e-04 -1.63555202e+01] [-4.62250676e-03 3.68853395e-04 9.99989248e-01 -3.78668937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.650371743 meters 0.04200572110438072 Centerline is valid? [True, True] Translation: X:268.53, Y:-16.35, Z:-3.79 [[ 9.99962437e-01 -7.36569376e-03 4.56839449e-03 2.68531835e+02] [ 7.36725601e-03 9.99972809e-01 -3.25234674e-04 -1.63542843e+01] [-4.56587469e-03 3.58878989e-04 9.99989512e-01 -3.78664170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680371743 meters 0.04249123196372767 Centerline is valid? [True, True] Translation: X:268.56, Y:-16.36, Z:-3.79 [[ 9.99973276e-01 -5.60532734e-03 4.69337880e-03 2.68562278e+02] [ 5.60695905e-03 9.99984225e-01 -3.34575772e-04 -1.63584050e+01] [-4.69142936e-03 3.60882413e-04 9.99988930e-01 -3.78703208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.710371743 meters 0.041428619666471295 Centerline is valid? [True, True] Translation: X:268.59, Y:-16.36, Z:-3.79 [[ 9.99980583e-01 -4.61996168e-03 4.18217312e-03 2.68594587e+02] [ 4.62124766e-03 9.99989278e-01 -2.97879720e-04 -1.63592275e+01] [-4.18075208e-03 3.17200794e-04 9.99991210e-01 -3.78750157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740371743 meters 0.04215341727246319 Centerline is valid? [True, True] Translation: X:268.63, Y:-16.36, Z:-3.79 [[ 9.99987242e-01 -3.83612729e-03 3.28645259e-03 2.68625547e+02] [ 3.83691790e-03 9.99992612e-01 -2.34296516e-04 -1.63624568e+01] [-3.28552951e-03 2.46903376e-04 9.99994572e-01 -3.78826385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.770371743 meters 0.04321531361335756 Centerline is valid? [True, True] Translation: X:268.66, Y:-16.37, Z:-3.79 [[ 9.99991593e-01 -2.97353330e-03 2.82332830e-03 2.68656908e+02] [ 2.97411296e-03 9.99995557e-01 -2.01136655e-04 -1.63666801e+01] [-2.82271767e-03 2.09531861e-04 9.99995994e-01 -3.78935973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800371743 meters 0.04058353897578464 Centerline is valid? [True, True] Translation: X:268.69, Y:-16.37, Z:-3.79 [[ 9.99998162e-01 -8.69234675e-04 1.70904095e-03 2.68689055e+02] [ 8.69443914e-04 9.99999615e-01 -1.21691496e-04 -1.63666147e+01] [-1.70893451e-03 1.23177188e-04 9.99998532e-01 -3.79025780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.830371743 meters 0.042909217899481586 Centerline is valid? [True, True] Translation: X:268.72, Y:-16.37, Z:-3.79 [[ 9.99998360e-01 4.09070901e-04 1.76436252e-03 2.68719543e+02] [-4.08849277e-04 9.99999908e-01 -1.25970208e-04 -1.63724997e+01] [-1.76441389e-03 1.25248643e-04 9.99998436e-01 -3.79151560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86037174300003 meters 0.04161892948674439 Centerline is valid? [True, True] Translation: X:268.75, Y:-16.37, Z:-3.79 [[ 9.99997563e-01 1.72087282e-03 1.38285636e-03 2.68751058e+02] [-1.72073799e-03 9.99998515e-01 -9.86810681e-05 -1.63733149e+01] [-1.38302413e-03 9.63012941e-05 9.99999039e-01 -3.79152880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.890371743 meters 0.03651918250644905 Centerline is valid? [True, True] Translation: X:268.78, Y:-16.37, Z:-3.79 [[ 9.99982185e-01 5.68221182e-03 1.82790712e-03 2.68782183e+02] [-5.68198161e-03 9.99983849e-01 -1.31109431e-04 -1.63681752e+01] [-1.82862258e-03 1.20720961e-04 9.99998321e-01 -3.79059756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92037174300003 meters 0.03542293764767315 Centerline is valid? [True, True] Translation: X:268.81, Y:-16.37, Z:-3.79 [[ 9.99969601e-01 7.55272067e-03 1.93729569e-03 2.68812588e+02] [-7.55246523e-03 9.99971470e-01 -1.39133889e-04 -1.63681909e+01] [-1.93829126e-03 1.24498302e-04 9.99998114e-01 -3.79042318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.950371743 meters 0.033316257740249405 Centerline is valid? [True, True] Translation: X:268.84, Y:-16.37, Z:-3.79 [[ 9.99913907e-01 1.29200302e-02 2.29141894e-03 2.68843498e+02] [-1.29196875e-02 9.99916524e-01 -1.64303471e-04 -1.63661163e+01] [-2.29335046e-03 1.34684910e-04 9.99997361e-01 -3.79059287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98037174300003 meters 0.032647674721151876 Centerline is valid? [True, True] Translation: X:268.87, Y:-16.37, Z:-3.79 [[ 9.99879953e-01 1.53413543e-02 2.17291984e-03 2.68873168e+02] [-1.53410510e-02 9.99882307e-01 -1.56190310e-04 -1.63668857e+01] [-2.17506027e-03 1.22836686e-04 9.99997627e-01 -3.79111949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.010371743 meters 0.03213248249630926 Centerline is valid? [True, True] Translation: X:268.90, Y:-16.37, Z:-3.79 [[ 9.99847371e-01 1.72567815e-02 2.72734825e-03 2.68902017e+02] [-1.72563103e-02 9.99851080e-01 -1.96207878e-04 -1.63678776e+01] [-2.73032800e-03 1.49113963e-04 9.99996262e-01 -3.79161786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.040371743 meters 0.02991828716574756 Centerline is valid? [True, True] Translation: X:268.93, Y:-16.37, Z:-3.79 [[ 9.99814131e-01 1.90624628e-02 2.88553791e-03 2.68931539e+02] [-1.90619422e-02 9.99818283e-01 -2.07805837e-04 -1.63663078e+01] [-2.88897485e-03 1.52763255e-04 9.99995815e-01 -3.79171701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.070371743 meters 0.03065320667192424 Centerline is valid? [True, True] Translation: X:268.96, Y:-16.37, Z:-3.79 [[ 9.99772140e-01 2.11951320e-02 2.53662638e-03 2.68959466e+02] [-2.11947380e-02 9.99775350e-01 -1.82112006e-04 -1.63690483e+01] [-2.53991641e-03 1.28307379e-04 9.99996766e-01 -3.79320377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.100371743 meters 0.0300813303045353 Centerline is valid? [True, True] Translation: X:268.99, Y:-16.37, Z:-3.79 [[ 9.99762141e-01 2.16689986e-02 2.47309196e-03 2.68988674e+02] [-2.16686244e-02 9.99765192e-01 -1.78005962e-04 -1.63705326e+01] [-2.47636847e-03 1.24375121e-04 9.99996926e-01 -3.79372295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.130371743 meters 0.028792230637190535 Centerline is valid? [True, True] Translation: X:269.02, Y:-16.37, Z:-3.79 [[ 9.99766407e-01 2.14778748e-02 2.41522671e-03 2.69017122e+02] [-2.14775194e-02 9.99769317e-01 -1.72977532e-04 -1.63712854e+01] [-2.41838474e-03 1.21064048e-04 9.99997068e-01 -3.79425594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.160371743 meters 0.03077593257408144 Centerline is valid? [True, True] Translation: X:269.04, Y:-16.38, Z:-3.80 [[ 9.99766552e-01 2.15361118e-02 1.74260187e-03 2.69044678e+02] [-2.15359262e-02 9.99768067e-01 -1.25174345e-04 -1.63752891e+01] [-1.74489347e-03 8.76165779e-05 9.99998474e-01 -3.79511842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.190371743 meters 0.029447756707438523 Centerline is valid? [True, True] Translation: X:269.07, Y:-16.38, Z:-3.80 [[ 9.99783384e-01 2.07147649e-02 2.02073652e-03 2.69073397e+02] [-2.07145149e-02 9.99785421e-01 -1.44558496e-04 -1.63768600e+01] [-2.02329740e-03 1.02668606e-04 9.99997948e-01 -3.79520000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.220371743 meters 0.031431887529400473 Centerline is valid? [True, True] Translation: X:269.10, Y:-16.38, Z:-3.80 [[ 9.99792111e-01 2.03314183e-02 1.53871342e-03 2.69100988e+02] [-2.03312723e-02 9.99793292e-01 -1.10420543e-04 -1.63823309e+01] [-1.54064036e-03 7.91135859e-05 9.99998810e-01 -3.79650124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.250371743 meters 0.029543653503062477 Centerline is valid? [True, True] Translation: X:269.13, Y:-16.38, Z:-3.80 [[ 9.99815582e-01 1.91646854e-02 1.23178864e-03 2.69129407e+02] [-1.91645908e-02 9.99816338e-01 -8.85504550e-05 -1.63820631e+01] [-1.23325945e-03 6.49273994e-05 9.99999237e-01 -3.79610426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.280371743 meters 0.031186138535116165 Centerline is valid? [True, True] Translation: X:269.16, Y:-16.39, Z:-3.80 [[ 9.99827034e-01 1.85877079e-02 6.32351513e-04 2.69156430e+02] [-1.85876826e-02 9.99827233e-01 -4.58277740e-05 -1.63868464e+01] [-6.33094097e-04 3.40658980e-05 9.99999799e-01 -3.79694274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.310371743 meters 0.03152949569134148 Centerline is valid? [True, True] Translation: X:269.18, Y:-16.39, Z:-3.80 [[ 9.99837955e-01 1.79871986e-02 7.24060411e-04 2.69184721e+02] [-1.79871655e-02 9.99838216e-01 -5.21838725e-05 -1.63900846e+01] [-7.24881912e-04 3.91516219e-05 9.99999737e-01 -3.79750403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.340371743 meters 0.031543867775946435 Centerline is valid? [True, True] Translation: X:269.21, Y:-16.39, Z:-3.80 [[ 9.99848408e-01 1.74007813e-02 6.10721139e-04 2.69213162e+02] [-1.74007576e-02 9.99848594e-01 -4.41316721e-05 -1.63925597e+01] [-6.11396598e-04 3.34979716e-05 9.99999813e-01 -3.79778514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.370371743 meters 0.03051104623982709 Centerline is valid? [True, True] Translation: X:269.24, Y:-16.39, Z:-3.80 [[ 9.99862325e-01 1.65695068e-02 8.84935565e-04 2.69242257e+02] [-1.65694571e-02 9.99862715e-01 -6.34577365e-05 -1.63948574e+01] [-8.85865540e-04 4.87860981e-05 9.99999606e-01 -3.79800308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.400371743 meters 0.03337436667074927 Centerline is valid? [True, True] Translation: X:269.27, Y:-16.40, Z:-3.80 [[ 9.99867741e-01 1.62124863e-02 1.28644719e-03 2.69269252e+02] [-1.62123814e-02 9.99868566e-01 -9.19188664e-05 -1.64018564e+01] [-1.28776834e-03 7.10503368e-05 9.99999168e-01 -3.79969747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.430371743 meters 0.031939209394598385 Centerline is valid? [True, True] Translation: X:269.30, Y:-16.40, Z:-3.80 [[ 9.99882360e-01 1.52892261e-02 1.22715988e-03 2.69297672e+02] [-1.52891303e-02 9.99883111e-01 -8.73933263e-05 -1.64030693e+01] [-1.22835261e-03 6.86208380e-05 9.99999243e-01 -3.79944336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.460371743 meters 0.03108986136768693 Centerline is valid? [True, True] Translation: X:269.33, Y:-16.40, Z:-3.80 [[ 9.99893187e-01 1.45651761e-02 1.21275029e-03 2.69326206e+02] [-1.45650821e-02 9.99893920e-01 -8.63106075e-05 -1.64043752e+01] [-1.21387877e-03 6.86375808e-05 9.99999261e-01 -3.79967349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.490371743 meters 0.031026410392446396 Centerline is valid? [True, True] Translation: X:269.35, Y:-16.41, Z:-3.80 [[ 9.99908033e-01 1.35054381e-02 1.23633476e-03 2.69354554e+02] [-1.35053397e-02 9.99908795e-01 -8.78837182e-05 -1.64071845e+01] [-1.23740891e-03 7.11785148e-05 9.99999232e-01 -3.79976807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.520371743 meters 0.03527809811843317 Centerline is valid? [True, True] Translation: X:269.38, Y:-16.42, Z:-3.80 [[ 9.99936472e-01 1.11991755e-02 1.27681345e-03 2.69382028e+02] [-1.11990689e-02 9.99937284e-01 -9.06286762e-05 -1.64168452e+01] [-1.27774834e-03 7.63237970e-05 9.99999181e-01 -3.80088071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.550371743 meters 0.035116883777977344 Centerline is valid? [True, True] Translation: X:269.41, Y:-16.42, Z:-3.80 [[ 9.99951991e-01 9.67087616e-03 1.57799636e-03 2.69411684e+02] [-9.67071268e-03 9.99953231e-01 -1.11197090e-04 -1.64196005e+01] [-1.57899793e-03 9.59314018e-05 9.99998749e-01 -3.80063237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.580371743 meters 0.03433245174927179 Centerline is valid? [True, True] Translation: X:269.44, Y:-16.42, Z:-3.80 [[ 9.99966426e-01 8.07650197e-03 1.38470545e-03 2.69440660e+02] [-8.07637422e-03 9.99967381e-01 -9.78223609e-05 -1.64215544e+01] [-1.38545035e-03 8.66356772e-05 9.99999037e-01 -3.80080162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61037174300003 meters 0.036527509101422356 Centerline is valid? [True, True] Translation: X:269.47, Y:-16.43, Z:-3.80 [[ 9.99988254e-01 4.80412315e-03 6.42674988e-04 2.69469791e+02] [-4.80409503e-03 9.99988459e-01 -4.52905240e-05 -1.64285440e+01] [-6.42885153e-04 4.22025203e-05 9.99999792e-01 -3.80168166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.640371743 meters 0.03538461358250945 Centerline is valid? [True, True] Translation: X:269.50, Y:-16.43, Z:-3.80 [[ 9.99993691e-01 3.52413996e-03 4.46509282e-04 2.69499390e+02] [-3.52412612e-03 9.99993790e-01 -3.17811739e-05 -1.64294801e+01] [-4.46618510e-04 3.02074183e-05 9.99999900e-01 -3.80151722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67037174300003 meters 0.036209577508633156 Centerline is valid? [True, True] Translation: X:269.53, Y:-16.43, Z:-3.80 [[ 9.99995920e-01 2.69885146e-03 9.35556843e-04 2.69529131e+02] [-2.69879142e-03 9.99996356e-01 -6.54320078e-05 -1.64334159e+01] [-9.35730025e-04 6.29068681e-05 9.99999560e-01 -3.80164805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.700371743 meters 0.035969287174433276 Centerline is valid? [True, True] Translation: X:269.56, Y:-16.44, Z:-3.80 [[ 9.99994264e-01 2.19106273e-03 2.58286790e-03 2.69559510e+02] [-2.19060264e-03 9.99997584e-01 -1.80947760e-04 -1.64359367e+01] [-2.58325813e-03 1.75288685e-04 9.99996648e-01 -3.79972567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73037174300003 meters 0.03705686302424863 Centerline is valid? [True, True] Translation: X:269.59, Y:-16.44, Z:-3.80 [[ 9.99991819e-01 2.23741182e-03 3.36999486e-03 2.69589610e+02] [-2.23663216e-03 9.99997471e-01 -2.35103826e-04 -1.64396135e+01] [-3.37051236e-03 2.27564464e-04 9.99994294e-01 -3.79964103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.760371743 meters 0.0340430228585316 Centerline is valid? [True, True] Translation: X:269.62, Y:-16.44, Z:-3.80 [[ 9.99984583e-01 3.30732961e-03 4.46032426e-03 2.69620814e+02] [-3.30596655e-03 9.99994486e-01 -3.12934521e-04 -1.64376760e+01] [-4.46133465e-03 2.98184014e-04 9.99990004e-01 -3.79921930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.790371743 meters 0.035833702429484526 Centerline is valid? [True, True] Translation: X:269.65, Y:-16.44, Z:-3.80 [[ 9.99982391e-01 3.91926975e-03 4.45620619e-03 2.69651134e+02] [-3.91791972e-03 9.99992276e-01 -3.11643516e-04 -1.64424096e+01] [-4.45739319e-03 2.94178970e-04 9.99990023e-01 -3.80053939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.820371743 meters 0.03553445633673168 Centerline is valid? [True, True] Translation: X:269.68, Y:-16.44, Z:-3.80 [[ 9.99979975e-01 4.77659091e-03 4.15129999e-03 2.69682036e+02] [-4.77542280e-03 9.99988555e-01 -2.91249528e-04 -1.64440385e+01] [-4.15264366e-03 2.71419484e-04 9.99991341e-01 -3.80155978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.850371743 meters 0.03553445633673168 Centerline is valid? [True, True] Translation: X:269.71, Y:-16.45, Z:-3.80 [[ 9.99979975e-01 4.77659790e-03 4.15126505e-03 2.69712025e+02] [-4.77542774e-03 9.99988555e-01 -2.91746713e-04 -1.64461458e+01] [-4.15261110e-03 2.71916804e-04 9.99991341e-01 -3.80198185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880371743 meters 0.033163878750894875 Centerline is valid? [True, True] Translation: X:269.74, Y:-16.44, Z:-3.80 [[ 9.99979411e-01 5.27460022e-03 3.65447631e-03 2.69742601e+02] [-5.27369668e-03 9.99986061e-01 -2.56832902e-04 -1.64449088e+01] [-3.65578006e-03 2.37555014e-04 9.99993289e-01 -3.80212646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.910371743 meters 0.03423565864159645 Centerline is valid? [True, True] Translation: X:269.77, Y:-16.45, Z:-3.80 [[ 9.99979656e-01 5.63992144e-03 2.97971080e-03 2.69771871e+02] [-5.63932178e-03 9.99984077e-01 -2.09611809e-04 -1.64486027e+01] [-2.98084555e-03 1.92803996e-04 9.99995539e-01 -3.80365989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940371743 meters 0.03434249800058425 Centerline is valid? [True, True] Translation: X:269.80, Y:-16.45, Z:-3.80 [[ 9.99982409e-01 5.36273278e-03 2.53432686e-03 2.69801719e+02] [-5.36229760e-03 9.99985607e-01 -1.78476716e-04 -1.64504242e+01] [-2.53524750e-03 1.64883761e-04 9.99996773e-01 -3.80453284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.970371743 meters 0.036841628456726845 Centerline is valid? [True, True] Translation: X:269.83, Y:-16.46, Z:-3.81 [[ 9.99986273e-01 4.93232998e-03 1.76802842e-03 2.69830393e+02] [-4.93211736e-03 9.99987829e-01 -1.24597341e-04 -1.64559320e+01] [-1.76862146e-03 1.15875507e-04 9.99998429e-01 -3.80565713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000371743 meters 0.037751060994338115 Centerline is valid? [True, True] Translation: X:269.86, Y:-16.46, Z:-3.81 [[ 9.99993365e-01 3.61098114e-03 4.81101577e-04 2.69860155e+02] [-3.61096520e-03 9.99993480e-01 -3.40039228e-05 -1.64588506e+01] [-4.81221228e-04 3.22664561e-05 9.99999884e-01 -3.80703867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.030371743 meters 0.03568180741601039 Centerline is valid? [True, True] Translation: X:269.89, Y:-16.46, Z:-3.81 [[ 9.99995165e-01 3.10974034e-03 -9.96882481e-06 2.69889655e+02] [-3.10974034e-03 9.99995165e-01 1.98286045e-07 -1.64582571e+01] [ 9.96939301e-06 -1.67284620e-07 1.00000000e+00 -3.80735105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060371743 meters 0.03680001781395672 Centerline is valid? [True, True] Translation: X:269.92, Y:-16.46, Z:-3.81 [[ 9.99998758e-01 1.42837460e-03 -6.66679505e-04 2.69919007e+02] [-1.42834409e-03 9.99998979e-01 4.62352616e-05 -1.64609814e+01] [ 6.66744865e-04 -4.52829565e-05 9.99999777e-01 -3.80836947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.090371743 meters 0.03893023337374661 Centerline is valid? [True, True] Translation: X:269.95, Y:-16.47, Z:-3.81 [[ 9.99999153e-01 1.03356439e-03 -7.91648841e-04 2.69947724e+02] [-1.03352016e-03 9.99999464e-01 5.62793925e-05 -1.64655161e+01] [ 7.91706585e-04 -5.54611597e-05 9.99999685e-01 -3.80954293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120371743 meters 0.03816723820906056 Centerline is valid? [True, True] Translation: X:269.98, Y:-16.47, Z:-3.81 [[ 9.99998806e-01 9.74076967e-04 -1.19973323e-03 2.69977677e+02] [-9.73977329e-04 9.99999522e-01 8.36310850e-05 -1.64663340e+01] [ 1.19981412e-03 -8.24624721e-05 9.99999277e-01 -3.80953817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.150371743 meters 0.03886147433894069 Centerline is valid? [True, True] Translation: X:270.01, Y:-16.47, Z:-3.81 [[ 9.99999218e-01 1.08259514e-03 -6.25605033e-04 2.70007079e+02] [-1.08256823e-03 9.99999413e-01 4.33554816e-05 -1.64680648e+01] [ 6.25651602e-04 -4.26781875e-05 9.99999803e-01 -3.81041320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180371743 meters 0.03858970455928356 Centerline is valid? [True, True] Translation: X:270.04, Y:-16.47, Z:-3.81 [[ 9.99998917e-01 1.45477460e-03 2.24315938e-04 2.70036899e+02] [-1.45477100e-03 9.99998942e-01 -1.62027085e-05 -1.64692592e+01] [-2.24339272e-04 1.58763626e-05 9.99999975e-01 -3.81021990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.210371743 meters 0.036964351853834475 Centerline is valid? [True, True] Translation: X:270.07, Y:-16.47, Z:-3.81 [[ 9.99997916e-01 1.89653356e-03 7.55229054e-04 2.70067229e+02] [-1.89649415e-03 9.99998200e-01 -5.29024601e-05 -1.64681568e+01] [-7.55328027e-04 5.14700624e-05 9.99999713e-01 -3.80944097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240371743 meters 0.03988115983797492 Centerline is valid? [True, True] Translation: X:270.10, Y:-16.47, Z:-3.81 [[ 9.99995201e-01 2.03901632e-03 2.33255556e-03 2.70096268e+02] [-2.03864025e-03 9.99997909e-01 -1.63596807e-04 -1.64720322e+01] [-2.33288425e-03 1.58840780e-04 9.99997266e-01 -3.80858956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.270371743 meters 0.04020872329404413 Centerline is valid? [True, True] Translation: X:270.13, Y:-16.47, Z:-3.81 [[ 9.99992758e-01 2.15538522e-03 3.13666236e-03 2.70126785e+02] [-2.15470676e-03 9.99997655e-01 -2.19662470e-04 -1.64735963e+01] [-3.13712846e-03 2.12902291e-04 9.99995057e-01 -3.80863037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300371743 meters 0.04089598564839789 Centerline is valid? [True, True] Translation: X:270.16, Y:-16.48, Z:-3.81 [[ 9.99993438e-01 1.84697199e-03 3.11646673e-03 2.70157652e+02] [-1.84630191e-03 9.99998272e-01 -2.17877130e-04 -1.64759239e+01] [-3.11686376e-03 2.12121762e-04 9.99995120e-01 -3.80932682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.330371743 meters 0.037642657617693635 Centerline is valid? [True, True] Translation: X:270.19, Y:-16.47, Z:-3.81 [[ 9.99997925e-01 2.49622193e-04 2.02165064e-03 2.70188689e+02] [-2.49337622e-04 9.99999959e-01 -1.41012498e-04 -1.64731103e+01] [-2.02168575e-03 1.40508132e-04 9.99997947e-01 -3.81076376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36037174300003 meters 0.03859373716659273 Centerline is valid? [True, True] Translation: X:270.22, Y:-16.48, Z:-3.81 [[ 9.99998665e-01 -7.23824061e-04 1.46484584e-03 2.70219296e+02] [ 7.23974965e-04 9.99999733e-01 -1.02489530e-04 -1.64763910e+01] [-1.46477126e-03 1.03549905e-04 9.99998922e-01 -3.81223114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.390371743 meters 0.038740361863145105 Centerline is valid? [True, True] Translation: X:270.25, Y:-16.48, Z:-3.81 [[ 9.99998232e-01 -1.77501941e-03 6.20602466e-04 2.70250756e+02] [ 1.77504647e-03 9.99998424e-01 -4.30518583e-05 -1.64784283e+01] [-6.20525070e-04 4.41533804e-05 9.99999806e-01 -3.81321620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42037174300003 meters 0.04039598778381005 Centerline is valid? [True, True] Translation: X:270.28, Y:-16.48, Z:-3.81 [[ 9.99991288e-01 -4.09941675e-03 -7.85964528e-04 2.70281929e+02] [ 4.09946177e-03 9.99991596e-01 5.56724790e-05 -1.64810231e+01] [ 7.85729697e-04 -5.88940255e-05 9.99999690e-01 -3.81463589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.450371743 meters 0.042096285500137116 Centerline is valid? [True, True] Translation: X:270.31, Y:-16.48, Z:-3.82 [[ 9.99987937e-01 -4.84487956e-03 -8.07654952e-04 2.70311919e+02] [ 4.84492714e-03 9.99988262e-01 5.69611301e-05 -1.64843258e+01] [ 8.07369502e-04 -6.08734723e-05 9.99999672e-01 -3.81539810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48037174300003 meters 0.04357633183500641 Centerline is valid? [True, True] Translation: X:270.34, Y:-16.49, Z:-3.82 [[ 9.99983611e-01 -5.58882481e-03 -1.24219461e-03 2.70342912e+02] [ 5.58893810e-03 9.99984378e-01 8.77566645e-05 -1.64872937e+01] [ 1.24168475e-03 -9.46977750e-05 9.99999225e-01 -3.81608298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.510371743 meters 0.04352194719094774 Centerline is valid? [True, True] Translation: X:270.37, Y:-16.49, Z:-3.82 [[ 9.99978855e-01 -6.43922117e-03 -9.08364346e-04 2.70374368e+02] [ 6.43928225e-03 9.99979266e-01 6.43363250e-05 -1.64879194e+01] [ 9.07931235e-04 -7.01841790e-05 9.99999585e-01 -3.81605285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.540371743 meters 0.04366252995675694 Centerline is valid? [True, True] Translation: X:270.41, Y:-16.49, Z:-3.82 [[ 9.99976732e-01 -6.81986564e-03 -1.56421635e-04 2.70406240e+02] [ 6.81986760e-03 9.99976744e-01 1.19811818e-05 -1.64890384e+01] [ 1.56336287e-04 -1.30476779e-05 9.99999988e-01 -3.81616836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.570371743 meters 0.04249593329504859 Centerline is valid? [True, True] Translation: X:270.44, Y:-16.49, Z:-3.82 [[ 9.99978156e-01 -6.55884288e-03 8.17436550e-04 2.70439168e+02] [ 6.55889112e-03 9.99978489e-01 -5.63549363e-05 -1.64872071e+01] [-8.17049343e-04 6.17151826e-05 9.99999664e-01 -3.81515047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.600371743 meters 0.047753051378811306 Centerline is valid? [True, True] Translation: X:270.47, Y:-16.50, Z:-3.82 [[ 9.99980410e-01 -5.99437439e-03 1.80219631e-03 2.70470248e+02] [ 5.99461135e-03 9.99982024e-01 -1.26108943e-04 -1.64956936e+01] [-1.80140797e-03 1.36909939e-04 9.99998368e-01 -3.81609265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.630371743 meters 0.04099084835184442 Centerline is valid? [True, True] Translation: X:270.50, Y:-16.49, Z:-3.81 [[ 9.99983495e-01 -4.96029878e-03 2.89912072e-03 2.70502239e+02] [ 4.96091108e-03 9.99987674e-01 -2.04050928e-04 -1.64863494e+01] [-2.89807283e-03 2.18429840e-04 9.99995777e-01 -3.81425980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.660371743 meters 0.047635355924217804 Centerline is valid? [True, True] Translation: X:270.53, Y:-16.50, Z:-3.82 [[ 9.99985642e-01 -4.42672113e-03 3.02005862e-03 2.70533250e+02] [ 4.42738052e-03 9.99990177e-01 -2.11687715e-04 -1.64962241e+01] [-3.01909187e-03 2.25055625e-04 9.99995417e-01 -3.81562908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.690371743 meters 0.0487725907321594 Centerline is valid? [True, True] Translation: X:270.56, Y:-16.50, Z:-3.82 [[ 9.99987962e-01 -3.82234848e-03 3.07675067e-03 2.70564590e+02] [ 3.82303393e-03 9.99992669e-01 -2.16932755e-04 -1.64983743e+01] [-3.07589892e-03 2.28692666e-04 9.99995243e-01 -3.81596135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.720371743 meters 0.03942130505207189 Centerline is valid? [True, True] Translation: X:270.60, Y:-16.49, Z:-3.81 [[ 9.99987899e-01 -3.62233030e-03 3.32883239e-03 2.70597331e+02] [ 3.62313152e-03 9.99993409e-01 -2.34693368e-04 -1.64866782e+01] [-3.32796031e-03 2.46751326e-04 9.99994432e-01 -3.81404805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.750371743 meters 0.04012132222315398 Centerline is valid? [True, True] Translation: X:270.63, Y:-16.49, Z:-3.81 [[ 9.99980837e-01 -4.91530951e-03 3.76356773e-03 2.70629609e+02] [ 4.91634429e-03 9.99987879e-01 -2.65742565e-04 -1.64885904e+01] [-3.76221591e-03 2.84240467e-04 9.99992882e-01 -3.81440004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.780371743 meters 0.04132580434102478 Centerline is valid? [True, True] Translation: X:270.66, Y:-16.49, Z:-3.82 [[ 9.99979782e-01 -5.32177035e-03 3.48057204e-03 2.70660742e+02] [ 5.32265908e-03 9.99985804e-01 -2.46126437e-04 -1.64921395e+01] [-3.47921280e-03 2.64647360e-04 9.99993913e-01 -3.81521695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.810371743 meters 0.044189607614098826 Centerline is valid? [True, True] Translation: X:270.69, Y:-16.50, Z:-3.82 [[ 9.99977816e-01 -6.18694855e-03 2.46767560e-03 2.70691831e+02] [ 6.18739770e-03 9.99980843e-01 -1.74420795e-04 -1.64969068e+01] [-2.46654920e-03 1.89685416e-04 9.99996940e-01 -3.81638688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.840371743 meters 0.039585078413506856 Centerline is valid? [True, True] Translation: X:270.72, Y:-16.49, Z:-3.82 [[ 9.99978221e-01 -6.30528431e-03 1.94945614e-03 2.70724871e+02] [ 6.30556428e-03 9.99980110e-01 -1.37500663e-04 -1.64917917e+01] [-1.94855038e-03 1.49790089e-04 9.99998090e-01 -3.81640492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.870371743 meters 0.03903397957729382 Centerline is valid? [True, True] Translation: X:270.76, Y:-16.49, Z:-3.82 [[ 9.99979855e-01 -6.17086453e-03 1.48694969e-03 2.70757172e+02] [ 6.17102705e-03 9.99980954e-01 -1.04740617e-04 -1.64924188e+01] [-1.48627503e-03 1.13914514e-04 9.99998889e-01 -3.81709405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.900371743 meters 0.03900875326057524 Centerline is valid? [True, True] Translation: X:270.79, Y:-16.49, Z:-3.82 [[ 9.99986313e-01 -4.99326143e-03 1.56251865e-03 2.70788211e+02] [ 4.99344044e-03 9.99987527e-01 -1.10683345e-04 -1.64938195e+01] [-1.56194649e-03 1.18484174e-04 9.99998773e-01 -3.81774904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.930371743 meters 0.03904328984252546 Centerline is valid? [True, True] Translation: X:270.82, Y:-16.50, Z:-3.82 [[ 9.99990547e-01 -4.17389063e-03 1.21807480e-03 2.70820754e+02] [ 4.17399817e-03 9.99991285e-01 -8.57574037e-05 -1.64953530e+01] [-1.21770624e-03 9.08408351e-05 9.99999254e-01 -3.81849692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.960371743 meters 0.045670903398736855 Centerline is valid? [True, True] Translation: X:270.85, Y:-16.51, Z:-3.82 [[ 9.99994218e-01 -3.28177818e-03 8.91178843e-04 2.70851213e+02] [ 3.28183542e-03 9.99994613e-01 -6.27783783e-05 -1.65058260e+01] [-8.90968017e-04 6.57027176e-05 9.99999601e-01 -3.82095780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.990371743 meters 0.04015381870913704 Centerline is valid? [True, True] Translation: X:270.88, Y:-16.50, Z:-3.82 [[ 9.99998173e-01 -1.78929332e-03 6.72666227e-04 2.70883307e+02] [ 1.78932566e-03 9.99998398e-01 -4.74799532e-05 -1.64985981e+01] [-6.72580194e-04 4.86834854e-05 9.99999773e-01 -3.81997854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.020371743 meters 0.04014907562770023 Centerline is valid? [True, True] Translation: X:270.91, Y:-16.50, Z:-3.82 [[ 9.99999444e-01 -7.56699252e-04 7.33856976e-04 2.70914517e+02] [ 7.56737524e-04 9.99999712e-01 -5.18756291e-05 -1.64993364e+01] [-7.33817511e-04 5.24309374e-05 9.99999729e-01 -3.81977618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.050371743 meters 0.039252496715374834 Centerline is valid? [True, True] Translation: X:270.95, Y:-16.50, Z:-3.82 [[ 9.99996845e-01 1.02493229e-03 2.29335598e-03 2.70945091e+02] [-1.02455966e-03 9.99999462e-01 -1.63653456e-04 -1.64976136e+01] [-2.29352248e-03 1.61303259e-04 9.99997357e-01 -3.81887305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.080371743 meters 0.040725367118284714 Centerline is valid? [True, True] Translation: X:270.98, Y:-16.50, Z:-3.82 [[ 9.99995222e-01 1.45170513e-03 2.72912089e-03 2.70975389e+02] [-1.45117955e-03 9.99998928e-01 -1.94552014e-04 -1.65012710e+01] [-2.72940040e-03 1.90590640e-04 9.99996257e-01 -3.81906068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11037174300003 meters 0.03740624401314101 Centerline is valid? [True, True] Translation: X:271.01, Y:-16.50, Z:-3.82 [[ 9.99993120e-01 1.60228386e-03 3.34561202e-03 2.71007064e+02] [-1.60149513e-03 9.99998689e-01 -2.38417927e-04 -1.64987290e+01] [-3.34598965e-03 2.33058305e-04 9.99994375e-01 -3.81851772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.140371743 meters 0.0401246220249231 Centerline is valid? [True, True] Translation: X:271.04, Y:-16.50, Z:-3.82 [[ 9.99991373e-01 1.79771889e-03 3.74470062e-03 2.71037525e+02] [-1.79673070e-03 9.99998350e-01 -2.67237304e-04 -1.65043368e+01] [-3.74517486e-03 2.60506780e-04 9.99992953e-01 -3.81961020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17037174300003 meters 0.038930327837504164 Centerline is valid? [True, True] Translation: X:271.07, Y:-16.50, Z:-3.82 [[ 9.99990561e-01 2.54931324e-03 3.51830951e-03 2.71068507e+02] [-2.54844537e-03 9.99996721e-01 -2.51133614e-04 -1.65047348e+01] [-3.51893819e-03 2.42165024e-04 9.99993779e-01 -3.82042044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.200371743 meters 0.03879407994991193 Centerline is valid? [True, True] Translation: X:271.10, Y:-16.51, Z:-3.82 [[ 9.99989712e-01 2.82250050e-03 3.55090383e-03 2.71099973e+02] [-2.82161861e-03 9.99995987e-01 -2.53341734e-04 -1.65069901e+01] [-3.55160464e-03 2.43319831e-04 9.99993663e-01 -3.82127802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23037174300003 meters 0.03993768686771126 Centerline is valid? [True, True] Translation: X:271.13, Y:-16.51, Z:-3.82 [[ 9.99991069e-01 2.96989710e-03 3.00699436e-03 2.71130319e+02] [-2.96926468e-03 9.99995569e-01 -2.14759645e-04 -1.65103575e+01] [-3.00761885e-03 2.05829165e-04 9.99995456e-01 -3.82231877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.260371743 meters 0.03953597827274717 Centerline is valid? [True, True] Translation: X:271.16, Y:-16.51, Z:-3.82 [[ 9.99991610e-01 3.26707080e-03 2.47115395e-03 2.71160803e+02] [-3.26664410e-03 9.99994649e-01 -1.76689935e-04 -1.65120279e+01] [-2.47171799e-03 1.68616072e-04 9.99996931e-01 -3.82332477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.290371743 meters 0.03733163353869604 Centerline is valid? [True, True] Translation: X:271.19, Y:-16.51, Z:-3.82 [[ 9.99986956e-01 4.83973449e-03 1.63249055e-03 2.71191246e+02] [-4.83955036e-03 9.99988283e-01 -1.16724678e-04 -1.65109498e+01] [-1.63303634e-03 1.08822635e-04 9.99998661e-01 -3.82373869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.320371743 meters 0.03674135844099783 Centerline is valid? [True, True] Translation: X:271.22, Y:-16.51, Z:-3.82 [[ 9.99977625e-01 6.49009007e-03 1.62095911e-03 2.71220595e+02] [-6.48990997e-03 9.99978934e-01 -1.16337200e-04 -1.65120191e+01] [-1.62168000e-03 1.05814718e-04 9.99998679e-01 -3.82362470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.350371743 meters 0.036741473789355016 Centerline is valid? [True, True] Translation: X:271.25, Y:-16.51, Z:-3.82 [[ 9.99968824e-01 7.69846321e-03 1.75609516e-03 2.71249179e+02] [-7.69825350e-03 9.99970360e-01 -1.26143512e-04 -1.65135826e+01] [-1.75701422e-03 1.12620713e-04 9.99998450e-01 -3.82322983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380371743 meters 0.03636472729738714 Centerline is valid? [True, True] Translation: X:271.28, Y:-16.51, Z:-3.82 [[ 9.99953568e-01 9.30567493e-03 2.50305664e-03 2.71278631e+02] [-9.30525504e-03 9.99956689e-01 -1.79343189e-04 -1.65144407e+01] [-2.50461714e-03 1.56043281e-04 9.99996851e-01 -3.82294513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.410371743 meters 0.036063833682004845 Centerline is valid? [True, True] Translation: X:271.31, Y:-16.52, Z:-3.82 [[ 9.99914723e-01 1.26325288e-02 3.31154554e-03 2.71307750e+02] [-1.26318140e-02 9.99920187e-01 -2.36686421e-04 -1.65150313e+01] [-3.31427118e-03 1.94835410e-04 9.99994489e-01 -3.82272407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440371743 meters 0.03527124811845454 Centerline is valid? [True, True] Translation: X:271.34, Y:-16.52, Z:-3.82 [[ 9.99895229e-01 1.40711664e-02 3.39601936e-03 2.71336294e+02] [-1.40704221e-02 9.99900977e-01 -2.42958757e-04 -1.65154430e+01] [-3.39910179e-03 1.95149876e-04 9.99994204e-01 -3.82298294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.470371743 meters 0.03226605474695053 Centerline is valid? [True, True] Translation: X:271.37, Y:-16.51, Z:-3.82 [[ 9.99843406e-01 1.72502082e-02 3.94897888e-03 2.71366296e+02] [-1.72492296e-02 9.99851181e-01 -2.81751848e-04 -1.65127692e+01] [-3.95325147e-03 2.13590884e-04 9.99992163e-01 -3.82282956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500371743 meters 0.031061962642042588 Centerline is valid? [True, True] Translation: X:271.40, Y:-16.51, Z:-3.82 [[ 9.99827516e-01 1.81315427e-02 4.02302573e-03 2.71395206e+02] [-1.81305333e-02 9.99835587e-01 -2.87242522e-04 -1.65123748e+01] [-4.02757245e-03 2.14253375e-04 9.99991866e-01 -3.82303526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.530371743 meters 0.031190169780434072 Centerline is valid? [True, True] Translation: X:271.42, Y:-16.51, Z:-3.82 [[ 9.99814496e-01 1.88787690e-02 3.81657390e-03 2.71423820e+02] [-1.88778668e-02 9.99821760e-01 -2.72279698e-04 -1.65139475e+01] [-3.82103394e-03 2.00180415e-04 9.99992680e-01 -3.82353477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560371743 meters 0.030547448521752455 Centerline is valid? [True, True] Translation: X:271.45, Y:-16.51, Z:-3.82 [[ 9.99796634e-01 1.97079957e-02 4.27619613e-03 2.71452985e+02] [-1.97068724e-02 9.99805754e-01 -3.04653532e-04 -1.65149564e+01] [-4.28136961e-03 2.20321124e-04 9.99990811e-01 -3.82412324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.590371743 meters 0.030732136760888814 Centerline is valid? [True, True] Translation: X:271.48, Y:-16.52, Z:-3.82 [[ 9.99797548e-01 1.97083942e-02 4.05500345e-03 2.71480994e+02] [-1.97073837e-02 9.99805749e-01 -2.89003816e-04 -1.65171070e+01] [-4.05991157e-03 2.09031798e-04 9.99991737e-01 -3.82420670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620371743 meters 0.031406226395454734 Centerline is valid? [True, True] Translation: X:271.51, Y:-16.52, Z:-3.82 [[ 9.99803142e-01 1.94921342e-02 3.70588145e-03 2.71509735e+02] [-1.94912911e-02 9.99809992e-01 -2.63484924e-04 -1.65199504e+01] [-3.71031319e-03 1.91200641e-04 9.99993098e-01 -3.82471659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.650371743 meters 0.032551106341920655 Centerline is valid? [True, True] Translation: X:271.54, Y:-16.52, Z:-3.83 [[ 9.99815662e-01 1.89796889e-02 2.90067951e-03 2.71537146e+02] [-1.89791697e-02 9.99819858e-01 -2.06433589e-04 -1.65247135e+01] [-2.90407502e-03 1.51343047e-04 9.99995772e-01 -3.82624860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680371743 meters 0.031197583933120224 Centerline is valid? [True, True] Translation: X:271.57, Y:-16.53, Z:-3.83 [[ 9.99824515e-01 1.85766704e-02 2.41793638e-03 2.71565903e+02] [-1.85763089e-02 9.99827431e-01 -1.71878899e-04 -1.65257017e+01] [-2.42071206e-03 1.26932403e-04 9.99997062e-01 -3.82622754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.710371743 meters 0.03096359897150878 Centerline is valid? [True, True] Translation: X:271.59, Y:-16.53, Z:-3.83 [[ 9.99836659e-01 1.79517649e-02 2.09510092e-03 2.71594266e+02] [-1.79514921e-02 9.99838848e-01 -1.48923840e-04 -1.65284758e+01] [-2.09743674e-03 1.11289327e-04 9.99997794e-01 -3.82702458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740371743 meters 0.032429287879833964 Centerline is valid? [True, True] Translation: X:271.62, Y:-16.53, Z:-3.83 [[ 9.99838406e-01 1.78926252e-02 1.73688582e-03 2.71621420e+02] [-1.78924369e-02 9.99839910e-01 -1.23902891e-04 -1.65330052e+01] [-1.73882471e-03 9.28057493e-05 9.99998484e-01 -3.82816957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.770371743 meters 0.032429287879833964 Centerline is valid? [True, True] Translation: X:271.65, Y:-16.53, Z:-3.83 [[ 9.99840268e-01 1.77882543e-02 1.73689735e-03 2.71648850e+02] [-1.77880661e-02 9.99841772e-01 -1.23740351e-04 -1.65348448e+01] [-1.73882365e-03 9.28245409e-05 9.99998484e-01 -3.82855625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800371743 meters 0.031256512121168915 Centerline is valid? [True, True] Translation: X:271.68, Y:-16.54, Z:-3.83 [[ 9.99835467e-01 1.80338898e-02 1.95393317e-03 2.71677681e+02] [-1.80336536e-02 9.99837371e-01 -1.38405256e-04 -1.65361088e+01] [-1.95611139e-03 1.03145930e-04 9.99998081e-01 -3.82875598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.830371743 meters 0.03065403517198133 Centerline is valid? [True, True] Translation: X:271.71, Y:-16.54, Z:-3.83 [[ 9.99800780e-01 1.97579275e-02 2.83260862e-03 2.71706108e+02] [-1.97574400e-02 9.99804783e-01 -1.99994538e-04 -1.65387268e+01] [-2.83600713e-03 1.43989600e-04 9.99995968e-01 -3.82853179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86037174300003 meters 0.03301519553621489 Centerline is valid? [True, True] Translation: X:271.73, Y:-16.54, Z:-3.83 [[ 9.99773602e-01 2.10401383e-02 3.17147153e-03 2.71733425e+02] [-2.10395341e-02 9.99778619e-01 -2.23760411e-04 -1.65445031e+01] [-3.17547738e-03 1.56983469e-04 9.99994946e-01 -3.82950841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.890371743 meters 0.029381905766984642 Centerline is valid? [True, True] Translation: X:271.76, Y:-16.54, Z:-3.83 [[ 9.99735774e-01 2.27166002e-02 3.51260784e-03 2.71763146e+02] [-2.27158722e-02 9.99741931e-01 -2.47027391e-04 -1.65413211e+01] [-3.51731296e-03 1.67170169e-04 9.99993800e-01 -3.82833381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92037174300003 meters 0.027384322068397488 Centerline is valid? [True, True] Translation: X:271.79, Y:-16.54, Z:-3.83 [[ 9.99640225e-01 2.66060796e-02 3.39673257e-03 2.71793075e+02] [-2.66054231e-02 9.99645985e-01 -2.38347651e-04 -1.65405839e+01] [-3.40187157e-03 1.47890392e-04 9.99994203e-01 -3.82841581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.950371743 meters 0.02853466957851718 Centerline is valid? [True, True] Translation: X:271.82, Y:-16.54, Z:-3.83 [[ 9.99587102e-01 2.85277821e-02 3.43375187e-03 2.71820442e+02] [-2.85271192e-02 9.99592990e-01 -2.41906521e-04 -1.65448800e+01] [-3.43925535e-03 1.43851589e-04 9.99994075e-01 -3.82965840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98037174300003 meters 0.026650181312155994 Centerline is valid? [True, True] Translation: X:271.85, Y:-16.54, Z:-3.83 [[ 9.99490797e-01 3.17327464e-02 3.34348926e-03 2.71850361e+02] [-3.17321397e-02 9.99496381e-01 -2.34354447e-04 -1.65442006e+01] [-3.34924212e-03 1.28139045e-04 9.99994383e-01 -3.82923857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.010371743 meters 0.026676607287107683 Centerline is valid? [True, True] Translation: X:271.88, Y:-16.55, Z:-3.83 [[ 9.99467414e-01 3.24330703e-02 3.60341461e-03 2.71879297e+02] [-3.24323695e-02 9.99473900e-01 -2.52767330e-04 -1.65469119e+01] [-3.60971688e-03 1.35765436e-04 9.99993476e-01 -3.82968589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.040371743 meters 0.02614411680837897 Centerline is valid? [True, True] Translation: X:271.91, Y:-16.55, Z:-3.83 [[ 9.99469023e-01 3.23783401e-02 3.64899630e-03 2.71907144e+02] [-3.23776207e-02 9.99475675e-01 -2.56074882e-04 -1.65489061e+01] [-3.65537432e-03 1.37793094e-04 9.99993310e-01 -3.82953455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.070371743 meters 0.026698895385073945 Centerline is valid? [True, True] Translation: X:271.94, Y:-16.55, Z:-3.83 [[ 9.99537048e-01 3.00791187e-02 4.57553969e-03 2.71935053e+02] [-3.00779682e-02 9.99547504e-01 -3.20068795e-04 -1.65543251e+01] [-4.58309667e-03 1.82297682e-04 9.99989481e-01 -3.82982881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.100371743 meters 0.02775964219184944 Centerline is valid? [True, True] Translation: X:271.96, Y:-16.56, Z:-3.83 [[ 9.99597317e-01 2.80111732e-02 4.53624596e-03 2.71961937e+02] [-2.80100215e-02 9.99607592e-01 -3.17237511e-04 -1.65596170e+01] [-4.54335210e-03 1.90049418e-04 9.99989661e-01 -3.83065017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.130371743 meters 0.028164532265776247 Centerline is valid? [True, True] Translation: X:271.99, Y:-16.57, Z:-3.83 [[ 9.99724105e-01 2.31105692e-02 4.19701374e-03 2.71991756e+02] [-2.31095459e-02 9.99732896e-01 -2.92165077e-04 -1.65664551e+01] [-4.20264480e-03 1.95093388e-04 9.99991150e-01 -3.83144462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.160371743 meters 0.02914268950103998 Centerline is valid? [True, True] Translation: X:272.02, Y:-16.57, Z:-3.83 [[ 9.99780931e-01 2.05915840e-02 3.75187412e-03 2.72020689e+02] [-2.05907476e-02 9.99787954e-01 -2.61436948e-04 -1.65716648e+01] [-3.75646195e-03 1.84125782e-04 9.99992928e-01 -3.83233451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.190371743 meters 0.03126351142343529 Centerline is valid? [True, True] Translation: X:272.05, Y:-16.58, Z:-3.83 [[ 9.99829741e-01 1.80936356e-02 3.62060479e-03 2.72048761e+02] [-1.80928410e-02 9.99836279e-01 -2.52116138e-04 -1.65791712e+01] [-3.62457372e-03 1.86566186e-04 9.99993414e-01 -3.83373506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.220371743 meters 0.03243881242642535 Centerline is valid? [True, True] Translation: X:272.08, Y:-16.59, Z:-3.83 [[ 9.99905999e-01 1.34170522e-02 2.82423286e-03 2.72078832e+02] [-1.34165516e-02 9.99909975e-01 -1.96134132e-04 -1.65871912e+01] [-2.82661015e-03 1.58224230e-04 9.99995993e-01 -3.83471495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.250371743 meters 0.034642784533283316 Centerline is valid? [True, True] Translation: X:272.11, Y:-16.59, Z:-3.84 [[ 9.99932467e-01 1.12343653e-02 2.97492944e-03 2.72106959e+02] [-1.12337987e-02 9.99936877e-01 -2.07109258e-04 -1.65945365e+01] [-2.97706839e-03 1.73675513e-04 9.99995553e-01 -3.83561962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.280371743 meters 0.032170480341937015 Centerline is valid? [True, True] Translation: X:272.14, Y:-16.59, Z:-3.84 [[ 9.99952910e-01 9.21747341e-03 3.03591540e-03 2.72136053e+02] [-9.21687451e-03 9.99957501e-01 -2.11202982e-04 -1.65943474e+01] [-3.03773313e-03 1.83211386e-04 9.99995369e-01 -3.83526120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.310371743 meters 0.034595270499561265 Centerline is valid? [True, True] Translation: X:272.16, Y:-16.60, Z:-3.84 [[ 9.99978553e-01 5.93338769e-03 2.77270490e-03 2.72164488e+02] [-5.93287638e-03 9.99982382e-01 -1.92597324e-04 -1.66034459e+01] [-2.77379881e-03 1.76143078e-04 9.99996137e-01 -3.83601635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.340371743 meters 0.03494738877383879 Centerline is valid? [True, True] Translation: X:272.19, Y:-16.61, Z:-3.84 [[ 9.99985541e-01 4.80346862e-03 2.41757692e-03 2.72194344e+02] [-4.80307718e-03 9.99988451e-01 -1.67695590e-04 -1.66077610e+01] [-2.41835452e-03 1.56081357e-04 9.99997064e-01 -3.83711003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.370371743 meters 0.03686519614944173 Centerline is valid? [True, True] Translation: X:272.22, Y:-16.62, Z:-3.84 [[ 9.99993116e-01 2.78546499e-03 2.45115851e-03 2.72223482e+02] [-2.78505668e-03 9.99996107e-01 -1.69974049e-04 -1.66164600e+01] [-2.45162242e-03 1.63146264e-04 9.99996981e-01 -3.83892989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.400371743 meters 0.03516669771203381 Centerline is valid? [True, True] Translation: X:272.25, Y:-16.62, Z:-3.84 [[ 9.99994205e-01 2.19425599e-03 2.60282595e-03 2.72253798e+02] [-2.19379429e-03 9.99997577e-01 -1.80226459e-04 -1.66168753e+01] [-2.60321511e-03 1.74515350e-04 9.99996596e-01 -3.83895364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.430371743 meters 0.03685469114165688 Centerline is valid? [True, True] Translation: X:272.28, Y:-16.62, Z:-3.84 [[ 9.99994260e-01 1.92379707e-03 2.78917353e-03 2.72283305e+02] [-1.92326584e-03 9.99998132e-01 -1.93129651e-04 -1.66224019e+01] [-2.78953987e-03 1.87764221e-04 9.99996092e-01 -3.83936361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.460371743 meters 0.03675399246000182 Centerline is valid? [True, True] Translation: X:272.31, Y:-16.63, Z:-3.84 [[ 9.99992926e-01 1.83666971e-03 3.28238744e-03 2.72314921e+02] [-1.83593478e-03 9.99998289e-01 -2.26899915e-04 -1.66253215e+01] [-3.28279857e-03 2.20872061e-04 9.99994587e-01 -3.83926544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.490371743 meters 0.03900211414259809 Centerline is valid? [True, True] Translation: X:272.35, Y:-16.63, Z:-3.84 [[ 9.99991557e-01 1.37622018e-03 3.87206205e-03 2.72345223e+02] [-1.37519476e-03 9.99999019e-01 -2.67475915e-04 -1.66317242e+01] [-3.87242636e-03 2.62148817e-04 9.99992468e-01 -3.83954339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.520371743 meters 0.037321583605312535 Centerline is valid? [True, True] Translation: X:272.38, Y:-16.63, Z:-3.84 [[ 9.99989801e-01 6.98570072e-04 4.46194990e-03 2.72376678e+02] [-6.97197719e-04 9.99999709e-01 -3.09115991e-04 -1.66317324e+01] [-4.46216454e-03 3.06001977e-04 9.99989998e-01 -3.83903757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.550371743 meters 0.04171113728428187 Centerline is valid? [True, True] Translation: X:272.41, Y:-16.64, Z:-3.84 [[ 9.99980638e-01 -1.40723319e-04 6.22129975e-03 2.72407371e+02] [ 1.43400645e-04 9.99999897e-01 -4.29904385e-04 -1.66409876e+01] [-6.22123862e-03 4.30788200e-04 9.99980555e-01 -3.83852191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.580371743 meters 0.045467078341544086 Centerline is valid? [True, True] Translation: X:272.44, Y:-16.65, Z:-3.84 [[ 9.99979327e-01 -4.80728926e-04 6.41209635e-03 2.72438288e+02] [ 4.83590382e-04 9.99999784e-01 -4.44716034e-04 -1.66485605e+01] [-6.41188118e-03 4.47807668e-04 9.99979343e-01 -3.83883384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61037174300003 meters 0.03916538973227477 Centerline is valid? [True, True] Translation: X:272.47, Y:-16.64, Z:-3.84 [[ 9.99973026e-01 -2.47578517e-03 6.91501521e-03 2.72469416e+02] [ 2.47918300e-03 9.99996810e-01 -4.82840621e-04 -1.66431508e+01] [-6.91379774e-03 4.99971186e-04 9.99975974e-01 -3.83763205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.640371743 meters 0.03931290465262872 Centerline is valid? [True, True] Translation: X:272.50, Y:-16.65, Z:-3.84 [[ 9.99966930e-01 -3.31187111e-03 7.42768416e-03 2.72501739e+02] [ 3.31580452e-03 9.99994369e-01 -5.17308831e-04 -1.66465338e+01] [-7.42592908e-03 5.41920473e-04 9.99972281e-01 -3.83830005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67037174300003 meters 0.037187689315729855 Centerline is valid? [True, True] Translation: X:272.53, Y:-16.65, Z:-3.84 [[ 9.99963694e-01 -4.20296837e-03 7.41258412e-03 2.72534358e+02] [ 4.20693169e-03 9.99991016e-01 -5.19162843e-04 -1.66469281e+01] [-7.41033550e-03 5.50328229e-04 9.99972392e-01 -3.83881697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.700371743 meters 0.040557001641776454 Centerline is valid? [True, True] Translation: X:272.56, Y:-16.66, Z:-3.84 [[ 9.99961542e-01 -5.19186553e-03 7.06810969e-03 2.72564856e+02] [ 5.19549454e-03 9.99986381e-01 -4.95169173e-04 -1.66551476e+01] [-7.06544258e-03 5.31872455e-04 9.99974898e-01 -3.84023182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73037174300003 meters 0.039316507900841034 Centerline is valid? [True, True] Translation: X:272.60, Y:-16.66, Z:-3.84 [[ 9.99957249e-01 -7.26430699e-03 5.72108346e-03 2.72595398e+02] [ 7.26672536e-03 9.99973516e-01 -4.02039244e-04 -1.66578225e+01] [-5.71801141e-03 4.43595599e-04 9.99983554e-01 -3.84184259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.760371743 meters 0.04327000349989194 Centerline is valid? [True, True] Translation: X:272.63, Y:-16.67, Z:-3.84 [[ 9.99955556e-01 -7.84736497e-03 5.22545500e-03 2.72626446e+02] [ 7.84938629e-03 9.99969126e-01 -3.66424344e-04 -1.66666411e+01] [-5.22241820e-03 4.07424674e-04 9.99986280e-01 -3.84356725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.790371743 meters 0.04357865111102429 Centerline is valid? [True, True] Translation: X:272.66, Y:-16.67, Z:-3.84 [[ 9.99955289e-01 -8.41774092e-03 4.30832581e-03 2.72658472e+02] [ 8.41912305e-03 9.99964513e-01 -3.02768298e-04 -1.66711139e+01] [-4.30562429e-03 3.39027086e-04 9.99990673e-01 -3.84447243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.820371743 meters 0.04431223974997078 Centerline is valid? [True, True] Translation: X:272.69, Y:-16.68, Z:-3.85 [[ 9.99960102e-01 -7.82836238e-03 4.30254555e-03 2.72689918e+02] [ 7.82973670e-03 9.99969301e-01 -3.02669696e-04 -1.66752459e+01] [-4.30004406e-03 3.36345419e-04 9.99990698e-01 -3.84513212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.850371743 meters 0.03865753933977278 Centerline is valid? [True, True] Translation: X:272.72, Y:-16.67, Z:-3.84 [[ 9.99971489e-01 -5.49536616e-03 5.17908026e-03 2.72720624e+02] [ 5.49733248e-03 9.99984823e-01 -3.65505928e-04 -1.66707782e+01] [-5.17699307e-03 3.93966633e-04 9.99986522e-01 -3.84434051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880371743 meters 0.03883664652348567 Centerline is valid? [True, True] Translation: X:272.75, Y:-16.67, Z:-3.84 [[ 9.99979804e-01 -3.93021049e-03 4.99449037e-03 2.72751323e+02] [ 3.93201810e-03 9.99992208e-01 -3.52152495e-04 -1.66735090e+01] [-4.99306742e-03 3.71783809e-04 9.99987465e-01 -3.84437835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.910371743 meters 0.03973555899503329 Centerline is valid? [True, True] Translation: X:272.78, Y:-16.68, Z:-3.85 [[ 9.99984904e-01 -2.21163703e-03 5.03004991e-03 2.72781544e+02] [ 2.21345060e-03 9.99997487e-01 -3.55008005e-04 -1.66766977e+01] [-5.02925212e-03 3.66136413e-04 9.99987286e-01 -3.84509206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940371743 meters 0.038408245825328216 Centerline is valid? [True, True] Translation: X:272.81, Y:-16.68, Z:-3.85 [[ 9.99989361e-01 -7.10164161e-05 4.61225368e-03 2.72812853e+02] [ 7.25180904e-05 9.99999944e-01 -3.25417231e-04 -1.66772286e+01] [-4.61223031e-03 3.25748241e-04 9.99989311e-01 -3.84531121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.970371743 meters 0.03465904184512019 Centerline is valid? [True, True] Translation: X:272.84, Y:-16.67, Z:-3.85 [[ 9.99978450e-01 4.94413501e-03 4.31912630e-03 2.72843708e+02] [-4.94286265e-03 9.99987737e-01 -3.05210946e-04 -1.66731520e+01] [-4.32058234e-03 2.83855520e-04 9.99990626e-01 -3.84586188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000371743 meters 0.03305349382864283 Centerline is valid? [True, True] Translation: X:272.87, Y:-16.67, Z:-3.85 [[ 9.99963756e-01 7.66044822e-03 3.71538098e-03 2.72874555e+02] [-7.65952566e-03 9.99970631e-01 -2.62473008e-04 -1.66723522e+01] [-3.71728253e-03 2.34005439e-04 9.99993064e-01 -3.84586437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.030371743 meters 0.032614319799094516 Centerline is valid? [True, True] Translation: X:272.90, Y:-16.67, Z:-3.85 [[ 9.99894295e-01 1.39416401e-02 4.12659795e-03 2.72903809e+02] [-1.39405540e-02 9.99902783e-01 -2.91833350e-04 -1.66723557e+01] [-4.13026541e-03 2.34275440e-04 9.99991443e-01 -3.84614477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060371743 meters 0.030758203455281394 Centerline is valid? [True, True] Translation: X:272.93, Y:-16.67, Z:-3.85 [[ 9.99844220e-01 1.70865750e-02 4.42540316e-03 2.72934193e+02] [-1.70853573e-02 9.99853986e-01 -3.12819149e-04 -1.66704089e+01] [-4.43010199e-03 2.37160824e-04 9.99990159e-01 -3.84566458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.090371743 meters 0.02978109804937806 Centerline is valid? [True, True] Translation: X:272.96, Y:-16.67, Z:-3.85 [[ 9.99780714e-01 2.03652059e-02 4.87663290e-03 2.72964225e+02] [-2.03637667e-02 9.99792578e-01 -3.44601428e-04 -1.66699543e+01] [-4.88263925e-03 2.45219247e-04 9.99988050e-01 -3.84554121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120371743 meters 0.028029189815986382 Centerline is valid? [True, True] Translation: X:272.99, Y:-16.67, Z:-3.84 [[ 9.99668654e-01 2.50982346e-02 5.71494346e-03 2.72994904e+02] [-2.50963365e-02 9.99684956e-01 -4.03606339e-04 -1.66675140e+01] [-5.72327281e-03 2.60048462e-04 9.99983588e-01 -3.84497475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.150371743 meters 0.02752038843237699 Centerline is valid? [True, True] Translation: X:273.02, Y:-16.67, Z:-3.85 [[ 9.99623415e-01 2.67934128e-02 5.92801491e-03 2.73023696e+02] [-2.67913975e-02 9.99640958e-01 -4.19125846e-04 -1.66679116e+01] [-5.93711631e-03 2.60148205e-04 9.99982341e-01 -3.84513649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180371743 meters 0.027329154680478734 Centerline is valid? [True, True] Translation: X:273.05, Y:-16.67, Z:-3.85 [[ 9.99578282e-01 2.83207543e-02 6.41820211e-03 2.73053017e+02] [-2.83184248e-02 9.99598850e-01 -4.53565331e-04 -1.66691771e+01] [-6.42847276e-03 2.71620681e-04 9.99979300e-01 -3.84561987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.210371743 meters 0.028472965949391294 Centerline is valid? [True, True] Translation: X:273.08, Y:-16.67, Z:-3.85 [[ 9.99572093e-01 2.85384843e-02 6.41760994e-03 2.73080269e+02] [-2.85361656e-02 9.99592658e-01 -4.52597610e-04 -1.66736395e+01] [-6.42791223e-03 2.69269960e-04 9.99979305e-01 -3.84655361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240371743 meters 0.027848417792390587 Centerline is valid? [True, True] Translation: X:273.11, Y:-16.67, Z:-3.85 [[ 9.99579618e-01 2.83353232e-02 6.13975225e-03 2.73109153e+02] [-2.83332010e-02 9.99598441e-01 -4.32369209e-04 -1.66746794e+01] [-6.14953810e-03 2.58228614e-04 9.99981058e-01 -3.84692322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.270371743 meters 0.02720822226816418 Centerline is valid? [True, True] Translation: X:273.14, Y:-16.68, Z:-3.85 [[ 9.99603009e-01 2.73685443e-02 6.69226436e-03 2.73137995e+02] [-2.73660049e-02 9.99625370e-01 -4.70737856e-04 -1.66757923e+01] [-6.70264064e-03 2.87410438e-04 9.99977496e-01 -3.84682186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300371743 meters 0.02793796474840319 Centerline is valid? [True, True] Translation: X:273.17, Y:-16.68, Z:-3.85 [[ 9.99640694e-01 2.59271782e-02 6.80182553e-03 2.73166899e+02] [-2.59245252e-02 9.99663789e-01 -4.77936777e-04 -1.66795214e+01] [-6.81193023e-03 3.01430955e-04 9.99976753e-01 -3.84708382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.330371743 meters 0.02859656824286828 Centerline is valid? [True, True] Translation: X:273.20, Y:-16.68, Z:-3.85 [[ 9.99683210e-01 2.41457628e-02 7.10360609e-03 2.73195048e+02] [-2.41428264e-02 9.99708395e-01 -4.98841241e-04 -1.66836341e+01] [-7.11357955e-03 3.27182085e-04 9.99974645e-01 -3.84791167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36037174300003 meters 0.031090797792657495 Centerline is valid? [True, True] Translation: X:273.22, Y:-16.69, Z:-3.85 [[ 9.99791245e-01 1.95757285e-02 5.85302112e-03 2.73223304e+02] [-1.95736625e-02 9.99808333e-01 -4.10065761e-04 -1.66919527e+01] [-5.85992662e-03 2.95415098e-04 9.99982787e-01 -3.85023729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.390371743 meters 0.03219713135061774 Centerline is valid? [True, True] Translation: X:273.25, Y:-16.70, Z:-3.85 [[ 9.99848107e-01 1.68286774e-02 4.53420031e-03 2.73252355e+02] [-1.68274089e-02 9.99858359e-01 -3.17782883e-04 -1.66964253e+01] [-4.53890594e-03 2.41435772e-04 9.99989670e-01 -3.85181580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42037174300003 meters 0.031141421556502197 Centerline is valid? [True, True] Translation: X:273.28, Y:-16.70, Z:-3.85 [[ 9.99922147e-01 1.22623581e-02 2.30954064e-03 2.73283185e+02] [-1.22620175e-02 9.99924806e-01 -1.61558290e-04 -1.66983754e+01] [-2.31134806e-03 1.33226085e-04 9.99997320e-01 -3.85350813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.450371743 meters 0.036615003686443354 Centerline is valid? [True, True] Translation: X:273.31, Y:-16.71, Z:-3.86 [[ 9.99945959e-01 1.02102349e-02 1.95693422e-03 2.73310972e+02] [-1.02099853e-02 9.99947867e-01 -1.37480356e-04 -1.67093200e+01] [-1.95823591e-03 1.17492657e-04 9.99998076e-01 -3.85597788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48037174300003 meters 0.03755999253068889 Centerline is valid? [True, True] Translation: X:273.34, Y:-16.71, Z:-3.86 [[ 9.99963115e-01 8.40955309e-03 1.74565684e-03 2.73340289e+02] [-8.40935222e-03 9.99964633e-01 -1.22376307e-04 -1.67136385e+01] [-1.74662423e-03 1.07691950e-04 9.99998469e-01 -3.85677368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.510371743 meters 0.0347342423301088 Centerline is valid? [True, True] Translation: X:273.37, Y:-16.71, Z:-3.86 [[ 9.99986621e-01 4.97100412e-03 1.43076712e-03 2.73371185e+02] [-4.97086624e-03 9.99987640e-01 -9.99092914e-05 -1.67114719e+01] [-1.43124608e-03 9.27958028e-05 9.99998971e-01 -3.85573245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.540371743 meters 0.04222856119406377 Centerline is valid? [True, True] Translation: X:273.40, Y:-16.72, Z:-3.86 [[ 9.99991620e-01 3.76650034e-03 1.60406867e-03 2.73400169e+02] [-3.76632551e-03 9.99992901e-01 -1.11995745e-04 -1.67241682e+01] [-1.60447911e-03 1.05953362e-04 9.99998707e-01 -3.85787082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.570371743 meters 0.042480650575274816 Centerline is valid? [True, True] Translation: X:273.43, Y:-16.73, Z:-3.86 [[ 9.99994156e-01 3.10697725e-03 1.42676757e-03 2.73430965e+02] [-3.10683825e-03 9.99995169e-01 -9.96317380e-05 -1.67268066e+01] [-1.42707024e-03 9.51984196e-05 9.99998977e-01 -3.85770238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.600371743 meters 0.03673655111566254 Centerline is valid? [True, True] Translation: X:273.46, Y:-16.72, Z:-3.86 [[ 9.99995990e-01 2.58803792e-03 1.14963671e-03 2.73461549e+02] [-2.58794707e-03 9.99996648e-01 -8.05089624e-05 -1.67195843e+01] [-1.14984122e-03 7.75334406e-05 9.99999336e-01 -3.85612494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.630371743 meters 0.037857918643386786 Centerline is valid? [True, True] Translation: X:273.49, Y:-16.72, Z:-3.86 [[ 9.99996998e-01 2.42386629e-03 3.57816627e-04 2.73491328e+02] [-2.42385742e-03 9.99997062e-01 -2.52211055e-05 -1.67211854e+01] [-3.57876709e-04 2.43537333e-05 9.99999936e-01 -3.85656269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.660371743 meters 0.037857918643386786 Centerline is valid? [True, True] Translation: X:273.52, Y:-16.72, Z:-3.86 [[ 9.99997083e-01 2.38889085e-03 3.57800488e-04 2.73520478e+02] [-2.38888190e-03 9.99997146e-01 -2.54524537e-05 -1.67231883e+01] [-3.57860271e-04 2.45976363e-05 9.99999936e-01 -3.85697316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.690371743 meters 0.03855690759215194 Centerline is valid? [True, True] Translation: X:273.55, Y:-16.73, Z:-3.86 [[ 9.99996665e-01 2.56860377e-03 2.68908090e-04 2.73550007e+02] [-2.56859869e-03 9.99996701e-01 -1.92402059e-05 -1.67253445e+01] [-2.68956624e-04 1.85494248e-05 9.99999964e-01 -3.85764105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.720371743 meters 0.038561026833656344 Centerline is valid? [True, True] Translation: X:273.58, Y:-16.73, Z:-3.86 [[ 9.99996624e-01 2.51415252e-03 6.56954061e-04 2.73579464e+02] [-2.51412266e-03 9.99996839e-01 -4.62727800e-05 -1.67267121e+01] [-6.57068321e-04 4.46209607e-05 9.99999783e-01 -3.85761628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.750371743 meters 0.039541591313452605 Centerline is valid? [True, True] Translation: X:273.61, Y:-16.73, Z:-3.86 [[ 9.99995913e-01 2.70758549e-03 9.17663265e-04 2.73609314e+02] [-2.70752773e-03 9.99996333e-01 -6.41778841e-05 -1.67277992e+01] [-9.17833667e-04 6.16930231e-05 9.99999577e-01 -3.85708376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.780371743 meters 0.03567544357196091 Centerline is valid? [True, True] Translation: X:273.64, Y:-16.72, Z:-3.86 [[ 9.99994956e-01 2.89956697e-03 1.29600197e-03 2.73639271e+02] [-2.89945178e-03 9.99995792e-01 -9.07516861e-05 -1.67228642e+01] [-1.29625966e-03 8.69935332e-05 9.99999156e-01 -3.85612774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.810371743 meters 0.040658189896274836 Centerline is valid? [True, True] Translation: X:273.67, Y:-16.73, Z:-3.86 [[ 9.99995776e-01 2.61603309e-03 1.26663809e-03 2.73668761e+02] [-2.61592317e-03 9.99996575e-01 -8.84311523e-05 -1.67303505e+01] [-1.26686509e-03 8.51173508e-05 9.99999194e-01 -3.85733272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.840371743 meters 0.03673042420420782 Centerline is valid? [True, True] Translation: X:273.70, Y:-16.73, Z:-3.86 [[ 9.99996095e-01 2.03822432e-03 1.91211912e-03 2.73699204e+02] [-2.03797308e-03 9.99997914e-01 -1.33334947e-04 -1.67259799e+01] [-1.91238690e-03 1.29437579e-04 9.99998163e-01 -3.85625180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.870371743 meters 0.03534563553769714 Centerline is valid? [True, True] Translation: X:273.73, Y:-16.73, Z:-3.86 [[ 9.99998052e-01 1.05091240e-03 1.67100535e-03 2.73730153e+02] [-1.05071952e-03 9.99999441e-01 -1.16303639e-04 -1.67250015e+01] [-1.67112664e-03 1.14547654e-04 9.99998597e-01 -3.85597676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.900371743 meters 0.037915974548911366 Centerline is valid? [True, True] Translation: X:273.76, Y:-16.73, Z:-3.86 [[ 9.99997359e-01 -1.84104534e-03 1.37604974e-03 2.73759968e+02] [ 1.84117887e-03 9.99998300e-01 -9.57744346e-05 -1.67283762e+01] [-1.37587108e-03 9.83077353e-05 9.99999049e-01 -3.85638535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.930371743 meters 0.04106364035165488 Centerline is valid? [True, True] Translation: X:273.79, Y:-16.73, Z:-3.86 [[ 9.99993715e-01 -3.40114187e-03 1.00116439e-03 2.73789443e+02] [ 3.40121217e-03 9.99994214e-01 -6.85266694e-05 -1.67346344e+01] [-1.00092553e-03 7.19314112e-05 9.99999496e-01 -3.85768270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.960371743 meters 0.04063977337436203 Centerline is valid? [True, True] Translation: X:273.82, Y:-16.74, Z:-3.86 [[ 9.99988762e-01 -4.68957381e-03 6.95489440e-04 2.73820500e+02] [ 4.68960832e-03 9.99989003e-01 -4.79974205e-05 -1.67361125e+01] [-6.95256704e-04 5.12584542e-05 9.99999757e-01 -3.85863970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.990371743 meters 0.044293190561630044 Centerline is valid? [True, True] Translation: X:273.85, Y:-16.74, Z:-3.86 [[ 9.99967952e-01 -8.00277350e-03 -2.25668958e-04 2.73849516e+02] [ 8.00277720e-03 9.99967977e-01 1.55334736e-05 -1.67416573e+01] [ 2.25537420e-04 -1.73389541e-05 9.99999974e-01 -3.86039182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.020371743 meters 0.039645961936379114 Centerline is valid? [True, True] Translation: X:273.88, Y:-16.74, Z:-3.86 [[ 9.99958402e-01 -9.10902994e-03 -4.69349903e-04 2.73881768e+02] [ 9.10904667e-03 9.99958511e-01 3.35121261e-05 -1.67362731e+01] [ 4.69025167e-04 -3.77860622e-05 9.99999889e-01 -3.85970582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.050371743 meters 0.04450142205335794 Centerline is valid? [True, True] Translation: X:273.91, Y:-16.74, Z:-3.86 [[ 9.99946349e-01 -1.03440509e-02 -5.47834771e-04 2.73912649e+02] [ 1.03440738e-02 9.99946498e-01 3.90104531e-05 -1.67431618e+01] [ 5.47401935e-04 -4.46752034e-05 9.99999849e-01 -3.86103901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.080371743 meters 0.0405524615090646 Centerline is valid? [True, True] Translation: X:273.94, Y:-16.74, Z:-3.86 [[ 9.99944228e-01 -1.05290058e-02 -8.25260046e-04 2.73944879e+02] [ 1.05290578e-02 9.99944566e-01 5.86993297e-05 -1.67385761e+01] [ 8.24596253e-04 -6.73852666e-05 9.99999658e-01 -3.86029243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11037174300003 meters 0.042812736530642936 Centerline is valid? [True, True] Translation: X:273.98, Y:-16.74, Z:-3.86 [[ 9.99949005e-01 -1.00702747e-02 -7.59728071e-04 2.73976386e+02] [ 1.00703188e-02 9.99949292e-01 5.41661259e-05 -1.67424310e+01] [ 7.59144079e-04 -6.18140675e-05 9.99999710e-01 -3.86101782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.140371743 meters 0.04244049536270033 Centerline is valid? [True, True] Translation: X:274.01, Y:-16.74, Z:-3.86 [[ 9.99954110e-01 -9.55364705e-03 -7.11212679e-04 2.74008791e+02] [ 9.55368559e-03 9.99954361e-01 5.08077332e-05 -1.67425706e+01] [ 7.10694821e-04 -5.76001039e-05 9.99999746e-01 -3.86139193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17037174300003 meters 0.04200362125846662 Centerline is valid? [True, True] Translation: X:274.04, Y:-16.74, Z:-3.86 [[ 9.99965335e-01 -8.32350266e-03 -2.20936343e-04 2.74040613e+02] [ 8.32350645e-03 9.99965359e-01 1.62326053e-05 -1.67413635e+01] [ 2.20793577e-04 -1.80710076e-05 9.99999975e-01 -3.86126871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.200371743 meters 0.04106890353619138 Centerline is valid? [True, True] Translation: X:274.07, Y:-16.74, Z:-3.86 [[ 9.99972488e-01 -7.41437226e-03 2.22430678e-04 2.74072631e+02] [ 7.41437575e-03 9.99972513e-01 -1.48486860e-05 -1.67403822e+01] [-2.22314471e-04 1.64974622e-05 9.99999975e-01 -3.86098505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23037174300003 meters 0.04344462510516142 Centerline is valid? [True, True] Translation: X:274.10, Y:-16.74, Z:-3.86 [[ 9.99981181e-01 -6.05545505e-03 9.84187993e-04 2.74102777e+02] [ 6.05552568e-03 9.99981663e-01 -6.88001589e-05 -1.67422576e+01] [-9.83753330e-04 7.47586399e-05 9.99999513e-01 -3.86153793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.260371743 meters 0.03940990805126778 Centerline is valid? [True, True] Translation: X:274.14, Y:-16.74, Z:-3.86 [[ 9.99984717e-01 -5.31568965e-03 1.51981780e-03 2.74135142e+02] [ 5.31585645e-03 9.99985865e-01 -1.05730659e-04 -1.67377012e+01] [-1.51923429e-03 1.13808176e-04 9.99998839e-01 -3.86055462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.290371743 meters 0.03918649883420494 Centerline is valid? [True, True] Translation: X:274.17, Y:-16.74, Z:-3.86 [[ 9.99987664e-01 -4.64818974e-03 1.75097287e-03 2.74167846e+02] [ 4.64841023e-03 9.99989189e-01 -1.21875808e-04 -1.67391083e+01] [-1.75038744e-03 1.30013545e-04 9.99998460e-01 -3.86085337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.320371743 meters 0.04048039837493867 Centerline is valid? [True, True] Translation: X:274.20, Y:-16.74, Z:-3.86 [[ 9.99987029e-01 -4.50229449e-03 2.38141801e-03 2.74198776e+02] [ 4.50270453e-03 9.99989849e-01 -1.66847259e-04 -1.67411546e+01] [-2.38064265e-03 1.77567917e-04 9.99997151e-01 -3.86057125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.350371743 meters 0.04060760313412011 Centerline is valid? [True, True] Translation: X:274.23, Y:-16.74, Z:-3.86 [[ 9.99985655e-01 -4.80031224e-03 2.37612757e-03 2.74230897e+02] [ 4.80072110e-03 9.99988463e-01 -1.66396783e-04 -1.67427559e+01] [-2.37530140e-03 1.77801522e-04 9.99997163e-01 -3.86066964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380371743 meters 0.03867602809497837 Centerline is valid? [True, True] Translation: X:274.26, Y:-16.74, Z:-3.86 [[ 9.99983973e-01 -4.97221268e-03 2.70753171e-03 2.74263486e+02] [ 4.97274502e-03 9.99987618e-01 -1.89918991e-04 -1.67413910e+01] [-2.70655387e-03 2.03379812e-04 9.99996317e-01 -3.86086623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.410371743 meters 0.03932153297381907 Centerline is valid? [True, True] Translation: X:274.30, Y:-16.74, Z:-3.86 [[ 9.99985715e-01 -4.91949655e-03 2.08984871e-03 2.74295906e+02] [ 4.91981344e-03 9.99987887e-01 -1.46516875e-04 -1.67441106e+01] [-2.08910260e-03 1.56796448e-04 9.99997806e-01 -3.86156410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440371743 meters 0.04229104644579215 Centerline is valid? [True, True] Translation: X:274.33, Y:-16.75, Z:-3.86 [[ 9.99987370e-01 -4.62545820e-03 1.96596152e-03 2.74326691e+02] [ 4.62573699e-03 9.99989292e-01 -1.37281935e-04 -1.67499016e+01] [-1.96530548e-03 1.46374222e-04 9.99998058e-01 -3.86296542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.470371743 meters 0.04050802886279075 Centerline is valid? [True, True] Translation: X:274.36, Y:-16.75, Z:-3.86 [[ 9.99992467e-01 -3.78836240e-03 8.44645210e-04 2.74358695e+02] [ 3.78841340e-03 9.99992822e-01 -5.87953590e-05 -1.67489723e+01] [-8.44416409e-04 6.19947813e-05 9.99999642e-01 -3.86444268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500371743 meters 0.03912559867326688 Centerline is valid? [True, True] Translation: X:274.39, Y:-16.75, Z:-3.87 [[ 9.99995411e-01 -3.01605351e-03 2.87019417e-04 2.74391132e+02] [ 3.01605918e-03 9.99995452e-01 -1.93314237e-05 -1.67491834e+01] [-2.86959808e-04 2.01970026e-05 9.99999959e-01 -3.86544577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.530371743 meters 0.039620355758117135 Centerline is valid? [True, True] Translation: X:274.42, Y:-16.75, Z:-3.87 [[ 9.99998908e-01 -1.41388652e-03 -4.29979401e-04 2.74421790e+02] [ 1.41389998e-03 9.99999000e-01 3.09835533e-05 -1.67507757e+01] [ 4.29935163e-04 -3.15914674e-05 9.99999907e-01 -3.86671440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560371743 meters 0.03956884138707678 Centerline is valid? [True, True] Translation: X:274.45, Y:-16.75, Z:-3.87 [[ 9.99999362e-01 -6.82411628e-04 -9.00518558e-04 2.74452708e+02] [ 6.82469395e-04 9.99999765e-01 6.38436936e-05 -1.67512239e+01] [ 9.00474779e-04 -6.44582292e-05 9.99999592e-01 -3.86704361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.590371743 meters 0.039346572036877116 Centerline is valid? [True, True] Translation: X:274.48, Y:-16.75, Z:-3.87 [[ 9.99999528e-01 3.60227517e-04 -9.01954177e-04 2.74483026e+02] [-3.60169987e-04 9.99999933e-01 6.39454740e-05 -1.67523008e+01] [ 9.01977151e-04 -6.36205870e-05 9.99999591e-01 -3.86731977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620371743 meters 0.03613564214592544 Centerline is valid? [True, True] Translation: X:274.51, Y:-16.75, Z:-3.87 [[ 9.99998800e-01 1.36891086e-03 -7.25230132e-04 2.74513045e+02] [-1.36887431e-03 9.99999062e-01 5.08826963e-05 -1.67486457e+01] [ 7.25299105e-04 -4.98898864e-05 9.99999736e-01 -3.86658185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.650371743 meters 0.03549983852632309 Centerline is valid? [True, True] Translation: X:274.54, Y:-16.75, Z:-3.87 [[ 9.99994208e-01 3.36806898e-03 -4.90492797e-04 2.74542631e+02] [-3.36805259e-03 9.99994328e-01 3.42323532e-05 -1.67479886e+01] [ 4.90605312e-04 -3.25801493e-05 9.99999879e-01 -3.86658034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680371743 meters 0.03539131112887596 Centerline is valid? [True, True] Translation: X:274.57, Y:-16.75, Z:-3.87 [[ 9.99992123e-01 3.89991618e-03 -7.38469176e-04 2.74572195e+02] [-3.89987901e-03 9.99992394e-01 5.17686695e-05 -1.67484640e+01] [ 7.38665452e-04 -4.88883212e-05 9.99999726e-01 -3.86722464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.710371743 meters 0.03529924152234816 Centerline is valid? [True, True] Translation: X:274.60, Y:-16.75, Z:-3.87 [[ 9.99984548e-01 5.53220440e-03 -5.46938408e-04 2.74601443e+02] [-5.53218590e-03 9.99984697e-01 3.53373136e-05 -1.67483690e+01] [ 5.47125531e-04 -3.23110026e-05 9.99999850e-01 -3.86822664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740371743 meters 0.036907834140219024 Centerline is valid? [True, True] Translation: X:274.63, Y:-16.75, Z:-3.87 [[ 9.99980995e-01 6.14817577e-03 -4.58614828e-04 2.74628784e+02] [-6.14816217e-03 9.99981099e-01 3.10680918e-05 -1.67512589e+01] [ 4.58797172e-04 -2.82478630e-05 9.99999894e-01 -3.86894598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.770371743 meters 0.03621556757366951 Centerline is valid? [True, True] Translation: X:274.66, Y:-16.75, Z:-3.87 [[ 9.99979845e-01 6.33553482e-03 -4.11965280e-04 2.74657630e+02] [-6.33552381e-03 9.99979930e-01 2.80046565e-05 -1.67507895e+01] [ 4.12134436e-04 -2.53940763e-05 9.99999915e-01 -3.86853164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800371743 meters 0.03498251103419786 Centerline is valid? [True, True] Translation: X:274.69, Y:-16.75, Z:-3.87 [[ 9.99979881e-01 6.32561445e-03 4.72963198e-04 2.74686562e+02] [-6.32559895e-03 9.99979993e-01 -3.42665065e-05 -1.67478854e+01] [-4.73170493e-04 3.12740416e-05 9.99999888e-01 -3.86639663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.830371743 meters 0.03565076362157363 Centerline is valid? [True, True] Translation: X:274.72, Y:-16.75, Z:-3.87 [[ 9.99983239e-01 5.71757142e-03 9.11329131e-04 2.74715055e+02] [-5.71751452e-03 9.99983653e-01 -6.50230310e-05 -1.67494201e+01] [-9.11686007e-04 5.98114036e-05 9.99999583e-01 -3.86633822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86037174300003 meters 0.0390312038136981 Centerline is valid? [True, True] Translation: X:274.74, Y:-16.76, Z:-3.87 [[ 9.99987757e-01 4.66852545e-03 1.64007691e-03 2.74743244e+02] [-4.66834165e-03 9.99989097e-01 -1.15877988e-04 -1.67558007e+01] [-1.64060001e-03 1.08220130e-04 9.99998648e-01 -3.86667461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.890371743 meters 0.039090384505897545 Centerline is valid? [True, True] Translation: X:274.77, Y:-16.76, Z:-3.87 [[ 9.99995926e-01 1.64079690e-03 2.33592132e-03 2.74773759e+02] [-1.64041831e-03 9.99998641e-01 -1.63979732e-04 -1.67582075e+01] [-2.33618720e-03 1.60147176e-04 9.99997258e-01 -3.86666347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92037174300003 meters 0.0399148271635493 Centerline is valid? [True, True] Translation: X:274.80, Y:-16.76, Z:-3.87 [[ 9.99998140e-01 7.35863264e-04 1.78306286e-03 2.74804400e+02] [-7.35641243e-04 9.99999722e-01 -1.25169529e-04 -1.67622861e+01] [-1.78315447e-03 1.23857601e-04 9.99998403e-01 -3.86847754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.950371743 meters 0.04154089176846764 Centerline is valid? [True, True] Translation: X:274.83, Y:-16.77, Z:-3.87 [[ 9.99999882e-01 3.14969127e-05 4.84859253e-04 2.74834749e+02] [-3.14805266e-05 9.99999999e-01 -3.38033281e-05 -1.67680552e+01] [-4.84860317e-04 3.37880605e-05 9.99999882e-01 -3.87102043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98037174300003 meters 0.04143380743340217 Centerline is valid? [True, True] Translation: X:274.86, Y:-16.77, Z:-3.87 [[ 9.99999809e-01 3.24458468e-04 5.26187006e-04 2.74864891e+02] [-3.24439071e-04 9.99999947e-01 -3.69469709e-05 -1.67698366e+01] [-5.26198966e-04 3.67762483e-05 9.99999861e-01 -3.87146033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.010371743 meters 0.04089589810339342 Centerline is valid? [True, True] Translation: X:274.90, Y:-16.77, Z:-3.87 [[ 9.99999711e-01 6.85491245e-04 3.29171785e-04 2.74895420e+02] [-6.85483673e-04 9.99999765e-01 -2.31132663e-05 -1.67705422e+01] [-3.29187552e-04 2.28876177e-05 9.99999946e-01 -3.87153804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.040371743 meters 0.04119330331381091 Centerline is valid? [True, True] Translation: X:274.93, Y:-16.77, Z:-3.87 [[ 9.99999404e-01 1.07912748e-03 1.67007124e-04 2.74925804e+02] [-1.07912554e-03 9.99999418e-01 -1.17266433e-05 -1.67725401e+01] [-1.67019681e-04 1.15464147e-05 9.99999986e-01 -3.87185975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.070371743 meters 0.04209734150056767 Centerline is valid? [True, True] Translation: X:274.96, Y:-16.78, Z:-3.87 [[ 9.99998598e-01 1.65182202e-03 2.76215221e-04 2.74955057e+02] [-1.65181666e-03 9.99998636e-01 -1.96291300e-05 -1.67758096e+01] [-2.76247268e-04 1.91728456e-05 9.99999962e-01 -3.87238957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.100371743 meters 0.043334810797283414 Centerline is valid? [True, True] Translation: X:274.98, Y:-16.78, Z:-3.87 [[ 9.99998638e-01 1.63626893e-03 2.15589809e-04 2.74984435e+02] [-1.63626566e-03 9.99998661e-01 -1.53677464e-05 -1.67797077e+01] [-2.15614667e-04 1.50149633e-05 9.99999977e-01 -3.87327546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.130371743 meters 0.0379609974672617 Centerline is valid? [True, True] Translation: X:275.01, Y:-16.78, Z:-3.87 [[ 9.99998152e-01 1.91064217e-03 2.11102857e-04 2.75014819e+02] [-1.91063898e-03 9.99998175e-01 -1.53133182e-05 -1.67750952e+01] [-2.11131730e-04 1.49099486e-05 9.99999978e-01 -3.87302220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.160371743 meters 0.03726630504059131 Centerline is valid? [True, True] Translation: X:275.04, Y:-16.78, Z:-3.87 [[ 9.99997530e-01 2.14692886e-03 5.74695085e-04 2.75044468e+02] [-2.14690577e-03 9.99997695e-01 -4.07986483e-05 -1.67762897e+01] [-5.74781352e-04 3.95647314e-05 9.99999834e-01 -3.87315708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.190371743 meters 0.037730041253692025 Centerline is valid? [True, True] Translation: X:275.07, Y:-16.78, Z:-3.87 [[ 9.99996354e-01 2.29762184e-03 1.41903897e-03 2.75074133e+02] [-2.29748265e-03 9.99997356e-01 -9.97131722e-05 -1.67794194e+01] [-1.41926432e-03 9.64525912e-05 9.99998988e-01 -3.87287763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.220371743 meters 0.03832961321061753 Centerline is valid? [True, True] Translation: X:275.10, Y:-16.78, Z:-3.87 [[ 9.99995865e-01 2.37687642e-03 1.61906397e-03 2.75104782e+02] [-2.37669578e-03 9.99997169e-01 -1.13484082e-04 -1.67828370e+01] [-1.61932912e-03 1.09635590e-04 9.99998683e-01 -3.87318081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.250371743 meters 0.03838380965152159 Centerline is valid? [True, True] Translation: X:275.14, Y:-16.79, Z:-3.87 [[ 9.99997638e-01 1.43785078e-03 1.62986161e-03 2.75135046e+02] [-1.43766649e-03 9.99998960e-01 -1.14240914e-04 -1.67854552e+01] [-1.63002417e-03 1.11897447e-04 9.99998665e-01 -3.87349065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.280371743 meters 0.03939387946950683 Centerline is valid? [True, True] Translation: X:275.17, Y:-16.79, Z:-3.87 [[ 9.99998055e-01 8.64027408e-04 1.77273718e-03 2.75165584e+02] [-8.63810078e-04 9.99999619e-01 -1.23357804e-04 -1.67900167e+01] [-1.77284309e-03 1.21826256e-04 9.99998421e-01 -3.87407657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.310371743 meters 0.03915201762145387 Centerline is valid? [True, True] Translation: X:275.20, Y:-16.79, Z:-3.87 [[ 9.99998049e-01 -1.57642595e-03 1.19042662e-03 2.75196354e+02] [ 1.57652623e-03 9.99998754e-01 -8.33003007e-05 -1.67938969e+01] [-1.19029382e-03 8.51768770e-05 9.99999288e-01 -3.87446050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.340371743 meters 0.04022087172509954 Centerline is valid? [True, True] Translation: X:275.23, Y:-16.80, Z:-3.88 [[ 9.99994415e-01 -3.28228660e-03 6.29667752e-04 2.75227042e+02] [ 3.28231493e-03 9.99994612e-01 -4.39560842e-05 -1.67983399e+01] [-6.29520083e-04 4.60226066e-05 9.99999801e-01 -3.87521525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.370371743 meters 0.043690934129917515 Centerline is valid? [True, True] Translation: X:275.26, Y:-16.81, Z:-3.88 [[ 9.99980508e-01 -6.23718447e-03 -2.84845255e-04 2.75256265e+02] [ 6.23719036e-03 9.99980548e-01 1.98155972e-05 -1.68078599e+01] [ 2.84716121e-04 -2.15918451e-05 9.99999959e-01 -3.87746028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.400371743 meters 0.042686807742788296 Centerline is valid? [True, True] Translation: X:275.29, Y:-16.81, Z:-3.88 [[ 9.99972361e-01 -7.39666807e-03 -7.52191499e-04 2.75288151e+02] [ 7.39671065e-03 9.99972643e-01 5.38359890e-05 -1.68103349e+01] [ 7.51772714e-04 -5.93982439e-05 9.99999716e-01 -3.87798963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.430371743 meters 0.04284642284643719 Centerline is valid? [True, True] Translation: X:275.32, Y:-16.81, Z:-3.88 [[ 9.99961509e-01 -8.65497759e-03 -1.43934616e-03 2.75319058e+02] [ 8.65513326e-03 9.99962538e-01 1.01954893e-04 -1.68139722e+01] [ 1.43840982e-03 -1.14408702e-04 9.99998959e-01 -3.87914696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.460371743 meters 0.04375575200315907 Centerline is valid? [True, True] Translation: X:275.35, Y:-16.82, Z:-3.88 [[ 9.99954965e-01 -9.25585081e-03 -2.09687900e-03 2.75349501e+02] [ 9.25618437e-03 9.99957149e-01 1.49425200e-04 -1.68201189e+01] [ 2.09540609e-03 -1.68827570e-04 9.99997790e-01 -3.88051068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.490371743 meters 0.0411059371876919 Centerline is valid? [True, True] Translation: X:275.38, Y:-16.82, Z:-3.88 [[ 9.99955362e-01 -9.02770958e-03 -2.78842046e-03 2.75381986e+02] [ 9.02829553e-03 9.99959225e-01 1.97618970e-04 -1.68187071e+01] [ 2.78652271e-03 -2.22784833e-04 9.99996093e-01 -3.88025645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.520371743 meters 0.04205650895665359 Centerline is valid? [True, True] Translation: X:275.41, Y:-16.82, Z:-3.88 [[ 9.99962992e-01 -8.18456427e-03 -2.65084028e-03 2.75413230e+02] [ 8.18509452e-03 9.99966484e-01 1.89245161e-04 -1.68227181e+01] [ 2.64920254e-03 -2.10935536e-04 9.99996469e-01 -3.88037305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.550371743 meters 0.040611941968185655 Centerline is valid? [True, True] Translation: X:275.44, Y:-16.82, Z:-3.88 [[ 9.99982604e-01 -5.52520034e-03 -2.06499520e-03 2.75444401e+02] [ 5.52551391e-03 9.99984724e-01 1.46176217e-04 -1.68227825e+01] [ 2.06415600e-03 -1.57583834e-04 9.99997857e-01 -3.87953589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.580371743 meters 0.040611941968185655 Centerline is valid? [True, True] Translation: X:275.48, Y:-16.82, Z:-3.88 [[ 9.99982800e-01 -5.48961980e-03 -2.06497236e-03 2.75475261e+02] [ 5.48993396e-03 9.99984919e-01 1.46499275e-04 -1.68249947e+01] [ 2.06413700e-03 -1.57833317e-04 9.99997857e-01 -3.87997033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61037174300003 meters 0.039950939492116457 Centerline is valid? [True, True] Translation: X:275.51, Y:-16.83, Z:-3.88 [[ 9.99991875e-01 -3.74047055e-03 -1.50267360e-03 2.75506589e+02] [ 3.74063516e-03 9.99992998e-01 1.06749457e-04 -1.68264887e+01] [ 1.50226378e-03 -1.12369543e-04 9.99998865e-01 -3.87989781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.640371743 meters 0.038406855458024684 Centerline is valid? [True, True] Translation: X:275.54, Y:-16.83, Z:-3.88 [[ 9.99999852e-01 -3.39824171e-04 -4.24421901e-04 2.75536944e+02] [ 3.39836972e-04 9.99999942e-01 3.00897744e-05 -1.68265042e+01] [ 4.24411650e-04 -3.02340042e-05 9.99999909e-01 -3.87901174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67037174300003 meters 0.03543182588038782 Centerline is valid? [True, True] Translation: X:275.57, Y:-16.82, Z:-3.88 [[ 9.99998686e-01 1.59556220e-03 -2.86395249e-04 2.75567458e+02] [-1.59555647e-03 9.99998727e-01 2.02595268e-05 -1.68237640e+01] [ 2.86427210e-04 -1.98025403e-05 9.99999959e-01 -3.87794841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.700371743 meters 0.04113658600833103 Centerline is valid? [True, True] Translation: X:275.60, Y:-16.83, Z:-3.88 [[ 9.99992556e-01 3.85397874e-03 1.84341271e-04 2.75596299e+02] [-3.85397636e-03 9.99992573e-01 -1.32919878e-05 -1.68330276e+01] [-1.84391129e-04 1.25814419e-05 9.99999983e-01 -3.87955786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73037174300003 meters 0.03474870417550746 Centerline is valid? [True, True] Translation: X:275.63, Y:-16.82, Z:-3.88 [[ 9.99964905e-01 8.30938261e-03 1.06904603e-03 2.75627024e+02] [-8.30930646e-03 9.99965474e-01 -7.56466907e-05 -1.68241585e+01] [-1.06963770e-03 6.67610047e-05 9.99999426e-01 -3.87685641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.760371743 meters 0.03328020323544472 Centerline is valid? [True, True] Translation: X:275.66, Y:-16.82, Z:-3.88 [[ 9.99944325e-01 1.04238796e-02 1.64016801e-03 2.75657408e+02] [-1.04237029e-02 9.99945665e-01 -1.16212443e-04 -1.68234346e+01] [-1.64129028e-03 9.91093488e-05 9.99998648e-01 -3.87670891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.790371743 meters 0.03470259467645004 Centerline is valid? [True, True] Translation: X:275.69, Y:-16.83, Z:-3.88 [[ 9.99916447e-01 1.27152745e-02 2.32840542e-03 2.75685674e+02] [-1.27149247e-02 9.99919148e-01 -1.64973256e-04 -1.68271272e+01] [-2.33031485e-03 1.35353972e-04 9.99997276e-01 -3.87750076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.820371743 meters 0.03087035080723714 Centerline is valid? [True, True] Translation: X:275.72, Y:-16.82, Z:-3.88 [[ 9.99838690e-01 1.76603342e-02 3.27209008e-03 2.75716984e+02] [-1.76596716e-02 9.99844029e-01 -2.31273019e-04 -1.68213642e+01] [-3.27566409e-03 1.73451676e-04 9.99994620e-01 -3.87582420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.850371743 meters 0.03146615741478124 Centerline is valid? [True, True] Translation: X:275.75, Y:-16.82, Z:-3.88 [[ 9.99783109e-01 2.04408888e-02 3.98801229e-03 2.75745831e+02] [-2.04399254e-02 9.99791043e-01 -2.82175788e-04 -1.68236381e+01] [-3.99294689e-03 2.00599913e-04 9.99992008e-01 -3.87600819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880371743 meters 0.0282066726288209 Centerline is valid? [True, True] Translation: X:275.78, Y:-16.82, Z:-3.87 [[ 9.99671677e-01 2.51176644e-02 5.06364453e-03 2.75776963e+02] [-2.51161735e-02 9.99684475e-01 -3.57816581e-04 -1.68181743e+01] [-5.07103434e-03 2.30519727e-04 9.99987116e-01 -3.87492072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.910371743 meters 0.02828696238068303 Centerline is valid? [True, True] Translation: X:275.81, Y:-16.82, Z:-3.88 [[ 9.99624406e-01 2.69242618e-02 5.11179469e-03 2.75805084e+02] [-2.69227641e-02 9.99637451e-01 -3.61589874e-04 -1.68194572e+01] [-5.11967696e-03 2.23830421e-04 9.99986869e-01 -3.87552435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940371743 meters 0.027838255220164188 Centerline is valid? [True, True] Translation: X:275.83, Y:-16.82, Z:-3.88 [[ 9.99562985e-01 2.89834423e-02 5.81369355e-03 2.75833867e+02] [-2.89815430e-02 9.99579863e-01 -4.10687445e-04 -1.68201686e+01] [-5.82315413e-03 2.42018159e-04 9.99983016e-01 -3.87581956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.970371743 meters 0.027491930883496492 Centerline is valid? [True, True] Translation: X:275.86, Y:-16.82, Z:-3.88 [[ 9.99475045e-01 3.17847939e-02 6.27382767e-03 2.75862711e+02] [-3.17826413e-02 9.99494706e-01 -4.42527324e-04 -1.68212150e+01] [-6.28472318e-03 2.42896203e-04 9.99980221e-01 -3.87685667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000371743 meters 0.02713031485825344 Centerline is valid? [True, True] Translation: X:275.89, Y:-16.82, Z:-3.88 [[ 9.99424771e-01 3.33090111e-02 6.37477324e-03 2.75891399e+02] [-3.33068210e-02 9.99445073e-01 -4.49429170e-04 -1.68224724e+01] [-6.38620574e-03 2.36847214e-04 9.99979580e-01 -3.87711185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.030371743 meters 0.02661369075035531 Centerline is valid? [True, True] Translation: X:275.92, Y:-16.82, Z:-3.88 [[ 9.99363886e-01 3.49571178e-02 7.05855155e-03 2.75920384e+02] [-3.49544780e-02 9.99388782e-01 -4.97040251e-04 -1.68236528e+01] [-7.07161233e-03 2.49996092e-04 9.99974965e-01 -3.87686491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060371743 meters 0.026426624828339962 Centerline is valid? [True, True] Translation: X:275.95, Y:-16.82, Z:-3.88 [[ 9.99308573e-01 3.63723771e-02 7.70887067e-03 2.75949577e+02] [-3.63692727e-02 9.99338272e-01 -5.42555963e-04 -1.68245944e+01] [-7.72350355e-03 2.61814806e-04 9.99970139e-01 -3.87702956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.090371743 meters 0.025544126976707535 Centerline is valid? [True, True] Translation: X:275.98, Y:-16.82, Z:-3.88 [[ 9.99158203e-01 4.02564644e-02 7.89321309e-03 2.75978906e+02] [-4.02533431e-02 9.99189352e-01 -5.53983121e-04 -1.68248047e+01] [-7.90911588e-03 2.35788565e-04 9.99968695e-01 -3.87668229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120371743 meters 0.025144483240944347 Centerline is valid? [True, True] Translation: X:276.01, Y:-16.83, Z:-3.88 [[ 9.99085777e-01 4.20161905e-02 7.88990627e-03 2.76007949e+02] [-4.20131271e-02 9.99116905e-01 -5.53685305e-04 -1.68259853e+01] [-7.90620249e-03 2.21699478e-04 9.99968721e-01 -3.87736387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.150371743 meters 0.023019442425509302 Centerline is valid? [True, True] Translation: X:276.04, Y:-16.82, Z:-3.88 [[ 9.98937144e-01 4.53286179e-02 8.36049815e-03 2.76037324e+02] [-4.53252914e-02 9.98972108e-01 -5.87017795e-04 -1.68239973e+01] [-8.37851317e-03 2.07451865e-04 9.99964878e-01 -3.87755515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180371743 meters 0.02304238745377918 Centerline is valid? [True, True] Translation: X:276.06, Y:-16.83, Z:-3.88 [[ 9.98869392e-01 4.67894750e-02 8.40726525e-03 2.76064859e+02] [-4.67861840e-02 9.98904754e-01 -5.87798254e-04 -1.68265064e+01] [-8.42556000e-03 1.93789826e-04 9.99964486e-01 -3.87835495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.210371743 meters 0.02236886951560078 Centerline is valid? [True, True] Translation: X:276.09, Y:-16.83, Z:-3.88 [[ 9.98791852e-01 4.83169802e-02 8.96130530e-03 2.76093785e+02] [-4.83133168e-02 9.98832034e-01 -6.24964161e-04 -1.68278589e+01] [-8.98103518e-03 1.91258730e-04 9.99959651e-01 -3.87869464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240371743 meters 0.022411142315079572 Centerline is valid? [True, True] Translation: X:276.12, Y:-16.83, Z:-3.88 [[ 9.98649817e-01 5.11747733e-02 8.92671717e-03 2.76121537e+02] [-5.11712571e-02 9.98689699e-01 -6.22008739e-04 -1.68316313e+01] [-8.94685165e-03 1.64377574e-04 9.99959963e-01 -3.88048180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.270371743 meters 0.02159385674610853 Centerline is valid? [True, True] Translation: X:276.15, Y:-16.83, Z:-3.88 [[ 9.98603424e-01 5.20631232e-02 8.97963147e-03 2.76150079e+02] [-5.20596089e-02 9.98643784e-01 -6.24817964e-04 -1.68331802e+01] [-8.99998313e-03 1.56469255e-04 9.99959487e-01 -3.88040519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300371743 meters 0.02157458858159686 Centerline is valid? [True, True] Translation: X:276.18, Y:-16.84, Z:-3.88 [[ 9.98613888e-01 5.19060455e-02 8.72149017e-03 2.76177177e+02] [-5.19027272e-02 9.98651961e-01 -6.06540565e-04 -1.68366523e+01] [-8.74121638e-03 1.53030708e-04 9.99961783e-01 -3.88087801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.330371743 meters 0.021858275004879288 Centerline is valid? [True, True] Translation: X:276.21, Y:-16.84, Z:-3.88 [[ 9.98708940e-01 5.01103255e-02 8.33115400e-03 2.76205789e+02] [-5.01072456e-02 9.98743676e-01 -5.78135869e-04 -1.68438656e+01] [-8.34965794e-03 1.59938282e-04 9.99965128e-01 -3.88185707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36037174300003 meters 0.022158196037100245 Centerline is valid? [True, True] Translation: X:276.23, Y:-16.85, Z:-3.88 [[ 9.98790158e-01 4.85654193e-02 7.72147668e-03 2.76234327e+02] [-4.85627313e-02 9.98819991e-01 -5.35350199e-04 -1.68495249e+01] [-7.73836478e-03 1.59726512e-04 9.99970046e-01 -3.88286614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.390371743 meters 0.023008375922779323 Centerline is valid? [True, True] Translation: X:276.26, Y:-16.86, Z:-3.88 [[ 9.98994207e-01 4.44716120e-02 5.73147208e-03 2.76262383e+02] [-4.44700654e-02 9.99010638e-01 -3.97076902e-04 -1.68597974e+01] [-5.74346023e-03 1.41798587e-04 9.99983496e-01 -3.88439595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42037174300003 meters 0.023641460735100116 Centerline is valid? [True, True] Translation: X:276.29, Y:-16.87, Z:-3.89 [[ 9.99099178e-01 4.21101682e-02 5.25039289e-03 2.76291233e+02] [-4.21088381e-02 9.99112963e-01 -3.63688184e-04 -1.68655189e+01] [-5.26105057e-03 1.42272622e-04 9.99986150e-01 -3.88509019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.450371743 meters 0.024482633555843798 Centerline is valid? [True, True] Translation: X:276.32, Y:-16.88, Z:-3.89 [[ 9.99302700e-01 3.69957665e-02 5.04251078e-03 2.76320286e+02] [-3.69944777e-02 9.99315409e-01 -3.48653581e-04 -1.68764634e+01] [-5.05195743e-03 1.61865413e-04 9.99987226e-01 -3.88569254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48037174300003 meters 0.024726484849492462 Centerline is valid? [True, True] Translation: X:276.35, Y:-16.88, Z:-3.89 [[ 9.99404693e-01 3.41671061e-02 4.78211514e-03 2.76349853e+02] [-3.41659153e-02 9.99416120e-01 -3.30511364e-04 -1.68820396e+01] [-4.79061558e-03 1.66929267e-04 9.99988511e-01 -3.88618983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.510371743 meters 0.026159602844752772 Centerline is valid? [True, True] Translation: X:276.38, Y:-16.89, Z:-3.89 [[ 9.99490652e-01 3.15599175e-02 4.73365067e-03 2.76378108e+02] [-3.15587215e-02 9.99501846e-01 -3.27160318e-04 -1.68897350e+01] [-4.74161774e-03 1.77605716e-04 9.99988743e-01 -3.88723695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.540371743 meters 0.026852151819604615 Centerline is valid? [True, True] Translation: X:276.41, Y:-16.90, Z:-3.89 [[ 9.99578795e-01 2.87333402e-02 4.07772179e-03 2.76407580e+02] [-2.87324304e-02 9.99587099e-01 -2.81532088e-04 -1.68955979e+01] [-4.08412745e-03 1.64250648e-04 9.99991646e-01 -3.88788527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.570371743 meters 0.028177550712287718 Centerline is valid? [True, True] Translation: X:276.44, Y:-16.91, Z:-3.89 [[ 9.99713590e-01 2.37610885e-02 2.85441981e-03 2.76437150e+02] [-2.37606229e-02 9.99717657e-01 -1.96925076e-04 -1.69051403e+01] [-2.85829304e-03 1.29045882e-04 9.99995907e-01 -3.88987859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.600371743 meters 0.02998244821650172 Centerline is valid? [True, True] Translation: X:276.46, Y:-16.91, Z:-3.89 [[ 9.99778615e-01 2.09437301e-02 2.02026404e-03 2.76464780e+02] [-2.09434899e-02 9.99780651e-01 -1.39996923e-04 -1.69121849e+01] [-2.02275295e-03 9.76545507e-05 9.99997949e-01 -3.89164439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.630371743 meters 0.03126056426260285 Centerline is valid? [True, True] Translation: X:276.49, Y:-16.92, Z:-3.89 [[ 9.99861272e-01 1.66563425e-02 -6.27897400e-05 2.76494561e+02] [-1.66563423e-02 9.99861274e-01 4.13106785e-06 -1.69206529e+01] [ 6.28498377e-05 -3.08464735e-06 9.99999998e-01 -3.89337272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.660371743 meters 0.03191853981412525 Centerline is valid? [True, True] Translation: X:276.52, Y:-16.93, Z:-3.89 [[ 9.99882079e-01 1.53530079e-02 -3.37733771e-04 2.76523373e+02] [-1.53530013e-02 9.99882135e-01 2.22377597e-05 -1.69258918e+01] [ 3.38035380e-04 -1.70499103e-05 9.99999943e-01 -3.89435832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.690371743 meters 0.030501771000166777 Centerline is valid? [True, True] Translation: X:276.55, Y:-16.93, Z:-3.89 [[ 9.99893550e-01 1.45840653e-02 -4.39343975e-04 2.76551807e+02] [-1.45840539e-02 9.99893647e-01 2.91647143e-05 -1.69276821e+01] [ 4.39722590e-04 -2.27541935e-05 9.99999903e-01 -3.89435291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.720371743 meters 0.032547618948008644 Centerline is valid? [True, True] Translation: X:276.58, Y:-16.94, Z:-3.90 [[ 9.99880945e-01 1.53186038e-02 -1.85372492e-03 2.76579306e+02] [-1.53183966e-02 9.99882659e-01 1.25895703e-04 -1.69360883e+01] [ 1.85543595e-03 -9.74846209e-05 9.99998274e-01 -3.89620787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.750371743 meters 0.03017188546049644 Centerline is valid? [True, True] Translation: X:276.61, Y:-16.94, Z:-3.90 [[ 9.99863038e-01 1.63097393e-02 -2.81043087e-03 2.76608664e+02] [-1.63092673e-02 9.99866977e-01 1.90763204e-04 -1.69355582e+01] [ 2.81316831e-03 -1.44901009e-04 9.99996033e-01 -3.89569341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.780371743 meters 0.03633162607808806 Centerline is valid? [True, True] Translation: X:276.64, Y:-16.95, Z:-3.90 [[ 9.99831677e-01 1.79468938e-02 -3.81140806e-03 2.76635364e+02] [-1.79460351e-02 9.99838923e-01 2.59391347e-04 -1.69482736e+01] [ 3.81544940e-03 -1.90948023e-04 9.99992703e-01 -3.90020022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.810371743 meters 0.03092070445589528 Centerline is valid? [True, True] Translation: X:276.67, Y:-16.94, Z:-3.90 [[ 9.99745055e-01 2.22499468e-02 -3.84241273e-03 2.76665315e+02] [-2.22491033e-02 9.99752424e-01 2.62150692e-04 -1.69449939e+01] [ 3.84729428e-03 -1.76593621e-04 9.99992584e-01 -3.89866144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.840371743 meters 0.027741871035410336 Centerline is valid? [True, True] Translation: X:276.69, Y:-16.94, Z:-3.90 [[ 9.99691117e-01 2.45972421e-02 -3.55613816e-03 2.76694438e+02] [-2.45965372e-02 9.99697430e-01 2.41820406e-04 -1.69432167e+01] [ 3.56101030e-03 -1.54277027e-04 9.99993648e-01 -3.89724008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.870371743 meters 0.026756158545671926 Centerline is valid? [True, True] Translation: X:276.72, Y:-16.95, Z:-3.90 [[ 9.99580446e-01 2.87055431e-02 -3.86306441e-03 2.76724592e+02] [-2.87047390e-02 9.99587899e-01 2.63447905e-04 -1.69458244e+01] [ 3.86903485e-03 -1.52449118e-04 9.99992504e-01 -3.89853045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.900371743 meters 0.029033610463929597 Centerline is valid? [True, True] Translation: X:276.75, Y:-16.95, Z:-3.90 [[ 9.99528561e-01 3.04469484e-02 -3.95473374e-03 2.76751516e+02] [-3.04461245e-02 9.99536373e-01 2.68378284e-04 -1.69536752e+01] [ 3.96107152e-03 -1.47845444e-04 9.99992144e-01 -3.90159323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.930371743 meters 0.02528919206110152 Centerline is valid? [True, True] Translation: X:276.78, Y:-16.95, Z:-3.90 [[ 9.99485383e-01 3.18471748e-02 -3.83748387e-03 2.76780605e+02] [-3.18464097e-02 9.99492741e-01 2.60336454e-04 -1.69502629e+01] [ 3.84382825e-03 -1.37992398e-04 9.99992603e-01 -3.89910165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.960371743 meters 0.024761063095688547 Centerline is valid? [True, True] Translation: X:276.81, Y:-16.95, Z:-3.90 [[ 9.99447983e-01 3.30294982e-02 -3.57524265e-03 2.76809248e+02] [-3.30288428e-02 9.99454370e-01 2.42218896e-04 -1.69531209e+01] [ 3.58129225e-03 -1.23999059e-04 9.99993579e-01 -3.89953322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.990371743 meters 0.024347425911270575 Centerline is valid? [True, True] Translation: X:276.84, Y:-16.96, Z:-3.90 [[ 9.99435351e-01 3.35312293e-02 -2.15321898e-03 2.76838291e+02] [-3.35309933e-02 9.99437668e-01 1.45607820e-04 -1.69584702e+01] [ 2.15689057e-03 -7.33260316e-05 9.99997671e-01 -3.89877704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.020371743 meters 0.026045482697761517 Centerline is valid? [True, True] Translation: X:276.87, Y:-16.97, Z:-3.90 [[ 9.99514301e-01 3.11605335e-02 -4.28401841e-04 2.76865365e+02] [-3.11605244e-02 9.99514393e-01 2.78269447e-05 -1.69690621e+01] [ 4.29060908e-04 -1.44642031e-05 9.99999908e-01 -3.89982346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.050371743 meters 0.026271382244201807 Centerline is valid? [True, True] Translation: X:276.89, Y:-16.97, Z:-3.90 [[ 9.99591109e-01 2.85874281e-02 -6.11144260e-04 2.76894376e+02] [-2.85874086e-02 9.99591296e-01 4.07052103e-05 -1.69745326e+01] [ 6.12058139e-04 -2.32175356e-05 9.99999812e-01 -3.90029539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.080371743 meters 0.027575461706846435 Centerline is valid? [True, True] Translation: X:276.92, Y:-16.98, Z:-3.90 [[ 9.99681647e-01 2.52067422e-02 -1.10644044e-03 2.76923691e+02] [-2.52066752e-02 9.99682259e-01 7.45164476e-05 -1.69821409e+01] [ 1.10796720e-03 -4.66030403e-05 9.99999385e-01 -3.90148999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11037174300003 meters 0.02906330228528527 Centerline is valid? [True, True] Translation: X:276.95, Y:-16.99, Z:-3.90 [[ 9.99762518e-01 2.16973023e-02 -2.03350913e-03 2.76953678e+02] [-2.16970667e-02 9.99764581e-01 1.37865925e-04 -1.69899490e+01] [ 2.03602173e-03 -9.37120014e-05 9.99997923e-01 -3.90272653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.140371743 meters 0.032239847942829254 Centerline is valid? [True, True] Translation: X:276.98, Y:-17.00, Z:-3.90 [[ 9.99904916e-01 1.34004122e-02 -3.25404323e-03 2.76983562e+02] [-1.33997649e-02 9.99910195e-01 2.20643450e-04 -1.70030254e+01] [ 3.25670771e-03 -1.77019056e-04 9.99994681e-01 -3.90476637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17037174300003 meters 0.03448558829635444 Centerline is valid? [True, True] Translation: X:277.01, Y:-17.01, Z:-3.91 [[ 9.99945901e-01 9.50052137e-03 -4.23496296e-03 2.77013395e+02] [-9.49939216e-03 9.99954839e-01 2.86676564e-04 -1.70115574e+01] [ 4.23749528e-03 -2.46431481e-04 9.99990991e-01 -3.90617003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.200371743 meters 0.03540567653331661 Centerline is valid? [True, True] Translation: X:277.04, Y:-17.02, Z:-3.91 [[ 9.99983515e-01 3.20324660e-03 -4.76533690e-03 2.77042736e+02] [-3.20174469e-03 9.99994822e-01 3.22768438e-04 -1.70203374e+01] [ 4.76634613e-03 -3.07505725e-04 9.99988594e-01 -3.90692140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.230371743 meters 0.0367242180716671 Centerline is valid? [True, True] Translation: X:277.07, Y:-17.03, Z:-3.91 [[ 9.99983230e-01 1.51999603e-03 -5.58825374e-03 2.77072116e+02] [-1.51790735e-03 9.99998777e-01 3.77983750e-04 -1.70260382e+01] [ 5.58882143e-03 -3.69494960e-04 9.99984314e-01 -3.90760231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.260371743 meters 0.039615497794113365 Centerline is valid? [True, True] Translation: X:277.10, Y:-17.03, Z:-3.91 [[ 9.99985512e-01 6.47087570e-04 -5.34394202e-03 2.77099615e+02] [-6.45173150e-04 9.99999727e-01 3.59957397e-04 -1.70328734e+01] [ 5.34417348e-03 -3.56504414e-04 9.99985656e-01 -3.90912525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.290371743 meters 0.037827973889845025 Centerline is valid? [True, True] Translation: X:277.13, Y:-17.03, Z:-3.91 [[ 9.99988425e-01 1.28013123e-03 -4.63797780e-03 2.77128322e+02] [-1.27871150e-03 9.99999135e-01 3.09062131e-04 -1.70336041e+01] [ 4.63836943e-03 -3.03127918e-04 9.99989197e-01 -3.90753968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.320371743 meters 0.038265424216409105 Centerline is valid? [True, True] Translation: X:277.16, Y:-17.04, Z:-3.91 [[ 9.99989649e-01 2.22613268e-03 -3.96810894e-03 2.77155763e+02] [-2.22509537e-03 9.99997489e-01 2.65805700e-04 -1.70362994e+01] [ 3.96869070e-03 -2.56973528e-04 9.99992092e-01 -3.90743165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.350371743 meters 0.038116168778484304 Centerline is valid? [True, True] Translation: X:277.19, Y:-17.04, Z:-3.91 [[ 9.99989035e-01 3.79489631e-03 -2.74377244e-03 2.77185643e+02] [-3.79440627e-03 9.99992784e-01 1.83783169e-04 -1.70380889e+01] [ 2.74445008e-03 -1.73370166e-04 9.99996219e-01 -3.90672685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380371743 meters 0.03742532955969919 Centerline is valid? [True, True] Translation: X:277.21, Y:-17.04, Z:-3.91 [[ 9.99985487e-01 4.59878526e-03 -2.80662419e-03 2.77214178e+02] [-4.59827689e-03 9.99989410e-01 1.87559210e-04 -1.70394727e+01] [ 2.80745701e-03 -1.74650853e-04 9.99996044e-01 -3.90677987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.410371743 meters 0.03742929685319327 Centerline is valid? [True, True] Translation: X:277.24, Y:-17.04, Z:-3.91 [[ 9.99978819e-01 5.97173341e-03 -2.58848608e-03 2.77243266e+02] [-5.97130775e-03 9.99982157e-01 1.72139524e-04 -1.70416891e+01] [ 2.58946786e-03 -1.56679231e-04 9.99996635e-01 -3.90697869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440371743 meters 0.038293447480143586 Centerline is valid? [True, True] Translation: X:277.27, Y:-17.04, Z:-3.91 [[ 9.99968437e-01 7.31389512e-03 -3.10340954e-03 2.77270756e+02] [-7.31328879e-03 9.99973236e-01 2.06680821e-04 -1.70441192e+01] [ 3.10483812e-03 -1.83978167e-04 9.99995163e-01 -3.90811100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.470371743 meters 0.038293447480143586 Centerline is valid? [True, True] Translation: X:277.30, Y:-17.05, Z:-3.91 [[ 9.99968927e-01 7.24670870e-03 -3.10340686e-03 2.77299060e+02] [-7.24610192e-03 9.99973725e-01 2.06720292e-04 -1.70459486e+01] [ 3.10482336e-03 -1.84226266e-04 9.99995163e-01 -3.90850968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500371743 meters 0.032843182246261766 Centerline is valid? [True, True] Translation: X:277.33, Y:-17.04, Z:-3.91 [[ 9.99949540e-01 9.51171314e-03 -3.23187379e-03 2.77329566e+02] [-9.51106469e-03 9.99954745e-01 2.15953315e-04 -1.70384843e+01] [ 3.23378162e-03 -1.85203858e-04 9.99994754e-01 -3.90679904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.530371743 meters 0.03233311247790258 Centerline is valid? [True, True] Translation: X:277.36, Y:-17.04, Z:-3.91 [[ 9.99925340e-01 1.19668774e-02 -2.47157061e-03 2.77360030e+02] [-1.19665070e-02 9.99928385e-01 1.64591293e-04 -1.70382740e+01] [ 2.47336325e-03 -1.35002938e-04 9.99996932e-01 -3.90673485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560371743 meters 0.02957113684814478 Centerline is valid? [True, True] Translation: X:277.39, Y:-17.03, Z:-3.90 [[ 9.99833133e-01 1.82610760e-02 -4.88499496e-04 2.77390474e+02] [-1.82610624e-02 9.99833252e-01 3.21944311e-05 -1.70323275e+01] [ 4.89005945e-04 -2.32685391e-05 9.99999880e-01 -3.90362507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.590371743 meters 0.028298416594115017 Centerline is valid? [True, True] Translation: X:277.42, Y:-17.03, Z:-3.90 [[ 9.99691641e-01 2.46535576e-02 2.97061341e-03 2.77420027e+02] [-2.46530757e-02 9.99696047e-01 -1.98728848e-04 -1.70299234e+01] [-2.97460986e-03 1.25432811e-04 9.99995568e-01 -3.90179450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620371743 meters 0.027195691818445607 Centerline is valid? [True, True] Translation: X:277.45, Y:-17.03, Z:-3.90 [[ 9.99620884e-01 2.72517314e-02 3.92819003e-03 2.77449274e+02] [-2.72509075e-02 9.99628590e-01 -2.63113067e-04 -1.70277505e+01] [-3.93390135e-03 1.55966573e-04 9.99992250e-01 -3.90151216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.650371743 meters 0.02667224941358411 Centerline is valid? [True, True] Translation: X:277.48, Y:-17.03, Z:-3.90 [[ 9.99559226e-01 2.92961015e-02 4.80546325e-03 2.77478095e+02] [-2.92948948e-02 9.99570761e-01 -3.21314235e-04 -1.70271390e+01] [-4.81281381e-03 1.80397068e-04 9.99988402e-01 -3.90106465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680371743 meters 0.025788369647071874 Centerline is valid? [True, True] Translation: X:277.51, Y:-17.03, Z:-3.90 [[ 9.99498047e-01 3.11773622e-02 5.62369914e-03 2.77506905e+02] [-3.11757425e-02 9.99513848e-01 -3.75462156e-04 -1.70254256e+01] [-5.63267108e-03 1.99950696e-04 9.99984116e-01 -3.90043659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.710371743 meters 0.025927053293880464 Centerline is valid? [True, True] Translation: X:277.53, Y:-17.03, Z:-3.90 [[ 9.99450716e-01 3.22633945e-02 7.57232901e-03 2.77534361e+02] [-3.22604943e-02 9.99479367e-01 -5.04870440e-04 -1.70255730e+01] [-7.58467544e-03 2.60306046e-04 9.99971202e-01 -3.90008642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740371743 meters 0.026917685355365952 Centerline is valid? [True, True] Translation: X:277.56, Y:-17.03, Z:-3.90 [[ 9.99523056e-01 2.97259699e-02 8.36826167e-03 2.77563564e+02] [-2.97223500e-02 9.99558038e-01 -5.56635937e-04 -1.70277238e+01] [-8.38110977e-03 3.07646050e-04 9.99964831e-01 -3.90080225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.770371743 meters 0.02616953822033142 Centerline is valid? [True, True] Translation: X:277.59, Y:-17.03, Z:-3.90 [[ 9.99589320e-01 2.73636316e-02 8.51016460e-03 2.77593184e+02] [-2.73598070e-02 9.99625490e-01 -5.65530039e-04 -1.70267869e+01] [-8.52245242e-03 3.32461326e-04 9.99963628e-01 -3.90098234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800371743 meters 0.028141047682595514 Centerline is valid? [True, True] Translation: X:277.62, Y:-17.03, Z:-3.90 [[ 9.99658824e-01 2.45865203e-02 8.81696598e-03 2.77621799e+02] [-2.45823093e-02 9.99697638e-01 -5.85670067e-04 -1.70318537e+01] [-8.82869966e-03 3.68728865e-04 9.99960958e-01 -3.90093194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.830371743 meters 0.030784280710740027 Centerline is valid? [True, True] Translation: X:277.65, Y:-17.04, Z:-3.90 [[ 9.99720657e-01 2.19021610e-02 8.88278887e-03 2.77649943e+02] [-2.18977856e-02 9.99760041e-01 -5.89545494e-04 -1.70372894e+01] [-8.89356969e-03 3.94867402e-04 9.99960373e-01 -3.90156719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86037174300003 meters 0.029244127245834972 Centerline is valid? [True, True] Translation: X:277.68, Y:-17.04, Z:-3.90 [[ 9.99822004e-01 1.67962554e-02 8.59336047e-03 2.77680240e+02] [-1.67919776e-02 9.99858842e-01 -5.69724447e-04 -1.70360651e+01] [-8.60171669e-03 4.25323523e-04 9.99962914e-01 -3.90214882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.890371743 meters 0.031868911802957624 Centerline is valid? [True, True] Translation: X:277.71, Y:-17.04, Z:-3.90 [[ 9.99895517e-01 1.22052706e-02 7.74503610e-03 2.77709450e+02] [-1.22016586e-02 9.99925425e-01 -5.13442143e-04 -1.70425756e+01] [-7.75072521e-03 4.18886210e-04 9.99969875e-01 -3.90432413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92037174300003 meters 0.033482743287046625 Centerline is valid? [True, True] Translation: X:277.74, Y:-17.05, Z:-3.91 [[ 9.99922587e-01 1.00722054e-02 7.30553935e-03 2.77738569e+02] [-1.00689370e-02 9.99949190e-01 -4.84022980e-04 -1.70467188e+01] [-7.31004333e-03 4.10426495e-04 9.99973197e-01 -3.90549134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.950371743 meters 0.03483180137983521 Centerline is valid? [True, True] Translation: X:277.77, Y:-17.05, Z:-3.91 [[ 9.99939801e-01 8.31416884e-03 7.16024072e-03 2.77769401e+02] [-8.31098690e-03 9.99965351e-01 -4.74031223e-04 -1.70503197e+01] [-7.16393380e-03 4.14494020e-04 9.99974253e-01 -3.90639207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.980371743 meters 0.03547192276870265 Centerline is valid? [True, True] Translation: X:277.80, Y:-17.05, Z:-3.91 [[ 9.99946543e-01 7.34816290e-03 7.27425006e-03 2.77800712e+02] [-7.34485325e-03 9.99972910e-01 -4.81592220e-04 -1.70528121e+01] [-7.27759182e-03 4.28138176e-04 9.99973426e-01 -3.90691296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.010371743 meters 0.03455070747251856 Centerline is valid? [True, True] Translation: X:277.83, Y:-17.05, Z:-3.91 [[ 9.99956137e-01 5.03927279e-03 7.89492989e-03 2.77831906e+02] [-5.03530002e-03 9.99987186e-01 -5.23001954e-04 -1.70536872e+01] [-7.89746427e-03 4.83225673e-04 9.99968698e-01 -3.90659371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.040371743 meters 0.03486108808405681 Centerline is valid? [True, True] Translation: X:277.86, Y:-17.06, Z:-3.91 [[ 9.99958802e-01 4.15820903e-03 8.06871751e-03 2.77864393e+02] [-4.15403878e-03 9.99991230e-01 -5.33531761e-04 -1.70552795e+01] [-8.07086528e-03 4.99992015e-04 9.99967305e-01 -3.90696798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.070371743 meters 0.03420562868155537 Centerline is valid? [True, True] Translation: X:277.90, Y:-17.06, Z:-3.91 [[ 9.99957649e-01 4.54911394e-03 8.00040088e-03 2.77896458e+02] [-4.54501069e-03 9.99989530e-01 -5.30987392e-04 -1.70557304e+01] [-8.00273264e-03 4.94602997e-04 9.99967855e-01 -3.90704248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.100371743 meters 0.03455765170536091 Centerline is valid? [True, True] Translation: X:277.93, Y:-17.06, Z:-3.91 [[ 9.99957767e-01 4.95437839e-03 7.74068984e-03 2.77927402e+02] [-4.95053402e-03 9.99987613e-01 -5.15725729e-04 -1.70572807e+01] [-7.74314906e-03 4.77383400e-04 9.99969907e-01 -3.90709539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.130371743 meters 0.03466673913784761 Centerline is valid? [True, True] Translation: X:277.96, Y:-17.06, Z:-3.91 [[ 9.99952026e-01 7.11911690e-03 6.72780242e-03 2.77959542e+02] [-7.11624512e-03 9.99974578e-01 -4.50693947e-04 -1.70562954e+01] [-6.73083993e-03 4.02795635e-04 9.99977267e-01 -3.90718284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.160371743 meters 0.033413478073564255 Centerline is valid? [True, True] Translation: X:277.99, Y:-17.06, Z:-3.91 [[ 9.99941338e-01 8.72167582e-03 6.42289967e-03 2.77990647e+02] [-8.71908765e-03 9.99961895e-01 -4.30851163e-04 -1.70556572e+01] [-6.42641267e-03 3.74824064e-04 9.99979280e-01 -3.90775636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.190371743 meters 0.03147753530955532 Centerline is valid? [True, True] Translation: X:278.02, Y:-17.05, Z:-3.91 [[ 9.99894852e-01 1.31388238e-02 6.13648546e-03 2.78021893e+02] [-1.31365428e-02 9.99913627e-01 -4.11875484e-04 -1.70511635e+01] [-6.14136700e-03 3.31219972e-04 9.99981087e-01 -3.90753599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.220371743 meters 0.031129495087316696 Centerline is valid? [True, True] Translation: X:278.05, Y:-17.05, Z:-3.91 [[ 9.99869785e-01 1.49323123e-02 6.11880860e-03 2.78051915e+02] [-1.49300761e-02 9.99888456e-01 -4.10971998e-04 -1.70503014e+01] [-6.12426284e-03 3.19564205e-04 9.99981195e-01 -3.90749034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.250371743 meters 0.03064923017283974 Centerline is valid? [True, True] Translation: X:278.08, Y:-17.05, Z:-3.91 [[ 9.99841041e-01 1.66285208e-02 6.43306733e-03 2.78081986e+02] [-1.66260857e-02 9.99861684e-01 -4.31823707e-04 -1.70496793e+01] [-6.43935812e-03 3.24798337e-04 9.99979214e-01 -3.90691233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.280371743 meters 0.0304834071488751 Centerline is valid? [True, True] Translation: X:278.11, Y:-17.05, Z:-3.91 [[ 9.99793756e-01 1.86035711e-02 8.14572862e-03 2.78110552e+02] [-1.85997348e-02 9.99826861e-01 -5.46469232e-04 -1.70485262e+01] [-8.15448455e-03 3.94848134e-04 9.99966674e-01 -3.90615346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.310371743 meters 0.030615636294969547 Centerline is valid? [True, True] Translation: X:278.14, Y:-17.05, Z:-3.91 [[ 9.99789913e-01 1.86199667e-02 8.56896784e-03 2.78139688e+02] [-1.86157253e-02 9.99826547e-01 -5.74466976e-04 -1.70496314e+01] [-8.57817809e-03 4.14828736e-04 9.99963121e-01 -3.90604093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.340371743 meters 0.030727742047922207 Centerline is valid? [True, True] Translation: X:278.17, Y:-17.05, Z:-3.91 [[ 9.99808932e-01 1.78481344e-02 7.97137333e-03 2.78169770e+02] [-1.78444451e-02 9.99840633e-01 -5.33706843e-04 -1.70498051e+01] [-7.97962862e-03 3.91360135e-04 9.99968086e-01 -3.90741456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.370371743 meters 0.030633949728959397 Centerline is valid? [True, True] Translation: X:278.20, Y:-17.05, Z:-3.91 [[ 9.99822172e-01 1.75767392e-02 6.83245501e-03 2.78199053e+02] [-1.75740219e-02 9.99845460e-01 -4.57544587e-04 -1.70497250e+01] [-6.83944126e-03 3.37389509e-04 9.99976554e-01 -3.90791811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.400371743 meters 0.02925727682516937 Centerline is valid? [True, True] Translation: X:278.23, Y:-17.05, Z:-3.91 [[ 9.99856729e-01 1.57766381e-02 6.13342942e-03 2.78228137e+02] [-1.57744175e-02 9.99875492e-01 -4.10266313e-04 -1.70496990e+01] [-6.13913838e-03 3.13456257e-04 9.99981106e-01 -3.90867437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.430371743 meters 0.03693448399945289 Centerline is valid? [True, True] Translation: X:278.26, Y:-17.06, Z:-3.91 [[ 9.99913201e-01 1.22765717e-02 4.78292750e-03 2.78256671e+02] [-1.22751827e-02 9.99924606e-01 -3.19668453e-04 -1.70626523e+01] [-4.78649133e-03 2.60929397e-04 9.99988511e-01 -3.91139960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.460371743 meters 0.03217525619593595 Centerline is valid? [True, True] Translation: X:278.29, Y:-17.06, Z:-3.91 [[ 9.99934613e-01 1.04478570e-02 4.64890045e-03 2.78286623e+02] [-1.04465257e-02 9.99945385e-01 -3.10552841e-04 -1.70574189e+01] [-4.65189116e-03 2.61967676e-04 9.99989146e-01 -3.91052627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.490371743 meters 0.03361697680541062 Centerline is valid? [True, True] Translation: X:278.32, Y:-17.06, Z:-3.91 [[ 9.99957522e-01 8.33229737e-03 3.94038065e-03 2.78315584e+02] [-8.33132744e-03 9.99965259e-01 -2.62502869e-04 -1.70611057e+01] [-3.94243102e-03 2.29663117e-04 9.99992202e-01 -3.91126588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.520371743 meters 0.0335672139361672 Centerline is valid? [True, True] Translation: X:278.35, Y:-17.06, Z:-3.91 [[ 9.99983834e-01 4.66808859e-03 3.24668907e-03 2.78345507e+02] [-4.66740912e-03 9.99989084e-01 -2.16824864e-04 -1.70632895e+01] [-3.24766579e-03 2.01667733e-04 9.99994706e-01 -3.91175297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.550371743 meters 0.03750947219013939 Centerline is valid? [True, True] Translation: X:278.37, Y:-17.07, Z:-3.91 [[ 9.99995404e-01 1.56042807e-03 2.59958614e-03 2.78374837e+02] [-1.55998480e-03 9.99998768e-01 -1.72535430e-04 -1.70709534e+01] [-2.59985217e-03 1.68479322e-04 9.99996606e-01 -3.91298637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.580371743 meters 0.03864063699131823 Centerline is valid? [True, True] Translation: X:278.41, Y:-17.07, Z:-3.91 [[ 9.99997188e-01 3.54505235e-04 2.34490997e-03 2.78406026e+02] [-3.54139947e-04 9.99999925e-01 -1.56192478e-04 -1.70736580e+01] [-2.34496516e-03 1.55361613e-04 9.99997238e-01 -3.91370651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61037174300003 meters 0.03525337712467613 Centerline is valid? [True, True] Translation: X:278.44, Y:-17.07, Z:-3.91 [[ 9.99996195e-01 1.87291552e-05 2.75862908e-03 2.78437574e+02] [-1.82218695e-05 9.99999983e-01 -1.83915528e-04 -1.70708598e+01] [-2.75863248e-03 1.83864561e-04 9.99996178e-01 -3.91307133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.640371743 meters 0.03619638190227119 Centerline is valid? [True, True] Translation: X:278.47, Y:-17.07, Z:-3.91 [[ 9.99996048e-01 -4.94716520e-05 2.81093446e-03 2.78469092e+02] [ 4.99983753e-05 9.99999981e-01 -1.87313727e-04 -1.70726065e+01] [-2.81092514e-03 1.87453529e-04 9.99996032e-01 -3.91272662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67037174300003 meters 0.03619596417694602 Centerline is valid? [True, True] Translation: X:278.50, Y:-17.07, Z:-3.91 [[ 9.99994713e-01 1.37846886e-04 3.24874174e-03 2.78500507e+02] [-1.37142698e-04 9.99999967e-01 -2.16978995e-04 -1.70741234e+01] [-3.24877154e-03 2.16532306e-04 9.99994699e-01 -3.91251846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.700371743 meters 0.03729274047204704 Centerline is valid? [True, True] Translation: X:278.53, Y:-17.08, Z:-3.91 [[ 9.99991678e-01 3.38662374e-04 4.06570241e-03 2.78531324e+02] [-3.37560026e-04 9.99999906e-01 -2.71816763e-04 -1.70761947e+01] [-4.06579408e-03 2.70442082e-04 9.99991698e-01 -3.91192719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.730371743 meters 0.03776008049212614 Centerline is valid? [True, True] Translation: X:278.56, Y:-17.08, Z:-3.91 [[ 9.99989437e-01 2.85349576e-04 4.58753457e-03 2.78563201e+02] [-2.83946013e-04 9.99999913e-01 -3.06599711e-04 -1.70782700e+01] [-4.58762166e-03 3.05293860e-04 9.99989430e-01 -3.91182247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.760371743 meters 0.03826777516653149 Centerline is valid? [True, True] Translation: X:278.60, Y:-17.08, Z:-3.91 [[ 9.99987660e-01 1.67656573e-04 4.96501370e-03 2.78595058e+02] [-1.66016773e-04 9.99999932e-01 -3.30681280e-04 -1.70807419e+01] [-4.96506880e-03 3.29852923e-04 9.99987620e-01 -3.91183944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.790371743 meters 0.03460624601495866 Centerline is valid? [True, True] Translation: X:278.63, Y:-17.08, Z:-3.91 [[ 9.99986284e-01 -1.63626142e-03 4.97538804e-03 2.78626777e+02] [ 1.63794576e-03 9.99998603e-01 -3.34477826e-04 -1.70770945e+01] [-4.97483379e-03 3.42622654e-04 9.99987567e-01 -3.91062975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.820371743 meters 0.036718939889302284 Centerline is valid? [True, True] Translation: X:278.66, Y:-17.08, Z:-3.91 [[ 9.99982660e-01 -2.64379322e-03 5.26218173e-03 2.78657754e+02] [ 2.64568311e-03 9.99996438e-01 -3.52216602e-04 -1.70820215e+01] [-5.26123180e-03 3.66132560e-04 9.99986093e-01 -3.91116442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.850371743 meters 0.03850797423812653 Centerline is valid? [True, True] Translation: X:278.69, Y:-17.09, Z:-3.91 [[ 9.99968029e-01 -5.85055940e-03 5.45090255e-03 2.78688780e+02] [ 5.85265196e-03 9.99982805e-01 -3.68018465e-04 -1.70871106e+01] [-5.44865571e-03 3.99908934e-04 9.99985076e-01 -3.91197896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880371743 meters 0.03967968253276172 Centerline is valid? [True, True] Translation: X:278.72, Y:-17.09, Z:-3.91 [[ 9.99955786e-01 -7.53991914e-03 5.61918240e-03 2.78719383e+02] [ 7.54217136e-03 9.99971485e-01 -3.79725471e-04 -1.70921242e+01] [-5.61615908e-03 4.22089518e-04 9.99984140e-01 -3.91265362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.910371743 meters 0.044935337887878936 Centerline is valid? [True, True] Translation: X:278.75, Y:-17.10, Z:-3.91 [[ 9.99934953e-01 -1.00068764e-02 5.47287958e-03 2.78749040e+02] [ 1.00090501e-02 9.99949840e-01 -3.69931530e-04 -1.71026820e+01] [-5.46890320e-03 4.24685793e-04 9.99984955e-01 -3.91443930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940371743 meters 0.04138623212472356 Centerline is valid? [True, True] Translation: X:278.78, Y:-17.10, Z:-3.91 [[ 9.99926743e-01 -1.08954565e-02 5.27241023e-03 2.78781793e+02] [ 1.08974841e-02 9.99940557e-01 -3.55991390e-04 -1.71001896e+01] [-5.26821814e-03 4.13421317e-04 9.99986037e-01 -3.91478488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.970371743 meters 0.04239373472583374 Centerline is valid? [True, True] Translation: X:278.81, Y:-17.10, Z:-3.92 [[ 9.99923460e-01 -1.15199459e-02 4.51266714e-03 2.78812218e+02] [ 1.15214400e-02 9.99933579e-01 -3.05217127e-04 -1.71039763e+01] [-4.50885132e-03 3.57186189e-04 9.99989771e-01 -3.91593268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000371743 meters 0.043359274127354644 Centerline is valid? [True, True] Translation: X:278.84, Y:-17.11, Z:-3.92 [[ 9.99918518e-01 -1.24593239e-02 2.77880885e-03 2.78844378e+02] [ 1.24598927e-02 9.99922355e-01 -1.87458308e-04 -1.71071653e+01] [-2.77625748e-03 2.22066693e-04 9.99996122e-01 -3.91724919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.030371743 meters 0.04479743175493988 Centerline is valid? [True, True] Translation: X:278.88, Y:-17.11, Z:-3.92 [[ 9.99914218e-01 -1.28666413e-02 2.45063600e-03 2.78875466e+02] [ 1.28670855e-02 9.99917202e-01 -1.65584745e-04 -1.71113790e+01] [-2.44830257e-03 1.97103084e-04 9.99996983e-01 -3.91805311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060371743 meters 0.045010155531588894 Centerline is valid? [True, True] Translation: X:278.91, Y:-17.11, Z:-3.92 [[ 9.99912300e-01 -1.30363532e-02 2.33381693e-03 2.78907940e+02] [ 1.30367563e-02 9.99915005e-01 -1.57578324e-04 -1.71137749e+01] [-2.33156432e-03 1.87989906e-04 9.99997264e-01 -3.91868696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.090371743 meters 0.0424003141295058 Centerline is valid? [True, True] Translation: X:278.94, Y:-17.11, Z:-3.92 [[ 9.99909644e-01 -1.32713547e-02 2.13910925e-03 2.78940278e+02] [ 1.32716940e-02 9.99911917e-01 -1.44478207e-04 -1.71117127e+01] [-2.13700341e-03 1.72854756e-04 9.99997702e-01 -3.91860754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120371743 meters 0.04765833041425573 Centerline is valid? [True, True] Translation: X:278.97, Y:-17.12, Z:-3.92 [[ 9.99913251e-01 -1.30634742e-02 1.68387319e-03 2.78971001e+02] [ 1.30636843e-02 9.99914660e-01 -1.13863793e-04 -1.71206952e+01] [-1.68224204e-03 1.35851503e-04 9.99998576e-01 -3.91998038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.150371743 meters 0.04312438903938609 Centerline is valid? [True, True] Translation: X:279.00, Y:-17.12, Z:-3.92 [[ 9.99916494e-01 -1.26850247e-02 2.46865106e-03 2.79003260e+02] [ 1.26854759e-02 9.99919522e-01 -1.67209922e-04 -1.71158646e+01] [-2.46633133e-03 1.98511972e-04 9.99996939e-01 -3.91874034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180371743 meters 0.041651109731811034 Centerline is valid? [True, True] Translation: X:279.04, Y:-17.12, Z:-3.92 [[ 9.99917738e-01 -1.24495748e-02 3.08619394e-03 2.79036068e+02] [ 1.24502797e-02 9.99922470e-01 -2.09303217e-04 -1.71152022e+01] [-3.08334893e-03 2.47709977e-04 9.99995216e-01 -3.91850520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.210371743 meters 0.04168303042869187 Centerline is valid? [True, True] Translation: X:279.07, Y:-17.12, Z:-3.92 [[ 9.99914050e-01 -1.24926756e-02 3.97820681e-03 2.79068354e+02] [ 1.24938509e-02 9.99921912e-01 -2.70702921e-04 -1.71172558e+01] [-3.97451435e-03 3.20382776e-04 9.99992050e-01 -3.91824569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240371743 meters 0.04966701986353066 Centerline is valid? [True, True] Translation: X:279.10, Y:-17.13, Z:-3.92 [[ 9.99909565e-01 -1.20060944e-02 6.05929076e-03 2.79099192e+02] [ 1.20088179e-02 9.99927806e-01 -4.13287931e-04 -1.71304976e+01] [-6.05389135e-03 4.86015475e-04 9.99981557e-01 -3.91878773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.270371743 meters 0.049740586618314216 Centerline is valid? [True, True] Translation: X:279.13, Y:-17.13, Z:-3.92 [[ 9.99907308e-01 -1.18835700e-02 6.64498174e-03 2.79131153e+02] [ 1.18868468e-02 9.99929246e-01 -4.53847318e-04 -1.71326673e+01] [-6.63911825e-03 5.32793130e-04 9.99977819e-01 -3.91915923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300371743 meters 0.04209026818678188 Centerline is valid? [True, True] Translation: X:279.16, Y:-17.12, Z:-3.92 [[ 9.99909371e-01 -1.17129225e-02 6.63751338e-03 2.79164281e+02] [ 1.17161909e-02 9.99931260e-01 -4.53746090e-04 -1.71240982e+01] [-6.63174243e-03 5.31471342e-04 9.99977869e-01 -3.91878826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.330371743 meters 0.04397314482502485 Centerline is valid? [True, True] Translation: X:279.20, Y:-17.13, Z:-3.92 [[ 9.99906084e-01 -1.22006133e-02 6.24240836e-03 2.79195250e+02] [ 1.22035170e-02 9.99925443e-01 -4.27269552e-04 -1.71288218e+01] [-6.23673000e-03 5.03408761e-04 9.99980425e-01 -3.91957608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36037174300003 meters 0.04193551219195748 Centerline is valid? [True, True] Translation: X:279.23, Y:-17.13, Z:-3.92 [[ 9.99906799e-01 -1.22405447e-02 6.04664176e-03 2.79227734e+02] [ 1.22432708e-02 9.99924963e-01 -4.14025144e-04 -1.71281984e+01] [-6.04112014e-03 4.88017229e-04 9.99981633e-01 -3.91976898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.390371743 meters 0.04193551219195748 Centerline is valid? [True, True] Translation: X:279.26, Y:-17.13, Z:-3.92 [[ 9.99908118e-01 -1.21323517e-02 6.04663178e-03 2.79260296e+02] [ 1.21350766e-02 9.99926281e-01 -4.14171249e-04 -1.71305259e+01] [-6.04116116e-03 4.87509534e-04 9.99981633e-01 -3.92022717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42037174300003 meters 0.04478856384594081 Centerline is valid? [True, True] Translation: X:279.29, Y:-17.14, Z:-3.92 [[ 9.99907185e-01 -1.27174322e-02 4.88760315e-03 2.79291331e+02] [ 1.27192232e-02 9.99919051e-01 -3.35522310e-04 -1.71366750e+01] [-4.88294052e-03 3.97657683e-04 9.99987999e-01 -3.92255254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.450371743 meters 0.04346940658745954 Centerline is valid? [True, True] Translation: X:279.32, Y:-17.14, Z:-3.92 [[ 9.99909750e-01 -1.27984896e-02 4.08538179e-03 2.79323590e+02] [ 1.27997412e-02 9.99918041e-01 -2.80371015e-04 -1.71376833e+01] [-4.08145863e-03 3.32637541e-04 9.99991615e-01 -3.92371320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.480371743 meters 0.043506757597316884 Centerline is valid? [True, True] Translation: X:279.36, Y:-17.14, Z:-3.93 [[ 9.99911039e-01 -1.29864381e-02 3.04415516e-03 2.79355342e+02] [ 1.29871338e-02 9.99915642e-01 -2.08875812e-04 -1.71402908e+01] [-3.04118581e-03 2.48392080e-04 9.99995345e-01 -3.92550999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.510371743 meters 0.043194978088779375 Centerline is valid? [True, True] Translation: X:279.39, Y:-17.14, Z:-3.93 [[ 9.99924495e-01 -1.21139804e-02 2.06280492e-03 2.79387123e+02] [ 1.21142976e-02 9.99926609e-01 -1.41358814e-04 -1.71414528e+01] [-2.06094112e-03 1.66337574e-04 9.99997862e-01 -3.92683107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.540371743 meters 0.04361993045542794 Centerline is valid? [True, True] Translation: X:279.42, Y:-17.14, Z:-3.93 [[ 9.99937661e-01 -1.10930154e-02 1.27273177e-03 2.79418750e+02] [ 1.10931350e-02 9.99938466e-01 -8.69305640e-05 -1.71444121e+01] [-1.27168913e-03 1.01043730e-04 9.99999186e-01 -3.92874448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.570371743 meters 0.04144539626116635 Centerline is valid? [True, True] Translation: X:279.45, Y:-17.14, Z:-3.93 [[ 9.99952485e-01 -9.70376536e-03 9.29917386e-04 2.79449969e+02] [ 9.70382884e-03 9.99952915e-01 -6.37713930e-05 -1.71431863e+01] [-9.29254778e-04 7.27921221e-05 9.99999566e-01 -3.92921173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.600371743 meters 0.057059912860818 Centerline is valid? [True, True] Translation: X:279.48, Y:-17.17, Z:-3.93 [[ 9.99984719e-01 -4.86226498e-03 2.63046106e-03 2.79477689e+02] [ 4.86276060e-03 9.99988160e-01 -1.82050759e-04 -1.71659707e+01] [-2.62954474e-03 1.94839279e-04 9.99996524e-01 -3.93324781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.630371743 meters 0.03939358359843529 Centerline is valid? [True, True] Translation: X:279.51, Y:-17.14, Z:-3.93 [[ 9.99993221e-01 -3.11041206e-03 1.97047141e-03 2.79511077e+02] [ 3.11068507e-03 9.99995153e-01 -1.35503787e-04 -1.71426993e+01] [-1.97004039e-03 1.41632384e-04 9.99998049e-01 -3.92931141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.660371743 meters 0.03996119976571698 Centerline is valid? [True, True] Translation: X:279.54, Y:-17.14, Z:-3.93 [[ 9.99996933e-01 -9.35732163e-04 2.29309084e-03 2.79541444e+02] [ 9.36095435e-04 9.99999549e-01 -1.57352034e-04 -1.71444410e+01] [-2.29294257e-03 1.59498104e-04 9.99997358e-01 -3.92943703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.690371743 meters 0.035883630769385465 Centerline is valid? [True, True] Translation: X:279.57, Y:-17.14, Z:-3.93 [[ 9.99994452e-01 2.59444216e-03 2.08902556e-03 2.79573181e+02] [-2.59414585e-03 9.99996625e-01 -1.44535080e-04 -1.71383962e+01] [-2.08939350e-03 1.39115042e-04 9.99997808e-01 -3.92846048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.720371743 meters 0.03751787094698765 Centerline is valid? [True, True] Translation: X:279.60, Y:-17.14, Z:-3.93 [[ 9.99991505e-01 3.51146984e-03 2.15866535e-03 2.79603286e+02] [-3.51115560e-03 9.99993825e-01 -1.49344194e-04 -1.71422743e+01] [-2.15917644e-03 1.41763516e-04 9.99997659e-01 -3.92936687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.750371743 meters 0.03526883352358492 Centerline is valid? [True, True] Translation: X:279.63, Y:-17.14, Z:-3.93 [[ 9.99987862e-01 4.81167075e-03 1.05965900e-03 2.79633653e+02] [-4.81159563e-03 9.99988422e-01 -7.34333760e-05 -1.71406294e+01] [-1.06000007e-03 6.83338341e-05 9.99999436e-01 -3.93015547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.780371743 meters 0.035631252251739666 Centerline is valid? [True, True] Translation: X:279.66, Y:-17.14, Z:-3.93 [[ 9.99985845e-01 5.27482693e-03 6.97512820e-04 2.79662835e+02] [-5.27479416e-03 9.99986087e-01 -4.88100883e-05 -1.71427651e+01] [-6.97760580e-04 4.51301609e-05 9.99999756e-01 -3.93128112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.810371743 meters 0.03530566090001224 Centerline is valid? [True, True] Translation: X:279.69, Y:-17.14, Z:-3.93 [[ 9.99984076e-01 5.62896345e-03 4.02649751e-04 2.79692728e+02] [-5.62895248e-03 9.99984157e-01 -2.83738302e-05 -1.71438126e+01] [-4.02803088e-04 2.61068821e-05 9.99999919e-01 -3.93192402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.840371743 meters 0.036579969639122606 Centerline is valid? [True, True] Translation: X:279.72, Y:-17.15, Z:-3.93 [[ 9.99979452e-01 6.37974701e-03 -6.27595245e-04 2.79721040e+02] [-6.37972148e-03 9.99979648e-01 4.26712605e-05 -1.71459620e+01] [ 6.27854704e-04 -3.86665008e-05 9.99999802e-01 -3.93361310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.870371743 meters 0.03809818842730517 Centerline is valid? [True, True] Translation: X:279.75, Y:-17.15, Z:-3.93 [[ 9.99982952e-01 5.79665236e-03 -7.03045868e-04 2.79748781e+02] [-5.79662050e-03 9.99983198e-01 4.73465271e-05 -1.71496991e+01] [ 7.03308507e-04 -4.32704299e-05 9.99999752e-01 -3.93441274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.900371743 meters 0.036526138201173196 Centerline is valid? [True, True] Translation: X:279.78, Y:-17.15, Z:-3.93 [[ 9.99978178e-01 6.51044669e-03 -1.12168642e-03 2.79777680e+02] [-6.51036502e-03 9.99978804e-01 7.64374693e-05 -1.71483074e+01] [ 1.12216029e-03 -6.91332132e-05 9.99999368e-01 -3.93437687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.930371743 meters 0.03615262575082706 Centerline is valid? [True, True] Translation: X:279.81, Y:-17.15, Z:-3.93 [[ 9.99976239e-01 6.81269796e-03 -1.05328337e-03 2.79806549e+02] [-6.81262626e-03 9.99976791e-01 7.16419157e-05 -1.71493162e+01] [ 1.05374700e-03 -6.44645874e-05 9.99999443e-01 -3.93462562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.960371743 meters 0.03661435049473183 Centerline is valid? [True, True] Translation: X:279.84, Y:-17.15, Z:-3.93 [[ 9.99973302e-01 7.25874521e-03 -8.40011161e-04 2.79835657e+02] [-7.25869997e-03 9.99973654e-01 5.68858409e-05 -1.71513782e+01] [ 8.40401949e-04 -5.07869332e-05 9.99999646e-01 -3.93469315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.990371743 meters 0.03548605398799689 Centerline is valid? [True, True] Translation: X:279.87, Y:-17.15, Z:-3.93 [[ 9.99958138e-01 9.14170816e-03 3.89484988e-04 2.79865687e+02] [-9.14169831e-03 9.99958213e-01 -2.70650523e-05 -1.71504050e+01] [-3.89716134e-04 2.35033650e-05 9.99999924e-01 -3.93336643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.020371743 meters 0.035136379904228424 Centerline is valid? [True, True] Translation: X:279.89, Y:-17.15, Z:-3.93 [[ 9.99948524e-01 1.01297717e-02 5.79872696e-04 2.79894876e+02] [-1.01297496e-02 9.99948692e-01 -4.08685644e-05 -1.71507548e+01] [-5.80256933e-04 3.49924955e-05 9.99999831e-01 -3.93299607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.050371743 meters 0.03308015513101917 Centerline is valid? [True, True] Translation: X:279.92, Y:-17.15, Z:-3.93 [[ 9.99930508e-01 1.17385214e-02 1.08915831e-03 2.79924289e+02] [-1.17384453e-02 9.99931099e-01 -7.62086623e-05 -1.71483069e+01] [-1.08997785e-03 6.34183411e-05 9.99999404e-01 -3.93173445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.080371743 meters 0.03310314024784332 Centerline is valid? [True, True] Translation: X:279.95, Y:-17.15, Z:-3.93 [[ 9.99921762e-01 1.24455726e-02 1.25570187e-03 2.79953127e+02] [-1.24454729e-02 9.99922548e-01 -8.71598166e-05 -1.71505936e+01] [-1.25668937e-03 7.15251938e-05 9.99999208e-01 -3.93226294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11037174300003 meters 0.03312293051615568 Centerline is valid? [True, True] Translation: X:279.98, Y:-17.15, Z:-3.93 [[ 9.99905089e-01 1.37273650e-02 1.17142525e-03 2.79981238e+02] [-1.37272791e-02 9.99905773e-01 -8.12859296e-05 -1.71534389e+01] [-1.17243071e-03 6.51977333e-05 9.99999311e-01 -3.93346520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.140371743 meters 0.033491595710509 Centerline is valid? [True, True] Translation: X:280.01, Y:-17.16, Z:-3.93 [[ 9.99888382e-01 1.49276580e-02 6.22921826e-04 2.80010490e+02] [-1.49276335e-02 9.99888576e-01 -4.40025569e-05 -1.71555291e+01] [-6.23509273e-04 3.46988967e-05 9.99999805e-01 -3.93438323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17037174300003 meters 0.03428287362576736 Centerline is valid? [True, True] Translation: X:280.04, Y:-17.16, Z:-3.94 [[ 9.99882697e-01 1.52986745e-02 7.36707475e-04 2.80037693e+02] [-1.52986406e-02 9.99882968e-01 -5.15797769e-05 -1.71599484e+01] [-7.37410358e-04 4.03031036e-05 9.99999727e-01 -3.93532214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.200371743 meters 0.0329265951069602 Centerline is valid? [True, True] Translation: X:280.07, Y:-17.16, Z:-3.94 [[ 9.99843159e-01 1.77025789e-02 5.26126978e-04 2.80067983e+02] [-1.77025623e-02 9.99843297e-01 -3.62001701e-05 -1.71599202e+01] [-5.26685369e-04 2.68806968e-05 9.99999861e-01 -3.93521121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.230371743 meters 0.0317969432368797 Centerline is valid? [True, True] Translation: X:280.10, Y:-17.16, Z:-3.94 [[ 9.99816542e-01 1.91538158e-02 1.17064363e-04 2.80096932e+02] [-1.91538149e-02 9.99816549e-01 -8.96030457e-06 -1.71605016e+01] [-1.17214512e-04 6.71643159e-06 9.99999993e-01 -3.93581972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.260371743 meters 0.030447497834166802 Centerline is valid? [True, True] Translation: X:280.13, Y:-17.16, Z:-3.94 [[ 9.99747075e-01 2.24883208e-02 -2.46916221e-04 2.80126671e+02] [-2.24883174e-02 9.99747106e-01 1.63672834e-05 -1.71614708e+01] [ 2.47221850e-04 -1.08104133e-05 9.99999969e-01 -3.93710719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.290371743 meters 0.028637076315675938 Centerline is valid? [True, True] Translation: X:280.16, Y:-17.16, Z:-3.94 [[ 9.99703221e-01 2.43582767e-02 -3.79509570e-04 2.80155418e+02] [-2.43582690e-02 9.99703293e-01 2.48826363e-05 -1.71605147e+01] [ 3.80003065e-04 -1.56310555e-05 9.99999928e-01 -3.93632182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.320371743 meters 0.028965269083625907 Centerline is valid? [True, True] Translation: X:280.18, Y:-17.16, Z:-3.94 [[ 9.99595446e-01 2.84107007e-02 1.33257043e-03 2.80183728e+02] [-2.84106039e-02 9.99596333e-01 -9.15149997e-05 -1.71639433e+01] [-1.33463252e-03 5.36188464e-05 9.99999108e-01 -3.93642143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.350371743 meters 0.026285038316566957 Centerline is valid? [True, True] Translation: X:280.21, Y:-17.16, Z:-3.93 [[ 9.99543271e-01 3.01472253e-02 2.09640688e-03 2.80212852e+02] [-3.01469901e-02 9.99545466e-01 -1.43667446e-04 -1.71617925e+01] [-2.09978517e-03 8.04014710e-05 9.99997792e-01 -3.93489660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380371743 meters 0.028205326437193094 Centerline is valid? [True, True] Translation: X:280.24, Y:-17.17, Z:-3.94 [[ 9.99492040e-01 3.17429392e-02 2.83699056e-03 2.80240789e+02] [-3.17425166e-02 9.99496061e-01 -1.93853369e-04 -1.71677112e+01] [-2.84171436e-03 1.03701680e-04 9.99995957e-01 -3.93635893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.410371743 meters 0.02506610660290943 Centerline is valid? [True, True] Translation: X:280.27, Y:-17.17, Z:-3.93 [[ 9.99425631e-01 3.36759891e-02 3.78638905e-03 2.80269672e+02] [-3.36752525e-02 9.99432795e-01 -2.58134794e-04 -1.71656381e+01] [-3.79293433e-03 1.30478922e-04 9.99992798e-01 -3.93447612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440371743 meters 0.02538097961313182 Centerline is valid? [True, True] Translation: X:280.30, Y:-17.17, Z:-3.94 [[ 9.99421902e-01 3.37315852e-02 4.24756152e-03 2.80297089e+02] [-3.37306582e-02 9.99430917e-01 -2.89704132e-04 -1.71691637e+01] [-4.25491649e-03 1.46263609e-04 9.99990937e-01 -3.93516949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.470371743 meters 0.02709555774363974 Centerline is valid? [True, True] Translation: X:280.32, Y:-17.18, Z:-3.94 [[ 9.99473311e-01 3.21588113e-02 4.34867253e-03 2.80324781e+02] [-3.21578292e-02 9.99482760e-01 -2.95598806e-04 -1.71773213e+01] [-4.35592933e-03 1.55599249e-04 9.99990501e-01 -3.93703730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500371743 meters 0.02649899087228119 Centerline is valid? [True, True] Translation: X:280.35, Y:-17.18, Z:-3.94 [[ 9.99518694e-01 3.06816394e-02 4.58449397e-03 2.80353677e+02] [-3.06805352e-02 9.99529193e-01 -3.10990192e-04 -1.71797331e+01] [-4.59187725e-03 1.70185782e-04 9.99989443e-01 -3.93750672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.530371743 meters 0.028278267891257692 Centerline is valid? [True, True] Translation: X:280.38, Y:-17.19, Z:-3.94 [[ 9.99563204e-01 2.92180113e-02 4.43952080e-03 2.80381164e+02] [-2.92169612e-02 9.99573048e-01 -3.01225513e-04 -1.71867696e+01] [-4.44642655e-03 1.71384631e-04 9.99990100e-01 -3.93875186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560371743 meters 0.02855960659043463 Centerline is valid? [True, True] Translation: X:280.41, Y:-17.19, Z:-3.94 [[ 9.99657900e-01 2.58130938e-02 4.21513132e-03 2.80410404e+02] [-2.58121216e-02 9.99666771e-01 -2.84915201e-04 -1.71926763e+01] [-4.22108126e-03 1.76016250e-04 9.99991076e-01 -3.93962338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.590371743 meters 0.028341838928029918 Centerline is valid? [True, True] Translation: X:280.44, Y:-17.20, Z:-3.94 [[ 9.99698051e-01 2.41746725e-02 4.40368616e-03 2.80438487e+02] [-2.41735939e-02 9.99707732e-01 -2.98003418e-04 -1.71964713e+01] [-4.40960324e-03 1.91460515e-04 9.99990259e-01 -3.94017990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620371743 meters 0.029880940696248873 Centerline is valid? [True, True] Translation: X:280.47, Y:-17.21, Z:-3.94 [[ 9.99771476e-01 2.10413199e-02 3.77595836e-03 2.80466539e+02] [-2.10405066e-02 9.99778592e-01 -2.54999026e-04 -1.72050643e+01] [-3.78048785e-03 1.75492676e-04 9.99992839e-01 -3.94212683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.650371743 meters 0.03061192712260853 Centerline is valid? [True, True] Translation: X:280.49, Y:-17.21, Z:-3.94 [[ 9.99800797e-01 1.96571457e-02 3.45878600e-03 2.80494562e+02] [-1.96564541e-02 9.99806766e-01 -2.33821208e-04 -1.72098781e+01] [-3.46271390e-03 1.65787161e-04 9.99993991e-01 -3.94307755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680371743 meters 0.03160582927298719 Centerline is valid? [True, True] Translation: X:280.52, Y:-17.21, Z:-3.94 [[ 9.99827455e-01 1.83839003e-02 2.66326848e-03 2.80521788e+02] [-1.83834856e-02 9.99830993e-01 -1.80082685e-04 -1.72145993e+01] [-2.66612900e-03 1.31091454e-04 9.99996437e-01 -3.94372021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.710371743 meters 0.03233377388768285 Centerline is valid? [True, True] Translation: X:280.55, Y:-17.22, Z:-3.94 [[ 9.99834282e-01 1.80423632e-02 2.42508385e-03 2.80549702e+02] [-1.80420183e-02 9.99837216e-01 -1.64004069e-04 -1.72202726e+01] [-2.42764811e-03 1.20223483e-04 9.99997046e-01 -3.94455761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740371743 meters 0.03239503318186034 Centerline is valid? [True, True] Translation: X:280.58, Y:-17.22, Z:-3.94 [[ 9.99819233e-01 1.87847095e-02 2.93871422e-03 2.80577401e+02] [-1.87842085e-02 9.99823542e-01 -1.98021108e-04 -1.72240913e+01] [-2.94191542e-03 1.42783892e-04 9.99995662e-01 -3.94458104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.770371743 meters 0.03186276830316825 Centerline is valid? [True, True] Translation: X:280.61, Y:-17.23, Z:-3.94 [[ 9.99748732e-01 2.19829078e-02 4.38468540e-03 2.80606051e+02] [-2.19818294e-02 9.99758327e-01 -2.94004058e-04 -1.72283732e+01] [-4.39008881e-03 1.97546777e-04 9.99990344e-01 -3.94456014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800371743 meters 0.031129219086276097 Centerline is valid? [True, True] Translation: X:280.63, Y:-17.23, Z:-3.94 [[ 9.99704207e-01 2.38433324e-02 4.79528104e-03 2.80634898e+02] [-2.38420634e-02 9.99715686e-01 -3.21637016e-04 -1.72300394e+01] [-4.80158658e-03 2.07212484e-04 9.99988451e-01 -3.94450190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.830371743 meters 0.03024675736576946 Centerline is valid? [True, True] Translation: X:280.66, Y:-17.23, Z:-3.94 [[ 9.99631425e-01 2.66365628e-02 5.24487114e-03 2.80663423e+02] [-2.66350861e-02 9.99645161e-01 -3.51202410e-04 -1.72316104e+01] [-5.25236488e-03 2.11375371e-04 9.99986184e-01 -3.94441153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86037174300003 meters 0.02846313098897963 Centerline is valid? [True, True] Translation: X:280.69, Y:-17.23, Z:-3.94 [[ 9.99469450e-01 3.20538282e-02 5.77672095e-03 2.80692975e+02] [-3.20521301e-02 9.99486124e-01 -3.86315214e-04 -1.72313813e+01] [-5.78613532e-03 2.00954043e-04 9.99983240e-01 -3.94458993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.890371743 meters 0.027448995353935447 Centerline is valid? [True, True] Translation: X:280.72, Y:-17.23, Z:-3.95 [[ 9.99378480e-01 3.48370222e-02 5.38838090e-03 2.80721425e+02] [-3.48355844e-02 9.99392992e-01 -3.60484488e-04 -1.72327145e+01] [-5.39766832e-03 1.72553042e-04 9.99985418e-01 -3.94531753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92037174300003 meters 0.02370248226429759 Centerline is valid? [True, True] Translation: X:280.75, Y:-17.23, Z:-3.95 [[ 9.99187830e-01 3.99561678e-02 5.21398850e-03 2.80751240e+02] [-3.99548942e-02 9.99201424e-01 -3.48243828e-04 -1.72300480e+01] [-5.22373922e-03 1.39636636e-04 9.99986346e-01 -3.94568313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.950371743 meters 0.023467035382549444 Centerline is valid? [True, True] Translation: X:280.78, Y:-17.23, Z:-3.95 [[ 9.99129983e-01 4.13683989e-02 5.28506428e-03 2.80780169e+02] [-4.13671095e-02 9.99143952e-01 -3.53101351e-04 -1.72327739e+01] [-5.29514725e-03 1.34166315e-04 9.99985972e-01 -3.94672033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.980371743 meters 0.02537871312001372 Centerline is valid? [True, True] Translation: X:280.81, Y:-17.24, Z:-3.95 [[ 9.99080701e-01 4.25334079e-02 5.35373695e-03 2.80807394e+02] [-4.25321012e-02 9.99095037e-01 -3.57740153e-04 -1.72401073e+01] [-5.36410792e-03 1.29705601e-04 9.99985605e-01 -3.94869991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.010371743 meters 0.025525583208027842 Centerline is valid? [True, True] Translation: X:280.84, Y:-17.25, Z:-3.95 [[ 9.99058911e-01 4.28871921e-02 6.47930525e-03 2.80835039e+02] [-4.28852937e-02 9.99079909e-01 -4.31714807e-04 -1.72452886e+01] [-6.49185874e-03 1.53441616e-04 9.99978916e-01 -3.94866823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.040371743 meters 0.02365479955634777 Centerline is valid? [True, True] Translation: X:280.86, Y:-17.25, Z:-3.95 [[ 9.99132136e-01 4.10462048e-02 7.08404415e-03 2.80863691e+02] [-4.10438976e-02 9.99157233e-01 -4.70830262e-04 -1.72472437e+01] [-7.09739975e-03 1.79664863e-04 9.99974797e-01 -3.94729502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.070371743 meters 0.02432330435578519 Centerline is valid? [True, True] Translation: X:280.89, Y:-17.25, Z:-3.95 [[ 9.99195927e-01 3.94998680e-02 6.87458761e-03 2.80890704e+02] [-3.94976601e-02 9.99219559e-01 -4.56700399e-04 -1.72530541e+01] [-6.88726200e-03 1.84803054e-04 9.99976265e-01 -3.94843127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.100371743 meters 0.024951173717490935 Centerline is valid? [True, True] Translation: X:280.92, Y:-17.26, Z:-3.95 [[ 9.99259930e-01 3.78241890e-02 6.99446653e-03 2.80917919e+02] [-3.78218686e-02 9.99284390e-01 -4.63774925e-04 -1.72593492e+01] [-7.00700312e-03 1.98887905e-04 9.99975431e-01 -3.94924760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.130371743 meters 0.02634905666198315 Centerline is valid? [True, True] Translation: X:280.95, Y:-17.27, Z:-3.95 [[ 9.99390913e-01 3.42978982e-02 6.43868112e-03 2.80947201e+02] [-3.42958643e-02 9.99411633e-01 -4.26069596e-04 -1.72685296e+01] [-6.44950610e-03 2.04989949e-04 9.99979181e-01 -3.95088476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.160371743 meters 0.026071016787093157 Centerline is valid? [True, True] Translation: X:280.98, Y:-17.27, Z:-3.95 [[ 9.99427200e-01 3.32269795e-02 6.42183306e-03 2.80975388e+02] [-3.32249321e-02 9.99447809e-01 -4.25279719e-04 -1.72707698e+01] [-6.43241774e-03 2.11671152e-04 9.99979289e-01 -3.95053546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.190371743 meters 0.027253879001997564 Centerline is valid? [True, True] Translation: X:281.00, Y:-17.28, Z:-3.95 [[ 9.99463022e-01 3.20968592e-02 6.59242129e-03 2.81003950e+02] [-3.20946835e-02 9.99484738e-01 -4.35586180e-04 -1.72771433e+01] [-6.60300541e-03 2.23770606e-04 9.99978175e-01 -3.95010279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.220371743 meters 0.02672268634057636 Centerline is valid? [True, True] Translation: X:281.03, Y:-17.28, Z:-3.95 [[ 9.99497005e-01 3.07677696e-02 7.68641273e-03 2.81031729e+02] [-3.07647766e-02 9.99526523e-01 -5.07350152e-04 -1.72818076e+01] [-7.69838343e-03 2.70624187e-04 9.99970330e-01 -3.95018451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.250371743 meters 0.025719646108127044 Centerline is valid? [True, True] Translation: X:281.06, Y:-17.28, Z:-3.95 [[ 9.99517880e-01 3.00615605e-02 7.76596291e-03 2.81060375e+02] [-3.00584915e-02 9.99548011e-01 -5.11635711e-04 -1.72845239e+01] [-7.77783334e-03 2.77955911e-04 9.99969714e-01 -3.95035280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.280371743 meters 0.025719646108127044 Centerline is valid? [True, True] Translation: X:281.09, Y:-17.29, Z:-3.95 [[ 9.99520039e-01 2.99896808e-02 7.76599968e-03 2.81088643e+02] [-2.99866139e-02 9.99550170e-01 -5.11076710e-04 -1.72863237e+01] [-7.77783332e-03 2.77955379e-04 9.99969714e-01 -3.95075091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.310371743 meters 0.02708345141016472 Centerline is valid? [True, True] Translation: X:281.12, Y:-17.30, Z:-3.95 [[ 9.99548003e-01 2.88027624e-02 8.61336810e-03 2.81116152e+02] [-2.87989507e-02 9.99585064e-01 -5.66264989e-04 -1.72956130e+01] [-8.62610410e-03 3.17953076e-04 9.99962744e-01 -3.95155602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.340371743 meters 0.025945849742664753 Centerline is valid? [True, True] Translation: X:281.14, Y:-17.30, Z:-3.95 [[ 9.99571281e-01 2.78809700e-02 8.93902611e-03 2.81144369e+02] [-2.78768363e-02 9.99611193e-01 -5.86723240e-04 -1.72976363e+01] [-8.95190897e-03 3.37279933e-04 9.99959874e-01 -3.95148788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.370371743 meters 0.02672080117023744 Centerline is valid? [True, True] Translation: X:281.17, Y:-17.31, Z:-3.95 [[ 9.99616792e-01 2.60688349e-02 9.31047535e-03 2.81172788e+02] [-2.60642836e-02 9.99660083e-01 -6.09866640e-04 -1.73063690e+01] [-9.32320907e-03 3.66962065e-04 9.99956471e-01 -3.95225746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.400371743 meters 0.02762494219918027 Centerline is valid? [True, True] Translation: X:281.20, Y:-17.31, Z:-3.95 [[ 9.99643621e-01 2.49218632e-02 9.56723718e-03 2.81200055e+02] [-2.49170086e-02 9.99689327e-01 -6.26301317e-04 -1.73122509e+01] [-9.57987349e-03 3.87691186e-04 9.99954037e-01 -3.95342829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.430371743 meters 0.028127371369393837 Centerline is valid? [True, True] Translation: X:281.23, Y:-17.32, Z:-3.95 [[ 9.99675642e-01 2.36857378e-02 9.35933677e-03 2.81229706e+02] [-2.36810477e-02 9.99719378e-01 -6.11631689e-04 -1.73173582e+01] [-9.37119728e-03 3.89794400e-04 9.99956013e-01 -3.95413975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.460371743 meters 0.02889076670664959 Centerline is valid? [True, True] Translation: X:281.26, Y:-17.33, Z:-3.96 [[ 9.99716860e-01 2.20106843e-02 9.04040202e-03 2.81258068e+02] [-2.20062420e-02 9.99757659e-01 -5.90572345e-04 -1.73250063e+01] [-9.05121006e-03 3.91459856e-04 9.99958960e-01 -3.95532739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.490371743 meters 0.030020822689394912 Centerline is valid? [True, True] Translation: X:281.29, Y:-17.33, Z:-3.96 [[ 9.99722735e-01 2.20986942e-02 8.13028155e-03 2.81286264e+02] [-2.20951064e-02 9.99755732e-01 -5.30868232e-04 -1.73287731e+01] [-8.14002708e-03 3.51081606e-04 9.99966808e-01 -3.95580301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.520371743 meters 0.028060384151135154 Centerline is valid? [True, True] Translation: X:281.32, Y:-17.33, Z:-3.96 [[ 9.99731172e-01 2.13916309e-02 8.94320430e-03 2.81316000e+02] [-2.13872695e-02 9.99771096e-01 -5.83048878e-04 -1.73309555e+01] [-8.95362953e-03 3.91621418e-04 9.99959839e-01 -3.95547947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.550371743 meters 0.03021899331083229 Centerline is valid? [True, True] Translation: X:281.34, Y:-17.34, Z:-3.96 [[ 9.99720102e-01 2.18884373e-02 8.97857392e-03 2.81344084e+02] [-2.18840633e-02 9.99760344e-01 -5.85117622e-04 -1.73381835e+01] [-8.98922946e-03 3.88466168e-04 9.99959521e-01 -3.95640775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.580371743 meters 0.029904004244878005 Centerline is valid? [True, True] Translation: X:281.37, Y:-17.34, Z:-3.96 [[ 9.99712261e-01 2.22698623e-02 8.91338900e-03 2.81373235e+02] [-2.22655686e-02 9.99751923e-01 -5.80664291e-04 -1.73407116e+01] [-8.92410910e-03 3.82035537e-04 9.99960106e-01 -3.95701109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61037174300003 meters 0.029148527483774805 Centerline is valid? [True, True] Translation: X:281.40, Y:-17.34, Z:-3.96 [[ 9.99689140e-01 2.33420307e-02 8.76200782e-03 2.81402734e+02] [-2.33379340e-02 9.99727471e-01 -5.69522372e-04 -1.73440160e+01] [-8.77291372e-03 3.64858171e-04 9.99961451e-01 -3.95843488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.640371743 meters 0.029905312957813714 Centerline is valid? [True, True] Translation: X:281.43, Y:-17.35, Z:-3.96 [[ 9.99687702e-01 2.35826093e-02 8.26789645e-03 2.81430715e+02] [-2.35789695e-02 9.99721833e-01 -5.37440741e-04 -1.73479813e+01] [-8.27827085e-03 3.42324422e-04 9.99965676e-01 -3.95962205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67037174300003 meters 0.02734501842753484 Centerline is valid? [True, True] Translation: X:281.46, Y:-17.35, Z:-3.96 [[ 9.99681000e-01 2.40685243e-02 7.65535477e-03 2.81460163e+02] [-2.40654231e-02 9.99710262e-01 -4.96967454e-04 -1.73460033e+01] [-7.66509800e-03 3.12579570e-04 9.99970574e-01 -3.96005646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.700371743 meters 0.02662170845310447 Centerline is valid? [True, True] Translation: X:281.49, Y:-17.35, Z:-3.96 [[ 9.99682462e-01 2.40230770e-02 7.60698526e-03 2.81488726e+02] [-2.40200176e-02 9.99711356e-01 -4.93301204e-04 -1.73464325e+01] [-7.61664016e-03 3.10424643e-04 9.99970945e-01 -3.96012577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.730371743 meters 0.0272868280604325 Centerline is valid? [True, True] Translation: X:281.52, Y:-17.35, Z:-3.96 [[ 9.99682222e-01 2.41035764e-02 7.38049889e-03 2.81516227e+02] [-2.41007012e-02 9.99709422e-01 -4.78268930e-04 -1.73509628e+01] [-7.38988226e-03 3.00241749e-04 9.99972649e-01 -3.96108063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.760371743 meters 0.02797636189655554 Centerline is valid? [True, True] Translation: X:281.54, Y:-17.35, Z:-3.96 [[ 9.99689710e-01 2.39206500e-02 6.94887134e-03 2.81544249e+02] [-2.39181015e-02 9.99713820e-01 -4.49643339e-04 -1.73548320e+01] [-6.95763847e-03 2.83300009e-04 9.99975755e-01 -3.96188835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.790371743 meters 0.02634205366751425 Centerline is valid? [True, True] Translation: X:281.57, Y:-17.36, Z:-3.96 [[ 9.99690659e-01 2.37158816e-02 7.49287823e-03 2.81573407e+02] [-2.37129191e-02 9.99718692e-01 -4.83983509e-04 -1.73550266e+01] [-7.50224852e-03 3.06155778e-04 9.99971811e-01 -3.96161575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.820371743 meters 0.027736434021332863 Centerline is valid? [True, True] Translation: X:281.60, Y:-17.36, Z:-3.96 [[ 9.99701648e-01 2.31065359e-02 7.91855524e-03 2.81600913e+02] [-2.31032123e-02 9.99732955e-01 -5.10949969e-04 -1.73598538e+01] [-7.92824691e-03 3.27853463e-04 9.99968517e-01 -3.96165173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.850371743 meters 0.027235404895079373 Centerline is valid? [True, True] Translation: X:281.63, Y:-17.36, Z:-3.96 [[ 9.99707433e-01 2.27177855e-02 8.30368065e-03 2.81629530e+02] [-2.27141250e-02 9.99741858e-01 -5.34883296e-04 -1.73610843e+01] [-8.31368848e-03 3.46115967e-04 9.99965381e-01 -3.96147965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880371743 meters 0.02782724987783271 Centerline is valid? [True, True] Translation: X:281.66, Y:-17.36, Z:-3.96 [[ 9.99712450e-01 2.22744148e-02 8.88070908e-03 2.81657853e+02] [-2.22702176e-02 9.99751825e-01 -5.71249407e-04 -1.73648371e+01] [-8.89122935e-03 3.73309822e-04 9.99960403e-01 -3.96087920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.910371743 meters 0.028203469079253585 Centerline is valid? [True, True] Translation: X:281.69, Y:-17.37, Z:-3.96 [[ 9.99720211e-01 2.19397682e-02 8.84001681e-03 2.81686475e+02] [-2.19355996e-02 9.99759224e-01 -5.68250133e-04 -1.73683195e+01] [-8.85035562e-03 3.74180074e-04 9.99960765e-01 -3.96109021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940371743 meters 0.027872247155467114 Centerline is valid? [True, True] Translation: X:281.72, Y:-17.37, Z:-3.96 [[ 9.99730125e-01 2.17400367e-02 8.18827536e-03 2.81715631e+02] [-2.17364593e-02 9.99763597e-01 -5.25647354e-04 -1.73703989e+01] [-8.19776722e-03 3.47521381e-04 9.99966337e-01 -3.96194087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.970371743 meters 0.02893061801300522 Centerline is valid? [True, True] Translation: X:281.74, Y:-17.38, Z:-3.96 [[ 9.99738445e-01 2.18088440e-02 6.88585075e-03 2.81743785e+02] [-2.18063161e-02 9.99762116e-01 -4.41996257e-04 -1.73750377e+01] [-6.89385214e-03 2.91725614e-04 9.99976195e-01 -3.96332063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000371743 meters 0.026784869942475576 Centerline is valid? [True, True] Translation: X:281.77, Y:-17.37, Z:-3.96 [[ 9.99741395e-01 2.18438517e-02 6.32377958e-03 2.81772435e+02] [-2.18417211e-02 9.99761359e-01 -4.05798456e-04 -1.73728119e+01] [-6.33113467e-03 2.67571284e-04 9.99979922e-01 -3.96288627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.030371743 meters 0.02801901903743667 Centerline is valid? [True, True] Translation: X:281.80, Y:-17.37, Z:-3.96 [[ 9.99722732e-01 2.26653780e-02 6.38277617e-03 2.81801074e+02] [-2.26632272e-02 9.99743072e-01 -4.09106285e-04 -1.73749671e+01] [-6.39040881e-03 2.64338547e-04 9.99979546e-01 -3.96273842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060371743 meters 0.02680065811875994 Centerline is valid? [True, True] Translation: X:281.83, Y:-17.38, Z:-3.96 [[ 9.99712647e-01 2.27827554e-02 7.45451196e-03 2.81830355e+02] [-2.27798311e-02 9.99740392e-01 -4.76966784e-04 -1.73762538e+01] [-7.46344333e-03 3.07017203e-04 9.99972101e-01 -3.96244802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.090371743 meters 0.02719466515578166 Centerline is valid? [True, True] Translation: X:281.86, Y:-17.38, Z:-3.96 [[ 9.99660437e-01 2.47922527e-02 8.02210405e-03 2.81858659e+02] [-2.47889339e-02 9.99692576e-01 -5.12894762e-04 -1.73783089e+01] [-8.03235368e-03 3.13861195e-04 9.99967691e-01 -3.96296675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120371743 meters 0.027151080122480024 Centerline is valid? [True, True] Translation: X:281.89, Y:-17.38, Z:-3.96 [[ 9.99636069e-01 2.56760436e-02 8.27465184e-03 2.81887157e+02] [-2.56725488e-02 9.99670266e-01 -5.28306346e-04 -1.73803773e+01] [-8.28548823e-03 3.15682676e-04 9.99965625e-01 -3.96320734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.150371743 meters 0.025614025555486815 Centerline is valid? [True, True] Translation: X:281.92, Y:-17.38, Z:-3.96 [[ 9.99599001e-01 2.71874458e-02 7.91701510e-03 2.81916089e+02] [-2.71842961e-02 9.99630311e-01 -5.05205470e-04 -1.73787763e+01] [-7.92782351e-03 2.89784401e-04 9.99968532e-01 -3.96343786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180371743 meters 0.02494008517584071 Centerline is valid? [True, True] Translation: X:281.95, Y:-17.38, Z:-3.96 [[ 9.99603383e-01 2.69940374e-02 8.02486870e-03 2.81945081e+02] [-2.69907997e-02 9.99635551e-01 -5.11505725e-04 -1.73784943e+01] [-8.03575165e-03 2.94705229e-04 9.99967669e-01 -3.96390034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.210371743 meters 0.027310012353886817 Centerline is valid? [True, True] Translation: X:281.97, Y:-17.38, Z:-3.96 [[ 9.99624707e-01 2.61818871e-02 8.05936143e-03 2.81972186e+02] [-2.61785991e-02 9.99657150e-01 -5.13207869e-04 -1.73844706e+01] [-8.07003503e-03 3.02032474e-04 9.99967391e-01 -3.96464236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240371743 meters 0.026637502151334414 Centerline is valid? [True, True] Translation: X:282.00, Y:-17.39, Z:-3.96 [[ 9.99721641e-01 2.22522028e-02 7.84095085e-03 2.82001951e+02] [-2.22489780e-02 9.99752337e-01 -4.98269195e-04 -1.73868101e+01] [-7.85009653e-03 3.23677354e-04 9.99969135e-01 -3.96392483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.270371743 meters 0.028281287195205618 Centerline is valid? [True, True] Translation: X:282.03, Y:-17.39, Z:-3.96 [[ 9.99776534e-01 1.95404860e-02 8.06546626e-03 2.82030310e+02] [-1.95369875e-02 9.99809004e-01 -5.12336027e-04 -1.73926429e+01] [-8.07393708e-03 3.54646624e-04 9.99967342e-01 -3.96434382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300371743 meters 0.029664960832085516 Centerline is valid? [True, True] Translation: X:282.06, Y:-17.40, Z:-3.96 [[ 9.99862060e-01 1.40650072e-02 8.83386174e-03 2.82060382e+02] [-1.40606039e-02 9.99900988e-01 -5.60369434e-04 -1.74001726e+01] [-8.84086868e-03 4.36082706e-04 9.99960824e-01 -3.96451111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.330371743 meters 0.03126706678348994 Centerline is valid? [True, True] Translation: X:282.09, Y:-17.41, Z:-3.97 [[ 9.99898020e-01 1.10801519e-02 9.01000933e-03 2.82090316e+02] [-1.10754526e-02 9.99938502e-01 -5.71296698e-04 -1.74059809e+01] [-9.01578529e-03 4.71448506e-04 9.99959246e-01 -3.96507335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36037174300003 meters 0.033788164055613815 Centerline is valid? [True, True] Translation: X:282.12, Y:-17.41, Z:-3.97 [[ 9.99924330e-01 8.54897279e-03 8.84583099e-03 2.82120387e+02] [-8.54434305e-03 9.99963339e-01 -5.61041262e-04 -1.74127546e+01] [-8.85030302e-03 4.85416993e-04 9.99960717e-01 -3.96588312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.390371743 meters 0.03281079629771696 Centerline is valid? [True, True] Translation: X:282.15, Y:-17.41, Z:-3.97 [[ 9.99961270e-01 3.21228580e-03 8.19386769e-03 2.82150804e+02] [-3.20813308e-03 9.99994719e-01 -5.19902179e-04 -1.74139410e+01] [-8.19549449e-03 4.93595026e-04 9.99966295e-01 -3.96683222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42037174300003 meters 0.034109837482464676 Centerline is valid? [True, True] Translation: X:282.18, Y:-17.42, Z:-3.97 [[ 9.99974032e-01 -3.63445232e-04 7.19751080e-03 2.82181166e+02] [ 3.66741080e-04 9.99999829e-01 -4.56600398e-04 -1.74194376e+01] [-7.19734362e-03 4.59228163e-04 9.99973993e-01 -3.96841947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.450371743 meters 0.035610346392929655 Centerline is valid? [True, True] Translation: X:282.21, Y:-17.42, Z:-3.97 [[ 9.99975710e-01 -1.03411229e-03 6.89278836e-03 2.82211936e+02] [ 1.03714090e-03 9.99999367e-01 -4.35827353e-04 -1.74244005e+01] [-6.89233330e-03 4.42965559e-04 9.99976149e-01 -3.96938810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.480371743 meters 0.03601981981466677 Centerline is valid? [True, True] Translation: X:282.24, Y:-17.43, Z:-3.97 [[ 9.99977962e-01 -1.53617518e-03 6.45879066e-03 2.82244267e+02] [ 1.53886133e-03 9.99998732e-01 -4.10940841e-04 -1.74269053e+01] [-6.45815119e-03 4.20870968e-04 9.99979057e-01 -3.97007411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.510371743 meters 0.03421383008150988 Centerline is valid? [True, True] Translation: X:282.28, Y:-17.43, Z:-3.97 [[ 9.99981533e-01 -1.36332801e-03 5.92247080e-03 2.82276706e+02] [ 1.36558551e-03 9.99998996e-01 -3.77149188e-04 -1.74254529e+01] [-5.92195068e-03 3.85229863e-04 9.99982391e-01 -3.96960947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.540371743 meters 0.03393522455161949 Centerline is valid? [True, True] Translation: X:282.31, Y:-17.43, Z:-3.97 [[ 9.99981074e-01 -1.20947573e-03 6.03235796e-03 2.82308930e+02] [ 1.21181779e-03 9.99999192e-01 -3.84608996e-04 -1.74262902e+01] [-6.03188791e-03 3.91911836e-04 9.99981731e-01 -3.96998144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.570371743 meters 0.03555576106065375 Centerline is valid? [True, True] Translation: X:282.34, Y:-17.43, Z:-3.97 [[ 9.99978285e-01 -6.04154658e-04 6.56242131e-03 2.82339908e+02] [ 6.06918139e-04 9.99999728e-01 -4.19123635e-04 -1.74298054e+01] [-6.56216631e-03 4.23097386e-04 9.99978379e-01 -3.96982235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.600371743 meters 0.034799379910397395 Centerline is valid? [True, True] Translation: X:282.37, Y:-17.43, Z:-3.97 [[ 9.99972354e-01 -4.45519549e-04 7.42244207e-03 2.82371873e+02] [ 4.49053401e-04 9.99999787e-01 -4.74443964e-04 -1.74304307e+01] [-7.42222911e-03 4.77763920e-04 9.99972341e-01 -3.96981307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.630371743 meters 0.0353884949780961 Centerline is valid? [True, True] Translation: X:282.40, Y:-17.43, Z:-3.97 [[ 9.99971124e-01 1.59619071e-04 7.59775217e-03 2.82403855e+02] [-1.55929294e-04 9.99999870e-01 -4.86230515e-04 -1.74315337e+01] [-7.59782879e-03 4.85031763e-04 9.99971018e-01 -3.96948026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.660371743 meters 0.035528974952052254 Centerline is valid? [True, True] Translation: X:282.44, Y:-17.43, Z:-3.97 [[ 9.99967301e-01 -2.76350440e-05 8.08676035e-03 2.82435567e+02] [ 3.18187275e-05 9.99999866e-01 -5.17221566e-04 -1.74331572e+01] [-8.08674497e-03 5.17461964e-04 9.99967168e-01 -3.96956082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.690371743 meters 0.03558410785915717 Centerline is valid? [True, True] Translation: X:282.47, Y:-17.43, Z:-3.97 [[ 9.99970100e-01 2.14898485e-04 7.72996639e-03 2.82468063e+02] [-2.11062312e-04 9.99999854e-01 -4.97085321e-04 -1.74345786e+01] [-7.73007208e-03 4.95438954e-04 9.99970000e-01 -3.97038979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.720371743 meters 0.03620864752860319 Centerline is valid? [True, True] Translation: X:282.50, Y:-17.44, Z:-3.97 [[ 9.99979757e-01 1.17043831e-04 6.36167744e-03 2.82499781e+02] [-1.14441800e-04 9.99999910e-01 -4.09379103e-04 -1.74363120e+01] [-6.36172478e-03 4.08642774e-04 9.99979681e-01 -3.97170288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.750371743 meters 0.03421889120760743 Centerline is valid? [True, True] Translation: X:282.53, Y:-17.43, Z:-3.97 [[ 9.99984672e-01 2.16322749e-04 5.53259716e-03 2.82531833e+02] [-2.14354876e-04 9.99999914e-01 -3.56277543e-04 -1.74347921e+01] [-5.53267375e-03 3.55086143e-04 9.99984632e-01 -3.97260933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.780371743 meters 0.03478455873566864 Centerline is valid? [True, True] Translation: X:282.56, Y:-17.44, Z:-3.97 [[ 9.99988073e-01 1.17105444e-04 4.88258860e-03 2.82563831e+02] [-1.15578520e-04 9.99999944e-01 -3.13009444e-04 -1.74366595e+01] [-4.88262498e-03 3.12441389e-04 9.99988031e-01 -3.97342135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.810371743 meters 0.03501887188687095 Centerline is valid? [True, True] Translation: X:282.60, Y:-17.44, Z:-3.97 [[ 9.99990073e-01 8.59603708e-05 4.45491437e-03 2.82595966e+02] [-8.46775545e-05 9.99999955e-01 -2.88143146e-04 -1.74381009e+01] [-4.45493893e-03 2.87763054e-04 9.99990035e-01 -3.97416437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.840371743 meters 0.03548534076543908 Centerline is valid? [True, True] Translation: X:282.63, Y:-17.44, Z:-3.98 [[ 9.99991595e-01 2.73602179e-04 4.09087425e-03 2.82627791e+02] [-2.72521117e-04 9.99999928e-01 -2.64816896e-04 -1.74401685e+01] [-4.09094641e-03 2.63699820e-04 9.99991597e-01 -3.97514160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.870371743 meters 0.036662048466745985 Centerline is valid? [True, True] Translation: X:282.66, Y:-17.44, Z:-3.98 [[ 9.99992727e-01 8.63801845e-04 3.71478509e-03 2.82658940e+02] [-8.62913120e-04 9.99999599e-01 -2.40835998e-04 -1.74425452e+01] [-3.71499163e-03 2.37628710e-04 9.99993071e-01 -3.97614237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.900371743 meters 0.033718400930068365 Centerline is valid? [True, True] Translation: X:282.69, Y:-17.44, Z:-3.98 [[ 9.99993500e-01 1.16333116e-03 3.41277744e-03 2.82690686e+02] [-1.16258176e-03 9.99999300e-01 -2.21560659e-04 -1.74394909e+01] [-3.41303280e-03 2.17591586e-04 9.99994152e-01 -3.97588916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.930371743 meters 0.03545064241943363 Centerline is valid? [True, True] Translation: X:282.72, Y:-17.44, Z:-3.98 [[ 9.99991490e-01 2.93452011e-03 2.89983390e-03 2.82720634e+02] [-2.93398579e-03 9.99995678e-01 -1.88494036e-04 -1.74420388e+01] [-2.90037451e-03 1.79984360e-04 9.99995778e-01 -3.97729163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.960371743 meters 0.03644915592475082 Centerline is valid? [True, True] Translation: X:282.75, Y:-17.44, Z:-3.98 [[ 9.99989094e-01 3.93000112e-03 2.52338945e-03 2.82750848e+02] [-3.92960123e-03 9.99992266e-01 -1.63409934e-04 -1.74440697e+01] [-2.52401213e-03 1.53492237e-04 9.99996803e-01 -3.97805190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.990371743 meters 0.03640107049707584 Centerline is valid? [True, True] Translation: X:282.78, Y:-17.44, Z:-3.98 [[ 9.99984473e-01 5.06181373e-03 2.33076799e-03 2.82781797e+02] [-5.06147390e-03 9.99987179e-01 -1.51675111e-04 -1.74445387e+01] [-2.33150585e-03 1.39875634e-04 9.99997272e-01 -3.97863411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.020371743 meters 0.03484509650223224 Centerline is valid? [True, True] Translation: X:282.81, Y:-17.44, Z:-3.98 [[ 9.99965962e-01 7.57482721e-03 3.27056519e-03 2.82812131e+02] [-7.57416976e-03 9.99971293e-01 -2.13360036e-04 -1.74419518e+01] [-3.27208747e-03 1.88580958e-04 9.99994629e-01 -3.97801748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.050371743 meters 0.03595768680634045 Centerline is valid? [True, True] Translation: X:282.84, Y:-17.44, Z:-3.98 [[ 9.99954084e-01 9.00572632e-03 3.27532937e-03 2.82841567e+02] [-9.00507674e-03 9.99959431e-01 -2.13021276e-04 -1.74434891e+01] [-3.27711491e-03 1.83516902e-04 9.99994613e-01 -3.97807283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.080371743 meters 0.044964850177651276 Centerline is valid? [True, True] Translation: X:282.87, Y:-17.45, Z:-3.98 [[ 9.99878315e-01 1.46044941e-02 5.48302630e-03 2.82870140e+02] [-1.46027518e-02 9.99893310e-01 -3.57659943e-04 -1.74548249e+01] [-5.48766476e-03 2.77549148e-04 9.99984904e-01 -3.97951125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11037174300003 meters 0.03445419286612985 Centerline is valid? [True, True] Translation: X:282.90, Y:-17.44, Z:-3.98 [[ 9.99893300e-01 1.41187212e-02 3.74836355e-03 2.82901254e+02] [-1.41179030e-02 9.99900308e-01 -2.44662306e-04 -1.74392444e+01] [-3.75144419e-03 1.91717168e-04 9.99992945e-01 -3.97712897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.140371743 meters 0.030158467380630452 Centerline is valid? [True, True] Translation: X:282.93, Y:-17.43, Z:-3.98 [[ 9.99871574e-01 1.56187725e-02 3.59006061e-03 2.82930314e+02] [-1.56180305e-02 9.99878004e-01 -2.34622955e-04 -1.74324469e+01] [-3.59328716e-03 1.78523148e-04 9.99993528e-01 -3.97604526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17037174300003 meters 0.029013203882444334 Centerline is valid? [True, True] Translation: X:282.96, Y:-17.43, Z:-3.98 [[ 9.99846349e-01 1.72558687e-02 3.08431814e-03 2.82959654e+02] [-1.72553290e-02 9.99851095e-01 -2.01500377e-04 -1.74286066e+01] [-3.08733594e-03 1.48248492e-04 9.99995223e-01 -3.97636142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.200371743 meters 0.029013203882444334 Centerline is valid? [True, True] Translation: X:282.99, Y:-17.43, Z:-3.98 [[ 9.99847585e-01 1.71840889e-02 3.08433256e-03 2.82987940e+02] [-1.71835496e-02 9.99852332e-01 -2.01278950e-04 -1.74303854e+01] [-3.08733590e-03 1.48248491e-04 9.99995223e-01 -3.97675974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.230371743 meters 0.029500048875354578 Centerline is valid? [True, True] Translation: X:283.02, Y:-17.43, Z:-3.98 [[ 9.99846936e-01 1.72353416e-02 3.00794570e-03 2.83015457e+02] [-1.72348289e-02 9.99851450e-01 -1.96292968e-04 -1.74302028e+01] [-3.01088205e-03 1.44421494e-04 9.99995457e-01 -3.97763611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.260371743 meters 0.02886609985837497 Centerline is valid? [True, True] Translation: X:283.04, Y:-17.43, Z:-3.98 [[ 9.99849702e-01 1.70514355e-02 3.13391406e-03 2.83044195e+02] [-1.70508796e-02 9.99854602e-01 -2.03991392e-04 -1.74297660e+01] [-3.13693674e-03 1.50524741e-04 9.99995068e-01 -3.97767035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.290371743 meters 0.030725142148923034 Centerline is valid? [True, True] Translation: X:283.07, Y:-17.43, Z:-3.98 [[ 9.99860801e-01 1.64160608e-02 2.98200407e-03 2.83071995e+02] [-1.64155546e-02 9.99865237e-01 -1.94127572e-04 -1.74327899e+01] [-2.98478901e-03 1.45149299e-04 9.99995535e-01 -3.97865216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.320371743 meters 0.03101636986309247 Centerline is valid? [True, True] Translation: X:283.10, Y:-17.43, Z:-3.98 [[ 9.99880445e-01 1.50817130e-02 3.41151388e-03 2.83100615e+02] [-1.50810451e-02 9.99886250e-01 -2.21400756e-04 -1.74328937e+01] [-3.41446492e-03 1.69925091e-04 9.99994156e-01 -3.97865109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.350371743 meters 0.02916047518109644 Centerline is valid? [True, True] Translation: X:283.13, Y:-17.43, Z:-3.98 [[ 9.99895932e-01 1.40175725e-02 3.41072598e-03 2.83129897e+02] [-1.40169002e-02 9.99901734e-01 -2.20945563e-04 -1.74313488e+01] [-3.41348794e-03 1.73114764e-04 9.99994159e-01 -3.97850145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380371743 meters 0.030685744934169958 Centerline is valid? [True, True] Translation: X:283.16, Y:-17.43, Z:-3.98 [[ 9.99928749e-01 1.16354065e-02 2.66736573e-03 2.83158350e+02] [-1.16349867e-02 9.99932296e-01 -1.72860236e-04 -1.74333761e+01] [-2.66919644e-03 1.41813154e-04 9.99996428e-01 -3.97919923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.410371743 meters 0.030950103463088127 Centerline is valid? [True, True] Translation: X:283.19, Y:-17.43, Z:-3.98 [[ 9.99944059e-01 1.03277128e-02 2.28410848e-03 2.83188041e+02] [-1.03274022e-02 9.99946660e-01 -1.47739686e-04 -1.74347809e+01] [-2.28551246e-03 1.24142514e-04 9.99997381e-01 -3.97978212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440371743 meters 0.031022371003213523 Centerline is valid? [True, True] Translation: X:283.22, Y:-17.44, Z:-3.98 [[ 9.99954203e-01 9.34099473e-03 2.08252495e-03 2.83217246e+02] [-9.34073400e-03 9.99956365e-01 -1.34888923e-04 -1.74363528e+01] [-2.08369408e-03 1.15430434e-04 9.99997822e-01 -3.98005657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.470371743 meters 0.032633141120108206 Centerline is valid? [True, True] Translation: X:283.25, Y:-17.44, Z:-3.98 [[ 9.99976348e-01 6.64350745e-03 1.77975706e-03 2.83247058e+02] [-6.64331354e-03 9.99977926e-01 -1.14848181e-04 -1.74393211e+01] [-1.78048077e-03 1.03021981e-04 9.99998410e-01 -3.97975657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500371743 meters 0.033170700065204485 Centerline is valid? [True, True] Translation: X:283.28, Y:-17.44, Z:-3.98 [[ 9.99984946e-01 5.11469823e-03 1.98698133e-03 2.83276781e+02] [-5.11445322e-03 9.99986913e-01 -1.28370776e-04 -1.74419069e+01] [-1.98761190e-03 1.18206520e-04 9.99998018e-01 -3.97984066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.530371743 meters 0.03613887789556754 Centerline is valid? [True, True] Translation: X:283.31, Y:-17.45, Z:-3.98 [[ 9.99994298e-01 2.36245711e-03 2.41310375e-03 2.83306131e+02] [-2.36208873e-03 9.99997198e-01 -1.55496681e-04 -1.74475625e+01] [-2.41346435e-03 1.49795829e-04 9.99997076e-01 -3.98018470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560371743 meters 0.03625625212471404 Centerline is valid? [True, True] Translation: X:283.34, Y:-17.45, Z:-3.98 [[ 9.99997489e-01 9.36402236e-04 2.03616387e-03 2.83336767e+02] [-9.36137438e-04 9.99999553e-01 -1.30996564e-04 -1.74498768e+01] [-2.03628563e-03 1.29090106e-04 9.99997918e-01 -3.98053857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.590371743 meters 0.036508498744901786 Centerline is valid? [True, True] Translation: X:283.37, Y:-17.45, Z:-3.98 [[ 9.99997531e-01 -3.16601411e-04 2.19960002e-03 2.83368394e+02] [ 3.16912522e-04 9.99999940e-01 -1.41093062e-04 -1.74522153e+01] [-2.19955522e-03 1.41789794e-04 9.99997571e-01 -3.98096600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620371743 meters 0.03830301708263767 Centerline is valid? [True, True] Translation: X:283.40, Y:-17.46, Z:-3.98 [[ 9.99997752e-01 -1.63981894e-03 1.34461120e-03 2.83398687e+02] [ 1.63993650e-03 9.99998652e-01 -8.63306565e-05 -1.74562958e+01] [-1.34446782e-03 8.85355394e-05 9.99999092e-01 -3.98182559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.650371743 meters 0.03899159299413185 Centerline is valid? [True, True] Translation: X:283.43, Y:-17.46, Z:-3.98 [[ 9.99998102e-01 -1.77785282e-03 7.96654019e-04 2.83429678e+02] [ 1.77789388e-03 9.99998418e-01 -5.08367734e-05 -1.74585332e+01] [-7.96562379e-04 5.22530433e-05 9.99999681e-01 -3.98281746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680371743 meters 0.03911936493705638 Centerline is valid? [True, True] Translation: X:283.46, Y:-17.46, Z:-3.98 [[ 9.99999205e-01 -1.03804707e-03 -7.15595275e-04 2.83461225e+02] [ 1.03808069e-03 9.99999460e-01 4.66084241e-05 -1.74599004e+01] [ 7.15546507e-04 -4.73512327e-05 9.99999743e-01 -3.98417082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.710371743 meters 0.039963488868047556 Centerline is valid? [True, True] Translation: X:283.49, Y:-17.46, Z:-3.99 [[ 9.99999485e-01 -7.44127706e-04 -6.89775505e-04 2.83490881e+02] [ 7.44158377e-04 9.99999722e-01 4.42092781e-05 -1.74625298e+01] [ 6.89742416e-04 -4.47225575e-05 9.99999761e-01 -3.98506302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740371743 meters 0.040051395177766576 Centerline is valid? [True, True] Translation: X:283.52, Y:-17.46, Z:-3.99 [[ 9.99999896e-01 -5.76023366e-05 -4.53211039e-04 2.83521048e+02] [ 5.76155785e-05 9.99999998e-01 2.92049056e-05 -1.74639460e+01] [ 4.53209356e-04 -2.92310145e-05 9.99999897e-01 -3.98542328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.770371743 meters 0.03572380860005609 Centerline is valid? [True, True] Translation: X:283.55, Y:-17.46, Z:-3.98 [[ 9.99998221e-01 1.85790435e-03 -3.25287190e-04 2.83551903e+02] [-1.85789763e-03 9.99998274e-01 2.09614966e-05 -1.74576127e+01] [ 3.25325573e-04 -2.03571090e-05 9.99999947e-01 -3.98368691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800371743 meters 0.03605899385744353 Centerline is valid? [True, True] Translation: X:283.58, Y:-17.46, Z:-3.98 [[ 9.99994613e-01 3.27597926e-03 -2.04143029e-04 2.83581175e+02] [-3.27597658e-03 9.99994634e-01 1.34597192e-05 -1.74590210e+01] [ 2.04186027e-04 -1.27908789e-05 9.99999979e-01 -3.98373184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.830371743 meters 0.033212924519286306 Centerline is valid? [True, True] Translation: X:283.61, Y:-17.45, Z:-3.98 [[ 9.99979791e-01 6.29945684e-03 8.56875831e-04 2.83611742e+02] [-6.29941162e-03 9.99980157e-01 -5.54711619e-05 -1.74547343e+01] [-8.57208266e-04 5.00722273e-05 9.99999631e-01 -3.98258188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86037174300003 meters 0.03486327409072388 Centerline is valid? [True, True] Translation: X:283.64, Y:-17.46, Z:-3.98 [[ 9.99969335e-01 7.68816237e-03 1.49037730e-03 2.83640156e+02] [-7.68802674e-03 9.99970442e-01 -9.67124353e-05 -1.74586799e+01] [-1.49107679e-03 8.52514091e-05 9.99998885e-01 -3.98359213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.890371743 meters 0.032391790128949154 Centerline is valid? [True, True] Translation: X:283.67, Y:-17.46, Z:-3.98 [[ 9.99962895e-01 8.48204619e-03 1.50465289e-03 2.83670341e+02] [-8.48190931e-03 9.99964023e-01 -9.73320264e-05 -1.74562286e+01] [-1.50542433e-03 8.45660856e-05 9.99998863e-01 -3.98331546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92037174300003 meters 0.032415845331521066 Centerline is valid? [True, True] Translation: X:283.70, Y:-17.46, Z:-3.98 [[ 9.99953365e-01 9.56123562e-03 1.36013345e-03 2.83699086e+02] [-9.56112492e-03 9.99954288e-01 -8.78696238e-05 -1.74568520e+01] [-1.36091141e-03 7.48611203e-05 9.99999071e-01 -3.98437489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.950371743 meters 0.03286916849628071 Centerline is valid? [True, True] Translation: X:283.73, Y:-17.46, Z:-3.98 [[ 9.99951110e-01 9.78776386e-03 1.40622277e-03 2.83727897e+02] [-9.78764505e-03 9.99952096e-01 -9.13470686e-05 -1.74585046e+01] [-1.40704949e-03 7.75789933e-05 9.99999007e-01 -3.98493893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.980371743 meters 0.03207981517878092 Centerline is valid? [True, True] Translation: X:283.76, Y:-17.46, Z:-3.99 [[ 9.99957094e-01 9.23951781e-03 6.64880836e-04 2.83756916e+02] [-9.23949080e-03 9.99957314e-01 -4.36764132e-05 -1.74586067e+01] [-6.65256004e-04 3.75313788e-05 9.99999778e-01 -3.98551262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.010371743 meters 0.03255914679605965 Centerline is valid? [True, True] Translation: X:283.79, Y:-17.46, Z:-3.99 [[ 9.99961189e-01 8.77166578e-03 8.23713897e-04 2.83785705e+02] [-8.77162442e-03 9.99961527e-01 -5.38125296e-05 -1.74602142e+01] [-8.24154232e-04 4.65851322e-05 9.99999659e-01 -3.98621172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.040371743 meters 0.03510959392387009 Centerline is valid? [True, True] Translation: X:283.81, Y:-17.47, Z:-3.99 [[ 9.99969957e-01 7.75138035e-03 1.87833922e-05 2.83813846e+02] [-7.75138032e-03 9.99969958e-01 -1.87511844e-06 -1.74653585e+01] [-1.87973629e-05 1.72946490e-06 1.00000000e+00 -3.98773985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.070371743 meters 0.03227219565280732 Centerline is valid? [True, True] Translation: X:283.84, Y:-17.46, Z:-3.99 [[ 9.99974695e-01 7.10619600e-03 -3.35164379e-04 2.83842645e+02] [-7.10618955e-03 9.99974751e-01 2.04376106e-05 -1.74619030e+01] [ 3.35301149e-04 -1.80553518e-05 9.99999944e-01 -3.98696857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.100371743 meters 0.03230242015689568 Centerline is valid? [True, True] Translation: X:283.87, Y:-17.46, Z:-3.99 [[ 9.99977570e-01 6.69085371e-03 -3.02269565e-04 2.83871180e+02] [-6.69084848e-03 9.99977616e-01 1.83088672e-05 -1.74630796e+01] [ 3.02385301e-04 -1.62860167e-05 9.99999954e-01 -3.98703517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.130371743 meters 0.03326347991780458 Centerline is valid? [True, True] Translation: X:283.90, Y:-17.47, Z:-3.99 [[ 9.99982590e-01 5.88069901e-03 4.86401492e-04 2.83900109e+02] [-5.88068423e-03 9.99982708e-01 -3.18187835e-05 -1.74656966e+01] [-4.86580198e-04 2.89578559e-05 9.99999881e-01 -3.98721853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.160371743 meters 0.03221106740454755 Centerline is valid? [True, True] Translation: X:283.93, Y:-17.47, Z:-3.99 [[ 9.99982268e-01 5.90384214e-03 7.80331455e-04 2.83930252e+02] [-5.90380466e-03 9.99982571e-01 -5.03242220e-05 -1.74650402e+01] [-7.80614962e-04 4.57164052e-05 9.99999694e-01 -3.98700868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.190371743 meters 0.033288354495148505 Centerline is valid? [True, True] Translation: X:283.96, Y:-17.47, Z:-3.99 [[ 9.99986560e-01 4.97899271e-03 1.44530045e-03 2.83958786e+02] [-4.97886369e-03 9.99987601e-01 -9.28518428e-05 -1.74682422e+01] [-1.44574484e-03 8.56546410e-05 9.99998951e-01 -3.98754878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.220371743 meters 0.03552238506809245 Centerline is valid? [True, True] Translation: X:283.99, Y:-17.47, Z:-3.99 [[ 9.99987454e-01 4.73381234e-03 1.63785977e-03 2.83987544e+02] [-4.73364719e-03 9.99988791e-01 -1.04691185e-04 -1.74737099e+01] [-1.63833700e-03 9.69368217e-05 9.99998653e-01 -3.98867467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.250371743 meters 0.03614637893973584 Centerline is valid? [True, True] Translation: X:284.02, Y:-17.48, Z:-3.99 [[ 9.99990478e-01 4.09068230e-03 1.52010678e-03 2.84017446e+02] [-4.09053980e-03 9.99991629e-01 -9.68442530e-05 -1.74762572e+01] [-1.52049022e-03 9.06252736e-05 9.99998840e-01 -3.98894246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.280371743 meters 0.035151128806510966 Centerline is valid? [True, True] Translation: X:284.05, Y:-17.48, Z:-3.99 [[ 9.99993165e-01 3.41100324e-03 1.42689488e-03 2.84047579e+02] [-3.41087654e-03 9.99994179e-01 -9.12210311e-05 -1.74757860e+01] [-1.42719773e-03 8.63534453e-05 9.99998978e-01 -3.98930483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.310371743 meters 0.035940508749633046 Centerline is valid? [True, True] Translation: X:284.08, Y:-17.48, Z:-3.99 [[ 9.99994127e-01 2.99818806e-03 1.66052079e-03 2.84077075e+02] [-2.99801603e-03 9.99995500e-01 -1.06084684e-04 -1.74789575e+01] [-1.66083138e-03 1.01105793e-04 9.99998616e-01 -3.98958224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.340371743 meters 0.036234493500875486 Centerline is valid? [True, True] Translation: X:284.11, Y:-17.48, Z:-3.99 [[ 9.99993490e-01 2.65580873e-03 2.44279009e-03 2.84107739e+02] [-2.65543628e-03 9.99996462e-01 -1.55698500e-04 -1.74812459e+01] [-2.44319496e-03 1.49210813e-04 9.99997004e-01 -3.98959905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.370371743 meters 0.03578739004425297 Centerline is valid? [True, True] Translation: X:284.14, Y:-17.48, Z:-3.99 [[ 9.99994299e-01 2.12553858e-03 2.62388834e-03 2.84138481e+02] [-2.12510705e-03 9.99997728e-01 -1.67241336e-04 -1.74822420e+01] [-2.62423786e-03 1.61664339e-04 9.99996544e-01 -3.98961941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.400371743 meters 0.03768941013706913 Centerline is valid? [True, True] Translation: X:284.17, Y:-17.49, Z:-3.99 [[ 9.99995480e-01 1.57419486e-03 2.56158249e-03 2.84168751e+02] [-1.57378228e-03 9.99998748e-01 -1.63069154e-04 -1.74864840e+01] [-2.56183599e-03 1.59037043e-04 9.99996706e-01 -3.99000133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.430371743 meters 0.036763144639189435 Centerline is valid? [True, True] Translation: X:284.20, Y:-17.49, Z:-3.99 [[ 9.99996136e-01 9.61430929e-04 2.60821075e-03 2.84200191e+02] [-9.61001513e-04 9.99999524e-01 -1.65888245e-04 -1.74875383e+01] [-2.60836900e-03 1.63381109e-04 9.99996585e-01 -3.99043037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.460371743 meters 0.03889539568624349 Centerline is valid? [True, True] Translation: X:284.23, Y:-17.49, Z:-3.99 [[ 9.99996175e-01 4.10777405e-04 2.73522343e-03 2.84230632e+02] [-4.10305459e-04 9.99999901e-01 -1.73103045e-04 -1.74922851e+01] [-2.73529427e-03 1.71980106e-04 9.99996244e-01 -3.99139917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.490371743 meters 0.03606717462684954 Centerline is valid? [True, True] Translation: X:284.26, Y:-17.49, Z:-3.99 [[ 9.99995659e-01 5.58941352e-04 2.89312445e-03 2.84262278e+02] [-5.58409861e-04 9.99999827e-01 -1.84512898e-04 -1.74896980e+01] [-2.89322708e-03 1.82896548e-04 9.99995798e-01 -3.99091961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.520371743 meters 0.036413918562337624 Centerline is valid? [True, True] Translation: X:284.29, Y:-17.49, Z:-3.99 [[ 9.99996117e-01 8.21376965e-04 2.66301212e-03 2.84293816e+02] [-8.20927433e-04 9.99999649e-01 -1.69894289e-04 -1.74920094e+01] [-2.66315073e-03 1.67707489e-04 9.99996440e-01 -3.99172995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.550371743 meters 0.03565724597040883 Centerline is valid? [True, True] Translation: X:284.32, Y:-17.49, Z:-3.99 [[ 9.99996320e-01 1.17070342e-03 2.44720260e-03 2.84324804e+02] [-1.17032423e-03 9.99999303e-01 -1.56375370e-04 -1.74927245e+01] [-2.44738396e-03 1.53510774e-04 9.99996993e-01 -3.99221069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.580371743 meters 0.03403257854825882 Centerline is valid? [True, True] Translation: X:284.36, Y:-17.49, Z:-3.99 [[ 9.99995720e-01 1.56340797e-03 2.47292070e-03 2.84356604e+02] [-1.56302238e-03 9.99998766e-01 -1.57851334e-04 -1.74916286e+01] [-2.47316443e-03 1.53985428e-04 9.99996930e-01 -3.99238034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61037174300003 meters 0.03588447232470964 Centerline is valid? [True, True] Translation: X:284.39, Y:-17.49, Z:-3.99 [[ 9.99995024e-01 2.22979693e-03 2.23161573e-03 2.84387303e+02] [-2.22948449e-03 9.99997505e-01 -1.42483598e-04 -1.74948632e+01] [-2.23192787e-03 1.37507537e-04 9.99997500e-01 -3.99266109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.640371743 meters 0.036168407419498394 Centerline is valid? [True, True] Translation: X:284.42, Y:-17.50, Z:-3.99 [[ 9.99992791e-01 3.03213891e-03 2.28558633e-03 2.84417570e+02] [-3.03181389e-03 9.99995393e-01 -1.45657189e-04 -1.74962556e+01] [-2.28601746e-03 1.38726667e-04 9.99997377e-01 -3.99329474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67037174300003 meters 0.036451312968890176 Centerline is valid? [True, True] Translation: X:284.45, Y:-17.50, Z:-3.99 [[ 9.99991802e-01 3.13915608e-03 2.55781991e-03 2.84447525e+02] [-3.13874667e-03 9.99995061e-01 -1.64060549e-04 -1.74981714e+01] [-2.55832229e-03 1.56030855e-04 9.99996715e-01 -3.99429064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.700371743 meters 0.034568088225227514 Centerline is valid? [True, True] Translation: X:284.48, Y:-17.50, Z:-3.99 [[ 9.99989705e-01 3.54148849e-03 2.83684175e-03 2.84478601e+02] [-3.54098661e-03 9.99993714e-01 -1.81915303e-04 -1.74974505e+01] [-2.83746817e-03 1.71868211e-04 9.99995960e-01 -3.99379587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.730371743 meters 0.03417660563632086 Centerline is valid? [True, True] Translation: X:284.51, Y:-17.50, Z:-3.99 [[ 9.99976404e-01 5.21775911e-03 4.46836554e-03 2.84509673e+02] [-5.21653101e-03 9.99986353e-01 -2.86452701e-04 -1.74975596e+01] [-4.46979920e-03 2.63136575e-04 9.99989976e-01 -3.99310488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.760371743 meters 0.03722115711631264 Centerline is valid? [True, True] Translation: X:284.54, Y:-17.50, Z:-3.99 [[ 9.99964785e-01 6.82289672e-03 4.88634622e-03 2.84539753e+02] [-6.82145053e-03 9.99976685e-01 -3.12572221e-04 -1.75030550e+01] [-4.88836494e-03 2.79229245e-04 9.99988013e-01 -3.99375391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.790371743 meters 0.031583724030031596 Centerline is valid? [True, True] Translation: X:284.57, Y:-17.49, Z:-3.99 [[ 9.99931371e-01 1.03525426e-02 5.48443195e-03 2.84571111e+02] [-1.03507655e-02 9.99946367e-01 -3.52309516e-04 -1.74938020e+01] [-5.48778511e-03 2.95517268e-04 9.99984898e-01 -3.99209568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.820371743 meters 0.03139399843136206 Centerline is valid? [True, True] Translation: X:284.60, Y:-17.49, Z:-3.99 [[ 9.99907989e-01 1.24205910e-02 5.45358448e-03 2.84601002e+02] [-1.24188615e-02 9.99922821e-01 -3.50880778e-04 -1.74941979e+01] [-5.45752173e-03 2.83121183e-04 9.99985068e-01 -3.99253251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.850371743 meters 0.031302852778230965 Centerline is valid? [True, True] Translation: X:284.63, Y:-17.50, Z:-3.99 [[ 9.99883871e-01 1.42773947e-02 5.32919225e-03 2.84630083e+02] [-1.42757704e-02 9.99898037e-01 -3.42697609e-04 -1.74954933e+01] [-5.33354170e-03 2.66579487e-04 9.99985741e-01 -3.99274512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880371743 meters 0.030347989264659727 Centerline is valid? [True, True] Translation: X:284.66, Y:-17.49, Z:-3.99 [[ 9.99843232e-01 1.68046284e-02 5.57821224e-03 2.84660394e+02] [-1.68028901e-02 9.99858757e-01 -3.58340408e-04 -1.74949485e+01] [-5.58344614e-03 2.64554144e-04 9.99984377e-01 -3.99237378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.910371743 meters 0.02892930461046106 Centerline is valid? [True, True] Translation: X:284.69, Y:-17.49, Z:-3.99 [[ 9.99827007e-01 1.76811211e-02 5.77354764e-03 2.84689190e+02] [-1.76792716e-02 9.99843641e-01 -3.71222440e-04 -1.74937682e+01] [-5.77920852e-03 2.69086104e-04 9.99983264e-01 -3.99170391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940371743 meters 0.02878853700851379 Centerline is valid? [True, True] Translation: X:284.72, Y:-17.49, Z:-3.99 [[ 9.99799250e-01 1.92157557e-02 5.67578855e-03 2.84718275e+02] [-1.92139952e-02 9.99815328e-01 -3.64546310e-04 -1.74935775e+01] [-5.68174542e-03 2.55418553e-04 9.99983826e-01 -3.99156043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.970371743 meters 0.028883758532420287 Centerline is valid? [True, True] Translation: X:284.75, Y:-17.49, Z:-3.99 [[ 9.99796382e-01 1.94539789e-02 5.36071020e-03 2.84747050e+02] [-1.94524136e-02 9.99810725e-01 -3.43980786e-04 -1.74948328e+01] [-5.36638734e-03 2.39631993e-04 9.99985572e-01 -3.99188479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000371743 meters 0.029442539462682757 Centerline is valid? [True, True] Translation: X:284.77, Y:-17.50, Z:-3.99 [[ 9.99794810e-01 1.96368024e-02 4.97325318e-03 2.84774526e+02] [-1.96354581e-02 9.99807155e-01 -3.18993137e-04 -1.74970276e+01] [-4.97855812e-03 2.21275579e-04 9.99987582e-01 -3.99277737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.030371743 meters 0.02894322120594597 Centerline is valid? [True, True] Translation: X:284.80, Y:-17.50, Z:-3.99 [[ 9.99799189e-01 1.95617551e-02 4.34974990e-03 2.84802880e+02] [-1.95607278e-02 9.99808632e-01 -2.78607314e-04 -1.74975660e+01] [-4.35436755e-03 1.93467092e-04 9.99990501e-01 -3.99453609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060371743 meters 0.028297559617200325 Centerline is valid? [True, True] Translation: X:284.83, Y:-17.50, Z:-3.99 [[ 9.99803967e-01 1.93728942e-02 4.08881232e-03 2.84831838e+02] [-1.93719858e-02 9.99812311e-01 -2.61676253e-04 -1.74981943e+01] [-4.09311432e-03 1.82416542e-04 9.99991607e-01 -3.99495039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.090371743 meters 0.028297559617200325 Centerline is valid? [True, True] Translation: X:284.86, Y:-17.50, Z:-4.00 [[ 9.99805345e-01 1.93016730e-02 4.08883094e-03 2.84860118e+02] [-1.93007651e-02 9.99813689e-01 -2.61384566e-04 -1.74999371e+01] [-4.09311430e-03 1.82416121e-04 9.99991607e-01 -3.99534865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120371743 meters 0.028244179783060007 Centerline is valid? [True, True] Translation: X:284.89, Y:-17.50, Z:-4.00 [[ 9.99825579e-01 1.83461963e-02 3.49699061e-03 2.84888526e+02] [-1.83455268e-02 9.99831682e-01 -2.23449300e-04 -1.75009226e+01] [-3.50050145e-03 1.59256191e-04 9.99993861e-01 -3.99513305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.150371743 meters 0.0278874938543343 Centerline is valid? [True, True] Translation: X:284.92, Y:-17.50, Z:-3.99 [[ 9.99833333e-01 1.79247955e-02 3.46521478e-03 2.84917605e+02] [-1.79241364e-02 9.99839325e-01 -2.21186946e-04 -1.75015299e+01] [-3.46862274e-03 1.59039099e-04 9.99993972e-01 -3.99479934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180371743 meters 0.02873546419259949 Centerline is valid? [True, True] Translation: X:284.94, Y:-17.50, Z:-4.00 [[ 9.99842488e-01 1.74628416e-02 3.17006905e-03 2.84944749e+02] [-1.74622868e-02 9.99847502e-01 -2.02588924e-04 -1.75042193e+01] [-3.17312340e-03 1.47200359e-04 9.99994955e-01 -3.99511887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.210371743 meters 0.029043191445650696 Centerline is valid? [True, True] Translation: X:284.97, Y:-17.51, Z:-4.00 [[ 9.99836533e-01 1.76911457e-02 3.73247720e-03 2.84973710e+02] [-1.76903822e-02 9.99843485e-01 -2.37484467e-04 -1.75068675e+01] [-3.73609438e-03 1.71416698e-04 9.99993006e-01 -3.99522172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240371743 meters 0.02929245026549683 Centerline is valid? [True, True] Translation: X:285.00, Y:-17.51, Z:-4.00 [[ 9.99834782e-01 1.76115279e-02 4.49926438e-03 2.85001106e+02] [-1.76104192e-02 9.99844884e-01 -2.85906742e-04 -1.75098033e+01] [-4.50360173e-03 2.06625573e-04 9.99989837e-01 -3.99502234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.270371743 meters 0.029301162536388956 Centerline is valid? [True, True] Translation: X:285.03, Y:-17.51, Z:-3.99 [[ 9.99824668e-01 1.80652563e-02 4.92736575e-03 2.85029952e+02] [-1.80639357e-02 9.99836785e-01 -3.12383872e-04 -1.75118059e+01] [-4.93220483e-03 2.23321483e-04 9.99987812e-01 -3.99483425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300371743 meters 0.02830894781819903 Centerline is valid? [True, True] Translation: X:285.06, Y:-17.51, Z:-3.99 [[ 9.99806817e-01 1.89438554e-02 5.24015071e-03 2.85058900e+02] [-1.89423761e-02 9.99820522e-01 -3.31792583e-04 -1.75115669e+01] [-5.24549565e-03 2.32467581e-04 9.99986215e-01 -3.99432807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.330371743 meters 0.02775205667944581 Centerline is valid? [True, True] Translation: X:285.09, Y:-17.51, Z:-3.99 [[ 9.99761569e-01 2.11901329e-02 5.27096730e-03 2.85087652e+02] [-2.11886693e-02 9.99775439e-01 -3.33357170e-04 -1.75127541e+01] [-5.27684754e-03 2.21592905e-04 9.99986053e-01 -3.99397865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36037174300003 meters 0.02707010545389173 Centerline is valid? [True, True] Translation: X:285.12, Y:-17.51, Z:-3.99 [[ 9.99729989e-01 2.26426631e-02 5.22095553e-03 2.85116451e+02] [-2.26412488e-02 9.99743600e-01 -3.29831932e-04 -1.75137184e+01] [-5.22708515e-03 2.11533921e-04 9.99986316e-01 -3.99419326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.390371743 meters 0.02622423745897346 Centerline is valid? [True, True] Translation: X:285.15, Y:-17.51, Z:-3.99 [[ 9.99688287e-01 2.44674341e-02 4.96723559e-03 2.85145732e+02] [-2.44661763e-02 9.99700609e-01 -3.13831599e-04 -1.75147098e+01] [-4.97342710e-03 1.92204512e-04 9.99987614e-01 -3.99417688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42037174300003 meters 0.02733972514181655 Centerline is valid? [True, True] Translation: X:285.17, Y:-17.52, Z:-3.99 [[ 9.99668779e-01 2.51830901e-02 5.30520529e-03 2.85173255e+02] [-2.51816699e-02 9.99682836e-01 -3.34337685e-04 -1.75196761e+01] [-5.31194232e-03 2.00633017e-04 9.99985871e-01 -3.99496544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.450371743 meters 0.02673770570027613 Centerline is valid? [True, True] Translation: X:285.20, Y:-17.52, Z:-3.99 [[ 9.99655293e-01 2.56881767e-02 5.42330584e-03 2.85202305e+02] [-2.56867037e-02 9.99669984e-01 -3.41094805e-04 -1.75211554e+01] [-5.43027816e-03 2.01670377e-04 9.99985236e-01 -3.99486834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.480371743 meters 0.026067702856016783 Centerline is valid? [True, True] Translation: X:285.23, Y:-17.52, Z:-3.99 [[ 9.99663701e-01 2.53620018e-02 5.40863885e-03 2.85231075e+02] [-2.53605340e-02 9.99678312e-01 -3.39808492e-04 -1.75233734e+01] [-5.41551718e-03 2.02528245e-04 9.99985315e-01 -3.99468002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.510371743 meters 0.029073201335929787 Centerline is valid? [True, True] Translation: X:285.26, Y:-17.53, Z:-4.00 [[ 9.99666374e-01 2.53726678e-02 4.83408371e-03 2.85258058e+02] [-2.53714957e-02 9.99678046e-01 -3.03629308e-04 -1.75335160e+01] [-4.84023124e-03 1.80880075e-04 9.99988270e-01 -3.99778694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.540371743 meters 0.02629171119348608 Centerline is valid? [True, True] Translation: X:285.29, Y:-17.53, Z:-4.00 [[ 9.99676542e-01 2.51233782e-02 3.95309840e-03 2.85287256e+02] [-2.51225937e-02 9.99684347e-01 -2.47990899e-04 -1.75316244e+01] [-3.95808097e-03 1.48598599e-04 9.99992156e-01 -3.99695973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.570371743 meters 0.02625496540037474 Centerline is valid? [True, True] Translation: X:285.32, Y:-17.53, Z:-4.00 [[ 9.99678539e-01 2.51255958e-02 3.39464920e-03 2.85316102e+02] [-2.51250177e-02 9.99684294e-01 -2.12854608e-04 -1.75345787e+01] [-3.39892559e-03 1.27495563e-04 9.99994216e-01 -3.99747769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.600371743 meters 0.02662278800933824 Centerline is valid? [True, True] Translation: X:285.34, Y:-17.54, Z:-4.00 [[ 9.99688172e-01 2.47672366e-02 3.18488009e-03 2.85344225e+02] [-2.47667259e-02 9.99693238e-01 -1.99721609e-04 -1.75378013e+01] [-3.18884965e-03 1.20780278e-04 9.99994908e-01 -3.99817709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.630371743 meters 0.026613624667463462 Centerline is valid? [True, True] Translation: X:285.37, Y:-17.54, Z:-4.00 [[ 9.99694189e-01 2.45773511e-02 2.73552541e-03 2.85373065e+02] [-2.45769743e-02 9.99697926e-01 -1.71280563e-04 -1.75411575e+01] [-2.73890870e-03 1.03997246e-04 9.99996244e-01 -3.99834681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.660371743 meters 0.026514200388144175 Centerline is valid? [True, True] Translation: X:285.40, Y:-17.55, Z:-4.00 [[ 9.99677626e-01 2.52015562e-02 3.08620945e-03 2.85401531e+02] [-2.52010806e-02 9.99682384e-01 -1.92889016e-04 -1.75452483e+01] [-3.09009032e-03 1.15051021e-04 9.99995219e-01 -3.99852315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.690371743 meters 0.027622472556579906 Centerline is valid? [True, True] Translation: X:285.43, Y:-17.55, Z:-4.00 [[ 9.99663879e-01 2.57343463e-02 3.14220452e-03 2.85428717e+02] [-2.57338561e-02 9.99668810e-01 -1.96333639e-04 -1.75504693e+01] [-3.14621638e-03 1.15406608e-04 9.99995044e-01 -3.99974420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.720371743 meters 0.02658901559203136 Centerline is valid? [True, True] Translation: X:285.46, Y:-17.55, Z:-4.00 [[ 9.99651950e-01 2.61583579e-02 3.42331219e-03 2.85457415e+02] [-2.61577807e-02 9.99657804e-01 -2.13293313e-04 -1.75510329e+01] [-3.42772015e-03 1.23672827e-04 9.99994118e-01 -3.99953769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.750371743 meters 0.026526244274240073 Centerline is valid? [True, True] Translation: X:285.49, Y:-17.55, Z:-4.00 [[ 9.99643620e-01 2.64898810e-02 3.30452332e-03 2.85485661e+02] [-2.64893456e-02 9.99649075e-01 -2.05687859e-04 -1.75539253e+01] [-3.30881232e-03 1.18079895e-04 9.99994519e-01 -3.99980310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.780371743 meters 0.025707420436062924 Centerline is valid? [True, True] Translation: X:285.51, Y:-17.56, Z:-4.00 [[ 9.99638250e-01 2.66641584e-02 3.52017208e-03 2.85513921e+02] [-2.66635529e-02 9.99644440e-01 -2.18816168e-04 -1.75560105e+01] [-3.52475500e-03 1.24876717e-04 9.99993780e-01 -3.99935517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.810371743 meters 0.0271156178798543 Centerline is valid? [True, True] Translation: X:285.54, Y:-17.56, Z:-4.00 [[ 9.99633248e-01 2.68335027e-02 3.65151875e-03 2.85541231e+02] [-2.68328528e-02 9.99639908e-01 -2.26859265e-04 -1.75614557e+01] [-3.65629129e-03 1.28795399e-04 9.99993307e-01 -4.00058204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.840371743 meters 0.025356750535116837 Centerline is valid? [True, True] Translation: X:285.57, Y:-17.56, Z:-4.00 [[ 9.99643916e-01 2.63187801e-02 4.40033162e-03 2.85569627e+02] [-2.63178350e-02 9.99653589e-01 -2.72572013e-04 -1.75629860e+01] [-4.40598105e-03 1.56667754e-04 9.99990281e-01 -3.99881851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.870371743 meters 0.025719479925186448 Centerline is valid? [True, True] Translation: X:285.60, Y:-17.57, Z:-4.00 [[ 9.99663009e-01 2.55249506e-02 4.72700098e-03 2.85598514e+02] [-2.55238530e-02 9.99674171e-01 -2.92386128e-04 -1.75663729e+01] [-4.73292392e-03 1.71636318e-04 9.99988785e-01 -3.99880871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.900371743 meters 0.02645061521277043 Centerline is valid? [True, True] Translation: X:285.63, Y:-17.57, Z:-4.00 [[ 9.99678027e-01 2.46746901e-02 5.91629335e-03 2.85626189e+02] [-2.46729586e-02 9.99695509e-01 -3.65487240e-04 -1.75726745e+01] [-5.92351018e-03 2.19397102e-04 9.99982432e-01 -3.99859974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.930371743 meters 0.027963525156554238 Centerline is valid? [True, True] Translation: X:285.65, Y:-17.58, Z:-4.00 [[ 9.99695411e-01 2.37275886e-02 6.78871810e-03 2.85654184e+02] [-2.37252937e-02 9.99718428e-01 -4.18387237e-04 -1.75776337e+01] [-6.79673391e-03 2.57195470e-04 9.99976869e-01 -3.99904844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.960371743 meters 0.026541561619615812 Centerline is valid? [True, True] Translation: X:285.68, Y:-17.58, Z:-4.00 [[ 9.99717663e-01 2.26334458e-02 7.23331730e-03 2.85682475e+02] [-2.26308170e-02 9.99743791e-01 -4.45083044e-04 -1.75783179e+01] [-7.24153783e-03 2.81261500e-04 9.99973740e-01 -3.99843438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.990371743 meters 0.028622721154243132 Centerline is valid? [True, True] Translation: X:285.71, Y:-17.59, Z:-4.00 [[ 9.99785802e-01 1.95072959e-02 6.91484908e-03 2.85710846e+02] [-1.95048246e-02 9.99809673e-01 -4.24652452e-04 -1.75867715e+01] [-6.92181682e-03 2.89688574e-04 9.99976002e-01 -3.99992320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.020371743 meters 0.029031939419965347 Centerline is valid? [True, True] Translation: X:285.74, Y:-17.59, Z:-4.00 [[ 9.99822337e-01 1.76623027e-02 6.58310513e-03 2.85739794e+02] [-1.76600252e-02 9.99843968e-01 -4.03927646e-04 -1.75910833e+01] [-6.58921225e-03 2.87598080e-04 9.99978250e-01 -4.00066096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.050371743 meters 0.030614096729776073 Centerline is valid? [True, True] Translation: X:285.77, Y:-17.60, Z:-4.00 [[ 9.99889562e-01 1.38084130e-02 5.49462866e-03 2.85768610e+02] [-1.38067721e-02 9.99904625e-01 -3.36450081e-04 -1.75989062e+01] [-5.49875046e-03 2.60549838e-04 9.99984848e-01 -4.00221635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.080371743 meters 0.02985544652971599 Centerline is valid? [True, True] Translation: X:285.80, Y:-17.60, Z:-4.00 [[ 9.99914883e-01 1.19121210e-02 5.32242041e-03 2.85798014e+02] [-1.19105520e-02 9.99929014e-01 -3.26392927e-04 -1.76003856e+01] [-5.32593062e-03 2.62972180e-04 9.99985783e-01 -4.00246774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11037174300003 meters 0.0318831303771527 Centerline is valid? [True, True] Translation: X:285.83, Y:-17.61, Z:-4.00 [[ 9.99932918e-01 1.02957542e-02 5.30638154e-03 2.85826982e+02] [-1.02941748e-02 9.99946961e-01 -3.24864932e-04 -1.76067939e+01] [-5.30944482e-03 2.70218320e-04 9.99985868e-01 -4.00333749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.140371743 meters 0.03177576908783316 Centerline is valid? [True, True] Translation: X:285.86, Y:-17.61, Z:-4.00 [[ 9.99952813e-01 7.93050270e-03 5.61052407e-03 2.85856943e+02] [-7.92869875e-03 9.99968508e-01 -3.43700148e-04 -1.76104507e+01] [-5.61307310e-03 2.99199775e-04 9.99984202e-01 -4.00287663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17037174300003 meters 0.032910380274207576 Centerline is valid? [True, True] Translation: X:285.89, Y:-17.61, Z:-4.00 [[ 9.99960141e-01 6.99067326e-03 5.55404218e-03 2.85886898e+02] [-6.98889320e-03 9.99975520e-01 -3.39841592e-04 -1.76143683e+01] [-5.55628193e-03 3.01011438e-04 9.99984518e-01 -4.00339199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.200371743 meters 0.0334357063050846 Centerline is valid? [True, True] Translation: X:285.92, Y:-17.62, Z:-4.00 [[ 9.99966938e-01 6.02365296e-03 5.46239584e-03 2.85918230e+02] [-6.02191710e-03 9.99981812e-01 -3.34175719e-04 -1.76182363e+01] [-5.46430945e-03 3.01270576e-04 9.99985025e-01 -4.00394115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.230371743 meters 0.033752530103995974 Centerline is valid? [True, True] Translation: X:285.95, Y:-17.62, Z:-4.00 [[ 9.99968835e-01 5.67616501e-03 5.48727727e-03 2.85949311e+02] [-5.67440699e-03 9.99983844e-01 -3.35896099e-04 -1.76214078e+01] [-5.48909521e-03 3.04748586e-04 9.99984888e-01 -4.00436894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.260371743 meters 0.034545434865979295 Centerline is valid? [True, True] Translation: X:285.98, Y:-17.62, Z:-4.00 [[ 9.99967122e-01 5.77885614e-03 5.68852397e-03 2.85979792e+02] [-5.77696638e-03 9.99983252e-01 -3.48580945e-04 -1.76248673e+01] [-5.69044310e-03 3.15707073e-04 9.99983759e-01 -4.00497942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.290371743 meters 0.03307124218738692 Centerline is valid? [True, True] Translation: X:286.01, Y:-17.62, Z:-4.00 [[ 9.99962183e-01 6.96559783e-03 5.20710337e-03 2.86011257e+02] [-6.96403090e-03 9.99975700e-01 -3.18993141e-04 -1.76244000e+01] [-5.20919882e-03 2.82718649e-04 9.99986392e-01 -4.00470909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.320371743 meters 0.031965391343342545 Centerline is valid? [True, True] Translation: X:286.04, Y:-17.62, Z:-4.01 [[ 9.99960937e-01 7.34944290e-03 4.91026030e-03 2.86041671e+02] [-7.34805185e-03 9.99972957e-01 -3.01275233e-04 -1.76238887e+01] [-4.91234172e-03 2.65182617e-04 9.99987899e-01 -4.00506976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.350371743 meters 0.031384339369341444 Centerline is valid? [True, True] Translation: X:286.07, Y:-17.62, Z:-4.01 [[ 9.99957593e-01 8.03790012e-03 4.49486815e-03 2.86072063e+02] [-8.03674141e-03 9.99967667e-01 -2.75788322e-04 -1.76244095e+01] [-4.49693957e-03 2.39652533e-04 9.99989860e-01 -4.00509816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380371743 meters 0.03221124744188256 Centerline is valid? [True, True] Translation: X:286.10, Y:-17.63, Z:-4.01 [[ 9.99955228e-01 8.12530600e-03 4.84979791e-03 2.86100945e+02] [-8.12395730e-03 9.99966956e-01 -2.97729582e-04 -1.76276430e+01] [-4.85205679e-03 2.58316701e-04 9.99988195e-01 -4.00538674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.410371743 meters 0.032470864198995475 Centerline is valid? [True, True] Translation: X:286.13, Y:-17.63, Z:-4.01 [[ 9.99960488e-01 7.46847537e-03 4.82129641e-03 2.86131487e+02] [-7.46713607e-03 9.99972077e-01 -2.95730436e-04 -1.76298434e+01] [-4.82337044e-03 2.59717474e-04 9.99988334e-01 -4.00570614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440371743 meters 0.033612844327703756 Centerline is valid? [True, True] Translation: X:286.16, Y:-17.63, Z:-4.01 [[ 9.99969141e-01 6.33453495e-03 4.64653618e-03 2.86161245e+02] [-6.33327877e-03 9.99979904e-01 -2.85010929e-04 -1.76332810e+01] [-4.64824822e-03 2.55574325e-04 9.99989164e-01 -4.00663578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.470371743 meters 0.03174786091393151 Centerline is valid? [True, True] Translation: X:286.19, Y:-17.63, Z:-4.01 [[ 9.99980103e-01 4.79949049e-03 4.09379136e-03 2.86192315e+02] [-4.79850516e-03 9.99988456e-01 -2.50476629e-04 -1.76320282e+01] [-4.09494626e-03 2.30827566e-04 9.99991589e-01 -4.00651383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500371743 meters 0.03303414672008092 Centerline is valid? [True, True] Translation: X:286.22, Y:-17.64, Z:-4.01 [[ 9.99992968e-01 1.20861538e-03 3.54996918e-03 2.86222839e+02] [-1.20784984e-03 9.99999247e-01 -2.17782964e-04 -1.76362206e+01] [-3.55022972e-03 2.13493603e-04 9.99993675e-01 -4.00742963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.530371743 meters 0.0353194388739777 Centerline is valid? [True, True] Translation: X:286.25, Y:-17.64, Z:-4.01 [[ 9.99993354e-01 -7.63022460e-04 3.56514771e-03 2.86252580e+02] [ 7.63804584e-04 9.99999685e-01 -2.18023946e-04 -1.76416203e+01] [-3.56498023e-03 2.20745573e-04 9.99993621e-01 -4.00878175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560371743 meters 0.0349255368703047 Centerline is valid? [True, True] Translation: X:286.28, Y:-17.64, Z:-4.01 [[ 9.99980785e-01 -5.22756470e-03 3.33206253e-03 2.86283153e+02] [ 5.22827636e-03 9.99986311e-01 -2.04903869e-04 -1.76435820e+01] [-3.33094577e-03 2.22320876e-04 9.99994428e-01 -4.00845702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.590371743 meters 0.03703399797111602 Centerline is valid? [True, True] Translation: X:286.31, Y:-17.65, Z:-4.01 [[ 9.99966798e-01 -7.43353621e-03 3.33841665e-03 2.86312771e+02] [ 7.43426305e-03 9.99972344e-01 -2.05365768e-04 -1.76488870e+01] [-3.33679773e-03 2.30177617e-04 9.99994406e-01 -4.00905432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620371743 meters 0.0374588221652484 Centerline is valid? [True, True] Translation: X:286.34, Y:-17.65, Z:-4.01 [[ 9.99947899e-01 -9.45188396e-03 3.85511816e-03 2.86343595e+02] [ 9.45286743e-03 9.99955293e-01 -2.36966167e-04 -1.76510847e+01] [-3.85270603e-03 2.73395742e-04 9.99992541e-01 -4.00926829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.650371743 meters 0.03908028299618063 Centerline is valid? [True, True] Translation: X:286.37, Y:-17.65, Z:-4.01 [[ 9.99903571e-01 -1.33073381e-02 3.97037669e-03 2.86374254e+02] [ 1.33084124e-02 9.99911409e-01 -2.44280017e-04 -1.76543119e+01] [-3.96677423e-03 2.97095872e-04 9.99992088e-01 -4.00887664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680371743 meters 0.041406471208718876 Centerline is valid? [True, True] Translation: X:286.40, Y:-17.66, Z:-4.01 [[ 9.99882106e-01 -1.49296992e-02 3.58856853e-03 2.86404588e+02] [ 1.49305854e-02 9.99888508e-01 -2.20283444e-04 -1.76587770e+01] [-3.58487967e-03 2.73836902e-04 9.99993537e-01 -4.00949566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.710371743 meters 0.04345863077558509 Centerline is valid? [True, True] Translation: X:286.43, Y:-17.66, Z:-4.01 [[ 9.99842905e-01 -1.73869757e-02 3.44368864e-03 2.86434685e+02] [ 1.73878073e-02 9.99848798e-01 -2.11697428e-04 -1.76626924e+01] [-3.43948717e-03 2.71542365e-04 9.99994048e-01 -4.01034725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740371743 meters 0.04055150404822063 Centerline is valid? [True, True] Translation: X:286.47, Y:-17.66, Z:-4.01 [[ 9.99822463e-01 -1.85529909e-02 3.29086874e-03 2.86466877e+02] [ 1.85537556e-02 9.99827844e-01 -2.02019671e-04 -1.76599608e+01] [-3.28655413e-03 2.63041780e-04 9.99994565e-01 -4.01040432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.770371743 meters 0.04169735686457367 Centerline is valid? [True, True] Translation: X:286.50, Y:-17.66, Z:-4.01 [[ 9.99804787e-01 -1.95361502e-02 2.95413907e-03 2.86498585e+02] [ 1.95367700e-02 9.99809123e-01 -1.81074845e-04 -1.76625506e+01] [-2.95003769e-03 2.38753833e-04 9.99995620e-01 -4.01095481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800371743 meters 0.0427658119738416 Centerline is valid? [True, True] Translation: X:286.53, Y:-17.66, Z:-4.01 [[ 9.99761463e-01 -2.16793652e-02 2.65000506e-03 2.86530135e+02] [ 2.16798739e-02 9.99764951e-01 -1.63383612e-04 -1.76634744e+01] [-2.64584013e-03 2.20796415e-04 9.99996475e-01 -4.01115553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.830371743 meters 0.04612541718150041 Centerline is valid? [True, True] Translation: X:286.56, Y:-17.67, Z:-4.01 [[ 9.99726434e-01 -2.31928221e-02 3.02477670e-03 2.86559770e+02] [ 2.31934935e-02 9.99730977e-01 -1.87070812e-04 -1.76667049e+01] [-3.01962427e-03 2.57174775e-04 9.99995408e-01 -4.01078024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86037174300003 meters 0.046555256044518434 Centerline is valid? [True, True] Translation: X:286.59, Y:-17.67, Z:-4.01 [[ 9.99718958e-01 -2.33862925e-02 3.88414222e-03 2.86592023e+02] [ 2.33873982e-02 9.99726449e-01 -2.39499861e-04 -1.76673096e+01] [-3.87747870e-03 3.30272532e-04 9.99992428e-01 -4.01089558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.890371743 meters 0.04489073523326453 Centerline is valid? [True, True] Translation: X:286.62, Y:-17.67, Z:-4.01 [[ 9.99724490e-01 -2.31742564e-02 3.72788413e-03 2.86624822e+02] [ 2.31752743e-02 9.99731391e-01 -2.30079491e-04 -1.76653927e+01] [-3.72155086e-03 3.16410839e-04 9.99993025e-01 -4.01076217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92037174300003 meters 0.045752135034545054 Centerline is valid? [True, True] Translation: X:286.66, Y:-17.67, Z:-4.01 [[ 9.99743753e-01 -2.24073156e-02 3.21555102e-03 2.86656192e+02] [ 2.24080669e-02 9.99748888e-01 -1.97786189e-04 -1.76651942e+01] [-3.21031170e-03 2.69789790e-04 9.99994811e-01 -4.01156216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.950371743 meters 0.04756638260946271 Centerline is valid? [True, True] Translation: X:286.69, Y:-17.67, Z:-4.01 [[ 9.99751718e-01 -2.21938353e-02 1.98393998e-03 2.86687856e+02] [ 2.21941212e-02 9.99753673e-01 -1.22199773e-04 -1.76671339e+01] [-1.98073920e-03 1.66201238e-04 9.99998025e-01 -4.01286070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.980371743 meters 0.04763688730257621 Centerline is valid? [True, True] Translation: X:286.72, Y:-17.66, Z:-4.01 [[ 9.99750380e-01 -2.22989322e-02 1.39140089e-03 2.86719856e+02] [ 2.22990729e-02 9.99751341e-01 -8.56889514e-05 -1.76643081e+01] [-1.38914413e-03 1.16694512e-04 9.99999028e-01 -4.01283547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.010371743 meters 0.04763688730257621 Centerline is valid? [True, True] Translation: X:286.75, Y:-17.67, Z:-4.01 [[ 9.99751933e-01 -2.22291885e-02 1.39139482e-03 2.86751593e+02] [ 2.22293293e-02 9.99752894e-01 -8.57869180e-05 -1.76663499e+01] [-1.38914402e-03 1.16695411e-04 9.99999028e-01 -4.01328188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.040371743 meters 0.04815726554939996 Centerline is valid? [True, True] Translation: X:286.78, Y:-17.67, Z:-4.01 [[ 9.99748192e-01 -2.24049148e-02 1.25424285e-03 2.86783927e+02] [ 2.24050293e-02 9.99748973e-01 -7.73246836e-05 -1.76666045e+01] [-1.25219555e-03 1.05406560e-04 9.99999210e-01 -4.01344607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.070371743 meters 0.046080168096800565 Centerline is valid? [True, True] Translation: X:286.82, Y:-17.66, Z:-4.01 [[ 9.99742039e-01 -2.26691803e-02 1.40114718e-03 2.86816804e+02] [ 2.26693237e-02 9.99743014e-01 -8.65758197e-05 -1.76635089e+01] [-1.39882450e-03 1.18316546e-04 9.99999015e-01 -4.01322098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.100371743 meters 0.044683663355613336 Centerline is valid? [True, True] Translation: X:286.85, Y:-17.66, Z:-4.01 [[ 9.99700030e-01 -2.44060342e-02 2.04810662e-03 2.86848165e+02] [ 2.44063468e-02 9.99702113e-01 -1.27793913e-04 -1.76594475e+01] [-2.04437757e-03 1.77742379e-04 9.99997894e-01 -4.01296956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.130371743 meters 0.04758683918684099 Centerline is valid? [True, True] Translation: X:286.88, Y:-17.66, Z:-4.01 [[ 9.99667204e-01 -2.57346404e-02 1.79135646e-03 2.86878319e+02] [ 2.57348817e-02 9.99668797e-01 -1.11776317e-04 -1.76631642e+01] [-1.78788663e-03 1.57839465e-04 9.99998389e-01 -4.01389904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.160371743 meters 0.04782840866525796 Centerline is valid? [True, True] Translation: X:286.91, Y:-17.66, Z:-4.01 [[ 9.99599230e-01 -2.82043331e-02 2.42779116e-03 2.86909326e+02] [ 2.82047833e-02 9.99602155e-01 -1.51414166e-04 -1.76599735e+01] [-2.42255474e-03 2.19828807e-04 9.99997041e-01 -4.01313437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.190371743 meters 0.05662355092578456 Centerline is valid? [True, True] Translation: X:286.94, Y:-17.67, Z:-4.01 [[ 9.99571312e-01 -2.91807104e-02 2.38283838e-03 2.86939475e+02] [ 2.91811471e-02 9.99574129e-01 -1.48686605e-04 -1.76713654e+01] [-2.37748482e-03 2.18156822e-04 9.99997150e-01 -4.01434259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.220371743 meters 0.04972619596784323 Centerline is valid? [True, True] Translation: X:286.97, Y:-17.66, Z:-4.01 [[ 9.99536734e-01 -3.03073893e-02 2.78932146e-03 2.86971916e+02] [ 3.03079919e-02 9.99540592e-01 -1.74035469e-04 -1.76614922e+01] [-2.78276547e-03 2.58493577e-04 9.99996095e-01 -4.01258018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.250371743 meters 0.051815321900617696 Centerline is valid? [True, True] Translation: X:287.00, Y:-17.66, Z:-4.01 [[ 9.99489908e-01 -3.17442724e-02 3.49630066e-03 2.87002144e+02] [ 3.17452294e-02 9.99495969e-01 -2.18555485e-04 -1.76625829e+01] [-3.48760054e-03 3.29434868e-04 9.99993864e-01 -4.01236635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.280371743 meters 0.04829233877429609 Centerline is valid? [True, True] Translation: X:287.03, Y:-17.66, Z:-4.01 [[ 9.99424133e-01 -3.37350289e-02 3.65382715e-03 2.87034153e+02] [ 3.37360886e-02 9.99430750e-01 -2.28767777e-04 -1.76563015e+01] [-3.64402973e-03 3.51901873e-04 9.99993299e-01 -4.01210230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.310371743 meters 0.050480034350119954 Centerline is valid? [True, True] Translation: X:287.07, Y:-17.66, Z:-4.01 [[ 9.99399677e-01 -3.45086300e-02 3.07239097e-03 2.87065244e+02] [ 3.45093824e-02 9.99404355e-01 -1.92197011e-04 -1.76590404e+01] [-3.06392847e-03 2.98107946e-04 9.99995262e-01 -4.01290707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.340371743 meters 0.05101573912578149 Centerline is valid? [True, True] Translation: X:287.10, Y:-17.66, Z:-4.01 [[ 9.99382076e-01 -3.50832177e-02 2.15254270e-03 2.87097833e+02] [ 3.50835877e-02 9.99384372e-01 -1.34334515e-04 -1.76596226e+01] [-2.14650465e-03 2.09770427e-04 9.99997674e-01 -4.01368519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.370371743 meters 0.05310296190614686 Centerline is valid? [True, True] Translation: X:287.13, Y:-17.66, Z:-4.01 [[ 9.99376040e-01 -3.52754822e-02 1.78101681e-03 2.87128982e+02] [ 3.52757360e-02 9.99377611e-01 -1.11327227e-04 -1.76624642e+01] [-1.77598120e-03 1.74084442e-04 9.99998408e-01 -4.01432203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.400371743 meters 0.050448415420583315 Centerline is valid? [True, True] Translation: X:287.16, Y:-17.66, Z:-4.01 [[ 9.99371874e-01 -3.54011907e-02 1.61653188e-03 2.87161870e+02] [ 3.54013996e-02 9.99373169e-01 -1.00823642e-04 -1.76573654e+01] [-1.61194932e-03 1.57987804e-04 9.99998688e-01 -4.01470199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.430371743 meters 0.05384834887792049 Centerline is valid? [True, True] Translation: X:287.19, Y:-17.66, Z:-4.02 [[ 9.99385509e-01 -3.50064989e-02 1.77477159e-03 2.87193020e+02] [ 3.50067509e-02 9.99387070e-01 -1.11146649e-04 -1.76604376e+01] [-1.76979292e-03 1.73207337e-04 9.99998419e-01 -4.01602145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.460371743 meters 0.04943822621988246 Centerline is valid? [True, True] Translation: X:287.23, Y:-17.66, Z:-4.02 [[ 9.99402148e-01 -3.45445965e-02 1.42054629e-03 2.87225643e+02] [ 3.45447571e-02 9.99403148e-01 -8.86591379e-05 -1.76552059e+01] [-1.41663574e-03 1.37678559e-04 9.99998987e-01 -4.01556319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.490371743 meters 0.05103353599739848 Centerline is valid? [True, True] Translation: X:287.26, Y:-17.66, Z:-4.02 [[ 9.99421561e-01 -3.39703443e-02 1.59975247e-03 2.87257059e+02] [ 3.39705480e-02 9.99422829e-01 -1.00319762e-04 -1.76578430e+01] [-1.59542124e-03 1.54606201e-04 9.99998715e-01 -4.01617162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.520371743 meters 0.04882001589919856 Centerline is valid? [True, True] Translation: X:287.29, Y:-17.65, Z:-4.02 [[ 9.99459054e-01 -3.28024548e-02 2.36617531e-03 2.87289057e+02] [ 3.28028983e-02 9.99461829e-01 -1.48870753e-04 -1.76534874e+01] [-2.36001858e-03 2.26407630e-04 9.99997190e-01 -4.01605895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.550371743 meters 0.052161536329840094 Centerline is valid? [True, True] Translation: X:287.32, Y:-17.66, Z:-4.02 [[ 9.99485847e-01 -3.19580875e-02 2.59277622e-03 2.87320396e+02] [ 3.19586172e-02 9.99489180e-01 -1.63142802e-04 -1.76586895e+01] [-2.58623804e-03 2.45920464e-04 9.99996625e-01 -4.01694931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.580371743 meters 0.04850584717528535 Centerline is valid? [True, True] Translation: X:287.35, Y:-17.65, Z:-4.02 [[ 9.99535998e-01 -3.03471202e-02 2.61565814e-03 2.87352114e+02] [ 3.03476554e-02 9.99539390e-01 -1.65188851e-04 -1.76529732e+01] [-2.60944033e-03 2.44491294e-04 9.99996566e-01 -4.01795117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61037174300003 meters 0.07457007915819366 Centerline is valid? [True, True] Translation: X:287.38, Y:-17.69, Z:-4.02 [[ 9.99637808e-01 -2.67950992e-02 2.50523079e-03 2.87379816e+02] [ 2.67955802e-02 9.99640921e-01 -1.58639655e-04 -1.76878310e+01] [-2.50008045e-03 2.25711309e-04 9.99996849e-01 -4.02367382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.640371743 meters 0.04984939509255608 Centerline is valid? [True, True] Translation: X:287.41, Y:-17.66, Z:-4.02 [[ 9.99579840e-01 -2.89353597e-02 1.69953185e-03 2.87412632e+02] [ 2.89355838e-02 9.99581273e-01 -1.07454381e-04 -1.76550148e+01] [-1.69571098e-03 1.56586180e-04 9.99998550e-01 -4.02026692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67037174300003 meters 0.05051416993455787 Centerline is valid? [True, True] Translation: X:287.44, Y:-17.66, Z:-4.02 [[ 9.99596092e-01 -2.83870787e-02 1.35182924e-03 2.87443675e+02] [ 2.83872179e-02 9.99596998e-01 -8.38754568e-05 -1.76564854e+01] [-1.34890347e-03 1.22216250e-04 9.99999083e-01 -4.02069606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.700371743 meters 0.048990998234053014 Centerline is valid? [True, True] Translation: X:287.48, Y:-17.65, Z:-4.02 [[ 9.99620205e-01 -2.75076423e-02 1.66605806e-03 2.87476037e+02] [ 2.75078550e-02 9.99621582e-01 -1.04935152e-04 -1.76537629e+01] [-1.66254107e-03 1.50724982e-04 9.99998607e-01 -4.02047232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.730371743 meters 0.04795022058076863 Centerline is valid? [True, True] Translation: X:287.51, Y:-17.65, Z:-4.02 [[ 9.99641837e-01 -2.66863744e-02 2.00856968e-03 2.87508278e+02] [ 2.66866827e-02 9.99643839e-01 -1.26852024e-04 -1.76533460e+01] [-2.00446908e-03 1.80408653e-04 9.99997975e-01 -4.02042276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.760371743 meters 0.048036575082078134 Centerline is valid? [True, True] Translation: X:287.54, Y:-17.65, Z:-4.02 [[ 9.99677428e-01 -2.51920421e-02 3.22500175e-03 2.87538739e+02] [ 2.51928338e-02 9.99682589e-01 -2.05098727e-04 -1.76533559e+01] [-3.21881125e-03 2.86279501e-04 9.99994779e-01 -4.02020627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.790371743 meters 0.0496690066244533 Centerline is valid? [True, True] Translation: X:287.57, Y:-17.66, Z:-4.02 [[ 9.99697727e-01 -2.42806294e-02 3.86089617e-03 2.87570359e+02] [ 2.42817558e-02 9.99705125e-01 -2.45136087e-04 -1.76564949e+01] [-3.85380563e-03 3.38811327e-04 9.99992517e-01 -4.02058516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.820371743 meters 0.04718170675437089 Centerline is valid? [True, True] Translation: X:287.60, Y:-17.65, Z:-4.02 [[ 9.99720416e-01 -2.32942238e-02 4.05810041e-03 2.87602456e+02] [ 2.32954622e-02 9.99728591e-01 -2.58150982e-04 -1.76544623e+01] [-4.05098558e-03 3.52614132e-04 9.99991733e-01 -4.02066795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.850371743 meters 0.048698879165053936 Centerline is valid? [True, True] Translation: X:287.63, Y:-17.66, Z:-4.02 [[ 9.99758356e-01 -2.15623492e-02 4.27712000e-03 2.87632541e+02] [ 2.15637117e-02 9.99767439e-01 -2.72694687e-04 -1.76566103e+01] [-4.27024537e-03 3.64859375e-04 9.99990816e-01 -4.02184211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880371743 meters 0.04705855764268112 Centerline is valid? [True, True] Translation: X:287.66, Y:-17.66, Z:-4.02 [[ 9.99783431e-01 -2.03064899e-02 4.55380111e-03 2.87664444e+02] [ 2.03080204e-02 9.99793729e-01 -2.90102468e-04 -1.76556449e+01] [-4.54697083e-03 3.82518327e-04 9.99989589e-01 -4.02247252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.910371743 meters 0.049628084625074516 Centerline is valid? [True, True] Translation: X:287.69, Y:-17.66, Z:-4.02 [[ 9.99822271e-01 -1.83090154e-02 4.49513423e-03 2.87694145e+02] [ 1.83104899e-02 9.99832308e-01 -2.87091321e-04 -1.76585731e+01] [-4.48912407e-03 3.69348407e-04 9.99989856e-01 -4.02287702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940371743 meters 0.044160503996246867 Centerline is valid? [True, True] Translation: X:287.73, Y:-17.65, Z:-4.02 [[ 9.99846935e-01 -1.69532680e-02 4.32363482e-03 2.87726049e+02] [ 1.69546181e-02 9.99856222e-01 -2.75793514e-04 -1.76521646e+01] [-4.31833757e-03 3.49056876e-04 9.99990615e-01 -4.02193612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.970371743 meters 0.04090567351125331 Centerline is valid? [True, True] Translation: X:287.76, Y:-17.65, Z:-4.02 [[ 9.99879069e-01 -1.47926220e-02 4.79857255e-03 2.87757197e+02] [ 1.47942621e-02 9.99890512e-01 -3.06464390e-04 -1.76480698e+01] [-4.79351376e-03 3.77418669e-04 9.99988440e-01 -4.02101181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000371743 meters 0.04102195008260768 Centerline is valid? [True, True] Translation: X:287.79, Y:-17.65, Z:-4.02 [[ 9.99894532e-01 -1.35772638e-02 5.15582120e-03 2.87787884e+02] [ 1.35791409e-02 9.99907745e-01 -3.29248353e-04 -1.76499931e+01] [-5.15087526e-03 3.99225251e-04 9.99986654e-01 -4.02127179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.030371743 meters 0.04170123029129194 Centerline is valid? [True, True] Translation: X:287.82, Y:-17.65, Z:-4.02 [[ 9.99912512e-01 -1.23636002e-02 4.70220356e-03 2.87818312e+02] [ 1.23651496e-02 9.99923503e-01 -3.00578968e-04 -1.76525781e+01] [-4.69812762e-03 3.58696121e-04 9.99988899e-01 -4.02227366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060371743 meters 0.040588461180903326 Centerline is valid? [True, True] Translation: X:287.85, Y:-17.65, Z:-4.02 [[ 9.99958049e-01 -8.53191869e-03 3.33263606e-03 2.87848131e+02] [ 8.53267693e-03 9.99963573e-01 -2.13367702e-04 -1.76513160e+01] [-3.33069423e-03 2.41795058e-04 9.99994424e-01 -4.02345319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.090371743 meters 0.03937698102024201 Centerline is valid? [True, True] Translation: X:287.88, Y:-17.65, Z:-4.02 [[ 9.99978620e-01 -5.96632594e-03 2.67610287e-03 2.87878843e+02] [ 5.96680527e-03 9.99982184e-01 -1.71166686e-04 -1.76506686e+01] [-2.67503396e-03 1.87130811e-04 9.99996405e-01 -4.02380592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120371743 meters 0.03645462887214883 Centerline is valid? [True, True] Translation: X:287.91, Y:-17.65, Z:-4.02 [[ 9.99996964e-01 5.97927684e-04 2.39035152e-03 2.87909785e+02] [-5.97564363e-04 9.99999810e-01 -1.52706130e-04 -1.76466600e+01] [-2.39044238e-03 1.51277277e-04 9.99997131e-01 -4.02432406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.150371743 meters 0.035111050270823785 Centerline is valid? [True, True] Translation: X:287.94, Y:-17.65, Z:-4.02 [[ 9.99987780e-01 4.39431038e-03 2.26509312e-03 2.87940797e+02] [-4.39399377e-03 9.99990336e-01 -1.44736430e-04 -1.76453502e+01] [-2.26570725e-03 1.34781856e-04 9.99997424e-01 -4.02414600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180371743 meters 0.03347569032083736 Centerline is valid? [True, True] Translation: X:287.97, Y:-17.64, Z:-4.02 [[ 9.99926280e-01 1.15826633e-02 3.64379356e-03 2.87971115e+02] [-1.15818902e-02 9.99932900e-01 -2.33202752e-04 -1.76425372e+01] [-3.64625018e-03 1.90983543e-04 9.99993334e-01 -4.02327727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.210371743 meters 0.02898755014009809 Centerline is valid? [True, True] Translation: X:288.00, Y:-17.64, Z:-4.02 [[ 9.99845883e-01 1.70416789e-02 4.21804679e-03 2.88001704e+02] [-1.70406914e-02 9.99854760e-01 -2.69943651e-04 -1.76360707e+01] [-4.22203445e-03 1.98023615e-04 9.99991068e-01 -4.02228582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240371743 meters 0.03047572568593074 Centerline is valid? [True, True] Translation: X:288.03, Y:-17.64, Z:-4.02 [[ 9.99809376e-01 1.91147896e-02 3.97950847e-03 2.88029894e+02] [-1.91139244e-02 9.99817280e-01 -2.55338917e-04 -1.76398227e+01] [-3.98366208e-03 1.79226219e-04 9.99992049e-01 -4.02426484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.270371743 meters 0.02799275152803766 Centerline is valid? [True, True] Translation: X:288.06, Y:-17.64, Z:-4.02 [[ 9.99780232e-01 2.06304806e-02 3.72442973e-03 2.88059075e+02] [-2.06297340e-02 9.99787156e-01 -2.38770890e-04 -1.76366506e+01] [-3.72856296e-03 1.61884422e-04 9.99993036e-01 -4.02472122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300371743 meters 0.027888801193278297 Centerline is valid? [True, True] Translation: X:288.09, Y:-17.64, Z:-4.03 [[ 9.99757890e-01 2.18312794e-02 2.74903855e-03 2.88088217e+02] [-2.18308770e-02 9.99761662e-01 -1.76296904e-04 -1.76376075e+01] [-2.75223214e-03 1.16240298e-04 9.99996206e-01 -4.02638213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.330371743 meters 0.030355942536008748 Centerline is valid? [True, True] Translation: X:288.12, Y:-17.64, Z:-4.03 [[ 9.99747763e-01 2.24370265e-02 9.95271476e-04 2.88115513e+02] [-2.24369733e-02 9.99748257e-01 -6.45976960e-05 -1.76421924e+01] [-9.96470305e-04 4.22505225e-05 9.99999503e-01 -4.03023781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36037174300003 meters 0.029521089375719664 Centerline is valid? [True, True] Translation: X:288.14, Y:-17.64, Z:-4.03 [[ 9.99771771e-01 2.13623651e-02 2.34465399e-04 2.88144399e+02] [-2.13623619e-02 9.99771799e-01 -1.58640117e-05 -1.76414470e+01] [-2.34750787e-04 1.08516564e-05 9.99999972e-01 -4.03093262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.390371743 meters 0.030102483634579374 Centerline is valid? [True, True] Translation: X:288.17, Y:-17.64, Z:-4.03 [[ 9.99797113e-01 2.01417781e-02 2.03974769e-04 2.88173385e+02] [-2.01417757e-02 9.99797134e-01 -1.39083355e-05 -1.76437890e+01] [-2.04213528e-04 9.79709967e-06 9.99999979e-01 -4.03101264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42037174300003 meters 0.030716013954769868 Centerline is valid? [True, True] Translation: X:288.20, Y:-17.65, Z:-4.03 [[ 9.99819713e-01 1.89864184e-02 2.38151424e-04 2.88201488e+02] [-1.89864150e-02 9.99819742e-01 -1.62887800e-05 -1.76466234e+01] [-2.38417761e-04 1.17642016e-05 9.99999972e-01 -4.03121687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.450371743 meters 0.03269944171173122 Centerline is valid? [True, True] Translation: X:288.23, Y:-17.65, Z:-4.03 [[ 9.99866455e-01 1.63222421e-02 8.10715399e-04 2.88229745e+02] [-1.63222052e-02 9.99866783e-01 -5.21152010e-05 -1.76511042e+01] [-8.11458035e-04 3.88755781e-05 9.99999670e-01 -4.03068679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.480371743 meters 0.033720999335217494 Centerline is valid? [True, True] Translation: X:288.26, Y:-17.65, Z:-4.03 [[ 9.99896811e-01 1.43068167e-02 1.29670262e-03 2.88258762e+02] [-1.43067213e-02 9.99897650e-01 -8.28671248e-05 -1.76538712e+01] [-1.29775547e-03 6.43070109e-05 9.99999156e-01 -4.03035463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.510371743 meters 0.03655818986801448 Centerline is valid? [True, True] Translation: X:288.29, Y:-17.66, Z:-4.03 [[ 9.99947213e-01 1.01857992e-02 1.34935943e-03 2.88287359e+02] [-1.01856925e-02 9.99948121e-01 -8.59255367e-05 -1.76592974e+01] [-1.35016465e-03 7.21768408e-05 9.99999086e-01 -4.03010720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.540371743 meters 0.03720974529313428 Centerline is valid? [True, True] Translation: X:288.32, Y:-17.66, Z:-4.03 [[ 9.99964209e-01 8.34292293e-03 1.40609624e-03 2.88317045e+02] [-8.34280534e-03 9.99965194e-01 -8.94744732e-05 -1.76621462e+01] [-1.40679378e-03 7.77404835e-05 9.99999007e-01 -4.03008916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.570371743 meters 0.041176781945873125 Centerline is valid? [True, True] Translation: X:288.35, Y:-17.67, Z:-4.03 [[ 9.99990418e-01 4.07745379e-03 1.59349808e-03 2.88346330e+02] [-4.07729778e-03 9.99991683e-01 -1.01144449e-04 -1.76694041e+01] [-1.59389724e-03 9.46463134e-05 9.99998725e-01 -4.03029907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.600371743 meters 0.03347615063210504 Centerline is valid? [True, True] Translation: X:288.38, Y:-17.66, Z:-4.03 [[ 9.99996114e-01 2.02470415e-03 1.91632127e-03 2.88376586e+02] [-2.02447462e-03 9.99997943e-01 -1.21706276e-04 -1.76597237e+01] [-1.91656375e-03 1.17826260e-04 9.99998156e-01 -4.02760188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.630371743 meters 0.046424032231818124 Centerline is valid? [True, True] Translation: X:288.41, Y:-17.68, Z:-4.03 [[ 9.99995383e-01 -1.41538225e-03 2.68894027e-03 2.88405395e+02] [ 1.41584466e-03 9.99998983e-01 -1.70070490e-04 -1.76798510e+01] [-2.68869682e-03 1.73876827e-04 9.99996370e-01 -4.02967446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.660371743 meters 0.03685388186630006 Centerline is valid? [True, True] Translation: X:288.44, Y:-17.67, Z:-4.03 [[ 9.99992285e-01 -2.94078401e-03 2.60405885e-03 2.88437531e+02] [ 2.94122177e-03 9.99995661e-01 -1.64296600e-04 -1.76683312e+01] [-2.60356439e-03 1.71954447e-04 9.99996596e-01 -4.02746401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.690371743 meters 0.03566929565086311 Centerline is valid? [True, True] Translation: X:288.47, Y:-17.67, Z:-4.03 [[ 9.99979818e-01 -5.94722222e-03 2.23455465e-03 2.88468769e+02] [ 5.94755252e-03 9.99982303e-01 -1.41195224e-04 -1.76693726e+01] [-2.23367538e-03 1.54482506e-04 9.99997493e-01 -4.02785526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.720371743 meters 0.03723864916563374 Centerline is valid? [True, True] Translation: X:288.50, Y:-17.67, Z:-4.03 [[ 9.99972152e-01 -7.18430574e-03 2.02007433e-03 2.88500570e+02] [ 7.18457688e-03 9.99974183e-01 -1.27000340e-04 -1.76742729e+01] [-2.01910977e-03 1.41510183e-04 9.99997952e-01 -4.02883299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.750371743 meters 0.03754921053513578 Centerline is valid? [True, True] Translation: X:288.53, Y:-17.68, Z:-4.03 [[ 9.99951907e-01 -9.74407403e-03 1.11231322e-03 2.88531576e+02] [ 9.74415817e-03 9.99952522e-01 -7.02554823e-05 -1.76760889e+01] [-1.11157584e-03 8.10906595e-05 9.99999379e-01 -4.02909984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.780371743 meters 0.03836779188128708 Centerline is valid? [True, True] Translation: X:288.56, Y:-17.68, Z:-4.03 [[ 9.99945252e-01 -1.03389048e-02 1.61261040e-03 2.88563814e+02] [ 1.03390816e-02 9.99946545e-01 -1.01322156e-04 -1.76797348e+01] [-1.61147664e-03 1.17989520e-04 9.99998695e-01 -4.02946695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.810371743 meters 0.040412149295296296 Centerline is valid? [True, True] Translation: X:288.59, Y:-17.69, Z:-4.03 [[ 9.99937823e-01 -1.10815653e-02 1.24489091e-03 2.88594217e+02] [ 1.10816716e-02 9.99938593e-01 -7.85420327e-05 -1.76854153e+01] [-1.24394410e-03 9.23326215e-05 9.99999222e-01 -4.03029371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.840371743 meters 0.03988812678206537 Centerline is valid? [True, True] Translation: X:288.63, Y:-17.69, Z:-4.03 [[ 9.99936074e-01 -1.12395323e-02 1.23352261e-03 2.88626274e+02] [ 1.12396363e-02 9.99936830e-01 -7.74175423e-05 -1.76866971e+01] [-1.23257456e-03 9.12769389e-05 9.99999236e-01 -4.03058614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.870371743 meters 0.04112745648665777 Centerline is valid? [True, True] Translation: X:288.66, Y:-17.69, Z:-4.03 [[ 9.99939494e-01 -1.09580188e-02 9.64850537e-04 2.88657651e+02] [ 1.09580824e-02 9.99939957e-01 -6.06437947e-05 -1.76899586e+01] [-9.64128069e-04 7.12130370e-05 9.99999533e-01 -4.03149933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.900371743 meters 0.04112745648665777 Centerline is valid? [True, True] Translation: X:288.69, Y:-17.69, Z:-4.03 [[ 9.99940266e-01 -1.08873529e-02 9.64861879e-04 2.88689367e+02] [ 1.08874162e-02 9.99940729e-01 -6.04660498e-05 -1.76920396e+01] [-9.64146376e-04 7.09672908e-05 9.99999533e-01 -4.03194547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.930371743 meters 0.04124211921086919 Centerline is valid? [True, True] Translation: X:288.72, Y:-17.69, Z:-4.03 [[ 9.99946298e-01 -1.03392658e-02 7.07923550e-04 2.88721256e+02] [ 1.03392997e-02 9.99946547e-01 -4.41539289e-05 -1.76927501e+01] [-7.07429190e-04 5.14709915e-05 9.99999748e-01 -4.03199527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.960371743 meters 0.039117302226007226 Centerline is valid? [True, True] Translation: X:288.75, Y:-17.69, Z:-4.03 [[ 9.99945247e-01 -1.04584648e-02 3.51751874e-04 2.88753619e+02] [ 1.04584730e-02 9.99945308e-01 -2.14446180e-05 -1.76904665e+01] [-3.51508359e-04 2.51222313e-05 9.99999938e-01 -4.03144067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.990371743 meters 0.04280903071721551 Centerline is valid? [True, True] Translation: X:288.78, Y:-17.70, Z:-4.03 [[ 9.99942816e-01 -1.06938875e-02 7.02994408e-05 2.88784486e+02] [ 1.06938878e-02 9.99942819e-01 -3.73786337e-06 -1.76971034e+01] [-7.02554490e-05 4.48942397e-06 9.99999998e-01 -4.03331686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.020371743 meters 0.042863827010191285 Centerline is valid? [True, True] Translation: X:288.82, Y:-17.70, Z:-4.03 [[ 9.99938510e-01 -1.10859047e-02 -2.82144749e-04 2.88816764e+02] [ 1.10859105e-02 9.99938549e-01 1.90247202e-05 -1.76992649e+01] [ 2.81916504e-04 -2.21513818e-05 9.99999960e-01 -4.03431654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.050371743 meters 0.04556122214488704 Centerline is valid? [True, True] Translation: X:288.85, Y:-17.70, Z:-4.04 [[ 9.99908375e-01 -1.35038858e-02 -9.41339200e-04 2.88846184e+02] [ 1.35039484e-02 9.99908816e-01 6.02128784e-05 -1.77048888e+01] [ 9.40440257e-04 -7.29191574e-05 9.99999555e-01 -4.03578872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.080371743 meters 0.043112781038176666 Centerline is valid? [True, True] Translation: X:288.88, Y:-17.70, Z:-4.04 [[ 9.99890991e-01 -1.47278020e-02 -1.04786963e-03 2.88878311e+02] [ 1.47278814e-02 9.99891537e-01 6.80925906e-05 -1.77034203e+01] [ 1.04675312e-03 -8.35180676e-05 9.99999449e-01 -4.03543435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11037174300003 meters 0.044916916967987885 Centerline is valid? [True, True] Translation: X:288.91, Y:-17.71, Z:-4.04 [[ 9.99841317e-01 -1.77844607e-02 -1.02622215e-03 2.88908595e+02] [ 1.77845375e-02 9.99841840e-01 6.57763643e-05 -1.77082057e+01] [ 1.02489005e-03 -8.40168131e-05 9.99999471e-01 -4.03582353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.140371743 meters 0.04516441338806394 Centerline is valid? [True, True] Translation: X:288.94, Y:-17.71, Z:-4.04 [[ 9.99819311e-01 -1.89890318e-02 -8.73341096e-04 2.88940525e+02] [ 1.89890888e-02 9.99819689e-01 5.69870032e-05 -1.77112430e+01] [ 8.72101495e-04 -7.35606579e-05 9.99999617e-01 -4.03665841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17037174300003 meters 0.04862104257740007 Centerline is valid? [True, True] Translation: X:288.97, Y:-17.72, Z:-4.04 [[ 9.99796742e-01 -2.01304730e-02 -1.11318164e-03 2.88970799e+02] [ 2.01305669e-02 9.99797357e-01 7.32352938e-05 -1.77181975e+01] [ 1.11148180e-03 -9.56293856e-05 9.99999378e-01 -4.03776861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.200371743 meters 0.04741152686028542 Centerline is valid? [True, True] Translation: X:289.00, Y:-17.72, Z:-4.04 [[ 9.99798405e-01 -2.00351371e-02 -1.31974346e-03 2.89003346e+02] [ 2.00352678e-02 9.99799270e-01 8.58562583e-05 -1.77184962e+01] [ 1.31775840e-03 -1.12280364e-04 9.99999125e-01 -4.03781086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.230371743 meters 0.04706163578312009 Centerline is valid? [True, True] Translation: X:289.04, Y:-17.72, Z:-4.04 [[ 9.99817358e-01 -1.90593136e-02 -1.41207664e-03 2.89035590e+02] [ 1.90594623e-02 9.99818348e-01 9.18800587e-05 -1.77189804e+01] [ 1.41006896e-03 -1.18776699e-04 9.99998999e-01 -4.03809688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.260371743 meters 0.04218883570550167 Centerline is valid? [True, True] Translation: X:289.07, Y:-17.71, Z:-4.04 [[ 9.99845373e-01 -1.75387879e-02 -1.27291535e-03 2.89067221e+02] [ 1.75389071e-02 9.99846178e-01 8.24986955e-05 -1.77119866e+01] [ 1.27127262e-03 -1.04811483e-04 9.99999186e-01 -4.03675493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.290371743 meters 0.04363742733933547 Centerline is valid? [True, True] Translation: X:289.10, Y:-17.72, Z:-4.04 [[ 9.99865072e-01 -1.63875916e-02 -1.13373611e-03 2.89097336e+02] [ 1.63876866e-02 9.99865710e-01 7.46142461e-05 -1.77153318e+01] [ 1.13236111e-03 -9.31834905e-05 9.99999355e-01 -4.03736358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.320371743 meters 0.04267436632015871 Centerline is valid? [True, True] Translation: X:289.13, Y:-17.72, Z:-4.04 [[ 9.99876831e-01 -1.56602324e-02 -1.03969623e-03 2.89129762e+02] [ 1.56603117e-02 9.99877367e-01 6.81605180e-05 -1.77153082e+01] [ 1.03850132e-03 -8.44340898e-05 9.99999457e-01 -4.03781041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.350371743 meters 0.048637423832542596 Centerline is valid? [True, True] Translation: X:289.16, Y:-17.72, Z:-4.04 [[ 9.99890310e-01 -1.47581583e-02 -1.25076227e-03 2.89160075e+02] [ 1.47582718e-02 9.99891087e-01 8.16078854e-05 -1.77247411e+01] [ 1.24942167e-03 -1.00058023e-04 9.99999214e-01 -4.04017446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380371743 meters 0.04931602245942891 Centerline is valid? [True, True] Translation: X:289.19, Y:-17.73, Z:-4.04 [[ 9.99906041e-01 -1.35157197e-02 -2.28782692e-03 2.89191345e+02] [ 1.35160982e-02 9.99908642e-01 1.50054626e-04 -1.77252636e+01] [ 2.28558981e-03 -1.80963020e-04 9.99997372e-01 -4.04162357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.410371743 meters 0.041579505019173055 Centerline is valid? [True, True] Translation: X:289.22, Y:-17.72, Z:-4.04 [[ 9.99907654e-01 -1.32949260e-02 -2.81558405e-03 2.89224238e+02] [ 1.32954953e-02 9.99911594e-01 1.83584129e-04 -1.77150311e+01] [ 2.81289439e-03 -2.21001760e-04 9.99996019e-01 -4.04000228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440371743 meters 0.040424470071520203 Centerline is valid? [True, True] Translation: X:289.26, Y:-17.71, Z:-4.04 [[ 9.99911234e-01 -1.29068056e-02 -3.30745374e-03 2.89256307e+02] [ 1.29075893e-02 9.99916670e-01 2.15726681e-04 -1.77123685e+01] [ 3.30439379e-03 -2.58398787e-04 9.99994507e-01 -4.03996137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.470371743 meters 0.04284850060851607 Centerline is valid? [True, True] Translation: X:289.29, Y:-17.72, Z:-4.04 [[ 9.99912575e-01 -1.29104535e-02 -2.85711425e-03 2.89287643e+02] [ 1.29110384e-02 9.99916632e-01 1.86387695e-04 -1.77162792e+01] [ 2.85446971e-03 -2.23259712e-04 9.99995901e-01 -4.04105908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500371743 meters 0.04166625264515729 Centerline is valid? [True, True] Translation: X:289.32, Y:-17.72, Z:-4.04 [[ 9.99911494e-01 -1.30761500e-02 -2.45338778e-03 2.89320309e+02] [ 1.30765831e-02 9.99914485e-01 1.60578065e-04 -1.77157717e+01] [ 2.45107824e-03 -1.92645782e-04 9.99996978e-01 -4.04111053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.530371743 meters 0.04115647711425283 Centerline is valid? [True, True] Translation: X:289.35, Y:-17.72, Z:-4.04 [[ 9.99905198e-01 -1.36686912e-02 -1.66210386e-03 2.89352683e+02] [ 1.36688915e-02 9.99906570e-01 1.09237183e-04 -1.77156326e+01] [ 1.66045544e-03 -1.31945944e-04 9.99998613e-01 -4.04131477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560371743 meters 0.042045502983462074 Centerline is valid? [True, True] Translation: X:289.38, Y:-17.72, Z:-4.04 [[ 9.99906732e-01 -1.36341913e-02 -7.97698020e-04 2.89384453e+02] [ 1.36342379e-02 9.99907048e-01 5.29980190e-05 -1.77165717e+01] [ 7.96901287e-04 -6.38690805e-05 9.99999680e-01 -4.04079692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.590371743 meters 0.04101823355594385 Centerline is valid? [True, True] Translation: X:289.42, Y:-17.72, Z:-4.04 [[ 9.99902716e-01 -1.39455323e-02 -2.85410209e-04 2.89416512e+02] [ 1.39455385e-02 9.99902756e-01 1.96345775e-05 -1.77161607e+01] [ 2.85108639e-04 -2.36128664e-05 9.99999959e-01 -4.04028840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620371743 meters 0.04353455410482132 Centerline is valid? [True, True] Translation: X:289.45, Y:-17.72, Z:-4.04 [[ 9.99892072e-01 -1.46913811e-02 8.47436864e-05 2.89447235e+02] [ 1.46913815e-02 9.99892076e-01 -4.78389145e-06 -1.77204317e+01] [-8.46642587e-05 6.02837698e-06 9.99999996e-01 -4.04090935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.650371743 meters 0.04457223447250599 Centerline is valid? [True, True] Translation: X:289.48, Y:-17.72, Z:-4.04 [[ 9.99864201e-01 -1.64742786e-02 4.22699738e-04 2.89478317e+02] [ 1.64742916e-02 9.99864289e-01 -2.71299705e-05 -1.77227123e+01] [-4.22195427e-04 3.40899650e-05 9.99999910e-01 -4.04177782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680371743 meters 0.04705162786260121 Centerline is valid? [True, True] Translation: X:289.51, Y:-17.73, Z:-4.04 [[ 9.99851465e-01 -1.72316937e-02 3.42955668e-04 2.89509351e+02] [ 1.72317022e-02 9.99851523e-01 -2.16911655e-05 -1.77277050e+01] [-3.42530972e-04 2.75976535e-05 9.99999941e-01 -4.04271221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.710371743 meters 0.049767844339815896 Centerline is valid? [True, True] Translation: X:289.54, Y:-17.73, Z:-4.04 [[ 9.99824240e-01 -1.87426863e-02 4.47270356e-04 2.89539310e+02] [ 1.87427012e-02 9.99824340e-01 -2.90173024e-05 -1.77320836e+01] [-4.46647927e-04 3.73952570e-05 9.99999900e-01 -4.04356423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740371743 meters 0.04823807329420371 Centerline is valid? [True, True] Translation: X:289.57, Y:-17.73, Z:-4.04 [[ 9.99819431e-01 -1.90018937e-02 1.81277506e-04 2.89571194e+02] [ 1.90018961e-02 9.99819448e-01 -1.11290450e-05 -1.77310089e+01] [-1.81033303e-04 1.45716518e-05 9.99999984e-01 -4.04358439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.770371743 meters 0.05030242699048321 Centerline is valid? [True, True] Translation: X:289.60, Y:-17.73, Z:-4.05 [[ 9.99820920e-01 -1.89119945e-02 -6.81319224e-04 2.89602328e+02] [ 1.89120298e-02 9.99821151e-01 4.53730193e-05 -1.77335411e+01] [ 6.80339276e-04 -5.82500234e-05 9.99999767e-01 -4.04502510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800371743 meters 0.043118395386608395 Centerline is valid? [True, True] Translation: X:289.64, Y:-17.72, Z:-4.04 [[ 9.99829621e-01 -1.84044671e-02 -1.41567228e-03 2.89635182e+02] [ 1.84046183e-02 9.99830616e-01 9.38777092e-05 -1.77246007e+01] [ 1.41370472e-03 -1.19916622e-04 9.99998994e-01 -4.04443270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.830371743 meters 0.0515540688977692 Centerline is valid? [True, True] Translation: X:289.67, Y:-17.74, Z:-4.05 [[ 9.99842506e-01 -1.74802057e-02 -3.06692858e-03 2.89665459e+02] [ 1.74809072e-02 9.99847177e-01 2.02098284e-04 -1.77357700e+01] [ 3.06292716e-03 -2.55679148e-04 9.99995277e-01 -4.04837472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86037174300003 meters 0.04459344357864775 Centerline is valid? [True, True] Translation: X:289.70, Y:-17.73, Z:-4.05 [[ 9.99850720e-01 -1.69468892e-02 -3.36757432e-03 2.89698160e+02] [ 1.69477335e-02 9.99856352e-01 2.22320067e-04 -1.77271933e+01] [ 3.36332294e-03 -2.79359631e-04 9.99994305e-01 -4.04717186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.890371743 meters 0.045298324950239194 Centerline is valid? [True, True] Translation: X:289.73, Y:-17.73, Z:-4.05 [[ 9.99875914e-01 -1.52881974e-02 -3.79825591e-03 2.89729165e+02] [ 1.52892577e-02 9.99883081e-01 2.50255363e-04 -1.77272432e+01] [ 3.79398587e-03 -3.08296824e-04 9.99992755e-01 -4.04780510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92037174300003 meters 0.04439949279982114 Centerline is valid? [True, True] Translation: X:289.76, Y:-17.73, Z:-4.05 [[ 9.99892113e-01 -1.41520778e-02 -3.93451192e-03 2.89760966e+02] [ 1.41532084e-02 9.99899805e-01 2.59671521e-04 -1.77267022e+01] [ 3.93044281e-03 -3.15329473e-04 9.99992226e-01 -4.04753834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.950371743 meters 0.04356379882798498 Centerline is valid? [True, True] Translation: X:289.79, Y:-17.72, Z:-4.05 [[ 9.99926388e-01 -1.17463868e-02 -3.03987815e-03 2.89792003e+02] [ 1.17470499e-02 9.99930981e-01 2.00352005e-04 -1.77242153e+01] [ 3.03731493e-03 -2.36046857e-04 9.99995359e-01 -4.04653824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.980371743 meters 0.04184351536748518 Centerline is valid? [True, True] Translation: X:289.82, Y:-17.72, Z:-4.05 [[ 9.99938825e-01 -1.08178382e-02 -2.30652299e-03 2.89824130e+02] [ 1.08182197e-02 9.99941470e-01 1.53004581e-04 -1.77225995e+01] [ 2.30473281e-03 -1.77947693e-04 9.99997328e-01 -4.04605672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.010371743 meters 0.04082462298917799 Centerline is valid? [True, True] Translation: X:289.86, Y:-17.72, Z:-4.05 [[ 9.99952658e-01 -9.54401309e-03 -1.89570936e-03 2.89855508e+02] [ 9.54426807e-03 9.99954445e-01 1.25501333e-04 -1.77226239e+01] [ 1.89442521e-03 -1.43588549e-04 9.99998195e-01 -4.04569217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.040371743 meters 0.041701396197330105 Centerline is valid? [True, True] Translation: X:289.89, Y:-17.72, Z:-4.05 [[ 9.99968863e-01 -7.84045310e-03 -8.94783539e-04 2.89885747e+02] [ 7.84051038e-03 9.99969261e-01 6.05246939e-05 -1.77246781e+01] [ 8.94281492e-04 -6.75383689e-05 9.99999598e-01 -4.04643901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.070371743 meters 0.04363489715739735 Centerline is valid? [True, True] Translation: X:289.92, Y:-17.73, Z:-4.05 [[ 9.99975712e-01 -6.87980466e-03 -1.11551380e-03 2.89916926e+02] [ 6.87989199e-03 9.99976331e-01 7.44695332e-05 -1.77286230e+01] [ 1.11497506e-03 -8.21423389e-05 9.99999375e-01 -4.04745449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.100371743 meters 0.04238927516582009 Centerline is valid? [True, True] Translation: X:289.95, Y:-17.73, Z:-4.05 [[ 9.99977365e-01 -6.46763697e-03 -1.85429177e-03 2.89948746e+02] [ 6.46787733e-03 9.99979075e-01 1.23660799e-04 -1.77289053e+01] [ 1.85345318e-03 -1.35651331e-04 9.99998273e-01 -4.04803100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.130371743 meters 0.044986461370596406 Centerline is valid? [True, True] Translation: X:289.98, Y:-17.73, Z:-4.05 [[ 9.99976108e-01 -6.39274170e-03 -2.62989329e-03 2.89979241e+02] [ 6.39322619e-03 9.99979548e-01 1.75857772e-04 -1.77345700e+01] [ 2.62871529e-03 -1.92667073e-04 9.99996526e-01 -4.04974373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.160371743 meters 0.04395762303309344 Centerline is valid? [True, True] Translation: X:290.01, Y:-17.74, Z:-4.05 [[ 9.99975745e-01 -6.50117846e-03 -2.49874388e-03 2.90010997e+02] [ 6.50161387e-03 9.99978850e-01 1.66168085e-04 -1.77354174e+01] [ 2.49761074e-03 -1.82409922e-04 9.99996864e-01 -4.05009117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.190371743 meters 0.04276716685519561 Centerline is valid? [True, True] Translation: X:290.04, Y:-17.74, Z:-4.05 [[ 9.99973515e-01 -6.29860533e-03 -3.64641432e-03 2.90043438e+02] [ 6.29953317e-03 9.99980128e-01 2.43022219e-04 -1.77361123e+01] [ 3.64481116e-03 -2.65986490e-04 9.99993322e-01 -4.05093661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.220371743 meters 0.0387948334214343 Centerline is valid? [True, True] Translation: X:290.08, Y:-17.73, Z:-4.05 [[ 9.99972964e-01 -6.12471736e-03 -4.06923752e-03 2.90075397e+02] [ 6.12586961e-03 9.99981200e-01 2.70758435e-04 -1.77328231e+01] [ 4.06750270e-03 -2.95678733e-04 9.99991684e-01 -4.05055014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.250371743 meters 0.04698872292152706 Centerline is valid? [True, True] Translation: X:290.11, Y:-17.75, Z:-4.05 [[ 9.99973515e-01 -6.12694362e-03 -3.92797414e-03 2.90105295e+02] [ 6.12801787e-03 9.99981189e-01 2.61508796e-04 -1.77466331e+01] [ 3.92629801e-03 -2.85572566e-04 9.99992251e-01 -4.05373569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.280371743 meters 0.04167602631325059 Centerline is valid? [True, True] Translation: X:290.14, Y:-17.74, Z:-4.05 [[ 9.99976825e-01 -6.05865811e-03 -3.10512062e-03 2.90136838e+02] [ 6.05932974e-03 9.99981621e-01 2.06936155e-04 -1.77419435e+01] [ 3.10380980e-03 -2.25746309e-04 9.99995158e-01 -4.05113817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.310371743 meters 0.04027755798211261 Centerline is valid? [True, True] Translation: X:290.17, Y:-17.74, Z:-4.05 [[ 9.99981810e-01 -5.58389315e-03 -2.28027105e-03 2.90168549e+02] [ 5.58425462e-03 9.99984396e-01 1.52184653e-04 -1.77427422e+01] [ 2.27938569e-03 -1.64915499e-04 9.99997389e-01 -4.05035110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.340371743 meters 0.04808702783311322 Centerline is valid? [True, True] Translation: X:290.20, Y:-17.76, Z:-4.05 [[ 9.99986334e-01 -4.69757848e-03 -2.29425437e-03 2.90197747e+02] [ 4.69794158e-03 9.99988953e-01 1.52903607e-04 -1.77562363e+01] [ 2.29351075e-03 -1.63679790e-04 9.99997357e-01 -4.05327250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.370371743 meters 0.03841126017721705 Centerline is valid? [True, True] Translation: X:290.23, Y:-17.74, Z:-4.05 [[ 9.99990372e-01 -3.79226024e-03 -2.20782286e-03 2.90229580e+02] [ 3.79259442e-03 9.99992797e-01 1.47196530e-04 -1.77446080e+01] [ 2.20724875e-03 -1.55568489e-04 9.99997552e-01 -4.05093497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.400371743 meters 0.03919392823039823 Centerline is valid? [True, True] Translation: X:290.26, Y:-17.75, Z:-4.05 [[ 9.99994605e-01 -1.68877311e-03 -2.81760368e-03 2.90259910e+02] [ 1.68930902e-03 9.99998555e-01 1.87830683e-04 -1.77477373e+01] [ 2.81728240e-03 -1.92589473e-04 9.99996013e-01 -4.05188590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.430371743 meters 0.03716854356034256 Centerline is valid? [True, True] Translation: X:290.29, Y:-17.75, Z:-4.05 [[ 9.99995656e-01 -8.54219174e-04 -2.82092394e-03 2.90290329e+02] [ 8.54752328e-04 9.99999617e-01 1.87799719e-04 -1.77468337e+01] [ 2.82076244e-03 -1.90210094e-04 9.99996004e-01 -4.05157541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.460371743 meters 0.04019778813200737 Centerline is valid? [True, True] Translation: X:290.32, Y:-17.75, Z:-4.05 [[ 9.99994064e-01 9.44090067e-04 -3.31379125e-03 2.90319532e+02] [-9.43365178e-04 9.99999531e-01 2.20305502e-04 -1.77535115e+01] [ 3.31399768e-03 -2.17178078e-04 9.99994485e-01 -4.05307467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.490371743 meters 0.037345564627322775 Centerline is valid? [True, True] Translation: X:290.35, Y:-17.75, Z:-4.05 [[ 9.99991554e-01 2.69017305e-03 -3.10710063e-03 2.90349474e+02] [-2.68954529e-03 9.99996362e-01 2.06200526e-04 -1.77517707e+01] [ 3.10764404e-03 -1.97842096e-04 9.99995152e-01 -4.05242084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.520371743 meters 0.03465742433789672 Centerline is valid? [True, True] Translation: X:290.38, Y:-17.75, Z:-4.05 [[ 9.99989654e-01 3.31722042e-03 -3.11248354e-03 2.90378905e+02] [-3.31659839e-03 9.99994479e-01 2.04987072e-04 -1.77497748e+01] [ 3.11314634e-03 -1.94662094e-04 9.99995135e-01 -4.05141805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.550371743 meters 0.03583828527188419 Centerline is valid? [True, True] Translation: X:290.41, Y:-17.75, Z:-4.05 [[ 9.99986756e-01 4.40621900e-03 -2.65940349e-03 2.90406127e+02] [-4.40576886e-03 9.99990279e-01 1.75095542e-04 -1.77547411e+01] [ 2.66014915e-03 -1.63376506e-04 9.99996448e-01 -4.05256256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.580371743 meters 0.0362322933476487 Centerline is valid? [True, True] Translation: X:290.43, Y:-17.76, Z:-4.05 [[ 9.99987358e-01 4.43999487e-03 -2.36022612e-03 2.90433727e+02] [-4.43964120e-03 9.99990133e-01 1.55063159e-04 -1.77581158e+01] [ 2.36089131e-03 -1.44582641e-04 9.99997203e-01 -4.05317554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61037174300003 meters 0.03632941475739359 Centerline is valid? [True, True] Translation: X:290.46, Y:-17.76, Z:-4.05 [[ 9.99986972e-01 4.59475258e-03 -2.22359466e-03 2.90462562e+02] [-4.59443898e-03 9.99989435e-01 1.46120304e-04 -1.77614252e+01] [ 2.22424255e-03 -1.35902231e-04 9.99997517e-01 -4.05361459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.640371743 meters 0.03511259774099172 Centerline is valid? [True, True] Translation: X:290.49, Y:-17.76, Z:-4.05 [[ 9.99986996e-01 4.38242272e-03 -2.60819668e-03 2.90491209e+02] [-4.38199061e-03 9.99990384e-01 1.71365264e-04 -1.77624305e+01] [ 2.60892260e-03 -1.59933942e-04 9.99996584e-01 -4.05377796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67037174300003 meters 0.034313065511161145 Centerline is valid? [True, True] Translation: X:290.52, Y:-17.76, Z:-4.05 [[ 9.99987873e-01 3.96769582e-03 -2.91728143e-03 2.90520343e+02] [-3.96715379e-03 9.99992112e-01 1.91563858e-04 -1.77639207e+01] [ 2.91801849e-03 -1.79988231e-04 9.99995726e-01 -4.05471868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.700371743 meters 0.036710488767228135 Centerline is valid? [True, True] Translation: X:290.55, Y:-17.77, Z:-4.06 [[ 9.99990880e-01 2.41005961e-03 -3.52586363e-03 2.90548694e+02] [-2.40925721e-03 9.99997071e-01 2.31806215e-04 -1.77727553e+01] [ 3.52641197e-03 -2.23309388e-04 9.99993757e-01 -4.05713404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.730371743 meters 0.03421575698822756 Centerline is valid? [True, True] Translation: X:290.58, Y:-17.77, Z:-4.06 [[ 9.99992073e-01 1.27070896e-03 -3.77361321e-03 2.90577750e+02] [-1.26978361e-03 9.99999163e-01 2.47602274e-04 -1.77719289e+01] [ 3.77392469e-03 -2.42808638e-04 9.99992849e-01 -4.05643658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.760371743 meters 0.03732992952627943 Centerline is valid? [True, True] Translation: X:290.61, Y:-17.78, Z:-4.06 [[ 9.99991676e-01 -1.14665626e-03 -3.91567300e-03 2.90606667e+02] [ 1.14767392e-03 9.99999308e-01 2.57658451e-04 -1.77813911e+01] [ 3.91537484e-03 -2.62150222e-04 9.99992301e-01 -4.05761337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.790371743 meters 0.03996814546301733 Centerline is valid? [True, True] Translation: X:290.64, Y:-17.79, Z:-4.06 [[ 9.99990094e-01 -2.17474797e-03 -3.88368440e-03 2.90635105e+02] [ 2.17575446e-03 9.99997601e-01 2.54952297e-04 -1.77887988e+01] [ 3.88312063e-03 -2.63399715e-04 9.99992426e-01 -4.05869648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.820371743 meters 0.03996814546301733 Centerline is valid? [True, True] Translation: X:290.66, Y:-17.79, Z:-4.06 [[ 9.99990018e-01 -2.20920878e-03 -3.88368127e-03 2.90664264e+02] [ 2.21021571e-03 9.99997525e-01 2.54999755e-04 -1.77906858e+01] [ 3.88310831e-03 -2.63580983e-04 9.99992426e-01 -4.05910714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.850371743 meters 0.04170618749664168 Centerline is valid? [True, True] Translation: X:290.69, Y:-17.80, Z:-4.06 [[ 9.99987592e-01 -3.93208588e-03 -3.05848602e-03 2.90693314e+02] [ 3.93271866e-03 9.99992247e-01 2.00906682e-04 -1.77987989e+01] [ 3.05767233e-03 -2.12932354e-04 9.99995303e-01 -4.05964135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880371743 meters 0.03855602299519514 Centerline is valid? [True, True] Translation: X:290.72, Y:-17.80, Z:-4.06 [[ 9.99989130e-01 -4.13852453e-03 -2.14764176e-03 2.90723981e+02] [ 4.13883737e-03 9.99991425e-01 1.41243884e-04 -1.77982669e+01] [ 2.14703880e-03 -1.50131088e-04 9.99997684e-01 -4.05854179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.910371743 meters 0.03986785268046146 Centerline is valid? [True, True] Translation: X:290.75, Y:-17.80, Z:-4.06 [[ 9.99993244e-01 -3.55782245e-03 -9.23632024e-04 2.90754200e+02] [ 3.55788031e-03 9.99993669e-01 6.10069055e-05 -1.78048651e+01] [ 9.23409124e-04 -6.42926655e-05 9.99999572e-01 -4.05842602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940371743 meters 0.036537770737332255 Centerline is valid? [True, True] Translation: X:290.79, Y:-17.80, Z:-4.06 [[ 9.99996661e-01 -2.31538446e-03 -1.14782441e-03 2.90785841e+02] [ 2.31547328e-03 9.99997316e-01 7.60584632e-05 -1.78029405e+01] [ 1.14764522e-03 -7.87159660e-05 9.99999338e-01 -4.05736251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.970371743 meters 0.042822668402141086 Centerline is valid? [True, True] Translation: X:290.82, Y:-17.82, Z:-4.06 [[ 9.99999481e-01 -6.03156810e-04 -8.21704364e-04 2.90815457e+02] [ 6.03202626e-04 9.99999817e-01 5.55105010e-05 -1.78151621e+01] [ 8.21670731e-04 -5.60061264e-05 9.99999661e-01 -4.05973121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000371743 meters 0.03429896663523991 Centerline is valid? [True, True] Translation: X:290.85, Y:-17.81, Z:-4.06 [[ 9.99994639e-01 3.06435731e-03 -1.15368353e-03 2.90846859e+02] [-3.06427173e-03 9.99995302e-01 7.59413840e-05 -1.78063087e+01] [ 1.15391082e-03 -7.24057771e-05 9.99999332e-01 -4.05742565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.030371743 meters 0.03545581179109726 Centerline is valid? [True, True] Translation: X:290.88, Y:-17.81, Z:-4.06 [[ 9.99970915e-01 7.61430018e-03 -4.37301316e-04 2.90876138e+02] [-7.61428844e-03 9.99971010e-01 2.85114871e-05 -1.78118853e+01] [ 4.37505734e-04 -2.51809195e-05 9.99999904e-01 -4.05885947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060371743 meters 0.03282609354491145 Centerline is valid? [True, True] Translation: X:290.90, Y:-17.81, Z:-4.06 [[ 9.99956059e-01 9.35042753e-03 -6.70502398e-04 2.90904989e+02] [-9.35040071e-03 9.99956283e-01 4.31341078e-05 -1.78102462e+01] [ 6.70876408e-04 -3.68627464e-05 9.99999774e-01 -4.05878418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.090371743 meters 0.03096943572828438 Centerline is valid? [True, True] Translation: X:290.93, Y:-17.81, Z:-4.06 [[ 9.99937545e-01 1.11659008e-02 -4.78087369e-04 2.90934219e+02] [-1.11658874e-02 9.99937659e-01 3.06761025e-05 -1.78096335e+01] [ 4.78400091e-04 -2.53359168e-05 9.99999885e-01 -4.05904202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120371743 meters 0.030793728862318685 Centerline is valid? [True, True] Translation: X:290.96, Y:-17.81, Z:-4.06 [[ 9.99899988e-01 1.41351749e-02 -4.59648275e-04 2.90962864e+02] [-1.41351628e-02 9.99900093e-01 2.97058074e-05 -1.78128644e+01] [ 4.60022250e-04 -2.32056332e-05 9.99999894e-01 -4.06025278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.150371743 meters 0.02970752771415099 Centerline is valid? [True, True] Translation: X:290.99, Y:-17.81, Z:-4.06 [[ 9.99868650e-01 1.61606130e-02 -1.23175710e-03 2.90991839e+02] [-1.61605269e-02 9.99869407e-01 7.98601868e-05 -1.78133122e+01] [ 1.23288683e-03 -5.99438535e-05 9.99999238e-01 -4.06113538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180371743 meters 0.030153074617378962 Centerline is valid? [True, True] Translation: X:291.02, Y:-17.82, Z:-4.06 [[ 9.99863119e-01 1.64546661e-02 -1.72843242e-03 2.91020034e+02] [-1.64544964e-02 9.99864609e-01 1.12353468e-04 -1.78157032e+01] [ 1.73004714e-03 -8.38976043e-05 9.99998500e-01 -4.06240877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.210371743 meters 0.0305145724848122 Centerline is valid? [True, True] Translation: X:291.05, Y:-17.82, Z:-4.06 [[ 9.99860181e-01 1.65489978e-02 -2.39757350e-03 2.91048816e+02] [-1.65486710e-02 9.99863049e-01 1.56073585e-04 -1.78186989e+01] [ 2.39982801e-03 -1.16375108e-04 9.99997114e-01 -4.06328052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240371743 meters 0.03092893834959748 Centerline is valid? [True, True] Translation: X:291.08, Y:-17.82, Z:-4.06 [[ 9.99860959e-01 1.64527225e-02 -2.71477267e-03 2.91076562e+02] [-1.64523041e-02 9.99864636e-01 1.76368959e-04 -1.78217602e+01] [ 2.71730693e-03 -1.31680171e-04 9.99996299e-01 -4.06426975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.270371743 meters 0.03215269707029649 Centerline is valid? [True, True] Translation: X:291.10, Y:-17.83, Z:-4.07 [[ 9.99887447e-01 1.47854450e-02 -2.54636027e-03 2.91103519e+02] [-1.47850723e-02 9.99890681e-01 1.65141672e-04 -1.78263788e+01] [ 2.54852360e-03 -1.27474965e-04 9.99996744e-01 -4.06554106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300371743 meters 0.03235734820006452 Centerline is valid? [True, True] Translation: X:291.13, Y:-17.83, Z:-4.07 [[ 9.99927594e-01 1.18805135e-02 -1.91327735e-03 2.91132614e+02] [-1.18802976e-02 9.99929419e-01 1.24160245e-04 -1.78300076e+01] [ 1.91461740e-03 -1.01420951e-04 9.99998162e-01 -4.06534321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.330371743 meters 0.033826155066503945 Centerline is valid? [True, True] Translation: X:291.16, Y:-17.83, Z:-4.07 [[ 9.99945579e-01 1.03246769e-02 -1.49652424e-03 2.91159955e+02] [-1.03245443e-02 9.99946696e-01 9.63381433e-05 -1.78349046e+01] [ 1.49743913e-03 -8.08819697e-05 9.99998876e-01 -4.06606889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36037174300003 meters 0.034031125541378625 Centerline is valid? [True, True] Translation: X:291.19, Y:-17.84, Z:-4.07 [[ 9.99961220e-01 8.72658974e-03 -1.18511661e-03 2.91188835e+02] [-8.72650553e-03 9.99961920e-01 7.62071902e-05 -1.78375776e+01] [ 1.18573651e-03 -6.58623082e-05 9.99999295e-01 -4.06600407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.390371743 meters 0.03596537815578594 Centerline is valid? [True, True] Translation: X:291.22, Y:-17.84, Z:-4.07 [[ 9.99983816e-01 5.63762093e-03 -7.64481706e-04 2.91217300e+02] [-5.63758460e-03 9.99984107e-01 4.96797195e-05 -1.78433813e+01] [ 7.64749631e-04 -4.53690852e-05 9.99999707e-01 -4.06679477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42037174300003 meters 0.03703250957453412 Centerline is valid? [True, True] Translation: X:291.25, Y:-17.85, Z:-4.07 [[ 9.99990998e-01 4.19985509e-03 -6.04007796e-04 2.91245280e+02] [-4.19983271e-03 9.99991180e-01 3.83211682e-05 -1.78478803e+01] [ 6.04163412e-04 -3.57840915e-05 9.99999817e-01 -4.06746451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.450371743 meters 0.03743191962594533 Centerline is valid? [True, True] Translation: X:291.28, Y:-17.85, Z:-4.07 [[ 9.99999196e-01 1.22160406e-03 -3.40761969e-04 2.91275089e+02] [-1.22159666e-03 9.99999254e-01 2.19159329e-05 -1.78529576e+01] [ 3.40788487e-04 -2.14996415e-05 9.99999942e-01 -4.06830390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.480371743 meters 0.03849179881247496 Centerline is valid? [True, True] Translation: X:291.30, Y:-17.86, Z:-4.07 [[ 9.99999962e-01 -1.77945594e-05 -2.74151837e-04 2.91304690e+02] [ 1.77993120e-05 1.00000000e+00 1.73332793e-05 -1.78577830e+01] [ 2.74151528e-04 -1.73381584e-05 9.99999962e-01 -4.06941735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.510371743 meters 0.040770711245209465 Centerline is valid? [True, True] Translation: X:291.33, Y:-17.87, Z:-4.07 [[ 9.99996780e-01 -2.50450186e-03 -4.09136432e-04 2.91333890e+02] [ 2.50451343e-03 9.99996863e-01 2.77661999e-05 -1.78650050e+01] [ 4.09065608e-04 -2.87907981e-05 9.99999916e-01 -4.07016398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.540371743 meters 0.041618580088559134 Centerline is valid? [True, True] Translation: X:291.36, Y:-17.87, Z:-4.07 [[ 9.99992731e-01 -3.80982689e-03 -1.49443158e-04 2.91364535e+02] [ 3.80982842e-03 9.99992743e-01 9.96735348e-06 -1.78689943e+01] [ 1.49404099e-04 -1.05366338e-05 9.99999989e-01 -4.06995760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.570371743 meters 0.03898431667929794 Centerline is valid? [True, True] Translation: X:291.40, Y:-17.87, Z:-4.07 [[ 9.99985918e-01 -5.15078047e-03 1.27825867e-03 2.91396045e+02] [ 5.15089045e-03 9.99986731e-01 -8.27578461e-05 -1.78691013e+01] [-1.27781544e-03 8.93408510e-05 9.99999180e-01 -4.06878399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.600371743 meters 0.03855201730136311 Centerline is valid? [True, True] Translation: X:291.43, Y:-17.87, Z:-4.07 [[ 9.99985280e-01 -5.13085614e-03 1.76464687e-03 2.91427962e+02] [ 5.13106536e-03 9.99986830e-01 -1.14053413e-04 -1.78715176e+01] [-1.76403843e-03 1.23106253e-04 9.99998437e-01 -4.06924334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.630371743 meters 0.03713048464733707 Centerline is valid? [True, True] Translation: X:291.46, Y:-17.87, Z:-4.07 [[ 9.99988309e-01 -4.59963225e-03 1.49144992e-03 2.91460397e+02] [ 4.59978102e-03 9.99989416e-01 -9.63319670e-05 -1.78722547e+01] [-1.49099105e-03 1.03191184e-04 9.99998883e-01 -4.06967437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.660371743 meters 0.03587902794121503 Centerline is valid? [True, True] Translation: X:291.49, Y:-17.87, Z:-4.07 [[ 9.99994454e-01 -3.01595884e-03 1.41259482e-03 2.91491888e+02] [ 3.01609144e-03 9.99995447e-01 -9.17462794e-05 -1.78734392e+01] [-1.41231169e-03 9.60062857e-05 9.99998998e-01 -4.07027169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.690371743 meters 0.0382953226045488 Centerline is valid? [True, True] Translation: X:291.52, Y:-17.88, Z:-4.07 [[ 9.99997142e-01 -1.91785789e-03 1.42765098e-03 2.91521829e+02] [ 1.91799153e-03 9.99998156e-01 -9.22421083e-05 -1.78788894e+01] [-1.42747144e-03 9.49800671e-05 9.99998977e-01 -4.07141206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.720371743 meters 0.037426351993556255 Centerline is valid? [True, True] Translation: X:291.55, Y:-17.88, Z:-4.07 [[ 9.99998339e-01 2.70740873e-04 1.80260839e-03 2.91552728e+02] [-2.70529213e-04 9.99999956e-01 -1.17662029e-04 -1.78798651e+01] [-1.80264017e-03 1.17174175e-04 9.99998368e-01 -4.07174810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.750371743 meters 0.03577571496563171 Centerline is valid? [True, True] Translation: X:291.58, Y:-17.88, Z:-4.07 [[ 9.99995806e-01 1.35963765e-03 2.55728575e-03 2.91584050e+02] [-1.35921538e-03 9.99999062e-01 -1.66856847e-04 -1.78795116e+01] [-2.55751021e-03 1.63380246e-04 9.99996716e-01 -4.07186452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.780371743 meters 0.03494156841742146 Centerline is valid? [True, True] Translation: X:291.61, Y:-17.88, Z:-4.07 [[ 9.99992506e-01 2.75533188e-03 2.71961155e-03 2.91614918e+02] [-2.75485852e-03 9.99996190e-01 -1.77783212e-04 -1.78807506e+01] [-2.72009104e-03 1.70289734e-04 9.99996286e-01 -4.07228669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.810371743 meters 0.0345394355461633 Centerline is valid? [True, True] Translation: X:291.65, Y:-17.88, Z:-4.07 [[ 9.99981937e-01 4.75639783e-03 3.67456401e-03 2.91646026e+02] [-4.75554657e-03 9.99988663e-01 -2.40365500e-04 -1.78829086e+01] [-3.67566563e-03 2.22886598e-04 9.99993220e-01 -4.07297654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.840371743 meters 0.0335371487165616 Centerline is valid? [True, True] Translation: X:291.68, Y:-17.88, Z:-4.07 [[ 9.99975163e-01 6.38061416e-03 2.99339025e-03 2.91676728e+02] [-6.38005589e-03 9.99979628e-01 -1.96011884e-04 -1.78832929e+01] [-2.99457995e-03 1.76909019e-04 9.99995501e-01 -4.07305508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.870371743 meters 0.03290394239089743 Centerline is valid? [True, True] Translation: X:291.71, Y:-17.88, Z:-4.07 [[ 9.99973806e-01 6.76655355e-03 2.56932725e-03 2.91706169e+02] [-6.76614246e-03 9.99977095e-01 -1.68658709e-04 -1.78834141e+01] [-2.57040964e-03 1.51269857e-04 9.99996685e-01 -4.07324265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.900371743 meters 0.03396971087847747 Centerline is valid? [True, True] Translation: X:291.73, Y:-17.89, Z:-4.07 [[ 9.99977175e-01 6.38074685e-03 2.22171481e-03 2.91734862e+02] [-6.38043808e-03 9.99979634e-01 -1.46037438e-04 -1.78868168e+01] [-2.22260139e-03 1.31858591e-04 9.99997521e-01 -4.07375861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.930371743 meters 0.03357546608836185 Centerline is valid? [True, True] Translation: X:291.76, Y:-17.89, Z:-4.07 [[ 9.99983066e-01 5.57255470e-03 1.67742828e-03 2.91764358e+02] [-5.57237777e-03 9.99984468e-01 -1.10132595e-04 -1.78894099e+01] [-1.67801595e-03 1.00783466e-04 9.99998587e-01 -4.07432809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.960371743 meters 0.035739383520447796 Centerline is valid? [True, True] Translation: X:291.79, Y:-17.90, Z:-4.08 [[ 9.99984748e-01 5.06041447e-03 2.21277450e-03 2.91793077e+02] [-5.06010562e-03 9.99987187e-01 -1.45150894e-04 -1.78953347e+01] [-2.21348067e-03 1.33951807e-04 9.99997541e-01 -4.07526785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.990371743 meters 0.03688183454293241 Centerline is valid? [True, True] Translation: X:291.82, Y:-17.90, Z:-4.07 [[ 9.99988709e-01 3.52125954e-03 3.19104502e-03 2.91822748e+02] [-3.52061115e-03 9.99993781e-01 -2.08783711e-04 -1.79001553e+01] [-3.19176036e-03 1.97546925e-04 9.99994887e-01 -4.07478601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.020371743 meters 0.03575675144067854 Centerline is valid? [True, True] Translation: X:291.85, Y:-17.90, Z:-4.07 [[ 9.99991176e-01 2.61402276e-03 3.28857410e-03 2.91853617e+02] [-2.61333090e-03 9.99996562e-01 -2.14662660e-04 -1.79005119e+01] [-3.28912393e-03 2.06066634e-04 9.99994570e-01 -4.07434422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.050371743 meters 0.03683143250161618 Centerline is valid? [True, True] Translation: X:291.88, Y:-17.90, Z:-4.07 [[ 9.99992376e-01 2.06411294e-03 3.31466602e-03 2.91883933e+02] [-2.06340768e-03 9.99997848e-01 -2.16177346e-04 -1.79039326e+01] [-3.31510510e-03 2.09336191e-04 9.99994483e-01 -4.07469419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.080371743 meters 0.03678624388859431 Centerline is valid? [True, True] Translation: X:291.92, Y:-17.91, Z:-4.08 [[ 9.99995538e-01 5.55999874e-04 2.93496839e-03 2.91915514e+02] [-5.55440974e-04 9.99999827e-01 -1.91239595e-04 -1.79056465e+01] [-2.93507422e-03 1.89608540e-04 9.99995675e-01 -4.07577729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11037174300003 meters 0.0375790821722515 Centerline is valid? [True, True] Translation: X:291.95, Y:-17.91, Z:-4.08 [[ 9.99995150e-01 -8.00867502e-04 3.00986808e-03 2.91946654e+02] [ 8.01461773e-04 9.99999660e-01 -1.96239987e-04 -1.79102373e+01] [-3.00970989e-03 1.98651330e-04 9.99995451e-01 -4.07647420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.140371743 meters 0.03650542654452343 Centerline is valid? [True, True] Translation: X:291.98, Y:-17.91, Z:-4.08 [[ 9.99994083e-01 -1.52484376e-03 3.08376157e-03 2.91977623e+02] [ 1.52547136e-03 9.99998816e-01 -2.01173055e-04 -1.79113326e+01] [-3.08345117e-03 2.05876054e-04 9.99995225e-01 -4.07688159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17037174300003 meters 0.037020412014809066 Centerline is valid? [True, True] Translation: X:292.01, Y:-17.91, Z:-4.08 [[ 9.99987721e-01 -4.18404614e-03 2.65541283e-03 2.92008943e+02] [ 4.18452088e-03 9.99991230e-01 -1.73252416e-04 -1.79147095e+01] [-2.65466465e-03 1.84361919e-04 9.99996459e-01 -4.07715976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.200371743 meters 0.040098376613080286 Centerline is valid? [True, True] Translation: X:292.04, Y:-17.92, Z:-4.08 [[ 9.99983128e-01 -5.15480085e-03 2.67802788e-03 2.92039278e+02] [ 5.15528471e-03 9.99986696e-01 -1.73808402e-04 -1.79216253e+01] [-2.67709630e-03 1.87611466e-04 9.99996399e-01 -4.07798242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.230371743 meters 0.03942238192781423 Centerline is valid? [True, True] Translation: X:292.07, Y:-17.92, Z:-4.08 [[ 9.99976835e-01 -6.39284527e-03 2.33683076e-03 2.92071139e+02] [ 6.39321920e-03 9.99979552e-01 -1.52580442e-04 -1.79225498e+01] [-2.33580755e-03 1.67516779e-04 9.99997258e-01 -4.07796464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.260371743 meters 0.03988538215314467 Centerline is valid? [True, True] Translation: X:292.10, Y:-17.93, Z:-4.08 [[ 9.99959278e-01 -8.51964068e-03 2.97639653e-03 2.92102188e+02] [ 8.52025835e-03 9.99963683e-01 -1.94904158e-04 -1.79270266e+01] [-2.97462792e-03 2.20255888e-04 9.99995552e-01 -4.07838545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.290371743 meters 0.04326065373383997 Centerline is valid? [True, True] Translation: X:292.13, Y:-17.93, Z:-4.08 [[ 9.99947882e-01 -9.61451217e-03 3.43436177e-03 2.92133197e+02] [ 9.61534100e-03 9.99953746e-01 -2.24905445e-04 -1.79346994e+01] [-3.43204056e-03 2.57916283e-04 9.99994077e-01 -4.07956474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.320371743 meters 0.04294914660639994 Centerline is valid? [True, True] Translation: X:292.16, Y:-17.94, Z:-4.08 [[ 9.99927675e-01 -1.13255059e-02 4.04685370e-03 2.92163993e+02] [ 1.13266736e-02 9.99935816e-01 -2.65724794e-04 -1.79370118e+01] [-4.04358449e-03 3.11542966e-04 9.99991776e-01 -4.07938463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.350371743 meters 0.04396079736380092 Centerline is valid? [True, True] Translation: X:292.20, Y:-17.94, Z:-4.08 [[ 9.99919655e-01 -1.19838124e-02 4.13188327e-03 2.92196407e+02] [ 1.19850334e-02 9.99928140e-01 -2.70866841e-04 -1.79400815e+01] [-4.12834034e-03 3.20365837e-04 9.99991427e-01 -4.07939840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380371743 meters 0.04591835792156777 Centerline is valid? [True, True] Translation: X:292.23, Y:-17.94, Z:-4.08 [[ 9.99907801e-01 -1.28459123e-02 4.40126369e-03 2.92227824e+02] [ 1.28473076e-02 9.99917428e-01 -2.88898313e-04 -1.79440394e+01] [-4.39718911e-03 3.45416066e-04 9.99990273e-01 -4.07947675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.410371743 meters 0.04581657586771997 Centerline is valid? [True, True] Translation: X:292.26, Y:-17.95, Z:-4.08 [[ 9.99905067e-01 -1.31380189e-02 4.15316289e-03 2.92259732e+02] [ 1.31392648e-02 9.99913639e-01 -2.72848067e-04 -1.79452781e+01] [-4.14921954e-03 3.27391672e-04 9.99991338e-01 -4.07987392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440371743 meters 0.04724294461295356 Centerline is valid? [True, True] Translation: X:292.29, Y:-17.95, Z:-4.08 [[ 9.99906454e-01 -1.31756128e-02 3.67231613e-03 2.92290822e+02] [ 1.31765884e-02 9.99913156e-01 -2.41592767e-04 -1.79496209e+01] [-3.66881408e-03 2.89958765e-04 9.99993228e-01 -4.08089199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.470371743 meters 0.045727336151488295 Centerline is valid? [True, True] Translation: X:292.32, Y:-17.95, Z:-4.08 [[ 9.99902050e-01 -1.37335559e-02 2.69826688e-03 2.92323359e+02] [ 1.37340840e-02 9.99905667e-01 -1.77259229e-04 -1.79491880e+01] [-2.69557794e-03 2.14300090e-04 9.99996344e-01 -4.08143982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500371743 meters 0.04884284268121136 Centerline is valid? [True, True] Translation: X:292.35, Y:-17.96, Z:-4.08 [[ 9.99904401e-01 -1.35945622e-02 2.52519987e-03 2.92354511e+02] [ 1.35950250e-02 9.99907570e-01 -1.66207986e-04 -1.79554543e+01] [-2.52270694e-03 2.00522252e-04 9.99996798e-01 -4.08231214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.530371743 meters 0.043414250907590435 Centerline is valid? [True, True] Translation: X:292.39, Y:-17.95, Z:-4.08 [[ 9.99905659e-01 -1.34869788e-02 2.60278247e-03 2.92387782e+02] [ 1.34874689e-02 9.99909025e-01 -1.70844341e-04 -1.79500073e+01] [-2.60024150e-03 2.05933171e-04 9.99996598e-01 -4.08166547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560371743 meters 0.04356631015347963 Centerline is valid? [True, True] Translation: X:292.42, Y:-17.95, Z:-4.08 [[ 9.99913650e-01 -1.28486929e-02 2.75761870e-03 2.92419586e+02] [ 1.28492428e-02 9.99917429e-01 -1.81796087e-04 -1.79523491e+01] [-2.75505516e-03 2.17213701e-04 9.99996181e-01 -4.08209916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.590371743 meters 0.042795069307321416 Centerline is valid? [True, True] Translation: X:292.45, Y:-17.95, Z:-4.08 [[ 9.99923229e-01 -1.19923873e-02 3.11738919e-03 2.92452317e+02] [ 1.19930864e-02 9.99928059e-01 -2.05669797e-04 -1.79525739e+01] [-3.11469845e-03 2.43041126e-04 9.99995120e-01 -4.08199449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620371743 meters 0.047901009459749545 Centerline is valid? [True, True] Translation: X:292.48, Y:-17.96, Z:-4.08 [[ 9.99952436e-01 -9.45662138e-03 2.38701905e-03 2.92481320e+02] [ 9.45702442e-03 9.99955269e-01 -1.57619070e-04 -1.79595839e+01] [-2.38542174e-03 1.80185671e-04 9.99997139e-01 -4.08323899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.650371743 meters 0.04070338591627976 Centerline is valid? [True, True] Translation: X:292.51, Y:-17.95, Z:-4.08 [[ 9.99962937e-01 -8.24682796e-03 2.47268382e-03 2.92513875e+02] [ 8.24725776e-03 9.99965977e-01 -1.63674125e-04 -1.79503888e+01] [-2.47124990e-03 1.84060919e-04 9.99996930e-01 -4.08171344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680371743 meters 0.04098196157122613 Centerline is valid? [True, True] Translation: X:292.54, Y:-17.95, Z:-4.08 [[ 9.99975011e-01 -6.66590739e-03 2.35420293e-03 2.92544111e+02] [ 6.66629141e-03 9.99977768e-01 -1.55310483e-04 -1.79518847e+01] [-2.35311531e-03 1.71000405e-04 9.99997217e-01 -4.08210183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.710371743 meters 0.04098196157122613 Centerline is valid? [True, True] Translation: X:292.58, Y:-17.95, Z:-4.08 [[ 9.99975477e-01 -6.59570957e-03 2.35415906e-03 2.92575817e+02] [ 6.59609494e-03 9.99978233e-01 -1.55969636e-04 -1.79540595e+01] [-2.35307909e-03 1.71494067e-04 9.99997217e-01 -4.08254765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740371743 meters 0.04036278023815088 Centerline is valid? [True, True] Translation: X:292.61, Y:-17.95, Z:-4.08 [[ 9.99995086e-01 -2.69056239e-03 1.60927144e-03 2.92605580e+02] [ 2.69073882e-03 9.99996374e-01 -1.07482573e-04 -1.79537631e+01] [-1.60897641e-03 1.11812174e-04 9.99998699e-01 -4.08312541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.770371743 meters 0.04045945242784214 Centerline is valid? [True, True] Translation: X:292.64, Y:-17.96, Z:-4.08 [[ 9.99998919e-01 -2.19974767e-04 1.45370843e-03 2.92635480e+02] [ 2.20115863e-04 9.99999971e-01 -9.69001828e-05 -1.79551343e+01] [-1.45368707e-03 9.72200624e-05 9.99998939e-01 -4.08375094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800371743 meters 0.03782985070425257 Centerline is valid? [True, True] Translation: X:292.67, Y:-17.95, Z:-4.08 [[ 9.99984286e-01 5.36484022e-03 1.62703164e-03 2.92666057e+02] [-5.36467089e-03 9.99985604e-01 -1.08421329e-04 -1.79517466e+01] [-1.62758988e-03 9.96911359e-05 9.99998671e-01 -4.08357303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.830371743 meters 0.036637020759173515 Centerline is valid? [True, True] Translation: X:292.70, Y:-17.95, Z:-4.08 [[ 9.99961250e-01 8.71400353e-03 1.25105134e-03 2.92696461e+02] [-8.71390572e-03 9.99962030e-01 -8.36111689e-05 -1.79511649e+01] [-1.25173243e-03 7.27063855e-05 9.99999214e-01 -4.08376531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86037174300003 meters 0.03416252301664452 Centerline is valid? [True, True] Translation: X:292.73, Y:-17.95, Z:-4.08 [[ 9.99876561e-01 1.57007397e-02 5.91879637e-04 2.92725412e+02] [-1.57007188e-02 9.99876735e-01 -4.00407746e-05 -1.79466860e+01] [-5.92435349e-04 3.07428963e-05 9.99999824e-01 -4.08443452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.890371743 meters 0.033280603409244 Centerline is valid? [True, True] Translation: X:292.75, Y:-17.95, Z:-4.09 [[ 9.99816816e-01 1.91374997e-02 2.99746361e-04 2.92754073e+02] [-1.91374945e-02 9.99816861e-01 -2.03110402e-05 -1.79460632e+01] [-3.00080168e-04 1.45709253e-05 9.99999955e-01 -4.08522283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92037174300003 meters 0.031062165270437293 Centerline is valid? [True, True] Translation: X:292.78, Y:-17.94, Z:-4.09 [[ 9.99682182e-01 2.52016348e-02 6.41930302e-04 2.92783857e+02] [-2.52016124e-02 9.99682388e-01 -4.29946729e-05 -1.79436480e+01] [-6.42809954e-04 2.68033297e-05 9.99999793e-01 -4.08519927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.950371743 meters 0.0301241484247237 Centerline is valid? [True, True] Translation: X:292.81, Y:-17.94, Z:-4.09 [[ 9.99606152e-01 2.80486768e-02 9.01315432e-04 2.92813528e+02] [-2.80486338e-02 9.99606558e-01 -6.04147307e-05 -1.79434904e+01] [-9.02655370e-04 3.51102701e-05 9.99999592e-01 -4.08536483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.980371743 meters 0.028583070451129688 Centerline is valid? [True, True] Translation: X:292.84, Y:-17.94, Z:-4.08 [[ 9.99459218e-01 3.28661826e-02 1.04189886e-03 2.92843734e+02] [-3.28661277e-02 9.99459760e-01 -6.97598146e-05 -1.79414376e+01] [-1.04362872e-03 3.54789089e-05 9.99999455e-01 -4.08487051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.010371743 meters 0.027632100218373836 Centerline is valid? [True, True] Translation: X:292.87, Y:-17.94, Z:-4.09 [[ 9.99394089e-01 3.47900510e-02 1.05231651e-03 2.92872735e+02] [-3.47899957e-02 9.99394642e-01 -7.08003010e-05 -1.79419371e+01] [-1.05414262e-03 3.41473156e-05 9.99999444e-01 -4.08527744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.040371743 meters 0.02745027988602214 Centerline is valid? [True, True] Translation: X:292.90, Y:-17.94, Z:-4.09 [[ 9.99353162e-01 3.59554206e-02 6.82729309e-04 2.92900380e+02] [-3.59553972e-02 9.99353395e-01 -4.64143462e-05 -1.79433175e+01] [-6.83956700e-04 2.18365202e-05 9.99999766e-01 -4.08605147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.070371743 meters 0.027431954863120056 Centerline is valid? [True, True] Translation: X:292.93, Y:-17.95, Z:-4.09 [[ 9.99327073e-01 3.66792507e-02 1.83284689e-04 2.92927856e+02] [-3.66792489e-02 9.99327090e-01 -1.32554658e-05 -1.79460953e+01] [-1.83647556e-04 6.52380111e-06 9.99999983e-01 -4.08786414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.100371743 meters 0.02820255125361985 Centerline is valid? [True, True] Translation: X:292.96, Y:-17.95, Z:-4.09 [[ 9.99350985e-01 3.60175086e-02 -5.89363292e-04 2.92955405e+02] [-3.60174925e-02 9.99351159e-01 3.79072827e-05 -1.79504913e+01] [ 5.90346215e-04 -1.66552924e-05 9.99999826e-01 -4.08939003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.130371743 meters 0.028633310447346984 Centerline is valid? [True, True] Translation: X:292.98, Y:-17.95, Z:-4.09 [[ 9.99365441e-01 3.56084244e-02 -8.68894468e-04 2.92983819e+02] [-3.56083887e-02 9.99365819e-01 5.65841056e-05 -1.79536894e+01] [ 8.70358302e-04 -2.56082677e-05 9.99999621e-01 -4.09031488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.160371743 meters 0.02505730073588083 Centerline is valid? [True, True] Translation: X:293.01, Y:-17.95, Z:-4.09 [[ 9.99403920e-01 3.44800551e-02 -1.71173533e-03 2.93013335e+02] [-3.44799137e-02 9.99405385e-01 1.12078785e-04 -1.79487958e+01] [ 1.71458199e-03 -5.29914907e-05 9.99998529e-01 -4.08670002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.190371743 meters 0.02514293121808894 Centerline is valid? [True, True] Translation: X:293.04, Y:-17.95, Z:-4.09 [[ 9.99487391e-01 3.19433650e-02 -2.13948190e-03 2.93043117e+02] [-3.19431368e-02 9.99489678e-01 1.40739559e-04 -1.79520557e+01] [ 2.14288577e-03 -7.23256511e-05 9.99997701e-01 -4.08641339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.220371743 meters 0.025632455579279536 Centerline is valid? [True, True] Translation: X:293.07, Y:-17.96, Z:-4.09 [[ 9.99542632e-01 3.01522863e-02 -2.31666925e-03 2.93071213e+02] [-3.01520161e-02 9.99545313e-01 1.51478850e-04 -1.79552982e+01] [ 2.32018333e-03 -8.15573196e-05 9.99997305e-01 -4.08602776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.250371743 meters 0.026439058077095078 Centerline is valid? [True, True] Translation: X:293.10, Y:-17.96, Z:-4.08 [[ 9.99638193e-01 2.68728904e-02 -1.15341520e-03 2.93100116e+02] [-2.68728215e-02 9.99638858e-01 7.52270794e-05 -1.79613339e+01] [ 1.15502023e-03 -4.42043409e-05 9.99999332e-01 -4.08499316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.280371743 meters 0.02670889101530666 Centerline is valid? [True, True] Translation: X:293.13, Y:-17.96, Z:-4.08 [[ 9.99691262e-01 2.48466564e-02 -1.58431108e-04 2.93128523e+02] [-2.48466552e-02 9.99691274e-01 9.41472578e-06 -1.79649681e+01] [ 1.58616120e-04 -5.47533597e-06 9.99999987e-01 -4.08438651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.310371743 meters 0.028018306847620716 Centerline is valid? [True, True] Translation: X:293.16, Y:-17.97, Z:-4.08 [[ 9.99738440e-01 2.28689592e-02 2.48910882e-04 2.93155950e+02] [-2.28689555e-02 9.99738471e-01 -1.76093343e-05 -1.79701862e+01] [-2.49248492e-04 1.19123965e-05 9.99999969e-01 -4.08415633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.340371743 meters 0.029017326900586223 Centerline is valid? [True, True] Translation: X:293.19, Y:-17.98, Z:-4.08 [[ 9.99815845e-01 1.91646718e-02 9.95476800e-04 2.93185036e+02] [-1.91646154e-02 9.99816340e-01 -6.61088272e-05 -1.79758717e+01] [-9.96560925e-04 4.70187229e-05 9.99999502e-01 -4.08313334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.370371743 meters 0.02937084530939186 Centerline is valid? [True, True] Translation: X:293.21, Y:-17.98, Z:-4.08 [[ 9.99848679e-01 1.73496306e-02 1.26902963e-03 2.93213581e+02] [-1.73495376e-02 9.99849482e-01 -8.42307731e-05 -1.79797598e+01] [-1.27029999e-03 6.22009499e-05 9.99999191e-01 -4.08313247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.400371743 meters 0.03114400818012859 Centerline is valid? [True, True] Translation: X:293.24, Y:-17.99, Z:-4.08 [[ 9.99912889e-01 1.31796872e-02 7.13970700e-04 2.93243596e+02] [-1.31796571e-02 9.99913143e-01 -4.68270286e-05 -1.79880801e+01] [-7.14525852e-04 3.74130605e-05 9.99999744e-01 -4.08375831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.430371743 meters 0.03179489102488603 Centerline is valid? [True, True] Translation: X:293.27, Y:-17.99, Z:-4.08 [[ 9.99939554e-01 1.09591484e-02 8.86358071e-04 2.93272694e+02] [-1.09591006e-02 9.99939946e-01 -5.88341529e-05 -1.79925990e+01] [-8.86949614e-04 4.91169094e-05 9.99999605e-01 -4.08416648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.460371743 meters 0.03433188379737545 Centerline is valid? [True, True] Translation: X:293.30, Y:-18.00, Z:-4.09 [[ 9.99977044e-01 6.75356814e-03 -5.48916940e-04 2.93301983e+02] [-6.75354960e-03 9.99977194e-01 3.56343369e-05 -1.80014411e+01] [ 5.49145080e-04 -3.19263811e-05 9.99999849e-01 -4.08557537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.490371743 meters 0.03560539201437785 Centerline is valid? [True, True] Translation: X:293.33, Y:-18.01, Z:-4.09 [[ 9.99987476e-01 4.90595565e-03 -9.89261299e-04 2.93331241e+02] [-4.90589445e-03 9.99987964e-01 6.42845673e-05 -1.80062827e+01] [ 9.89564769e-04 -5.94305507e-05 9.99999509e-01 -4.08675622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.520371743 meters 0.03366680823565136 Centerline is valid? [True, True] Translation: X:293.36, Y:-18.01, Z:-4.09 [[ 9.99992633e-01 3.49164983e-03 -1.59447211e-03 2.93360864e+02] [-3.49148869e-03 9.99993899e-01 1.03835581e-04 -1.80060357e+01] [ 1.59482494e-03 -9.82677344e-05 9.99998723e-01 -4.08627400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.550371743 meters 0.03508203678110937 Centerline is valid? [True, True] Translation: X:293.39, Y:-18.01, Z:-4.09 [[ 9.99996668e-01 1.55365391e-03 -2.06150076e-03 2.93389436e+02] [-1.55338087e-03 9.99998785e-01 1.34040312e-04 -1.80118273e+01] [ 2.06170651e-03 -1.30837570e-04 9.99997866e-01 -4.08728240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.580371743 meters 0.03562256335641117 Centerline is valid? [True, True] Translation: X:293.42, Y:-18.02, Z:-4.09 [[ 9.99997281e-01 1.73519067e-03 -1.55804782e-03 2.93419158e+02] [-1.73503491e-03 9.99998490e-01 1.01321543e-04 -1.80153577e+01] [ 1.55822128e-03 -9.86180003e-05 9.99998781e-01 -4.08802336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61037174300003 meters 0.03371657535267962 Centerline is valid? [True, True] Translation: X:293.45, Y:-18.01, Z:-4.09 [[ 9.99993189e-01 3.68565043e-03 -1.93609220e-04 2.93449214e+02] [-3.68564819e-03 9.99993208e-01 1.19314524e-05 -1.80145139e+01] [ 1.93651880e-04 -1.12177956e-05 9.99999981e-01 -4.08627231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.640371743 meters 0.03238440282559175 Centerline is valid? [True, True] Translation: X:293.48, Y:-18.01, Z:-4.09 [[ 9.99985610e-01 5.33196069e-03 5.91114526e-04 2.93478879e+02] [-5.33193851e-03 9.99985784e-01 -3.90874289e-05 -1.80135000e+01] [-5.91314536e-04 3.59350802e-05 9.99999825e-01 -4.08504195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67037174300003 meters 0.03346954131148626 Centerline is valid? [True, True] Translation: X:293.51, Y:-18.02, Z:-4.08 [[ 9.99970689e-01 7.53162560e-03 1.37693479e-03 2.93507632e+02] [-7.53150835e-03 9.99971634e-01 -9.03183450e-05 -1.80165180e+01] [-1.37757597e-03 7.99453018e-05 9.99999048e-01 -4.08484531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.700371743 meters 0.030206554391687727 Centerline is valid? [True, True] Translation: X:293.54, Y:-18.01, Z:-4.08 [[ 9.99920316e-01 1.23978676e-02 2.37782321e-03 2.93538811e+02] [-1.23975337e-02 9.99923136e-01 -1.55135044e-04 -1.80112769e+01] [-2.37956378e-03 1.25643539e-04 9.99997161e-01 -4.08303083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.730371743 meters 0.031354592845949256 Centerline is valid? [True, True] Translation: X:293.57, Y:-18.01, Z:-4.08 [[ 9.99885111e-01 1.48661624e-02 2.95990713e-03 2.93567811e+02] [-1.48656547e-02 9.99889481e-01 -1.93452992e-04 -1.80147590e+01] [-2.96245590e-03 1.49429809e-04 9.99995601e-01 -4.08380268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.760371743 meters 0.028650546746761967 Centerline is valid? [True, True] Translation: X:293.60, Y:-18.01, Z:-4.08 [[ 9.99818072e-01 1.88885734e-02 2.65405135e-03 2.93598336e+02] [-1.88881793e-02 9.99821587e-01 -1.73481410e-04 -1.80115583e+01] [-2.65685465e-03 1.23319652e-04 9.99996463e-01 -4.08389901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.790371743 meters 0.02779438006427363 Centerline is valid? [True, True] Translation: X:293.63, Y:-18.01, Z:-4.08 [[ 9.99786974e-01 2.04891898e-02 2.48990605e-03 2.93627362e+02] [-2.04888471e-02 9.99790068e-01 -1.63037339e-04 -1.80118329e+01] [-2.49272384e-03 1.11987304e-04 9.99996887e-01 -4.08405006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.820371743 meters 0.02816238387349296 Centerline is valid? [True, True] Translation: X:293.66, Y:-18.01, Z:-4.09 [[ 9.99744390e-01 2.25618667e-02 1.45462551e-03 2.93655080e+02] [-2.25617512e-02 9.99745447e-01 -9.57778280e-05 -1.80141152e+01] [-1.45641616e-03 6.29344475e-05 9.99998937e-01 -4.08628239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.850371743 meters 0.027557224948395877 Centerline is valid? [True, True] Translation: X:293.68, Y:-18.02, Z:-4.09 [[ 9.99730041e-01 2.32273373e-02 5.79355042e-04 2.93683466e+02] [-2.32273188e-02 9.99730209e-01 -3.86041457e-05 -1.80150017e+01] [-5.80095408e-04 2.51368599e-05 9.99999831e-01 -4.08734410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880371743 meters 0.02788649446214209 Centerline is valid? [True, True] Translation: X:293.71, Y:-18.02, Z:-4.09 [[ 9.99701265e-01 2.44412879e-02 -6.69418155e-05 2.93711569e+02] [-2.44412878e-02 9.99701267e-01 3.35367513e-06 -1.80176603e+01] [ 6.70037857e-05 -1.71652909e-06 9.99999998e-01 -4.08881148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.910371743 meters 0.02723064775230337 Centerline is valid? [True, True] Translation: X:293.74, Y:-18.02, Z:-4.09 [[ 9.99685434e-01 2.50802759e-02 1.10835235e-04 2.93740170e+02] [-2.50802752e-02 9.99685440e-01 -8.16510656e-06 -1.80187302e+01] [-1.11005154e-04 5.38275992e-06 9.99999994e-01 -4.08868964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940371743 meters 0.02619792180843096 Centerline is valid? [True, True] Translation: X:293.77, Y:-18.02, Z:-4.09 [[ 9.99660467e-01 2.60548182e-02 3.12939982e-04 2.93768786e+02] [-2.60548128e-02 9.99660516e-01 -2.12565182e-05 -1.80188466e+01] [-3.13387579e-04 1.30957082e-05 9.99999951e-01 -4.08854834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.970371743 meters 0.02621294001585072 Centerline is valid? [True, True] Translation: X:293.80, Y:-18.02, Z:-4.09 [[ 9.99601248e-01 2.82165819e-02 1.08149513e-03 2.93796364e+02] [-2.82165215e-02 9.99601832e-01 -7.11304918e-05 -1.80216063e+01] [-1.08307157e-03 4.05860979e-05 9.99999413e-01 -4.08839133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000371743 meters 0.025338028300508787 Centerline is valid? [True, True] Translation: X:293.82, Y:-18.02, Z:-4.09 [[ 9.99570881e-01 2.92438709e-02 1.68828072e-03 2.93824992e+02] [-2.92437268e-02 9.99572305e-01 -1.09961919e-04 -1.80217183e+01] [-1.69077437e-03 6.05431119e-05 9.99998569e-01 -4.08733503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.030371743 meters 0.024621476614085785 Centerline is valid? [True, True] Translation: X:293.85, Y:-18.02, Z:-4.09 [[ 9.99453505e-01 3.29889818e-02 2.10184074e-03 2.93854985e+02] [-3.29887681e-02 9.99455713e-01 -1.36260788e-04 -1.80216472e+01] [-2.10519184e-03 6.68491857e-05 9.99997782e-01 -4.08638797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060371743 meters 0.0237226035402189 Centerline is valid? [True, True] Translation: X:293.88, Y:-18.02, Z:-4.09 [[ 9.99390347e-01 3.48643053e-02 1.84804707e-03 2.93884258e+02] [-3.48641429e-02 9.99392054e-01 -1.20063018e-04 -1.80207620e+01] [-1.85110947e-03 5.55592435e-05 9.99998285e-01 -4.08565434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.090371743 meters 0.023855077183388387 Centerline is valid? [True, True] Translation: X:293.91, Y:-18.02, Z:-4.09 [[ 9.99312194e-01 3.70268722e-02 2.03691090e-03 2.93912199e+02] [-3.70266794e-02 9.99314269e-01 -1.32288882e-04 -1.80226897e+01] [-2.04041237e-03 5.67778466e-05 9.99997917e-01 -4.08611272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120371743 meters 0.022921377210580615 Centerline is valid? [True, True] Translation: X:293.94, Y:-18.02, Z:-4.09 [[ 9.99171542e-01 4.06200688e-02 2.49791295e-03 2.93941004e+02] [-4.06197919e-02 9.99174663e-01 -1.61510818e-04 -1.80226668e+01] [-2.50241191e-03 5.99123086e-05 9.99996867e-01 -4.08579907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.150371743 meters 0.023008958871033738 Centerline is valid? [True, True] Translation: X:293.97, Y:-18.03, Z:-4.09 [[ 9.99121811e-01 4.18000344e-02 2.89189709e-03 2.93968563e+02] [-4.17996674e-02 9.99125994e-01 -1.87275757e-04 -1.80256547e+01] [-2.89719769e-03 6.62309566e-05 9.99995801e-01 -4.08679807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180371743 meters 0.022991891618836212 Centerline is valid? [True, True] Translation: X:294.00, Y:-18.03, Z:-4.09 [[ 9.99117466e-01 4.18950765e-02 3.01519699e-03 2.93996907e+02] [-4.18946813e-02 9.99122014e-01 -1.94121171e-04 -1.80287718e+01] [-3.02068241e-03 6.76291355e-05 9.99995435e-01 -4.08696834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.210371743 meters 0.022862381427296772 Centerline is valid? [True, True] Translation: X:294.03, Y:-18.03, Z:-4.09 [[ 9.99156845e-01 4.09627911e-02 2.76557944e-03 2.94025739e+02] [-4.09624553e-02 9.99160671e-01 -1.77949663e-04 -1.80315463e+01] [-2.77054753e-03 6.45146994e-05 9.99996160e-01 -4.08708608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240371743 meters 0.023293119067833566 Centerline is valid? [True, True] Translation: X:294.05, Y:-18.03, Z:-4.09 [[ 9.99243370e-01 3.88135999e-02 2.48832357e-03 2.94054109e+02] [-3.88133216e-02 9.99246466e-01 -1.60043695e-04 -1.80348015e+01] [-2.49266041e-03 6.33424978e-05 9.99996891e-01 -4.08753099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.270371743 meters 0.024216810589224376 Centerline is valid? [True, True] Translation: X:294.08, Y:-18.04, Z:-4.09 [[ 9.99435197e-01 3.35312580e-02 2.22313710e-03 2.94082175e+02] [-3.35310235e-02 9.99437667e-01 -1.42717839e-04 -1.80440521e+01] [-2.22667246e-03 6.80931698e-05 9.99997519e-01 -4.08910519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300371743 meters 0.025244769525254337 Centerline is valid? [True, True] Translation: X:294.11, Y:-18.05, Z:-4.09 [[ 9.99548913e-01 2.99867754e-02 1.66225337e-03 2.94111426e+02] [-2.99866396e-02 9.99550294e-01 -1.06589713e-04 -1.80498877e+01] [-1.66470212e-03 5.66962388e-05 9.99998613e-01 -4.08932361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.330371743 meters 0.027333513708259198 Centerline is valid? [True, True] Translation: X:294.14, Y:-18.06, Z:-4.09 [[ 9.99738488e-01 2.27997144e-02 1.76880149e-03 2.94141568e+02] [-2.27995502e-02 9.99740050e-01 -1.12973436e-04 -1.80603523e+01] [-1.77091745e-03 7.26160140e-05 9.99998429e-01 -4.08964934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36037174300003 meters 0.02737466758679185 Centerline is valid? [True, True] Translation: X:294.17, Y:-18.06, Z:-4.09 [[ 9.99810308e-01 1.93951503e-02 1.78194042e-03 2.94170752e+02] [-1.93949767e-02 9.99811893e-01 -1.14656386e-04 -1.80638000e+01] [-1.78382901e-03 8.00739439e-05 9.99998406e-01 -4.08863121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.390371743 meters 0.029356280335510538 Centerline is valid? [True, True] Translation: X:294.20, Y:-18.07, Z:-4.09 [[ 9.99863388e-01 1.63932766e-02 2.11317525e-03 2.94198704e+02] [-1.63930270e-02 9.99865616e-01 -1.35391978e-04 -1.80711112e+01] [-2.11511079e-03 1.00732143e-04 9.99997758e-01 -4.08895623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42037174300003 meters 0.031121010497320776 Centerline is valid? [True, True] Translation: X:294.23, Y:-18.08, Z:-4.09 [[ 9.99933567e-01 1.11157831e-02 3.04971387e-03 2.94228511e+02] [-1.11152420e-02 9.99938205e-01 -1.94303737e-04 -1.80801466e+01] [-3.05168525e-03 1.60392521e-04 9.99995331e-01 -4.08881613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.450371743 meters 0.031813247864083745 Centerline is valid? [True, True] Translation: X:294.26, Y:-18.09, Z:-4.09 [[ 9.99958947e-01 8.45623405e-03 3.25524208e-03 2.94257723e+02] [-8.45560270e-03 9.99964229e-01 -2.07660849e-04 -1.80853357e+01] [-3.25688166e-03 1.80127290e-04 9.99994680e-01 -4.08946289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.480371743 meters 0.03354343713970199 Centerline is valid? [True, True] Translation: X:294.29, Y:-18.09, Z:-4.09 [[ 9.99986820e-01 4.11026221e-03 3.07660905e-03 2.94287657e+02] [-4.10967889e-03 9.99991536e-01 -1.95895506e-04 -1.80937072e+01] [-3.07738819e-03 1.83249049e-04 9.99995248e-01 -4.09055700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.510371743 meters 0.035251407592066346 Centerline is valid? [True, True] Translation: X:294.32, Y:-18.10, Z:-4.09 [[ 9.99991919e-01 2.28048267e-03 3.31066852e-03 2.94316617e+02] [-2.27979708e-03 9.99997379e-01 -2.10845176e-04 -1.80998737e+01] [-3.31114067e-03 2.03295820e-04 9.99994497e-01 -4.09160645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.540371743 meters 0.03510617663164469 Centerline is valid? [True, True] Translation: X:294.35, Y:-18.10, Z:-4.09 [[ 9.99996433e-01 1.69591345e-04 2.66569917e-03 2.94347205e+02] [-1.69140467e-04 9.99999971e-01 -1.69365356e-04 -1.81028302e+01] [-2.66572782e-03 1.68913874e-04 9.99996433e-01 -4.09205678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.570371743 meters 0.03772921982461308 Centerline is valid? [True, True] Translation: X:294.38, Y:-18.11, Z:-4.09 [[ 9.99994598e-01 -2.94515231e-03 1.45980718e-03 2.94377120e+02] [ 2.94529070e-03 9.99995658e-01 -9.26646724e-05 -1.81115733e+01] [-1.45952793e-03 9.69637283e-05 9.99998930e-01 -4.09443520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.600371743 meters 0.03850736057054797 Centerline is valid? [True, True] Translation: X:294.41, Y:-18.12, Z:-4.10 [[ 9.99988685e-01 -4.59135739e-03 1.24459914e-03 2.94408006e+02] [ 4.59145896e-03 9.99989456e-01 -7.87661799e-05 -1.81159250e+01] [-1.24422437e-03 8.44798145e-05 9.99999222e-01 -4.09566024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.630371743 meters 0.03967961618129296 Centerline is valid? [True, True] Translation: X:294.44, Y:-18.12, Z:-4.10 [[ 9.99977422e-01 -6.71538645e-03 2.44349529e-04 2.94438940e+02] [ 6.71539033e-03 9.99977451e-01 -1.50771643e-05 -1.81213872e+01] [-2.44242770e-04 1.67177264e-05 9.99999970e-01 -4.09692657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.660371743 meters 0.03967961618129296 Centerline is valid? [True, True] Translation: X:294.47, Y:-18.12, Z:-4.10 [[ 9.99977891e-01 -6.64516620e-03 2.44379952e-04 2.94470643e+02] [ 6.64516996e-03 9.99977921e-01 -1.46002138e-05 -1.81234706e+01] [-2.44277536e-04 1.62238374e-05 9.99999970e-01 -4.09737265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.690371743 meters 0.040422312142085574 Centerline is valid? [True, True] Translation: X:294.50, Y:-18.13, Z:-4.10 [[ 9.99974541e-01 -7.12944864e-03 2.97828879e-04 2.94502219e+02] [ 7.12945419e-03 9.99974585e-01 -1.75948141e-05 -1.81277683e+01] [-2.97695869e-04 1.97177235e-05 9.99999955e-01 -4.09774657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.720371743 meters 0.04149191983675025 Centerline is valid? [True, True] Translation: X:294.53, Y:-18.13, Z:-4.10 [[ 9.99970269e-01 -7.68655849e-03 6.14833717e-04 2.94534528e+02] [ 7.68658352e-03 9.99970457e-01 -3.83492790e-05 -1.81316604e+01] [-6.14520779e-04 4.30741096e-05 9.99999810e-01 -4.09817548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.750371743 meters 0.040036901988859716 Centerline is valid? [True, True] Translation: X:294.57, Y:-18.13, Z:-4.10 [[ 9.99963026e-01 -8.51850490e-03 1.17580933e-03 2.94566656e+02] [ 8.51859812e-03 9.99963713e-01 -7.42918021e-05 -1.81323988e+01] [-1.17513381e-03 8.43053024e-05 9.99999306e-01 -4.09764812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.780371743 meters 0.039899304489991065 Centerline is valid? [True, True] Translation: X:294.60, Y:-18.13, Z:-4.10 [[ 9.99958735e-01 -8.99481333e-03 1.27319663e-03 2.94598322e+02] [ 8.99492351e-03 9.99959542e-01 -8.08397662e-05 -1.81345670e+01] [-1.27241798e-03 9.22887367e-05 9.99999186e-01 -4.09790750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.810371743 meters 0.04511970199704098 Centerline is valid? [True, True] Translation: X:294.63, Y:-18.14, Z:-4.10 [[ 9.99955737e-01 -9.26572848e-03 1.63411337e-03 2.94628992e+02] [ 9.26590960e-03 9.99957065e-01 -1.03303950e-04 -1.81441385e+01] [-1.63308602e-03 1.18440924e-04 9.99998659e-01 -4.09918258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.840371743 meters 0.04041601653407093 Centerline is valid? [True, True] Translation: X:294.66, Y:-18.14, Z:-4.10 [[ 9.99956888e-01 -9.14975004e-03 1.58266403e-03 2.94661245e+02] [ 9.14992085e-03 9.99958134e-01 -1.00719357e-04 -1.81393418e+01] [-1.58167621e-03 1.15196265e-04 9.99998743e-01 -4.09806289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.870371743 meters 0.04074329208334223 Centerline is valid? [True, True] Translation: X:294.69, Y:-18.14, Z:-4.10 [[ 9.99959721e-01 -8.83583908e-03 1.57608560e-03 2.94693158e+02] [ 8.83600826e-03 9.99960957e-01 -1.00414505e-04 -1.81417759e+01] [-1.57513682e-03 1.14336766e-04 9.99998753e-01 -4.09850272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.900371743 meters 0.03656241526346906 Centerline is valid? [True, True] Translation: X:294.73, Y:-18.14, Z:-4.10 [[ 9.99968702e-01 -7.65333946e-03 2.00543903e-03 2.94725106e+02] [ 7.65361264e-03 9.99970702e-01 -1.28582169e-04 -1.81369812e+01] [-2.00439619e-03 1.43926998e-04 9.99997981e-01 -4.09784712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.930371743 meters 0.042372962766084404 Centerline is valid? [True, True] Translation: X:294.76, Y:-18.15, Z:-4.10 [[ 9.99968963e-01 -7.57740659e-03 2.15763349e-03 2.94755272e+02] [ 7.57772068e-03 9.99971279e-01 -1.37436654e-04 -1.81477081e+01] [-2.15653010e-03 1.53782332e-04 9.99997663e-01 -4.09925817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.960371743 meters 0.0379179934263563 Centerline is valid? [True, True] Translation: X:294.79, Y:-18.14, Z:-4.10 [[ 9.99973850e-01 -6.96885740e-03 1.93257665e-03 2.94788040e+02] [ 6.96910956e-03 9.99975708e-01 -1.23778648e-04 -1.81415589e+01] [-1.93166711e-03 1.37243749e-04 9.99998125e-01 -4.09873691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.990371743 meters 0.039490455022843665 Centerline is valid? [True, True] Translation: X:294.82, Y:-18.15, Z:-4.10 [[ 9.99972970e-01 -7.24590583e-03 1.24742693e-03 2.94818849e+02] [ 7.24601107e-03 9.99973744e-01 -7.98615178e-05 -1.81450259e+01] [-1.24681551e-03 8.88982285e-05 9.99999219e-01 -4.09953334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.020371743 meters 0.037179545605167584 Centerline is valid? [True, True] Translation: X:294.85, Y:-18.14, Z:-4.10 [[ 9.99974712e-01 -7.04530496e-03 9.68875178e-04 2.94850791e+02] [ 7.04536800e-03 9.99975179e-01 -6.16640540e-05 -1.81436091e+01] [-9.68416688e-04 6.84885769e-05 9.99999529e-01 -4.09963922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.050371743 meters 0.03970282532093331 Centerline is valid? [True, True] Translation: X:294.88, Y:-18.15, Z:-4.10 [[ 9.99970039e-01 -7.70488931e-03 7.45858035e-04 2.94881958e+02] [ 7.70492690e-03 9.99970315e-01 -4.75368348e-05 -1.81484893e+01] [-7.45469629e-04 5.32821922e-05 9.99999721e-01 -4.10096280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.080371743 meters 0.040811161459580574 Centerline is valid? [True, True] Translation: X:294.91, Y:-18.15, Z:-4.10 [[ 9.99968164e-01 -7.95289847e-03 6.50067049e-04 2.94912901e+02] [ 7.95292705e-03 9.99968374e-01 -4.13851269e-05 -1.81518993e+01] [-6.49717358e-04 4.65537452e-05 9.99999788e-01 -4.10200138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11037174300003 meters 0.03963307597059918 Centerline is valid? [True, True] Translation: X:294.95, Y:-18.15, Z:-4.10 [[ 9.99966051e-01 -8.22426597e-03 5.07381685e-04 2.94945336e+02] [ 8.22428321e-03 9.99966180e-01 -3.19143363e-05 -1.81503563e+01] [-5.07102053e-04 3.60861035e-05 9.99999871e-01 -4.10202029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.140371743 meters 0.04809777150112161 Centerline is valid? [True, True] Translation: X:294.98, Y:-18.16, Z:-4.10 [[ 9.99967011e-01 -8.08850204e-03 7.43225054e-04 2.94975872e+02] [ 8.08853957e-03 9.99967286e-01 -4.75119307e-05 -1.81628221e+01] [-7.42816440e-04 5.35219686e-05 9.99999723e-01 -4.10417374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17037174300003 meters 0.04071643403873695 Centerline is valid? [True, True] Translation: X:295.01, Y:-18.15, Z:-4.10 [[ 9.99969240e-01 -7.80030530e-03 8.21748117e-04 2.95009352e+02] [ 7.80035100e-03 9.99969575e-01 -5.24286298e-05 -1.81515928e+01] [-8.21314157e-04 5.88369408e-05 9.99999661e-01 -4.10163330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.200371743 meters 0.04007559929589845 Centerline is valid? [True, True] Translation: X:295.04, Y:-18.15, Z:-4.10 [[ 9.99970271e-01 -7.62952528e-03 1.11690205e-03 2.95041753e+02] [ 7.62961008e-03 9.99970892e-01 -7.16871261e-05 -1.81515139e+01] [-1.11632260e-03 8.02065220e-05 9.99999374e-01 -4.10151687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.230371743 meters 0.03827929089234167 Centerline is valid? [True, True] Translation: X:295.07, Y:-18.15, Z:-4.10 [[ 9.99971114e-01 -7.41168712e-03 1.68440031e-03 2.95074215e+02] [ 7.41188071e-03 9.99972526e-01 -1.08720181e-04 -1.81500525e+01] [-1.68354823e-03 1.21201614e-04 9.99998575e-01 -4.10105097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.260371743 meters 0.04178504835055096 Centerline is valid? [True, True] Translation: X:295.10, Y:-18.15, Z:-4.10 [[ 9.99969138e-01 -7.57147351e-03 2.09649193e-03 2.95104809e+02] [ 7.57177507e-03 9.99971324e-01 -1.35938901e-04 -1.81541454e+01] [-2.09540255e-03 1.51808871e-04 9.99997793e-01 -4.10115944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.290371743 meters 0.04317975097671374 Centerline is valid? [True, True] Translation: X:295.14, Y:-18.16, Z:-4.10 [[ 9.99966637e-01 -7.76463221e-03 2.53693557e-03 2.95135722e+02] [ 7.76507520e-03 9.99969838e-01 -1.64815483e-04 -1.81570449e+01] [-2.53557932e-03 1.84509479e-04 9.99996768e-01 -4.10102271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.320371743 meters 0.03944470916360663 Centerline is valid? [True, True] Translation: X:295.17, Y:-18.15, Z:-4.10 [[ 9.99960298e-01 -8.35411930e-03 3.10030501e-03 2.95168349e+02] [ 8.35478405e-03 9.99965078e-01 -2.01525535e-04 -1.81511267e+01] [-3.09851318e-03 2.27419913e-04 9.99995174e-01 -4.09940268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.350371743 meters 0.039381657821710776 Centerline is valid? [True, True] Translation: X:295.20, Y:-18.15, Z:-4.10 [[ 9.99955380e-01 -8.94199396e-03 3.04603068e-03 2.95200906e+02] [ 8.94263896e-03 9.99959994e-01 -1.98195138e-04 -1.81513175e+01] [-3.04413657e-03 2.25425847e-04 9.99995341e-01 -4.09944187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380371743 meters 0.04052119142656908 Centerline is valid? [True, True] Translation: X:295.23, Y:-18.15, Z:-4.10 [[ 9.99951665e-01 -9.32873320e-03 3.10508881e-03 2.95233185e+02] [ 9.32940608e-03 9.99956460e-01 -2.02287402e-04 -1.81538697e+01] [-3.10306652e-03 2.31246259e-04 9.99995159e-01 -4.10038039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.410371743 meters 0.042386569731147836 Centerline is valid? [True, True] Translation: X:295.26, Y:-18.16, Z:-4.10 [[ 9.99940068e-01 -1.06702751e-02 2.45067937e-03 2.95264047e+02] [ 1.06706967e-02 9.99943054e-01 -1.59016612e-04 -1.81558824e+01] [-2.44884306e-03 1.85157539e-04 9.99996984e-01 -4.10164955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440371743 meters 0.04239128226639256 Centerline is valid? [True, True] Translation: X:295.30, Y:-18.16, Z:-4.10 [[ 9.99927825e-01 -1.19099510e-02 1.58043494e-03 2.95295919e+02] [ 1.19101286e-02 9.99929067e-01 -1.03001585e-04 -1.81555138e+01] [-1.57909609e-03 1.21817334e-04 9.99998746e-01 -4.10253478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.470371743 meters 0.042061511447787504 Centerline is valid? [True, True] Translation: X:295.33, Y:-18.16, Z:-4.10 [[ 9.99921049e-01 -1.25430754e-02 7.53644560e-04 2.95328184e+02] [ 1.25431155e-02 9.99921331e-01 -4.85239698e-05 -1.81551769e+01] [-7.52976632e-04 5.79731895e-05 9.99999715e-01 -4.10270852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500371743 meters 0.04276299598317924 Centerline is valid? [True, True] Translation: X:295.36, Y:-18.16, Z:-4.10 [[ 9.99923195e-01 -1.23892339e-02 3.33663389e-04 2.95358904e+02] [ 1.23892416e-02 9.99923250e-01 -2.11966690e-05 -1.81565089e+01] [-3.33375170e-04 2.53288773e-05 9.99999944e-01 -4.10301637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.530371743 meters 0.04353010631148742 Centerline is valid? [True, True] Translation: X:295.39, Y:-18.16, Z:-4.10 [[ 9.99930633e-01 -1.17661461e-02 5.35530659e-04 2.95391423e+02] [ 1.17661661e-02 9.99930776e-01 -3.42737601e-05 -1.81556855e+01] [-5.35090318e-04 4.05725254e-05 9.99999856e-01 -4.10367551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560371743 meters 0.04248322643375085 Centerline is valid? [True, True] Translation: X:295.42, Y:-18.15, Z:-4.10 [[ 9.99937359e-01 -1.11867240e-02 3.67853106e-04 2.95423743e+02] [ 1.11867333e-02 9.99937426e-01 -2.32518988e-05 -1.81545996e+01] [-3.67569976e-04 2.73655168e-05 9.99999932e-01 -4.10403591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.590371743 meters 0.03997749523071346 Centerline is valid? [True, True] Translation: X:295.46, Y:-18.15, Z:-4.10 [[ 9.99952559e-01 -9.71363088e-03 7.24847043e-04 2.95455728e+02] [ 9.71366770e-03 9.99952820e-01 -4.72946483e-05 -1.81496597e+01] [-7.24353442e-04 5.43333279e-05 9.99999736e-01 -4.10309350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620371743 meters 0.03969496091545758 Centerline is valid? [True, True] Translation: X:295.49, Y:-18.15, Z:-4.10 [[ 9.99958984e-01 -9.00643523e-03 9.56369573e-04 2.95488491e+02] [ 9.00649853e-03 9.99959439e-01 -6.18952652e-05 -1.81496507e+01] [-9.55773326e-04 7.05062677e-05 9.99999541e-01 -4.10302838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.650371743 meters 0.03905179652645982 Centerline is valid? [True, True] Translation: X:295.52, Y:-18.15, Z:-4.10 [[ 9.99965296e-01 -8.19758276e-03 1.48526999e-03 2.95520723e+02] [ 8.19773609e-03 9.99966393e-01 -9.71738616e-05 -1.81469336e+01] [-1.48442348e-03 1.09346341e-04 9.99998892e-01 -4.10267676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680371743 meters 0.03859604874973289 Centerline is valid? [True, True] Translation: X:295.55, Y:-18.15, Z:-4.10 [[ 9.99968550e-01 -7.77796963e-03 1.54961177e-03 2.95553044e+02] [ 7.77813627e-03 9.99969745e-01 -1.01535696e-04 -1.81466149e+01] [-1.54877515e-03 1.13585594e-04 9.99998794e-01 -4.10289300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.710371743 meters 0.03967922581913975 Centerline is valid? [True, True] Translation: X:295.58, Y:-18.15, Z:-4.10 [[ 9.99969280e-01 -7.63415461e-03 1.77703799e-03 2.95584158e+02] [ 7.63437294e-03 9.99970851e-01 -1.16113784e-04 -1.81486169e+01] [-1.77609976e-03 1.29676788e-04 9.99998414e-01 -4.10345293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740371743 meters 0.040120710591952276 Centerline is valid? [True, True] Translation: X:295.62, Y:-18.15, Z:-4.10 [[ 9.99964636e-01 -8.28676755e-03 1.43369454e-03 2.95616394e+02] [ 8.28691102e-03 9.99965659e-01 -9.41575786e-05 -1.81479834e+01] [-1.43286504e-03 1.06035148e-04 9.99998968e-01 -4.10410908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.770371743 meters 0.040913179431455615 Centerline is valid? [True, True] Translation: X:295.65, Y:-18.15, Z:-4.10 [[ 9.99962098e-01 -8.52377980e-03 1.77397634e-03 2.95647467e+02] [ 8.52400087e-03 9.99963663e-01 -1.17097196e-04 -1.81501620e+01] [-1.77291376e-03 1.32214133e-04 9.99998420e-01 -4.10458509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800371743 meters 0.04220782505424741 Centerline is valid? [True, True] Translation: X:295.68, Y:-18.15, Z:-4.11 [[ 9.99949552e-01 -9.93854513e-03 1.45559856e-03 2.95679144e+02] [ 9.93869540e-03 9.99950605e-01 -9.60391172e-05 -1.81514618e+01] [-1.45457217e-03 1.10501023e-04 9.99998936e-01 -4.10532385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.830371743 meters 0.0412879688648016 Centerline is valid? [True, True] Translation: X:295.71, Y:-18.15, Z:-4.11 [[ 9.99942288e-01 -1.07123627e-02 8.16581265e-04 2.95711250e+02] [ 1.07124099e-02 9.99942619e-01 -5.33438779e-05 -1.81512014e+01] [-8.15962970e-04 6.20883525e-05 9.99999665e-01 -4.10556434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86037174300003 meters 0.0446420657229685 Centerline is valid? [True, True] Translation: X:295.74, Y:-18.16, Z:-4.11 [[ 9.99933063e-01 -1.15649053e-02 3.49704925e-04 2.95741986e+02] [ 1.15649139e-02 9.99933124e-01 -2.25441869e-05 -1.81563646e+01] [-3.49420817e-04 2.65869852e-05 9.99999939e-01 -4.10699223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.890371743 meters 0.04368874546058297 Centerline is valid? [True, True] Translation: X:295.77, Y:-18.15, Z:-4.11 [[ 9.99912364e-01 -1.32348957e-02 -3.19367185e-04 2.95773653e+02] [ 1.32349033e-02 9.99912415e-01 2.17816071e-05 -1.81543989e+01] [ 3.19050936e-04 -2.60064921e-05 9.99999949e-01 -4.10699047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92037174300003 meters 0.047143436469172635 Centerline is valid? [True, True] Translation: X:295.80, Y:-18.16, Z:-4.11 [[ 9.99905144e-01 -1.37730734e-02 -7.84094933e-05 2.95804168e+02] [ 1.37730739e-02 9.99905147e-01 5.97072967e-06 -1.81605680e+01] [ 7.83198204e-05 -7.05010305e-06 9.99999997e-01 -4.10794506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.950371743 meters 0.044546477178059124 Centerline is valid? [True, True] Translation: X:295.84, Y:-18.16, Z:-4.11 [[ 9.99902455e-01 -1.39608036e-02 4.19267063e-04 2.95836855e+02] [ 1.39608162e-02 9.99902543e-01 -2.70038677e-05 -1.81569943e+01] [-4.18849207e-04 3.28545441e-05 9.99999912e-01 -4.10736769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.980371743 meters 0.04439855432669309 Centerline is valid? [True, True] Translation: X:295.87, Y:-18.16, Z:-4.11 [[ 9.99907163e-01 -1.36094759e-02 6.69626314e-04 2.95869168e+02] [ 1.36095083e-02 9.99907385e-01 -4.37679344e-05 -1.81573916e+01] [-6.68968639e-04 5.28771559e-05 9.99999775e-01 -4.10728161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.010371743 meters 0.044909252617675754 Centerline is valid? [True, True] Translation: X:295.90, Y:-18.16, Z:-4.11 [[ 9.99918607e-01 -1.27224323e-02 9.58467699e-04 2.95901954e+02] [ 1.27224984e-02 9.99919064e-01 -6.29219679e-05 -1.81582600e+01] [-9.57589604e-04 7.51109503e-05 9.99999539e-01 -4.10724670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.040371743 meters 0.04243466564085581 Centerline is valid? [True, True] Translation: X:295.93, Y:-18.15, Z:-4.11 [[ 9.99949444e-01 -9.91666016e-03 1.66394020e-03 2.95933285e+02] [ 9.91685862e-03 9.99950821e-01 -1.11061882e-04 -1.81528523e+01] [-1.66275701e-03 1.27557327e-04 9.99998609e-01 -4.10573980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.070371743 meters 0.04521940455714035 Centerline is valid? [True, True] Translation: X:295.96, Y:-18.16, Z:-4.11 [[ 9.99967657e-01 -7.72212569e-03 2.24810625e-03 2.95962641e+02] [ 7.72248169e-03 9.99970170e-01 -1.49718419e-04 -1.81570196e+01] [-2.24688304e-03 1.67074536e-04 9.99997462e-01 -4.10639037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.100371743 meters 0.03826598731207653 Centerline is valid? [True, True] Translation: X:295.99, Y:-18.15, Z:-4.11 [[ 9.99990334e-01 -4.03835051e-03 1.73897067e-03 2.95994246e+02] [ 4.03855907e-03 9.99991838e-01 -1.16438998e-04 -1.81458337e+01] [-1.73848626e-03 1.23460808e-04 9.99998481e-01 -4.10619392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.130371743 meters 0.037378020806219034 Centerline is valid? [True, True] Translation: X:296.03, Y:-18.15, Z:-4.11 [[ 9.99996046e-01 -2.39697929e-03 1.47076476e-03 2.96025768e+02] [ 2.39712619e-03 9.99997122e-01 -9.81269745e-05 -1.81453031e+01] [-1.47052532e-03 1.01652195e-04 9.99998914e-01 -4.10714809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.160371743 meters 0.03805383224335063 Centerline is valid? [True, True] Translation: X:296.06, Y:-18.15, Z:-4.11 [[ 9.99998953e-01 -7.39962149e-04 1.24369740e-03 2.96056415e+02] [ 7.40065880e-04 9.99999723e-01 -8.29470277e-05 -1.81467947e+01] [-1.24363567e-03 8.38673588e-05 9.99999223e-01 -4.10821957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.190371743 meters 0.03589370655871363 Centerline is valid? [True, True] Translation: X:296.09, Y:-18.14, Z:-4.11 [[ 9.99998462e-01 1.58226011e-03 7.57094310e-04 2.96087713e+02] [-1.58222216e-03 9.99998747e-01 -5.07320407e-05 -1.81422102e+01] [-7.57173633e-04 4.95340713e-05 9.99999712e-01 -4.10845041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.220371743 meters 0.036631542931706 Centerline is valid? [True, True] Translation: X:296.12, Y:-18.14, Z:-4.11 [[ 9.99997033e-01 2.27480167e-03 8.71202971e-04 2.96116871e+02] [-2.27475139e-03 9.99997411e-01 -5.86963282e-05 -1.81437955e+01] [-8.71334239e-04 5.67143839e-05 9.99999619e-01 -4.10930478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.250371743 meters 0.03692401272738765 Centerline is valid? [True, True] Translation: X:296.15, Y:-18.14, Z:-4.11 [[ 9.99997042e-01 2.43030096e-03 9.72445877e-05 2.96146883e+02] [-2.43030028e-03 9.99997047e-01 -7.01586279e-06 -1.81438853e+01] [-9.72613514e-05 6.77950850e-06 9.99999995e-01 -4.11070949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.280371743 meters 0.03489804918913127 Centerline is valid? [True, True] Translation: X:296.18, Y:-18.14, Z:-4.11 [[ 9.99998434e-01 1.73502844e-03 -3.49986419e-04 2.96177049e+02] [-1.73502052e-03 9.99998495e-01 2.29429635e-05 -1.81415930e+01] [ 3.50025699e-04 -2.23356939e-05 9.99999938e-01 -4.11078532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.310371743 meters 0.037629501134538855 Centerline is valid? [True, True] Translation: X:296.21, Y:-18.15, Z:-4.11 [[ 9.99999103e-01 1.13935404e-03 -7.03617929e-04 2.96206229e+02] [-1.13932133e-03 9.99999350e-01 4.68872352e-05 -1.81467687e+01] [ 7.03670892e-04 -4.60855463e-05 9.99999751e-01 -4.11230665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.340371743 meters 0.036157035063718965 Centerline is valid? [True, True] Translation: X:296.24, Y:-18.14, Z:-4.11 [[ 9.99999566e-01 -8.72053150e-04 -3.28881470e-04 2.96236438e+02] [ 8.72060358e-04 9.99999620e-01 2.17731370e-05 -1.81449632e+01] [ 3.28862357e-04 -2.20599320e-05 9.99999946e-01 -4.11169301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.370371743 meters 0.04076274658997174 Centerline is valid? [True, True] Translation: X:296.27, Y:-18.15, Z:-4.11 [[ 9.99997509e-01 -2.18492567e-03 4.55955174e-04 2.96265856e+02] [ 2.18493982e-03 9.99997613e-01 -3.05396197e-05 -1.81531777e+01] [-4.55887359e-04 3.15357782e-05 9.99999896e-01 -4.11289134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.400371743 meters 0.03833558445046473 Centerline is valid? [True, True] Translation: X:296.30, Y:-18.15, Z:-4.11 [[ 9.99986013e-01 -5.23955073e-03 7.21836722e-04 2.96297507e+02] [ 5.23958665e-03 9.99986272e-01 -4.78697494e-05 -1.81512878e+01] [-7.21575997e-04 5.16512059e-05 9.99999738e-01 -4.11159637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.430371743 meters 0.03953214334954841 Centerline is valid? [True, True] Translation: X:296.33, Y:-18.15, Z:-4.11 [[ 9.99979003e-01 -6.39026039e-03 1.07619168e-03 2.96329777e+02] [ 6.39034069e-03 9.99979579e-01 -7.11932700e-05 -1.81548491e+01] [-1.07571476e-03 7.80690067e-05 9.99999418e-01 -4.11248729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.460371743 meters 0.04053571459316067 Centerline is valid? [True, True] Translation: X:296.36, Y:-18.16, Z:-4.11 [[ 9.99970250e-01 -7.68050566e-03 7.13660725e-04 2.96361683e+02] [ 7.68054110e-03 9.99970503e-01 -4.69283729e-05 -1.81582277e+01] [-7.13279241e-04 5.24082773e-05 9.99999744e-01 -4.11339918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.490371743 meters 0.04637341033019815 Centerline is valid? [True, True] Translation: X:296.39, Y:-18.17, Z:-4.12 [[ 9.99956759e-01 -9.28547740e-03 -5.10135030e-04 2.96390862e+02] [ 9.28549607e-03 9.99956888e-01 3.42599414e-05 -1.81680624e+01] [ 5.09794917e-04 -3.89953168e-05 9.99999869e-01 -4.11665195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.520371743 meters 0.04637341033019815 Centerline is valid? [True, True] Translation: X:296.42, Y:-18.17, Z:-4.12 [[ 9.99957383e-01 -9.21806820e-03 -5.10069244e-04 2.96422576e+02] [ 9.21808737e-03 9.99957512e-01 3.52390073e-05 -1.81702595e+01] [ 5.09722737e-04 -3.99393683e-05 9.99999869e-01 -4.11709845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.550371743 meters 0.04122861885008166 Centerline is valid? [True, True] Translation: X:296.46, Y:-18.16, Z:-4.12 [[ 9.99954469e-01 -9.49835450e-03 -9.16871577e-04 2.96455179e+02] [ 9.49841597e-03 9.99954887e-01 6.27086341e-05 -1.81646371e+01] [ 9.16234585e-04 -7.14146065e-05 9.99999578e-01 -4.11666413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.580371743 meters 0.040966900624165505 Centerline is valid? [True, True] Translation: X:296.49, Y:-18.17, Z:-4.12 [[ 9.99955158e-01 -9.22204759e-03 -2.15300537e-03 2.96487028e+02] [ 9.22238332e-03 9.99957462e-01 1.46060392e-04 -1.81652297e+01] [ 2.15156681e-03 -1.65909683e-04 9.99997672e-01 -4.11848687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61037174300003 meters 0.03923012788788474 Centerline is valid? [True, True] Translation: X:296.52, Y:-18.16, Z:-4.12 [[ 9.99961968e-01 -8.30558619e-03 -2.66076919e-03 2.96519766e+02] [ 8.30609564e-03 9.99965488e-01 1.80475940e-04 -1.81640037e+01] [ 2.65917840e-03 -2.02569680e-04 9.99996444e-01 -4.11914938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.640371743 meters 0.04025712786637493 Centerline is valid? [True, True] Translation: X:296.55, Y:-18.17, Z:-4.12 [[ 9.99975951e-01 -6.22129069e-03 -3.06467898e-03 2.96550046e+02] [ 6.22195417e-03 9.99980622e-01 2.07003805e-04 -1.81665186e+01] [ 3.06333177e-03 -2.26067119e-04 9.99995282e-01 -4.12036554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67037174300003 meters 0.03789116605802242 Centerline is valid? [True, True] Translation: X:296.58, Y:-18.16, Z:-4.12 [[ 9.99993560e-01 2.24737429e-05 -3.58889285e-03 2.96580816e+02] [-2.16043157e-05 9.99999970e-01 2.42293582e-04 -1.81610232e+01] [ 3.58889819e-03 -2.42214486e-04 9.99993531e-01 -4.12044270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.700371743 meters 0.035105076563820586 Centerline is valid? [True, True] Translation: X:296.61, Y:-18.15, Z:-4.12 [[ 9.99950366e-01 9.61809178e-03 -2.59949494e-03 2.96611168e+02] [-9.61766821e-03 9.99953734e-01 1.75395715e-04 -1.81537240e+01] [ 2.60106164e-03 -1.50385930e-04 9.99996606e-01 -4.11930914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.730371743 meters 0.03372251699483884 Centerline is valid? [True, True] Translation: X:296.64, Y:-18.15, Z:-4.12 [[ 9.99887434e-01 1.48523408e-02 -2.12780380e-03 2.96641253e+02] [-1.48520695e-02 9.99889692e-01 1.43237972e-04 -1.81505810e+01] [ 2.12969650e-03 -1.11619558e-04 9.99997726e-01 -4.11886688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.760371743 meters 0.03114045121637108 Centerline is valid? [True, True] Translation: X:296.67, Y:-18.15, Z:-4.12 [[ 9.99794284e-01 2.02615136e-02 -9.27270438e-04 2.96671648e+02] [-2.02614644e-02 9.99794714e-01 6.25029066e-05 -1.81458442e+01] [ 9.28346485e-04 -4.37021918e-05 9.99999568e-01 -4.11775086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.790371743 meters 0.029618317227621815 Centerline is valid? [True, True] Translation: X:296.70, Y:-18.14, Z:-4.12 [[ 9.99678060e-01 2.53691443e-02 4.27144155e-04 2.96702006e+02] [-2.53691343e-02 9.99678151e-01 -2.88618573e-05 -1.81429248e+01] [-4.27738880e-04 1.80162881e-05 9.99999908e-01 -4.11753005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.820371743 meters 0.026713565080354693 Centerline is valid? [True, True] Translation: X:296.73, Y:-18.14, Z:-4.12 [[ 9.99430546e-01 3.36849332e-02 1.97693417e-03 2.96732604e+02] [-3.36847345e-02 9.99432499e-01 -1.33699271e-04 -1.81359160e+01] [-1.98031591e-03 6.70306326e-05 9.99998037e-01 -4.11657255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.850371743 meters 0.024618583508136217 Centerline is valid? [True, True] Translation: X:296.76, Y:-18.13, Z:-4.12 [[ 9.99321632e-01 3.67223911e-02 2.78238121e-03 2.96761720e+02] [-3.67220088e-02 9.99325502e-01 -1.88377171e-04 -1.81319915e+01] [-2.78742216e-03 8.60747543e-05 9.99996111e-01 -4.11551599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880371743 meters 0.024322134482905454 Centerline is valid? [True, True] Translation: X:296.79, Y:-18.13, Z:-4.12 [[ 9.99172026e-01 4.05196314e-02 3.66372096e-03 2.96791086e+02] [-4.05189976e-02 9.99178738e-01 -2.47093464e-04 -1.81301035e+01] [-3.67072422e-03 9.84385765e-05 9.99993258e-01 -4.11621106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.910371743 meters 0.02393566503795128 Centerline is valid? [True, True] Translation: X:296.82, Y:-18.13, Z:-4.12 [[ 9.99133347e-01 4.14481370e-02 3.82198211e-03 2.96820286e+02] [-4.14474533e-02 9.99140652e-01 -2.57973261e-04 -1.81302487e+01] [-3.82939020e-03 9.93382631e-05 9.99992663e-01 -4.11641532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940371743 meters 0.024192120631572684 Centerline is valid? [True, True] Translation: X:296.85, Y:-18.13, Z:-4.12 [[ 9.99126077e-01 4.16217104e-02 3.83600540e-03 2.96848422e+02] [-4.16210233e-02 9.99133436e-01 -2.58813405e-04 -1.81319761e+01] [-3.84345351e-03 9.89287517e-05 9.99992609e-01 -4.11677929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.970371743 meters 0.023987750520047875 Centerline is valid? [True, True] Translation: X:296.88, Y:-18.13, Z:-4.12 [[ 9.99133008e-01 4.14547740e-02 3.83840001e-03 2.96876577e+02] [-4.14540854e-02 9.99140376e-01 -2.58833730e-04 -1.81329089e+01] [-3.84583032e-03 9.94919622e-05 9.99992600e-01 -4.11675173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000371743 meters 0.023991810628553892 Centerline is valid? [True, True] Translation: X:296.91, Y:-18.14, Z:-4.12 [[ 9.99155949e-01 4.09137404e-02 3.66805672e-03 2.96905265e+02] [-4.09131104e-02 9.99162678e-01 -2.46653518e-04 -1.81357677e+01] [-3.67507690e-03 9.63737197e-05 9.99993242e-01 -4.11726919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.030371743 meters 0.025088699306089653 Centerline is valid? [True, True] Translation: X:296.93, Y:-18.14, Z:-4.12 [[ 9.99229487e-01 3.90754879e-02 3.67939626e-03 2.96932143e+02] [-3.90748393e-02 9.99236256e-01 -2.48027041e-04 -1.81413530e+01] [-3.68627792e-03 1.04064115e-04 9.99993200e-01 -4.11873259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060371743 meters 0.025101890555324028 Centerline is valid? [True, True] Translation: X:296.96, Y:-18.14, Z:-4.12 [[ 9.99266668e-01 3.81455936e-02 3.32258065e-03 2.96960895e+02] [-3.81450636e-02 9.99272187e-01 -2.22753082e-04 -1.81441129e+01] [-3.32865948e-03 9.58496800e-05 9.99994455e-01 -4.11903710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.090371743 meters 0.025788473728201554 Centerline is valid? [True, True] Translation: X:296.99, Y:-18.15, Z:-4.12 [[ 9.99364142e-01 3.54153291e-02 4.13118541e-03 2.96989101e+02] [-3.54144887e-02 9.99372672e-01 -2.76419945e-04 -1.81504141e+01] [-4.13838330e-03 1.29940362e-04 9.99991428e-01 -4.11993261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120371743 meters 0.02670331757670557 Centerline is valid? [True, True] Translation: X:297.02, Y:-18.16, Z:-4.12 [[ 9.99397538e-01 3.44708028e-02 4.04033802e-03 2.97016110e+02] [-3.44699892e-02 9.99405697e-01 -2.70857848e-04 -1.81555456e+01] [-4.04727352e-03 1.31424259e-04 9.99991801e-01 -4.12096057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.150371743 meters 0.02609424604440931 Centerline is valid? [True, True] Translation: X:297.04, Y:-18.16, Z:-4.12 [[ 9.99397450e-01 3.44129030e-02 4.52651190e-03 2.97044726e+02] [-3.44118888e-02 9.99407690e-01 -3.01783953e-04 -1.81572133e+01] [-4.53421606e-03 1.45836289e-04 9.99989710e-01 -4.12132282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180371743 meters 0.026064404912360773 Centerline is valid? [True, True] Translation: X:297.07, Y:-18.16, Z:-4.12 [[ 9.99358887e-01 3.53938970e-02 5.39324735e-03 2.97072434e+02] [-3.53924717e-02 9.99373426e-01 -3.59506714e-04 -1.81610211e+01] [-5.40259242e-03 1.68395876e-04 9.99985392e-01 -4.12131308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.210371743 meters 0.025247011497043705 Centerline is valid? [True, True] Translation: X:297.10, Y:-18.16, Z:-4.12 [[ 9.99317050e-01 3.65439549e-02 5.47481774e-03 2.97101260e+02] [-3.65425101e-02 9.99332033e-01 -3.63716208e-04 -1.81617825e+01] [-5.48445237e-03 1.63404225e-04 9.99984947e-01 -4.12056601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240371743 meters 0.02480610443982929 Centerline is valid? [True, True] Translation: X:297.13, Y:-18.16, Z:-4.12 [[ 9.99230477e-01 3.85691689e-02 7.13247454e-03 2.97129781e+02] [-3.85667742e-02 9.99255913e-01 -4.73028146e-04 -1.81642959e+01] [-7.14541166e-03 1.97587605e-04 9.99974452e-01 -4.12010230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.270371743 meters 0.024455409506147868 Centerline is valid? [True, True] Translation: X:297.16, Y:-18.17, Z:-4.12 [[ 9.99189903e-01 3.94466377e-02 7.96866953e-03 2.97158637e+02] [-3.94436820e-02 9.99221656e-01 -5.27792335e-04 -1.81671973e+01] [-7.98328679e-03 2.13051106e-04 9.99968110e-01 -4.12016256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300371743 meters 0.024843535481358533 Centerline is valid? [True, True] Translation: X:297.19, Y:-18.17, Z:-4.12 [[ 9.99165547e-01 3.99479886e-02 8.50696006e-03 2.97186400e+02] [-3.99446433e-02 9.99201736e-01 -5.62859401e-04 -1.81712907e+01] [-8.52265436e-03 2.22582236e-04 9.99963657e-01 -4.12095569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.330371743 meters 0.024426717462674427 Centerline is valid? [True, True] Translation: X:297.22, Y:-18.18, Z:-4.12 [[ 9.99157910e-01 4.02635993e-02 7.89383811e-03 2.97215094e+02] [-4.02607344e-02 9.99189072e-01 -5.21568726e-04 -1.81768241e+01] [-7.90843701e-03 2.03317799e-04 9.99968707e-01 -4.12286343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36037174300003 meters 0.02464387722745909 Centerline is valid? [True, True] Translation: X:297.24, Y:-18.18, Z:-4.12 [[ 9.99184323e-01 3.96233016e-02 7.78994078e-03 2.97244012e+02] [-3.96204965e-02 9.99214668e-01 -5.14152952e-04 -1.81814191e+01] [-7.80419552e-03 2.05092248e-04 9.99969526e-01 -4.12421995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.390371743 meters 0.0254145089544233 Centerline is valid? [True, True] Translation: X:297.27, Y:-18.19, Z:-4.13 [[ 9.99266063e-01 3.77195568e-02 6.67609625e-03 2.97270852e+02] [-3.77174546e-02 9.99288347e-01 -4.40557994e-04 -1.81899849e+01] [-6.68796284e-03 1.88429295e-04 9.99977618e-01 -4.12576774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42037174300003 meters 0.025933630430647187 Centerline is valid? [True, True] Translation: X:297.30, Y:-18.20, Z:-4.13 [[ 9.99322742e-01 3.61836796e-02 6.69314576e-03 2.97299387e+02] [-3.61815388e-02 9.99345137e-01 -4.40685911e-04 -1.81952367e+01] [-6.70470830e-03 1.98219140e-04 9.99977504e-01 -4.12686458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.450371743 meters 0.026230293349261344 Centerline is valid? [True, True] Translation: X:297.33, Y:-18.20, Z:-4.13 [[ 9.99370912e-01 3.48391836e-02 6.63412818e-03 2.97327486e+02] [-3.48370530e-02 9.99392910e-01 -4.36475619e-04 -1.81999667e+01] [-6.64530712e-03 2.05087562e-04 9.99977899e-01 -4.12752996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.480371743 meters 0.026624626317212376 Centerline is valid? [True, True] Translation: X:297.36, Y:-18.21, Z:-4.13 [[ 9.99473026e-01 3.18733662e-02 6.14486248e-03 2.97356477e+02] [-3.18714876e-02 9.99491894e-01 -4.03430075e-04 -1.82071172e+01] [-6.15459891e-03 2.07371569e-04 9.99981039e-01 -4.12833217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.510371743 meters 0.026862483109451076 Centerline is valid? [True, True] Translation: X:297.38, Y:-18.21, Z:-4.13 [[ 9.99515525e-01 3.04148520e-02 6.60702890e-03 2.97384506e+02] [-3.04126476e-02 9.99537334e-01 -4.33895369e-04 -1.82121351e+01] [-6.61716892e-03 2.32747916e-04 9.99978079e-01 -4.12902461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.540371743 meters 0.02712170040720393 Centerline is valid? [True, True] Translation: X:297.41, Y:-18.22, Z:-4.13 [[ 9.99617044e-01 2.67828837e-02 6.96002916e-03 2.97413105e+02] [-2.67803558e-02 9.99641238e-01 -4.56154825e-04 -1.82185785e+01] [-6.96974930e-03 2.69588080e-04 9.99975675e-01 -4.12901491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.570371743 meters 0.027628576391468665 Centerline is valid? [True, True] Translation: X:297.44, Y:-18.22, Z:-4.13 [[ 9.99672850e-01 2.46062071e-02 6.98049130e-03 2.97441496e+02] [-2.46036132e-02 9.99697181e-01 -4.57237271e-04 -1.82229498e+01] [-6.98962835e-03 2.85342378e-04 9.99975532e-01 -4.12899892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.600371743 meters 0.030778827056046405 Centerline is valid? [True, True] Translation: X:297.47, Y:-18.23, Z:-4.13 [[ 9.99722130e-01 2.24501893e-02 7.18690344e-03 2.97469476e+02] [-2.24473889e-02 9.99747915e-01 -4.70097222e-04 -1.82320880e+01] [-7.19564551e-03 3.08639379e-04 9.99974063e-01 -4.13010521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.630371743 meters 0.030922006964025122 Centerline is valid? [True, True] Translation: X:297.50, Y:-18.24, Z:-4.13 [[ 9.99841810e-01 1.64750800e-02 6.70275946e-03 2.97499482e+02] [-1.64725148e-02 9.99864223e-01 -4.37748287e-04 -1.82370820e+01] [-6.70906132e-03 3.27267735e-04 9.99977440e-01 -4.13013558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.660371743 meters 0.031053015731830134 Centerline is valid? [True, True] Translation: X:297.53, Y:-18.24, Z:-4.13 [[ 9.99888717e-01 1.31782071e-02 6.99203869e-03 2.97528619e+02] [-1.31753328e-02 9.99913097e-01 -4.56979762e-04 -1.82409972e+01] [-6.99745323e-03 3.64806471e-04 9.99975451e-01 -4.13053446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.690371743 meters 0.03236701490407723 Centerline is valid? [True, True] Translation: X:297.56, Y:-18.25, Z:-4.13 [[ 9.99936272e-01 8.06856458e-03 7.89621704e-03 2.97558625e+02] [-8.06474656e-03 9.99967347e-01 -5.15248010e-04 -1.82480787e+01] [-7.90011652e-03 4.51534186e-04 9.99968692e-01 -4.13090491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.720371743 meters 0.03289118124154028 Centerline is valid? [True, True] Translation: X:297.59, Y:-18.25, Z:-4.13 [[ 9.99944747e-01 6.26762482e-03 8.43913683e-03 2.97588748e+02] [-6.26320029e-03 9.99980234e-01 -5.50613446e-04 -1.82520477e+01] [-8.44242106e-03 4.97727019e-04 9.99964238e-01 -4.13096114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.750371743 meters 0.03739563169924798 Centerline is valid? [True, True] Translation: X:297.62, Y:-18.26, Z:-4.13 [[ 9.99952249e-01 4.81607083e-03 8.50323089e-03 2.97618203e+02] [-4.81152739e-03 9.99988271e-01 -5.54695980e-04 -1.82620461e+01] [-8.50580260e-03 5.13755965e-04 9.99963693e-01 -4.13211930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.780371743 meters 0.0359031397567802 Centerline is valid? [True, True] Translation: X:297.65, Y:-18.26, Z:-4.13 [[ 9.99961273e-01 3.48853207e-03 8.07976478e-03 2.97649755e+02] [-3.48438649e-03 9.99993791e-01 -5.27102151e-04 -1.82621895e+01] [-8.08155342e-03 4.98928715e-04 9.99967219e-01 -4.13231145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.810371743 meters 0.03449795112718237 Centerline is valid? [True, True] Translation: X:297.68, Y:-18.26, Z:-4.13 [[ 9.99958603e-01 3.60242347e-03 8.35547109e-03 2.97682251e+02] [-3.59800173e-03 9.99993379e-01 -5.44174972e-04 -1.82620116e+01] [-8.35737612e-03 5.14089446e-04 9.99964944e-01 -4.13231778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.840371743 meters 0.03553174012861967 Centerline is valid? [True, True] Translation: X:297.71, Y:-18.27, Z:-4.13 [[ 9.99950108e-01 4.45428770e-03 8.94093964e-03 2.97713654e+02] [-4.44923120e-03 9.99989931e-01 -5.85355917e-04 -1.82653205e+01] [-8.94345696e-03 5.45546405e-04 9.99959858e-01 -4.13232078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.870371743 meters 0.033968908593386415 Centerline is valid? [True, True] Translation: X:297.75, Y:-18.27, Z:-4.13 [[ 9.99945627e-01 4.81757752e-03 9.24850573e-03 2.97746185e+02] [-4.81217454e-03 9.99988238e-01 -6.06365045e-04 -1.82650496e+01] [-9.25131815e-03 5.61826651e-04 9.99957048e-01 -4.13229205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.900371743 meters 0.033641359598632334 Centerline is valid? [True, True] Translation: X:297.78, Y:-18.27, Z:-4.13 [[ 9.99939425e-01 4.74624313e-03 9.93069390e-03 2.97778763e+02] [-4.73998267e-03 9.99988552e-01 -6.53857025e-04 -1.82663306e+01] [-9.93368358e-03 6.06746101e-04 9.99950476e-01 -4.13252993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.930371743 meters 0.03492289171456073 Centerline is valid? [True, True] Translation: X:297.81, Y:-18.27, Z:-4.13 [[ 9.99932995e-01 4.58758418e-03 1.06282571e-02 2.97809449e+02] [-4.58036876e-03 9.99989263e-01 -7.03131778e-04 -1.82692991e+01] [-1.06313686e-02 6.54403328e-04 9.99943271e-01 -4.13269602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.960371743 meters 0.03534587481565105 Centerline is valid? [True, True] Translation: X:297.84, Y:-18.27, Z:-4.13 [[ 9.99932248e-01 4.43902591e-03 1.07607445e-02 2.97841275e+02] [-4.43160845e-03 9.99989926e-01 -7.13053661e-04 -1.82711664e+01] [-1.07638014e-02 6.65317944e-04 9.99941847e-01 -4.13287307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.990371743 meters 0.0339680163673197 Centerline is valid? [True, True] Translation: X:297.87, Y:-18.27, Z:-4.13 [[ 9.99939762e-01 4.39863730e-03 1.00560726e-02 2.97873447e+02] [-4.39213485e-03 9.99990131e-01 -6.68612643e-04 -1.82693169e+01] [-1.00589143e-02 6.24404740e-04 9.99949213e-01 -4.13360501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.020371743 meters 0.03470519654730253 Centerline is valid? [True, True] Translation: X:297.90, Y:-18.27, Z:-4.13 [[ 9.99944205e-01 4.82017068e-03 9.39965880e-03 2.97904976e+02] [-4.81448845e-03 9.99988214e-01 -6.27049406e-04 -1.82723775e+01] [-9.40257050e-03 5.81759871e-04 9.99955626e-01 -4.13480455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.050371743 meters 0.03384649206997012 Centerline is valid? [True, True] Translation: X:297.94, Y:-18.27, Z:-4.14 [[ 9.99950119e-01 4.94583085e-03 8.67750357e-03 2.97937724e+02] [-4.94097419e-03 9.99987625e-01 -5.81031940e-04 -1.82725113e+01] [-8.68026986e-03 5.38127636e-04 9.99962181e-01 -4.13581923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.080371743 meters 0.03409348635541106 Centerline is valid? [True, True] Translation: X:297.97, Y:-18.27, Z:-4.14 [[ 9.99960207e-01 5.91706605e-03 6.67629565e-03 2.97969229e+02] [-5.91419632e-03 9.99982410e-01 -4.49499001e-04 -1.82729713e+01] [-6.67883793e-03 4.09996191e-04 9.99977612e-01 -4.13778189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11037174300003 meters 0.03430747777640539 Centerline is valid? [True, True] Translation: X:298.00, Y:-18.27, Z:-4.14 [[ 9.99959880e-01 6.64169143e-03 6.01056894e-03 2.97999648e+02] [-6.63937582e-03 9.99977877e-01 -4.05129171e-04 -1.82745572e+01] [-6.01312672e-03 3.65206491e-04 9.99981854e-01 -4.13872349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.140371743 meters 0.03343245245084696 Centerline is valid? [True, True] Translation: X:298.03, Y:-18.27, Z:-4.14 [[ 9.99956174e-01 8.07073623e-03 4.74491551e-03 2.98030444e+02] [-8.06930919e-03 9.99967391e-01 -3.19820586e-04 -1.82722810e+01] [-4.74734197e-03 2.81518380e-04 9.99988692e-01 -4.13876515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17037174300003 meters 0.03473063906573524 Centerline is valid? [True, True] Translation: X:298.06, Y:-18.28, Z:-4.14 [[ 9.99949467e-01 8.99263085e-03 4.49392167e-03 2.98059428e+02] [-8.99135854e-03 9.99959531e-01 -3.03242909e-04 -1.82751604e+01] [-4.49646676e-03 2.62821124e-04 9.99989856e-01 -4.13939466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.200371743 meters 0.0331214576790895 Centerline is valid? [True, True] Translation: X:298.09, Y:-18.27, Z:-4.14 [[ 9.99935267e-01 1.02346936e-02 4.97123852e-03 2.98088903e+02] [-1.02331503e-02 9.99947584e-01 -3.35774631e-04 -1.82734470e+01] [-4.97441449e-03 2.84881464e-04 9.99987587e-01 -4.13907950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.230371743 meters 0.03153757239396921 Centerline is valid? [True, True] Translation: X:298.12, Y:-18.27, Z:-4.14 [[ 9.99898411e-01 1.29859787e-02 5.87633046e-03 2.98118977e+02] [-1.29838771e-02 9.99915628e-01 -3.95653236e-04 -1.82710639e+01] [-5.88097260e-03 3.19315490e-04 9.99982656e-01 -4.13931520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.260371743 meters 0.03106225879896249 Centerline is valid? [True, True] Translation: X:298.15, Y:-18.27, Z:-4.14 [[ 9.99873741e-01 1.46104237e-02 6.24800493e-03 2.98148218e+02] [-1.46080809e-02 9.99893208e-01 -4.20447040e-04 -1.82713166e+01] [-6.25348060e-03 3.29122593e-04 9.99980393e-01 -4.13901512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.290371743 meters 0.029418215546232054 Centerline is valid? [True, True] Translation: X:298.18, Y:-18.27, Z:-4.14 [[ 9.99811436e-01 1.79879640e-02 7.31615335e-03 2.98178328e+02] [-1.79848473e-02 9.99838139e-01 -4.91571822e-04 -1.82682200e+01] [-7.32381153e-03 3.59899228e-04 9.99973116e-01 -4.13833556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.320371743 meters 0.029045498612459426 Centerline is valid? [True, True] Translation: X:298.21, Y:-18.27, Z:-4.14 [[ 9.99771637e-01 1.94896392e-02 8.76511663e-03 2.98207074e+02] [-1.94852227e-02 9.99809972e-01 -5.89000575e-04 -1.82688585e+01] [-8.77493042e-03 4.18075820e-04 9.99961412e-01 -4.13839931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.350371743 meters 0.028865467689789603 Centerline is valid? [True, True] Translation: X:298.24, Y:-18.27, Z:-4.14 [[ 9.99743597e-01 2.09168738e-02 8.67317244e-03 2.98235817e+02] [-2.09126083e-02 9.99781138e-01 -5.82214883e-04 -1.82690985e+01] [-8.68345232e-03 4.00686944e-04 9.99962218e-01 -4.13867381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380371743 meters 0.03025650238091905 Centerline is valid? [True, True] Translation: X:298.26, Y:-18.27, Z:-4.14 [[ 9.99691110e-01 2.31085291e-02 9.14767556e-03 2.98263507e+02] [-2.31038813e-02 9.99732882e-01 -6.13444880e-04 -1.82729181e+01] [-9.15940785e-03 4.01908583e-04 9.99957971e-01 -4.14054555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.410371743 meters 0.02818531306728476 Centerline is valid? [True, True] Translation: X:298.29, Y:-18.27, Z:-4.14 [[ 9.99686521e-01 2.34678322e-02 8.72474147e-03 2.98292535e+02] [-2.34636250e-02 9.99724521e-01 -5.84273394e-04 -1.82703969e+01] [-8.73604961e-03 3.79376174e-04 9.99961768e-01 -4.14092414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440371743 meters 0.02759798280612949 Centerline is valid? [True, True] Translation: X:298.32, Y:-18.27, Z:-4.14 [[ 9.99693991e-01 2.33870976e-02 8.06024490e-03 2.98321004e+02] [-2.33835082e-02 9.99726423e-01 -5.39285962e-04 -1.82700446e+01] [-8.07065214e-03 3.50644133e-04 9.99967370e-01 -4.14219533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.470371743 meters 0.02759798280612949 Centerline is valid? [True, True] Translation: X:298.35, Y:-18.27, Z:-4.14 [[ 9.99696494e-01 2.32798504e-02 8.06026911e-03 2.98348422e+02] [-2.32762604e-02 9.99728926e-01 -5.38924049e-04 -1.82717855e+01] [-8.07063025e-03 3.51147560e-04 9.99967370e-01 -4.14258162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500371743 meters 0.027609105883239088 Centerline is valid? [True, True] Translation: X:298.38, Y:-18.27, Z:-4.14 [[ 9.99714792e-01 2.26200209e-02 7.65954329e-03 2.98377120e+02] [-2.26167672e-02 9.99744078e-01 -5.11152885e-04 -1.82731757e+01] [-7.66914533e-03 3.37772992e-04 9.99970535e-01 -4.14333560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.530371743 meters 0.028440067153249954 Centerline is valid? [True, True] Translation: X:298.41, Y:-18.28, Z:-4.14 [[ 9.99725773e-01 2.19967424e-02 8.03258785e-03 2.98405165e+02] [-2.19931482e-02 9.99757978e-01 -5.35523527e-04 -1.82756497e+01] [-8.04242356e-03 3.58714776e-04 9.99967595e-01 -4.14468819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560371743 meters 0.02826758256571864 Centerline is valid? [True, True] Translation: X:298.43, Y:-18.28, Z:-4.15 [[ 9.99730731e-01 2.16663457e-02 8.30866886e-03 2.98434220e+02] [-2.16624962e-02 9.99765188e-01 -5.53043752e-04 -1.82771008e+01] [-8.31870032e-03 3.72908327e-04 9.99965329e-01 -4.14542986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.590371743 meters 0.02830328154494609 Centerline is valid? [True, True] Translation: X:298.46, Y:-18.28, Z:-4.15 [[ 9.99716704e-01 2.20773251e-02 8.89403267e-03 2.98462602e+02] [-2.20729365e-02 9.99756188e-01 -5.91303723e-04 -1.82784110e+01] [-8.90491861e-03 3.94818790e-04 9.99960272e-01 -4.14565963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620371743 meters 0.02850428755685542 Centerline is valid? [True, True] Translation: X:298.49, Y:-18.28, Z:-4.15 [[ 9.99702544e-01 2.25740746e-02 9.23225239e-03 2.98490908e+02] [-2.25693735e-02 9.99745091e-01 -6.13093063e-04 -1.82800689e+01] [-9.24373902e-03 4.04544543e-04 9.99957194e-01 -4.14624934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.650371743 meters 0.028021601439978814 Centerline is valid? [True, True] Translation: X:298.52, Y:-18.28, Z:-4.15 [[ 9.99683394e-01 2.31979127e-02 9.74520990e-03 2.98519856e+02] [-2.31927115e-02 9.99730804e-01 -6.46413896e-04 -1.82806049e+01] [-9.75758198e-03 4.20191396e-04 9.99952305e-01 -4.14603052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680371743 meters 0.027932836509252563 Centerline is valid? [True, True] Translation: X:298.55, Y:-18.28, Z:-4.15 [[ 9.99649772e-01 2.43275776e-02 1.04164441e-02 2.98548955e+02] [-2.43217048e-02 9.99703945e-01 -6.90125731e-04 -1.82812171e+01] [-1.04301494e-02 4.36538351e-04 9.99945509e-01 -4.14563471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.710371743 meters 0.029173228923961722 Centerline is valid? [True, True] Translation: X:298.58, Y:-18.28, Z:-4.15 [[ 9.99648292e-01 2.44355049e-02 1.03052393e-02 2.98576522e+02] [-2.44297693e-02 9.99701316e-01 -6.82102800e-04 -1.82849828e+01] [-1.03188289e-02 4.30108279e-04 9.99946667e-01 -4.14644560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740371743 meters 0.027116258463782454 Centerline is valid? [True, True] Translation: X:298.61, Y:-18.28, Z:-4.15 [[ 9.99669172e-01 2.35840236e-02 1.02635062e-02 2.98605343e+02] [-2.35782994e-02 9.99721763e-01 -6.78390292e-04 -1.82844429e+01] [-1.02766497e-02 4.36169840e-04 9.99947099e-01 -4.14782312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.770371743 meters 0.027504099096765374 Centerline is valid? [True, True] Translation: X:298.63, Y:-18.29, Z:-4.15 [[ 9.99687527e-01 2.26973941e-02 1.04726277e-02 2.98633900e+02] [-2.26913938e-02 9.99742278e-01 -6.91432224e-04 -1.82879895e+01] [-1.04856224e-02 4.53577650e-04 9.99944921e-01 -4.14898913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800371743 meters 0.028128592435260686 Centerline is valid? [True, True] Translation: X:298.66, Y:-18.29, Z:-4.15 [[ 9.99726487e-01 2.12348088e-02 9.79965779e-03 2.98662387e+02] [-2.12294911e-02 9.99774420e-01 -6.46358632e-04 -1.82919119e+01] [-9.81117249e-03 4.38140097e-04 9.99951773e-01 -4.15011830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.830371743 meters 0.033834663827997984 Centerline is valid? [True, True] Translation: X:298.69, Y:-18.31, Z:-4.15 [[ 9.99798025e-01 1.80573008e-02 8.82282195e-03 2.98689870e+02] [-1.80528717e-02 9.99836865e-01 -5.81395488e-04 -1.83050050e+01] [-8.83188107e-03 4.22000789e-04 9.99960909e-01 -4.15271858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86037174300003 meters 0.030905553521633038 Centerline is valid? [True, True] Translation: X:298.72, Y:-18.30, Z:-4.15 [[ 9.99869490e-01 1.44274703e-02 7.26985011e-03 2.98719835e+02] [-1.44243725e-02 9.99895849e-01 -4.78360608e-04 -1.83039905e+01] [-7.27599448e-03 3.73435151e-04 9.99973460e-01 -4.15352537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.890371743 meters 0.03125896961333795 Centerline is valid? [True, True] Translation: X:298.75, Y:-18.31, Z:-4.15 [[ 9.99904547e-01 1.21605160e-02 6.55880425e-03 2.98749299e+02] [-1.21579457e-02 9.99925996e-01 -4.31615905e-04 -1.83075860e+01] [-6.56356754e-03 3.51833120e-04 9.99978398e-01 -4.15475463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92037174300003 meters 0.031506747042948244 Centerline is valid? [True, True] Translation: X:298.78, Y:-18.31, Z:-4.16 [[ 9.99931250e-01 1.00689172e-02 6.00931348e-03 2.98778828e+02] [-1.00667229e-02 9.99949251e-01 -3.95286145e-04 -1.83113709e+01] [-6.01298862e-03 3.34764875e-04 9.99981866e-01 -4.15588468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.950371743 meters 0.037724018980338156 Centerline is valid? [True, True] Translation: X:298.81, Y:-18.32, Z:-4.16 [[ 9.99970105e-01 6.15474536e-03 4.68065292e-03 2.98807425e+02] [-6.15337173e-03 9.99981020e-01 -3.07816100e-04 -1.83248186e+01] [-4.68245861e-03 2.79005100e-04 9.99988998e-01 -4.15793524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.980371743 meters 0.03432886090847119 Centerline is valid? [True, True] Translation: X:298.84, Y:-18.32, Z:-4.16 [[ 9.99978523e-01 4.76283573e-03 4.50214194e-03 2.98837668e+02] [-4.76155213e-03 9.99988620e-01 -2.95783358e-04 -1.83225716e+01] [-4.50349947e-03 2.74339822e-04 9.99989822e-01 -4.15754826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.010371743 meters 0.03304782826980078 Centerline is valid? [True, True] Translation: X:298.87, Y:-18.32, Z:-4.16 [[ 9.99982372e-01 3.00589098e-03 5.12063809e-03 2.98868309e+02] [-3.00420898e-03 9.99995431e-01 -3.36133661e-04 -1.83241988e+01] [-5.12162507e-03 3.20744268e-04 9.99986833e-01 -4.15713056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.040371743 meters 0.0337762210030244 Centerline is valid? [True, True] Translation: X:298.90, Y:-18.33, Z:-4.16 [[ 9.99982755e-01 2.50847329e-03 5.31010955e-03 2.98898885e+02] [-2.50665837e-03 9.99996798e-01 -3.48414075e-04 -1.83279600e+01] [-5.31096654e-03 3.35097436e-04 9.99985841e-01 -4.15731060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.070371743 meters 0.03384395366220437 Centerline is valid? [True, True] Translation: X:298.93, Y:-18.33, Z:-4.16 [[ 9.99982429e-01 2.36048295e-03 5.43781240e-03 2.98930245e+02] [-2.35857777e-03 9.99997155e-01 -3.56742634e-04 -1.83303066e+01] [-5.43863901e-03 3.43910863e-04 9.99985151e-01 -4.15726160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.100371743 meters 0.03485943966866664 Centerline is valid? [True, True] Translation: X:298.96, Y:-18.34, Z:-4.16 [[ 9.99975635e-01 2.86508303e-03 6.36559946e-03 2.98961549e+02] [-2.86249002e-03 9.99995816e-01 -4.16420994e-04 -1.83350252e+01] [-6.36676591e-03 3.98189383e-04 9.99979653e-01 -4.15785873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.130371743 meters 0.03415695331254947 Centerline is valid? [True, True] Translation: X:298.99, Y:-18.34, Z:-4.16 [[ 9.99974821e-01 3.12651123e-03 6.37041995e-03 2.98993330e+02] [-3.12390140e-03 9.99995033e-01 -4.19587886e-04 -1.83371644e+01] [-6.37170016e-03 3.99676757e-04 9.99979621e-01 -4.15878141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.160371743 meters 0.034810510301894915 Centerline is valid? [True, True] Translation: X:299.02, Y:-18.34, Z:-4.16 [[ 9.99979052e-01 2.33122596e-03 6.03823006e-03 2.99024247e+02] [-2.32886418e-03 9.99997209e-01 -3.98140048e-04 -1.83418753e+01] [-6.03914136e-03 3.84069490e-04 9.99981690e-01 -4.16018091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.190371743 meters 0.03426039824513538 Centerline is valid? [True, True] Translation: X:299.06, Y:-18.34, Z:-4.16 [[ 9.99981548e-01 1.64735363e-03 5.84729574e-03 2.99055946e+02] [-1.64512609e-03 9.99998572e-01 -3.85740816e-04 -1.83438181e+01] [-5.84792284e-03 3.76114159e-04 9.99982830e-01 -4.16080881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.220371743 meters 0.0372016200126534 Centerline is valid? [True, True] Translation: X:299.09, Y:-18.35, Z:-4.16 [[ 9.99984206e-01 8.17021542e-04 5.56057511e-03 2.99086991e+02] [-8.15002591e-04 9.99999601e-01 -3.65339531e-04 -1.83508807e+01] [-5.56087138e-03 3.60801877e-04 9.99984473e-01 -4.16182743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.250371743 meters 0.03516861250063187 Centerline is valid? [True, True] Translation: X:299.12, Y:-18.35, Z:-4.16 [[ 9.99990824e-01 -1.56185973e-03 3.98893479e-03 2.99117611e+02] [ 1.56292614e-03 9.99998744e-01 -2.64239701e-04 -1.83514195e+01] [-3.98851707e-03 2.70471686e-04 9.99992009e-01 -4.16325684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.280371743 meters 0.04089844105660766 Centerline is valid? [True, True] Translation: X:299.15, Y:-18.36, Z:-4.17 [[ 9.99987531e-01 -4.11832842e-03 2.82442531e-03 2.99147043e+02] [ 4.11887373e-03 9.99991500e-01 -1.87279035e-04 -1.83639730e+01] [-2.82363003e-03 1.98910151e-04 9.99995994e-01 -4.16617972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.310371743 meters 0.036948971551031634 Centerline is valid? [True, True] Translation: X:299.18, Y:-18.36, Z:-4.17 [[ 9.99982693e-01 -5.50547079e-03 2.07452735e-03 2.99179833e+02] [ 5.50576614e-03 9.99984834e-01 -1.36685914e-04 -1.83612263e+01] [-2.07374337e-03 1.48105411e-04 9.99997839e-01 -4.16606934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.340371743 meters 0.043113672560542354 Centerline is valid? [True, True] Translation: X:299.21, Y:-18.37, Z:-4.17 [[ 9.99973307e-01 -7.04206702e-03 1.94788046e-03 2.99210220e+02] [ 7.04233092e-03 9.99975194e-01 -1.28654296e-04 -1.83727245e+01] [-1.94692615e-03 1.42368480e-04 9.99998095e-01 -4.16807965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.370371743 meters 0.045402884019735135 Centerline is valid? [True, True] Translation: X:299.24, Y:-18.38, Z:-4.17 [[ 9.99957553e-01 -9.08831356e-03 1.51456766e-03 2.99240142e+02] [ 9.08847601e-03 9.99958694e-01 -1.00405512e-04 -1.83797183e+01] [-1.51359258e-03 1.14166362e-04 9.99998848e-01 -4.16930760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.400371743 meters 0.039351659357511344 Centerline is valid? [True, True] Translation: X:299.27, Y:-18.37, Z:-4.17 [[ 9.99951366e-01 -9.71255984e-03 1.71229700e-03 2.99272661e+02] [ 9.71276731e-03 9.99952824e-01 -1.12888313e-04 -1.83743543e+01] [-1.71111978e-03 1.29513965e-04 9.99998528e-01 -4.16869203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.430371743 meters 0.04071610776474392 Centerline is valid? [True, True] Translation: X:299.30, Y:-18.38, Z:-4.17 [[ 9.99941774e-01 -1.07197161e-02 1.23953595e-03 2.99303988e+02] [ 1.07198256e-02 9.99942538e-01 -8.17617529e-05 -1.83804907e+01] [-1.23858826e-03 9.50446015e-05 9.99999228e-01 -4.17043431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.460371743 meters 0.04898680970528342 Centerline is valid? [True, True] Translation: X:299.33, Y:-18.40, Z:-4.17 [[ 9.99937817e-01 -1.10782883e-02 1.27820212e-03 2.99334551e+02] [ 1.10784052e-02 9.99938629e-01 -8.44088485e-05 -1.83950262e+01] [-1.27718857e-03 9.85640407e-05 9.99999180e-01 -4.17287128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.490371743 meters 0.04087034614871419 Centerline is valid? [True, True] Translation: X:299.37, Y:-18.39, Z:-4.17 [[ 9.99941456e-01 -1.07501593e-02 1.23235481e-03 2.99367576e+02] [ 1.07502675e-02 9.99942211e-01 -8.11960291e-05 -1.83869738e+01] [-1.23141072e-03 9.44394194e-05 9.99999237e-01 -4.17192925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.520371743 meters 0.04186324635116297 Centerline is valid? [True, True] Translation: X:299.40, Y:-18.39, Z:-4.17 [[ 9.99949980e-01 -9.83929672e-03 1.79603056e-03 2.99398704e+02] [ 9.83952480e-03 9.99951584e-01 -1.18193702e-04 -1.83914991e+01] [-1.79478066e-03 1.35859878e-04 9.99998380e-01 -4.17209929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.550371743 meters 0.04148440093492516 Centerline is valid? [True, True] Translation: X:299.43, Y:-18.39, Z:-4.17 [[ 9.99960575e-01 -8.65034402e-03 2.00520980e-03 2.99430120e+02] [ 8.65062920e-03 9.99962574e-01 -1.33591715e-04 -1.83934247e+01] [-2.00397913e-03 1.50932774e-04 9.99997981e-01 -4.17258461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.580371743 meters 0.041209816384599356 Centerline is valid? [True, True] Translation: X:299.46, Y:-18.40, Z:-4.17 [[ 9.99980589e-01 -5.68262760e-03 2.55527703e-03 2.99459422e+02] [ 5.68308064e-03 9.99983837e-01 -1.70069484e-04 -1.83966029e+01] [-2.55426929e-03 1.84588028e-04 9.99996721e-01 -4.17353825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61037174300003 meters 0.03730931470934034 Centerline is valid? [True, True] Translation: X:299.49, Y:-18.39, Z:-4.17 [[ 9.99988900e-01 -4.15049000e-03 2.23021738e-03 2.99491094e+02] [ 4.15083227e-03 9.99991374e-01 -1.48861642e-04 -1.83930963e+01] [-2.22958029e-03 1.58117248e-04 9.99997502e-01 -4.17304867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.640371743 meters 0.03879260017343577 Centerline is valid? [True, True] Translation: X:299.52, Y:-18.40, Z:-4.17 [[ 9.99994936e-01 -2.28744860e-03 2.21273847e-03 2.99521060e+02] [ 2.28777960e-03 9.99997372e-01 -1.47069035e-04 -1.83976212e+01] [-2.21239625e-03 1.52130548e-04 9.99997541e-01 -4.17376109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67037174300003 meters 0.03797864991059478 Centerline is valid? [True, True] Translation: X:299.55, Y:-18.40, Z:-4.17 [[ 9.99997428e-01 2.60097989e-04 2.25318178e-03 2.99551673e+02] [-2.59758124e-04 9.99999955e-01 -1.51129284e-04 -1.83982613e+01] [-2.25322099e-03 1.50543613e-04 9.99997450e-01 -4.17402298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.700371743 meters 0.03619301207563386 Centerline is valid? [True, True] Translation: X:299.58, Y:-18.40, Z:-4.17 [[ 9.99995573e-01 2.45442620e-03 1.68203680e-03 2.99582547e+02] [-2.45423999e-03 9.99996982e-01 -1.12756771e-04 -1.83981691e+01] [-1.68230848e-03 1.08628150e-04 9.99998579e-01 -4.17456528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.730371743 meters 0.03511123415897697 Centerline is valid? [True, True] Translation: X:299.61, Y:-18.40, Z:-4.18 [[ 9.99992334e-01 3.61223239e-03 1.51121950e-03 2.99612641e+02] [-3.61208296e-03 9.99993471e-01 -1.01594553e-04 -1.83983601e+01] [-1.51157662e-03 9.61351239e-05 9.99998853e-01 -4.17514826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.760371743 meters 0.034136133110797905 Centerline is valid? [True, True] Translation: X:299.64, Y:-18.40, Z:-4.18 [[ 9.99986612e-01 4.99770185e-03 1.34151979e-03 2.99641981e+02] [-4.99758504e-03 9.99987508e-01 -9.04175340e-05 -1.83993136e+01] [-1.34195491e-03 8.37119643e-05 9.99999096e-01 -4.17537198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.790371743 meters 0.033011166518348706 Centerline is valid? [True, True] Translation: X:299.67, Y:-18.40, Z:-4.18 [[ 9.99969342e-01 7.69487451e-03 1.45047253e-03 2.99672393e+02] [-7.69474123e-03 9.99970390e-01 -9.74443303e-05 -1.83988313e+01] [-1.45117940e-03 8.62803321e-05 9.99998943e-01 -4.17557873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.820371743 meters 0.03273426157270044 Centerline is valid? [True, True] Translation: X:299.70, Y:-18.40, Z:-4.18 [[ 9.99961533e-01 8.59279981e-03 1.75954085e-03 2.99701015e+02] [-8.59260405e-03 9.99963076e-01 -1.18786839e-04 -1.83996808e+01] [-1.76049659e-03 1.03663232e-04 9.99998445e-01 -4.17566718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.850371743 meters 0.0314125912560509 Centerline is valid? [True, True] Translation: X:299.73, Y:-18.40, Z:-4.17 [[ 9.99938460e-01 1.07623449e-02 2.69231248e-03 2.99731428e+02] [-1.07618981e-02 9.99942073e-01 -1.80414307e-04 -1.83996664e+01] [-2.69409820e-03 1.51428812e-04 9.99996359e-01 -4.17473651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880371743 meters 0.030968370356958985 Centerline is valid? [True, True] Translation: X:299.76, Y:-18.40, Z:-4.17 [[ 9.99931132e-01 1.12744335e-02 3.25858436e-03 2.99760302e+02] [-1.12737801e-02 9.99936425e-01 -2.18834248e-04 -1.84009550e+01] [-3.26084443e-03 1.82082614e-04 9.99994667e-01 -4.17499052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.910371743 meters 0.03238519921753322 Centerline is valid? [True, True] Translation: X:299.79, Y:-18.41, Z:-4.18 [[ 9.99930670e-01 1.13730613e-02 3.05100626e-03 2.99787726e+02] [-1.13724888e-02 9.99935310e-01 -2.04930897e-04 -1.84056425e+01] [-3.05313958e-03 1.70219154e-04 9.99995325e-01 -4.17560122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940371743 meters 0.031268457320631854 Centerline is valid? [True, True] Translation: X:299.82, Y:-18.41, Z:-4.18 [[ 9.99934579e-01 1.10626636e-02 2.90765997e-03 2.99816241e+02] [-1.10621435e-02 9.99938794e-01 -1.94901234e-04 -1.84064630e+01] [-2.90963813e-03 1.62723532e-04 9.99995754e-01 -4.17587028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.970371743 meters 0.03241623712176338 Centerline is valid? [True, True] Translation: X:299.84, Y:-18.41, Z:-4.18 [[ 9.99943053e-01 1.02973414e-02 2.80263477e-03 2.99844044e+02] [-1.02968551e-02 9.99946968e-01 -1.87888247e-04 -1.84104327e+01] [-2.80442089e-03 1.59019223e-04 9.99996055e-01 -4.17650637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000371743 meters 0.03288225888798693 Centerline is valid? [True, True] Translation: X:299.87, Y:-18.41, Z:-4.18 [[ 9.99951049e-01 9.39759468e-03 3.09604758e-03 2.99873025e+02] [-9.39699883e-03 9.99955826e-01 -2.06946283e-04 -1.84133709e+01] [-3.09785561e-03 1.77842597e-04 9.99995186e-01 -4.17665511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.030371743 meters 0.03243443541120089 Centerline is valid? [True, True] Translation: X:299.90, Y:-18.41, Z:-4.18 [[ 9.99958056e-01 8.53177565e-03 3.33102338e-03 2.99901438e+02] [-8.53108214e-03 9.99963585e-01 -2.22351159e-04 -1.84145752e+01] [-3.33279913e-03 1.93924598e-04 9.99994427e-01 -4.17682857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060371743 meters 0.03611135580186379 Centerline is valid? [True, True] Translation: X:299.93, Y:-18.42, Z:-4.18 [[ 9.99964475e-01 7.78019867e-03 3.24301075e-03 2.99929085e+02] [-7.77954030e-03 9.99969716e-01 -2.15577185e-04 -1.84226187e+01] [-3.24458977e-03 1.90340394e-04 9.99994718e-01 -4.17842055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.090371743 meters 0.03255779349288959 Centerline is valid? [True, True] Translation: X:299.96, Y:-18.42, Z:-4.18 [[ 9.99979883e-01 5.37549347e-03 3.36699974e-03 2.99958496e+02] [-5.37476883e-03 9.99985531e-01 -2.24231592e-04 -1.84187021e+01] [-3.36815637e-03 2.06130236e-04 9.99994306e-01 -4.17774204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120371743 meters 0.035201427697570474 Centerline is valid? [True, True] Translation: X:299.99, Y:-18.42, Z:-4.18 [[ 9.99984706e-01 4.48498448e-03 3.23619351e-03 2.99987672e+02] [-4.48431190e-03 9.99989922e-01 -2.15056659e-04 -1.84246523e+01] [-3.23712542e-03 2.00541269e-04 9.99994740e-01 -4.17862157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.150371743 meters 0.033809827372630046 Centerline is valid? [True, True] Translation: X:300.02, Y:-18.42, Z:-4.18 [[ 9.99994099e-01 2.29768094e-03 2.55388892e-03 3.00017944e+02] [-2.29725538e-03 9.99997347e-01 -1.69550729e-04 -1.84241120e+01] [-2.55427172e-03 1.63682794e-04 9.99996724e-01 -4.17893226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180371743 meters 0.037673828634050215 Centerline is valid? [True, True] Translation: X:300.05, Y:-18.43, Z:-4.18 [[ 9.99996591e-01 9.55626345e-04 2.42996046e-03 3.00047285e+02] [-9.55239778e-04 9.99999531e-01 -1.60239275e-04 -1.84315253e+01] [-2.43011245e-03 1.57917533e-04 9.99997035e-01 -4.18040902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.210371743 meters 0.03980926717574989 Centerline is valid? [True, True] Translation: X:300.08, Y:-18.44, Z:-4.18 [[ 9.99997738e-01 -5.35651130e-04 2.05843237e-03 3.00077134e+02] [ 5.35933439e-04 9.99999847e-01 -1.36598206e-04 -1.84367856e+01] [-2.05835889e-03 1.37701080e-04 9.99997872e-01 -4.18119770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240371743 meters 0.03715345245895886 Centerline is valid? [True, True] Translation: X:300.11, Y:-18.43, Z:-4.18 [[ 9.99987120e-01 -3.93269017e-03 3.20839359e-03 3.00108162e+02] [ 3.93339402e-03 9.99992241e-01 -2.13097856e-04 -1.84338839e+01] [-3.20753065e-03 2.25714987e-04 9.99994830e-01 -4.17992816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.270371743 meters 0.03991038969292572 Centerline is valid? [True, True] Translation: X:300.14, Y:-18.44, Z:-4.18 [[ 9.99964501e-01 -7.11904177e-03 4.50731033e-03 3.00138115e+02] [ 7.12046203e-03 9.99974604e-01 -2.99132253e-04 -1.84393079e+01] [-4.50506633e-03 3.31215766e-04 9.99989797e-01 -4.17902829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300371743 meters 0.03986590305403284 Centerline is valid? [True, True] Translation: X:300.17, Y:-18.44, Z:-4.18 [[ 9.99951988e-01 -8.51448599e-03 4.85027600e-03 3.00170065e+02] [ 8.51614832e-03 9.99963685e-01 -3.22177833e-04 -1.84405798e+01] [-4.84735668e-03 3.63468034e-04 9.99988185e-01 -4.17909820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.330371743 meters 0.03986590305403284 Centerline is valid? [True, True] Translation: X:300.20, Y:-18.44, Z:-4.18 [[ 9.99952594e-01 -8.44304351e-03 4.85025294e-03 3.00201775e+02] [ 8.44470667e-03 9.99964291e-01 -3.22524249e-04 -1.84427544e+01] [-4.84735665e-03 3.63467923e-04 9.99988185e-01 -4.17954425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36037174300003 meters 0.04043500163691126 Centerline is valid? [True, True] Translation: X:300.23, Y:-18.45, Z:-4.18 [[ 9.99943444e-01 -9.40165549e-03 4.97162138e-03 3.00234033e+02] [ 9.40341662e-03 9.99955732e-01 -3.30978512e-04 -1.84453048e+01] [-4.96828955e-03 3.77710021e-04 9.99987587e-01 -4.17962817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.390371743 meters 0.04482580086291001 Centerline is valid? [True, True] Translation: X:300.26, Y:-18.45, Z:-4.18 [[ 9.99935085e-01 -1.03639033e-02 4.73447208e-03 3.00264977e+02] [ 1.03655134e-02 9.99946227e-01 -3.15650965e-04 -1.84524113e+01] [-4.73094611e-03 3.64705708e-04 9.99988743e-01 -4.18045970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42037174300003 meters 0.03945960794460931 Centerline is valid? [True, True] Translation: X:300.30, Y:-18.45, Z:-4.18 [[ 9.99924959e-01 -1.13914387e-02 4.50689615e-03 3.00297347e+02] [ 1.13929088e-02 9.99935054e-01 -3.00666427e-04 -1.84453023e+01] [-4.50317842e-03 3.51990521e-04 9.99989799e-01 -4.17995936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.450371743 meters 0.041973433015463045 Centerline is valid? [True, True] Translation: X:300.33, Y:-18.45, Z:-4.18 [[ 9.99917272e-01 -1.19895370e-02 4.65825770e-03 3.00327956e+02] [ 1.19911154e-02 9.99928056e-01 -3.11050699e-04 -1.84490364e+01] [-4.65419321e-03 3.66882672e-04 9.99989102e-01 -4.18132485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.480371743 meters 0.04021213511431636 Centerline is valid? [True, True] Translation: X:300.36, Y:-18.45, Z:-4.18 [[ 9.99915487e-01 -1.22665016e-02 4.30724461e-03 3.00360166e+02] [ 1.22678536e-02 9.99924706e-01 -2.87612036e-04 -1.84477310e+01] [-4.30339231e-03 3.40428376e-04 9.99990682e-01 -4.18167429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.510371743 meters 0.04095961975834487 Centerline is valid? [True, True] Translation: X:300.39, Y:-18.45, Z:-4.18 [[ 9.99913458e-01 -1.25907541e-02 3.81443221e-03 3.00392038e+02] [ 1.25918174e-02 9.99920687e-01 -2.54867196e-04 -1.84498105e+01] [-3.81092070e-03 3.02875773e-04 9.99992693e-01 -4.18238126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.540371743 meters 0.042583544491313 Centerline is valid? [True, True] Translation: X:300.42, Y:-18.45, Z:-4.18 [[ 9.99917594e-01 -1.23717503e-02 3.42715122e-03 3.00424438e+02] [ 1.23726040e-02 9.99923430e-01 -2.28011992e-04 -1.84520103e+01] [-3.42406790e-03 2.70395988e-04 9.99994101e-01 -4.18331828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.570371743 meters 0.04145630989138224 Centerline is valid? [True, True] Translation: X:300.46, Y:-18.45, Z:-4.18 [[ 9.99922583e-01 -1.19716903e-02 3.39227913e-03 3.00456873e+02] [ 1.19725303e-02 9.99928301e-01 -2.27409935e-04 -1.84510421e+01] [-3.38931342e-03 2.68006494e-04 9.99994220e-01 -4.18297705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.600371743 meters 0.03978933524045528 Centerline is valid? [True, True] Translation: X:300.49, Y:-18.45, Z:-4.18 [[ 9.99935781e-01 -1.06987328e-02 3.73770984e-03 3.00488601e+02] [ 1.06997464e-02 9.99942725e-01 -2.51301050e-04 -1.84477717e+01] [-3.73480715e-03 2.91277459e-04 9.99992983e-01 -4.18233917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.630371743 meters 0.04161352200976184 Centerline is valid? [True, True] Translation: X:300.52, Y:-18.45, Z:-4.18 [[ 9.99945268e-01 -9.70138278e-03 3.91722412e-03 3.00519856e+02] [ 9.70248847e-03 9.99952895e-01 -2.63356630e-04 -1.84506498e+01] [-3.91448468e-03 3.01349038e-04 9.99992293e-01 -4.18298552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.660371743 meters 0.0412744389688978 Centerline is valid? [True, True] Translation: X:300.55, Y:-18.45, Z:-4.18 [[ 9.99955476e-01 -8.55747876e-03 3.97700338e-03 3.00551304e+02] [ 8.55861112e-03 9.99963339e-01 -2.67796724e-04 -1.84508918e+01] [-3.97456591e-03 3.01822426e-04 9.99992056e-01 -4.18342607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.690371743 meters 0.03872269063912822 Centerline is valid? [True, True] Translation: X:300.58, Y:-18.45, Z:-4.18 [[ 9.99980220e-01 -5.38931548e-03 3.24269115e-03 3.00582744e+02] [ 5.39005242e-03 9.99985450e-01 -2.18564375e-04 -1.84461403e+01] [-3.24146606e-03 2.36038327e-04 9.99994719e-01 -4.18463696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.720371743 meters 0.038006592954031575 Centerline is valid? [True, True] Translation: X:300.61, Y:-18.45, Z:-4.19 [[ 9.99990522e-01 -3.31449201e-03 2.82317433e-03 3.00614401e+02] [ 3.31504129e-03 9.99994487e-01 -1.89903676e-04 -1.84460061e+01] [-2.82252933e-03 1.99260816e-04 9.99995997e-01 -4.18544723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.750371743 meters 0.03648903153362201 Centerline is valid? [True, True] Translation: X:300.65, Y:-18.44, Z:-4.19 [[ 9.99992721e-01 1.20261937e-03 3.62103526e-03 3.00645656e+02] [-1.20174177e-03 9.99999248e-01 -2.44529203e-04 -1.84426471e+01] [-3.62132661e-03 2.40175874e-04 9.99993414e-01 -4.18557339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.780371743 meters 0.03523909879356879 Centerline is valid? [True, True] Translation: X:300.68, Y:-18.44, Z:-4.19 [[ 9.99986397e-01 3.56230291e-03 3.80985555e-03 3.00676177e+02] [-3.56134838e-03 9.99993625e-01 -2.57296967e-04 -1.84409825e+01] [-3.81074783e-03 2.43725244e-04 9.99992709e-01 -4.18568135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.810371743 meters 0.03436954551724005 Centerline is valid? [True, True] Translation: X:300.71, Y:-18.44, Z:-4.19 [[ 9.99971804e-01 6.35650833e-03 3.99835546e-03 3.00706881e+02] [-6.35547926e-03 9.99979767e-01 -2.70027228e-04 -1.84401079e+01] [-3.99999100e-03 2.44608149e-04 9.99991970e-01 -4.18562662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.840371743 meters 0.03284182181361288 Centerline is valid? [True, True] Translation: X:300.74, Y:-18.44, Z:-4.19 [[ 9.99926593e-01 1.14592475e-02 3.93639967e-03 3.00737848e+02] [-1.14582893e-02 9.99934316e-01 -2.65875059e-04 -1.84370400e+01] [-3.93918784e-03 2.20751136e-04 9.99992217e-01 -4.18622979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.870371743 meters 0.03122562721446787 Centerline is valid? [True, True] Translation: X:300.77, Y:-18.44, Z:-4.19 [[ 9.99895475e-01 1.39613704e-02 3.75757315e-03 3.00767897e+02] [-1.39605144e-02 9.99902515e-01 -2.53937293e-04 -1.84354152e+01] [-3.76075215e-03 2.01453096e-04 9.99992908e-01 -4.18651302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.900371743 meters 0.031192544326156858 Centerline is valid? [True, True] Translation: X:300.80, Y:-18.44, Z:-4.19 [[ 9.99807854e-01 1.92767421e-02 3.55839704e-03 3.00796942e+02] [-1.92760081e-02 9.99814172e-01 -2.40460178e-04 -1.84354864e+01] [-3.56237108e-03 1.71822284e-04 9.99993640e-01 -4.18886391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.930371743 meters 0.02913301255004715 Centerline is valid? [True, True] Translation: X:300.83, Y:-18.43, Z:-4.19 [[ 9.99758316e-01 2.17667893e-02 3.08478687e-03 3.00826614e+02] [-2.17662466e-02 9.99763065e-01 -2.09415174e-04 -1.84330614e+01] [-3.08861428e-03 1.42220330e-04 9.99995220e-01 -4.18906942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.960371743 meters 0.028394210429438366 Centerline is valid? [True, True] Translation: X:300.86, Y:-18.43, Z:-4.19 [[ 9.99708720e-01 2.39701412e-02 2.81211345e-03 3.00856006e+02] [-2.39696992e-02 9.99712667e-01 -1.90782433e-04 -1.84330542e+01] [-2.81587852e-03 1.23321349e-04 9.99996028e-01 -4.19002654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.990371743 meters 0.026423412930052972 Centerline is valid? [True, True] Translation: X:300.89, Y:-18.43, Z:-4.19 [[ 9.99599765e-01 2.81438240e-02 2.86977641e-03 3.00885852e+02] [-2.81433844e-02 9.99603878e-01 -1.93435442e-04 -1.84297546e+01] [-2.87408364e-03 1.12592801e-04 9.99995863e-01 -4.18984772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.020371743 meters 0.02661091893039114 Centerline is valid? [True, True] Translation: X:300.91, Y:-18.43, Z:-4.19 [[ 9.99551702e-01 2.98089522e-02 2.79676382e-03 3.00913882e+02] [-2.98085398e-02 9.99555609e-01 -1.89021260e-04 -1.84308916e+01] [-2.80115549e-03 1.05569077e-04 9.99996071e-01 -4.19015906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.050371743 meters 0.025772719797220206 Centerline is valid? [True, True] Translation: X:300.94, Y:-18.43, Z:-4.19 [[ 9.99441966e-01 3.32191549e-02 3.49917122e-03 3.00944333e+02] [-3.32185350e-02 9.99448085e-01 -2.35121851e-04 -1.84299325e+01] [-3.50505052e-03 1.18753303e-04 9.99993850e-01 -4.19045511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.080371743 meters 0.02572349613930413 Centerline is valid? [True, True] Translation: X:300.97, Y:-18.43, Z:-4.19 [[ 9.99386664e-01 3.47469706e-02 4.35244625e-03 3.00972128e+02] [-3.47460238e-02 9.99396132e-01 -2.92994695e-04 -1.84310614e+01] [-4.35999862e-03 1.41584790e-04 9.99990485e-01 -4.19083034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11037174300003 meters 0.025287153702054317 Centerline is valid? [True, True] Translation: X:301.00, Y:-18.43, Z:-4.19 [[ 9.99336223e-01 3.60771478e-02 5.05506941e-03 3.01001273e+02] [-3.60758917e-02 9.99348996e-01 -3.39491211e-04 -1.84319864e+01] [-5.06402641e-03 1.56899728e-04 9.99987165e-01 -4.19122835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.140371743 meters 0.02464422110742993 Centerline is valid? [True, True] Translation: X:301.03, Y:-18.43, Z:-4.19 [[ 9.99270103e-01 3.76381951e-02 6.52900734e-03 3.01029834e+02] [-3.76361376e-02 9.99291414e-01 -4.37744498e-04 -1.84328692e+01] [-6.54085689e-03 1.91698371e-04 9.99978590e-01 -4.19223372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17037174300003 meters 0.02506349468524262 Centerline is valid? [True, True] Translation: X:301.06, Y:-18.44, Z:-4.19 [[ 9.99263238e-01 3.78099079e-02 6.58726632e-03 3.01057000e+02] [-3.78078174e-02 9.99284931e-01 -4.41624882e-04 -1.84359594e+01] [-6.59925377e-03 1.92249347e-04 9.99978206e-01 -4.19328783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.200371743 meters 0.024085016375573337 Centerline is valid? [True, True] Translation: X:301.09, Y:-18.44, Z:-4.19 [[ 9.99293497e-01 3.68228513e-02 7.52226616e-03 3.01086011e+02] [-3.68201095e-02 9.99321783e-01 -5.02698490e-04 -1.84366459e+01] [-7.53567523e-03 2.25372668e-04 9.99971581e-01 -4.19367174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.230371743 meters 0.02400358457267099 Centerline is valid? [True, True] Translation: X:301.12, Y:-18.44, Z:-4.19 [[ 9.99330861e-01 3.58149415e-02 7.42425569e-03 3.01115139e+02] [-3.58122467e-02 9.99358413e-01 -4.95633794e-04 -1.84389208e+01] [-7.43724348e-03 2.29422869e-04 9.99972317e-01 -4.19421228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.260371743 meters 0.024545822849657933 Centerline is valid? [True, True] Translation: X:301.14, Y:-18.44, Z:-4.20 [[ 9.99369024e-01 3.47449843e-02 7.37162586e-03 3.01142233e+02] [-3.47423007e-02 9.99396183e-01 -4.91828049e-04 -1.84428424e+01] [-7.38426330e-03 2.35410475e-04 9.99972708e-01 -4.19540062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.290371743 meters 0.025223233527138934 Centerline is valid? [True, True] Translation: X:301.17, Y:-18.45, Z:-4.20 [[ 9.99455914e-01 3.19752437e-02 8.09073693e-03 3.01171886e+02] [-3.19719321e-02 9.99488622e-01 -5.38359848e-04 -1.84483666e+01] [-8.10381369e-03 2.79390443e-04 9.99967125e-01 -4.19632116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.320371743 meters 0.025468730412757056 Centerline is valid? [True, True] Translation: X:301.20, Y:-18.45, Z:-4.20 [[ 9.99510976e-01 3.01050138e-02 8.45557207e-03 3.01200160e+02] [-3.01013309e-02 9.99546694e-01 -5.62513563e-04 -1.84516775e+01] [-8.46867359e-03 3.07714507e-04 9.99964093e-01 -4.19729116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.350371743 meters 0.026512164520912818 Centerline is valid? [True, True] Translation: X:301.23, Y:-18.46, Z:-4.20 [[ 9.99617145e-01 2.58769054e-02 9.79536783e-03 3.01228953e+02] [-2.58717693e-02 9.99665058e-01 -6.50716071e-04 -1.84578167e+01] [-9.80892547e-03 3.97043444e-04 9.99951813e-01 -4.19747467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380371743 meters 0.02699680844276096 Centerline is valid? [True, True] Translation: X:301.26, Y:-18.46, Z:-4.20 [[ 9.99653901e-01 2.39409811e-02 1.09045025e-02 3.01257922e+02] [-2.39345076e-02 9.99713267e-01 -7.23783358e-04 -1.84620212e+01] [-1.09187039e-02 4.62538959e-04 9.99940282e-01 -4.19779150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.410371743 meters 0.028299734665517624 Centerline is valid? [True, True] Translation: X:301.28, Y:-18.47, Z:-4.20 [[ 9.99699903e-01 2.20035544e-02 1.07679023e-02 3.01284961e+02] [-2.19971369e-02 9.99757779e-01 -7.14069268e-04 -1.84667887e+01] [-1.07810061e-02 4.76991957e-04 9.99941769e-01 -4.19845730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440371743 meters 0.03361127197721955 Centerline is valid? [True, True] Translation: X:301.31, Y:-18.48, Z:-4.20 [[ 9.99768783e-01 1.85604621e-02 1.08577153e-02 3.01312655e+02] [-1.85537490e-02 9.99827606e-01 -7.18693019e-04 -1.84797580e+01] [-1.08691828e-02 5.17075520e-04 9.99940795e-01 -4.19967912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.470371743 meters 0.030006539602855 Centerline is valid? [True, True] Translation: X:301.34, Y:-18.48, Z:-4.20 [[ 9.99803371e-01 1.67351239e-02 1.06374535e-02 3.01342093e+02] [-1.67285831e-02 9.99859820e-01 -7.03570951e-04 -1.84762193e+01] [-1.06477367e-02 5.25483084e-04 9.99943173e-01 -4.20019132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500371743 meters 0.03279310480503973 Centerline is valid? [True, True] Translation: X:301.37, Y:-18.48, Z:-4.20 [[ 9.99848914e-01 1.45030615e-02 9.58179189e-03 3.01370419e+02] [-1.44976565e-02 9.99894703e-01 -6.33309197e-04 -1.84840774e+01] [-9.58996788e-03 4.94299985e-04 9.99953893e-01 -4.20219607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.530371743 meters 0.03255623477209249 Centerline is valid? [True, True] Translation: X:301.40, Y:-18.49, Z:-4.20 [[ 9.99870655e-01 1.32037554e-02 9.18340102e-03 3.01399931e+02] [-1.31987408e-02 9.99912709e-01 -6.06434997e-04 -1.84865148e+01] [-9.19060661e-03 4.85147227e-04 9.99957648e-01 -4.20285783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560371743 meters 0.032899137903466616 Centerline is valid? [True, True] Translation: X:301.43, Y:-18.49, Z:-4.20 [[ 9.99878718e-01 1.28402097e-02 8.81347923e-03 3.01428331e+02] [-1.28355787e-02 9.99917451e-01 -5.81806990e-04 -1.84899722e+01] [-8.82022221e-03 4.68610321e-04 9.99960991e-01 -4.20423495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.590371743 meters 0.03325923356908377 Centerline is valid? [True, True] Translation: X:301.46, Y:-18.49, Z:-4.20 [[ 9.99890419e-01 1.24575624e-02 7.99742329e-03 3.01457324e+02] [-1.24537392e-02 9.99922310e-01 -5.27687860e-04 -1.84933522e+01] [-8.00337567e-03 4.28032212e-04 9.99967881e-01 -4.20476353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620371743 meters 0.03399184697641067 Centerline is valid? [True, True] Translation: X:301.49, Y:-18.50, Z:-4.21 [[ 9.99895126e-01 1.23063205e-02 7.63490921e-03 3.01485607e+02] [-1.23028362e-02 9.99924191e-01 -5.03170796e-04 -1.84963162e+01] [-7.64052259e-03 4.09186989e-04 9.99970727e-01 -4.20522301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.650371743 meters 0.03236882845084262 Centerline is valid? [True, True] Translation: X:301.51, Y:-18.50, Z:-4.20 [[ 9.99884570e-01 1.29921060e-02 7.87725453e-03 3.01514254e+02] [-1.29884206e-02 9.99915512e-01 -5.18829865e-04 -1.84953688e+01] [-7.88332969e-03 4.16456882e-04 9.99968839e-01 -4.20451369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680371743 meters 0.032385429313459495 Centerline is valid? [True, True] Translation: X:301.54, Y:-18.50, Z:-4.20 [[ 9.99878533e-01 1.33463498e-02 8.04942392e-03 3.01543483e+02] [-1.33425186e-02 9.99910844e-01 -5.29474870e-04 -1.84968937e+01] [-8.05577283e-03 4.22010968e-04 9.99967463e-01 -4.20443782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.710371743 meters 0.03277456366139839 Centerline is valid? [True, True] Translation: X:301.57, Y:-18.50, Z:-4.20 [[ 9.99866562e-01 1.38717774e-02 8.62735348e-03 3.01571553e+02] [-1.38673985e-02 9.99903682e-01 -5.67166668e-04 -1.85000008e+01] [-8.63439012e-03 4.47452038e-04 9.99962623e-01 -4.20430008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740371743 meters 0.03124845328602831 Centerline is valid? [True, True] Translation: X:301.60, Y:-18.50, Z:-4.20 [[ 9.99859851e-01 1.39670911e-02 9.23032357e-03 3.01600380e+02] [-1.39620918e-02 9.99902342e-01 -6.05839069e-04 -1.84997729e+01] [-9.23788397e-03 4.76879536e-04 9.99957216e-01 -4.20378921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.770371743 meters 0.03239377785823638 Centerline is valid? [True, True] Translation: X:301.63, Y:-18.50, Z:-4.20 [[ 9.99853067e-01 1.41181078e-02 9.72234489e-03 3.01628444e+02] [-1.41125765e-02 9.99900210e-01 -6.37301674e-04 -1.85040934e+01] [-9.73037219e-03 5.00000697e-04 9.99952534e-01 -4.20405520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800371743 meters 0.032724120147618475 Centerline is valid? [True, True] Translation: X:301.66, Y:-18.51, Z:-4.20 [[ 9.99858753e-01 1.37407130e-02 9.67817343e-03 3.01657043e+02] [-1.37352186e-02 9.99905466e-01 -6.33961490e-04 -1.85075205e+01] [-9.68596960e-03 5.00940118e-04 9.99952964e-01 -4.20435689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.830371743 meters 0.033163921739877394 Centerline is valid? [True, True] Translation: X:301.69, Y:-18.51, Z:-4.20 [[ 9.99862459e-01 1.35005491e-02 9.63315423e-03 3.01686011e+02] [-1.34951009e-02 9.99908738e-01 -6.30344551e-04 -1.85107414e+01] [-9.64078509e-03 5.00257465e-04 9.99953401e-01 -4.20499624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86037174300003 meters 0.032975197527502595 Centerline is valid? [True, True] Translation: X:301.72, Y:-18.51, Z:-4.21 [[ 9.99888307e-01 1.22128858e-02 8.61508929e-03 3.01715228e+02] [-1.22084866e-02 9.99925315e-01 -5.63048354e-04 -1.85136727e+01] [-8.62132232e-03 4.57808264e-04 9.99962731e-01 -4.20590657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.890371743 meters 0.033583640136656816 Centerline is valid? [True, True] Translation: X:301.74, Y:-18.52, Z:-4.21 [[ 9.99902888e-01 1.13134087e-02 8.13767100e-03 3.01744287e+02] [-1.13094551e-02 9.99935905e-01 -5.31689895e-04 -1.85171179e+01] [-8.14316464e-03 4.39605636e-04 9.99966747e-01 -4.20702653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92037174300003 meters 0.0337234111355599 Centerline is valid? [True, True] Translation: X:301.77, Y:-18.52, Z:-4.21 [[ 9.99916465e-01 1.05358346e-02 7.48733174e-03 3.01773911e+02] [-1.05324694e-02 9.99944413e-01 -4.88748999e-04 -1.85202781e+01] [-7.49206492e-03 4.09848079e-04 9.99971850e-01 -4.20763282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.950371743 meters 0.03460403271492906 Centerline is valid? [True, True] Translation: X:301.80, Y:-18.53, Z:-4.21 [[ 9.99943444e-01 8.55141896e-03 6.32318079e-03 3.01803830e+02] [-8.54898108e-03 9.99963372e-01 -4.12475085e-04 -1.85254312e+01] [-6.32647643e-03 3.58395004e-04 9.99979923e-01 -4.20838098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.980371743 meters 0.034865022138842676 Centerline is valid? [True, True] Translation: X:301.83, Y:-18.53, Z:-4.21 [[ 9.99953823e-01 7.38512518e-03 6.14913072e-03 3.01833551e+02] [-7.38279745e-03 9.99972666e-01 -4.01159305e-04 -1.85282939e+01] [-6.15192525e-03 3.55742995e-04 9.99981013e-01 -4.20882614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.010371743 meters 0.038253599368694366 Centerline is valid? [True, True] Translation: X:301.86, Y:-18.54, Z:-4.21 [[ 9.99970731e-01 4.76021348e-03 5.98975632e-03 3.01862585e+02] [-4.75796081e-03 9.99988605e-01 -3.90280548e-04 -1.85378181e+01] [-5.99154588e-03 3.61770099e-04 9.99981985e-01 -4.20931795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.040371743 meters 0.03911123291927183 Centerline is valid? [True, True] Translation: X:301.89, Y:-18.54, Z:-4.21 [[ 9.99974399e-01 3.44860064e-03 6.26966737e-03 3.01893293e+02] [-3.44610969e-03 9.99993979e-01 -4.08062505e-04 -1.85426519e+01] [-6.27103687e-03 3.86446097e-04 9.99980262e-01 -4.20968175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.070371743 meters 0.039815650347927035 Centerline is valid? [True, True] Translation: X:301.92, Y:-18.55, Z:-4.21 [[ 9.99975686e-01 2.25378971e-03 6.59911347e-03 3.01924826e+02] [-2.25100426e-03 9.99997374e-01 -4.29491163e-04 -1.85475653e+01] [-6.60006412e-03 4.14626087e-04 9.99978133e-01 -4.20966625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.100371743 meters 0.04254975543704836 Centerline is valid? [True, True] Translation: X:301.95, Y:-18.56, Z:-4.21 [[ 9.99974468e-01 -6.19980314e-04 7.11895923e-03 3.01954261e+02] [ 6.23307243e-04 9.99999698e-01 -4.65124505e-04 -1.85556496e+01] [-7.11866870e-03 4.69549929e-04 9.99974552e-01 -4.20964258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.130371743 meters 0.0434606996834746 Centerline is valid? [True, True] Translation: X:301.99, Y:-18.56, Z:-4.21 [[ 9.99977568e-01 -2.16815642e-03 6.33739557e-03 3.01985428e+02] [ 2.17082227e-03 9.99997558e-01 -4.13804785e-04 -1.85592799e+01] [-6.33648290e-03 4.27552862e-04 9.99979833e-01 -4.20981863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.160371743 meters 0.03974927887557907 Centerline is valid? [True, True] Translation: X:302.02, Y:-18.56, Z:-4.21 [[ 9.99975826e-01 -4.84943764e-03 4.98306804e-03 3.02016740e+02] [ 4.85111998e-03 9.99988180e-01 -3.25581383e-04 -1.85574511e+01] [-4.98143026e-03 3.49746974e-04 9.99987531e-01 -4.20939485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.190371743 meters 0.038541252987625764 Centerline is valid? [True, True] Translation: X:302.05, Y:-18.56, Z:-4.21 [[ 9.99972692e-01 -5.99640140e-03 4.31953004e-03 3.02048578e+02] [ 5.99767486e-03 9.99981974e-01 -2.81920153e-04 -1.85592183e+01] [-4.31776167e-03 3.07819591e-04 9.99990631e-01 -4.20972205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.220371743 meters 0.04300866103734918 Centerline is valid? [True, True] Translation: X:302.08, Y:-18.57, Z:-4.21 [[ 9.99960231e-01 -8.50811627e-03 2.67348281e-03 3.02078312e+02] [ 8.50861373e-03 9.99963786e-01 -1.74753668e-04 -1.85693396e+01] [-2.67189917e-03 1.97494351e-04 9.99996411e-01 -4.21129095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.250371743 meters 0.041389823491665235 Centerline is valid? [True, True] Translation: X:302.11, Y:-18.57, Z:-4.21 [[ 9.99953930e-01 -9.24137599e-03 2.59524444e-03 3.02110042e+02] [ 9.24184627e-03 9.99957279e-01 -1.69274109e-04 -1.85700221e+01] [-2.59356924e-03 1.93251160e-04 9.99996618e-01 -4.21146405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.280371743 meters 0.041389823491665235 Centerline is valid? [True, True] Translation: X:302.14, Y:-18.57, Z:-4.21 [[ 9.99954577e-01 -9.17108831e-03 2.59524854e-03 3.02141754e+02] [ 9.17155819e-03 9.99957926e-01 -1.69211941e-04 -1.85721629e+01] [-2.59358749e-03 1.93006728e-04 9.99996618e-01 -4.21191019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.310371743 meters 0.042430608802964474 Centerline is valid? [True, True] Translation: X:302.17, Y:-18.58, Z:-4.21 [[ 9.99952040e-01 -9.54849349e-03 2.17814260e-03 3.02173030e+02] [ 9.54882581e-03 9.99954399e-01 -1.42223882e-04 -1.85762068e+01] [-2.17668525e-03 1.63015766e-04 9.99997618e-01 -4.21243913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.340371743 meters 0.04326704135332561 Centerline is valid? [True, True] Translation: X:302.21, Y:-18.58, Z:-4.21 [[ 9.99952347e-01 -9.56400527e-03 1.95771228e-03 3.02205408e+02] [ 9.56427342e-03 9.99954253e-01 -1.27654745e-04 -1.85797640e+01] [-1.95640183e-03 1.46372757e-04 9.99998076e-01 -4.21240476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.370371743 meters 0.04168586733633941 Centerline is valid? [True, True] Translation: X:302.24, Y:-18.58, Z:-4.21 [[ 9.99954640e-01 -9.25265562e-03 2.25951065e-03 3.02237299e+02] [ 9.25301269e-03 9.99957179e-01 -1.47628886e-04 -1.85800267e+01] [-2.25804793e-03 1.68529470e-04 9.99997436e-01 -4.21124959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.400371743 meters 0.04507970690203381 Centerline is valid? [True, True] Translation: X:302.27, Y:-18.59, Z:-4.21 [[ 9.99958889e-01 -8.67885348e-03 2.62646078e-03 3.02268315e+02] [ 8.67933322e-03 9.99962319e-01 -1.71313997e-04 -1.85874552e+01] [-2.62487500e-03 1.94102883e-04 9.99996536e-01 -4.21187683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.430371743 meters 0.046061677547252516 Centerline is valid? [True, True] Translation: X:302.30, Y:-18.59, Z:-4.21 [[ 9.99962323e-01 -8.29784157e-03 2.54906601e-03 3.02299479e+02] [ 8.29829512e-03 9.99965555e-01 -1.67404444e-04 -1.85913821e+01] [-2.54758911e-03 1.88551039e-04 9.99996737e-01 -4.21222587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.460371743 meters 0.04563049121418939 Centerline is valid? [True, True] Translation: X:302.33, Y:-18.59, Z:-4.21 [[ 9.99972013e-01 -7.14687027e-03 2.21242386e-03 3.02331362e+02] [ 7.14720881e-03 9.99974448e-01 -1.45151881e-04 -1.85937549e+01] [-2.21132995e-03 1.60960474e-04 9.99997542e-01 -4.21164121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.490371743 meters 0.0400768699269524 Centerline is valid? [True, True] Translation: X:302.36, Y:-18.59, Z:-4.21 [[ 9.99976267e-01 -6.70169091e-03 1.59793117e-03 3.02364182e+02] [ 6.70186658e-03 9.99977537e-01 -1.04604345e-04 -1.85875213e+01] [-1.59719425e-03 1.15310983e-04 9.99998718e-01 -4.21044291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.520371743 meters 0.046434361082723134 Centerline is valid? [True, True] Translation: X:302.39, Y:-18.60, Z:-4.21 [[ 9.99985269e-01 -5.36599529e-03 8.17094675e-04 3.02393753e+02] [ 5.36604101e-03 9.99985601e-01 -5.37680527e-05 -1.85992039e+01] [-8.16794391e-04 5.81518242e-05 9.99999665e-01 -4.21262341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.550371743 meters 0.039377339320360645 Centerline is valid? [True, True] Translation: X:302.43, Y:-18.59, Z:-4.21 [[ 9.99986481e-01 -5.19132947e-03 2.97375577e-04 3.02426913e+02] [ 5.19133526e-03 9.99986525e-01 -1.86829330e-05 -1.85917336e+01] [-2.97274580e-04 2.02264568e-05 9.99999956e-01 -4.21150675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.580371743 meters 0.03783684246912219 Centerline is valid? [True, True] Translation: X:302.46, Y:-18.59, Z:-4.21 [[ 9.99986328e-01 -5.20639410e-03 -4.86165441e-04 3.02459536e+02] [ 5.20641086e-03 9.99986446e-01 3.32318597e-05 -1.85921557e+01] [ 4.85985834e-04 -3.57625824e-05 9.99999881e-01 -4.21192042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61037174300003 meters 0.038337916663885974 Centerline is valid? [True, True] Translation: X:302.49, Y:-18.60, Z:-4.21 [[ 9.99985584e-01 -5.20091290e-03 -1.33512172e-03 3.02490264e+02] [ 5.20103672e-03 9.99986471e-01 8.92910028e-05 -1.85961825e+01] [ 1.33463926e-03 -9.62337326e-05 9.99999105e-01 -4.21171050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.640371743 meters 0.041736004924711675 Centerline is valid? [True, True] Translation: X:302.52, Y:-18.60, Z:-4.21 [[ 9.99984474e-01 -5.32566944e-03 -1.63988958e-03 3.02521127e+02] [ 5.32585625e-03 9.99985812e-01 1.09569121e-04 -1.86035693e+01] [ 1.63928278e-03 -1.18301236e-04 9.99998649e-01 -4.21289692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67037174300003 meters 0.038006042995894426 Centerline is valid? [True, True] Translation: X:302.55, Y:-18.60, Z:-4.21 [[ 9.99981528e-01 -5.74797206e-03 -1.97616998e-03 3.02552900e+02] [ 5.74824352e-03 9.99983470e-01 1.31713037e-04 -1.86004896e+01] [ 1.97538023e-03 -1.43070110e-04 9.99998039e-01 -4.21186783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.700371743 meters 0.038878759871173514 Centerline is valid? [True, True] Translation: X:302.58, Y:-18.60, Z:-4.21 [[ 9.99982795e-01 -5.49339068e-03 -2.05734224e-03 3.02583806e+02] [ 5.49368506e-03 9.99984900e-01 1.37463519e-04 -1.86047480e+01] [ 2.05655603e-03 -1.48763544e-04 9.99997874e-01 -4.21200937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.730371743 meters 0.03887496024505795 Centerline is valid? [True, True] Translation: X:302.62, Y:-18.61, Z:-4.21 [[ 9.99984771e-01 -5.20254516e-03 -1.84149771e-03 3.02615445e+02] [ 5.20278031e-03 9.99986458e-01 1.22929224e-04 -1.86070624e+01] [ 1.84083323e-03 -1.32508260e-04 9.99998297e-01 -4.21249030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.760371743 meters 0.04111863985571488 Centerline is valid? [True, True] Translation: X:302.65, Y:-18.61, Z:-4.21 [[ 9.99990216e-01 -3.94446113e-03 -2.00234197e-03 3.02645952e+02] [ 3.94473670e-03 9.99992211e-01 1.33692016e-04 -1.86128408e+01] [ 2.00179903e-03 -1.41589420e-04 9.99997986e-01 -4.21353406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.790371743 meters 0.03807412191745018 Centerline is valid? [True, True] Translation: X:302.68, Y:-18.61, Z:-4.21 [[ 9.99993871e-01 -2.78958603e-03 -2.11586630e-03 3.02677398e+02] [ 2.78989127e-03 9.99996098e-01 1.41325548e-04 -1.86104824e+01] [ 2.11546380e-03 -1.47227719e-04 9.99997752e-01 -4.21273284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.820371743 meters 0.041373789917505406 Centerline is valid? [True, True] Translation: X:302.71, Y:-18.62, Z:-4.21 [[ 9.99994853e-01 -2.53092074e-03 -1.97206264e-03 3.02707144e+02] [ 2.53118504e-03 9.99996788e-01 1.31535924e-04 -1.86172701e+01] [ 1.97172340e-03 -1.36526903e-04 9.99998047e-01 -4.21407913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.850371743 meters 0.04124939780950332 Centerline is valid? [True, True] Translation: X:302.74, Y:-18.62, Z:-4.21 [[ 9.99992615e-01 -2.95721814e-03 -2.45452129e-03 3.02737920e+02] [ 2.95763011e-03 9.99995613e-01 1.64229907e-04 -1.86191887e+01] [ 2.45402486e-03 -1.71488260e-04 9.99996974e-01 -4.21461395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880371743 meters 0.0393702492496292 Centerline is valid? [True, True] Translation: X:302.77, Y:-18.62, Z:-4.21 [[ 9.99991944e-01 -3.10297921e-03 -2.54615856e-03 3.02768977e+02] [ 3.10342113e-03 9.99995170e-01 1.69633022e-04 -1.86192228e+01] [ 2.54561990e-03 -1.77533458e-04 9.99996744e-01 -4.21408465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.910371743 meters 0.0438626945578198 Centerline is valid? [True, True] Translation: X:302.80, Y:-18.63, Z:-4.22 [[ 9.99986227e-01 -4.37524051e-03 -2.89874931e-03 3.02798636e+02] [ 4.37581947e-03 9.99990407e-01 1.93418137e-04 -1.86288341e+01] [ 2.89787526e-03 -2.06099877e-04 9.99995780e-01 -4.21612092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940371743 meters 0.04183405868207638 Centerline is valid? [True, True] Translation: X:302.83, Y:-18.63, Z:-4.22 [[ 9.99978682e-01 -5.34581430e-03 -3.74936361e-03 3.02829087e+02] [ 5.34678852e-03 9.99985675e-01 2.49859577e-04 -1.86284642e+01] [ 3.74797420e-03 -2.69901305e-04 9.99992940e-01 -4.21616261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.970371743 meters 0.047435327405290564 Centerline is valid? [True, True] Translation: X:302.86, Y:-18.64, Z:-4.22 [[ 9.99958659e-01 -7.56228727e-03 -5.04905829e-03 3.02858324e+02] [ 7.56408207e-03 9.99971335e-01 3.36471919e-04 -1.86398404e+01] [ 5.04636907e-03 -3.74649500e-04 9.99987197e-01 -4.22002801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000371743 meters 0.04492709510100445 Centerline is valid? [True, True] Translation: X:302.89, Y:-18.64, Z:-4.22 [[ 9.99944156e-01 -8.98881054e-03 -5.55746922e-03 3.02889797e+02] [ 8.99101062e-03 9.99959511e-01 3.71021254e-04 -1.86392419e+01] [ 5.55390917e-03 -4.20967799e-04 9.99984488e-01 -4.22000085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.030371743 meters 0.04077880960233275 Centerline is valid? [True, True] Translation: X:302.92, Y:-18.64, Z:-4.22 [[ 9.99933726e-01 -9.92100807e-03 -5.84101617e-03 3.02921715e+02] [ 9.92345540e-03 9.99950685e-01 3.90156247e-04 -1.86368705e+01] [ 5.83685738e-03 -4.48093453e-04 9.99982865e-01 -4.21918124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060371743 meters 0.04236642552323458 Centerline is valid? [True, True] Translation: X:302.95, Y:-18.64, Z:-4.22 [[ 9.99924251e-01 -1.09974724e-02 -5.52709142e-03 3.02952133e+02] [ 1.09996793e-02 9.99939434e-01 3.69060159e-04 -1.86422362e+01] [ 5.52269793e-03 -4.29828436e-04 9.99984657e-01 -4.21924472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.090371743 meters 0.042032159511892604 Centerline is valid? [True, True] Translation: X:302.98, Y:-18.64, Z:-4.22 [[ 9.99933022e-01 -1.05560386e-02 -4.74574130e-03 3.02983841e+02] [ 1.05576629e-02 9.99944216e-01 3.17340120e-04 -1.86438516e+01] [ 4.74212670e-03 -3.67422802e-04 9.99988689e-01 -4.21809731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120371743 meters 0.04007100689272322 Centerline is valid? [True, True] Translation: X:303.02, Y:-18.64, Z:-4.22 [[ 9.99943625e-01 -9.66089904e-03 -4.40609834e-03 3.03015064e+02] [ 9.66229144e-03 9.99953276e-01 2.94838000e-04 -1.86432152e+01] [ 4.40304406e-03 -3.37394385e-04 9.99990250e-01 -4.21744599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.150371743 meters 0.039802611815798736 Centerline is valid? [True, True] Translation: X:303.05, Y:-18.64, Z:-4.22 [[ 9.99961094e-01 -8.12792916e-03 -3.42746271e-03 3.03045100e+02] [ 8.12876745e-03 9.99966934e-01 2.30720275e-04 -1.86448903e+01] [ 3.42547410e-03 -2.58572346e-04 9.99994100e-01 -4.21755066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180371743 meters 0.03911695144030363 Centerline is valid? [True, True] Translation: X:303.08, Y:-18.65, Z:-4.22 [[ 9.99972287e-01 -6.64492032e-03 -3.35707409e-03 3.03076393e+02] [ 6.64571367e-03 9.99977892e-01 2.25220882e-04 -1.86458975e+01] [ 3.35550329e-03 -2.47524794e-04 9.99994340e-01 -4.21777154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.210371743 meters 0.03843074317892868 Centerline is valid? [True, True] Translation: X:303.11, Y:-18.65, Z:-4.22 [[ 9.99988258e-01 -3.41296436e-03 -3.44014223e-03 3.03107323e+02] [ 3.41377770e-03 9.99994146e-01 2.30580434e-04 -1.86462916e+01] [ 3.43933513e-03 -2.42321607e-04 9.99994056e-01 -4.21805852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240371743 meters 0.03710423464850707 Centerline is valid? [True, True] Translation: X:303.14, Y:-18.65, Z:-4.22 [[ 9.99993183e-01 8.46240906e-04 -3.59401900e-03 3.03138055e+02] [-8.45381688e-04 9.99999614e-01 2.40581057e-04 -1.86455350e+01] [ 3.59422120e-03 -2.37541099e-04 9.99993513e-01 -4.21832680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.270371743 meters 0.035511281414194344 Centerline is valid? [True, True] Translation: X:303.17, Y:-18.64, Z:-4.22 [[ 9.99988527e-01 2.53790050e-03 -4.06275056e-03 3.03167581e+02] [-2.53682546e-03 9.99996746e-01 2.69741984e-04 -1.86439631e+01] [ 4.06342192e-03 -2.59432400e-04 9.99991711e-01 -4.21791024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300371743 meters 0.0348356516883014 Centerline is valid? [True, True] Translation: X:303.20, Y:-18.64, Z:-4.22 [[ 9.99979509e-01 4.94010099e-03 -4.07148166e-03 3.03197079e+02] [-4.93903662e-03 9.99987766e-01 2.71433828e-04 -1.86436393e+01] [ 4.07277276e-03 -2.51319069e-04 9.99991675e-01 -4.21789833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.330371743 meters 0.03450051648395679 Centerline is valid? [True, True] Translation: X:303.23, Y:-18.64, Z:-4.22 [[ 9.99950815e-01 9.01707345e-03 -4.13037651e-03 3.03226532e+02] [-9.01601231e-03 9.99959317e-01 2.75457763e-04 -1.86432888e+01] [ 4.13269230e-03 -2.38204690e-04 9.99991432e-01 -4.21937894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36037174300003 meters 0.03443821574907679 Centerline is valid? [True, True] Translation: X:303.25, Y:-18.64, Z:-4.22 [[ 9.99936784e-01 1.03722926e-02 -4.34097956e-03 3.03254990e+02] [-1.03711373e-02 9.99946177e-01 2.88557124e-04 -1.86443432e+01] [ 4.34373891e-03 -2.43517987e-04 9.99990536e-01 -4.22034860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.390371743 meters 0.03283486181016697 Centerline is valid? [True, True] Translation: X:303.28, Y:-18.64, Z:-4.22 [[ 9.99911946e-01 1.26273502e-02 -4.08043151e-03 3.03284607e+02] [-1.26263470e-02 9.99920248e-01 2.71519103e-04 -1.86428691e+01] [ 4.08353465e-03 -2.19974250e-04 9.99991638e-01 -4.22017431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42037174300003 meters 0.03221040329421634 Centerline is valid? [True, True] Translation: X:303.31, Y:-18.64, Z:-4.22 [[ 9.99906224e-01 1.31095495e-02 -3.96021085e-03 3.03314002e+02] [-1.31086157e-02 9.99914044e-01 2.61651148e-04 -1.86426643e+01] [ 3.96330057e-03 -2.09713730e-04 9.99992124e-01 -4.21988040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.450371743 meters 0.031097748997138613 Centerline is valid? [True, True] Translation: X:303.34, Y:-18.64, Z:-4.22 [[ 9.99897045e-01 1.38487808e-02 -3.75647568e-03 3.03342582e+02] [-1.38479441e-02 9.99904082e-01 2.48645362e-04 -1.86415567e+01] [ 3.75955880e-03 -1.96600297e-04 9.99992914e-01 -4.21906235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.480371743 meters 0.0310357638530707 Centerline is valid? [True, True] Translation: X:303.37, Y:-18.64, Z:-4.22 [[ 9.99892216e-01 1.42846365e-02 -3.39189663e-03 3.03371494e+02] [-1.42839581e-02 9.99897954e-01 2.24173770e-04 -1.86418605e+01] [ 3.39475274e-03 -1.75699898e-04 9.99994222e-01 -4.21882274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.510371743 meters 0.03100905087019876 Centerline is valid? [True, True] Translation: X:303.40, Y:-18.64, Z:-4.22 [[ 9.99898984e-01 1.39670434e-02 -2.63494552e-03 3.03399695e+02] [-1.39666355e-02 9.99902447e-01 1.73132731e-04 -1.86437459e+01] [ 2.63710663e-03 -1.36313918e-04 9.99996514e-01 -4.21920937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.540371743 meters 0.032678106358868475 Centerline is valid? [True, True] Translation: X:303.43, Y:-18.65, Z:-4.22 [[ 9.99909776e-01 1.31957513e-02 -2.51247400e-03 3.03426852e+02] [-1.31953781e-02 9.99912924e-01 1.65053401e-04 -1.86481201e+01] [ 2.51443323e-03 -1.31885465e-04 9.99996830e-01 -4.21999072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.570371743 meters 0.03517282771947406 Centerline is valid? [True, True] Translation: X:303.45, Y:-18.65, Z:-4.22 [[ 9.99920386e-01 1.23920006e-02 -2.37913244e-03 3.03454261e+02] [-1.23916642e-02 9.99923208e-01 1.56049455e-04 -1.86537115e+01] [ 2.38088351e-03 -1.26555621e-04 9.99997158e-01 -4.22112268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.600371743 meters 0.03374318103973753 Centerline is valid? [True, True] Translation: X:303.48, Y:-18.65, Z:-4.22 [[ 9.99940391e-01 1.05712404e-02 -2.73198732e-03 3.03484221e+02] [-1.05707879e-02 9.99944111e-01 1.80008582e-04 -1.86527936e+01] [ 2.73373755e-03 -1.51118593e-04 9.99996252e-01 -4.22009936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.630371743 meters 0.03815657108815425 Centerline is valid? [True, True] Translation: X:303.51, Y:-18.66, Z:-4.22 [[ 9.99951542e-01 9.43792405e-03 -2.79976332e-03 3.03511631e+02] [-9.43744782e-03 9.99955450e-01 1.83259291e-04 -1.86619858e+01] [ 2.80136818e-03 -1.56827791e-04 9.99996064e-01 -4.22294585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.660371743 meters 0.03495262744313536 Centerline is valid? [True, True] Translation: X:303.54, Y:-18.66, Z:-4.22 [[ 9.99963172e-01 8.01924734e-03 -3.05720176e-03 3.03540963e+02] [-8.01867085e-03 9.99967830e-01 2.00778333e-04 -1.86595199e+01] [ 3.05871350e-03 -1.76256244e-04 9.99995307e-01 -4.22204478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.690371743 meters 0.03390915967660121 Centerline is valid? [True, True] Translation: X:303.57, Y:-18.66, Z:-4.22 [[ 9.99982209e-01 5.19487092e-03 -2.93182011e-03 3.03570776e+02] [-5.19432834e-03 9.99986491e-01 1.92650762e-04 -1.86608372e+01] [ 2.93278130e-03 -1.77418498e-04 9.99995684e-01 -4.22162345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.720371743 meters 0.03865193166597213 Centerline is valid? [True, True] Translation: X:303.60, Y:-18.67, Z:-4.22 [[ 9.99989080e-01 3.48693845e-03 -3.11155656e-03 3.03598422e+02] [-3.48632124e-03 9.99993902e-01 2.03759906e-04 -1.86699638e+01] [ 3.11224809e-03 -1.92909796e-04 9.99995138e-01 -4.22296970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.750371743 meters 0.03518966250422727 Centerline is valid? [True, True] Translation: X:303.63, Y:-18.67, Z:-4.22 [[ 9.99997122e-01 8.23339123e-04 -2.25346607e-03 3.03627707e+02] [-8.23009016e-04 9.99999650e-01 1.47412223e-04 -1.86675135e+01] [ 2.25358665e-03 -1.45557176e-04 9.99997450e-01 -4.22079814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.780371743 meters 0.03669263420181997 Centerline is valid? [True, True] Translation: X:303.66, Y:-18.67, Z:-4.22 [[ 9.99997913e-01 -3.41037877e-04 -2.01417155e-03 3.03656462e+02] [ 3.41304159e-04 9.99999933e-01 1.31861872e-04 -1.86720969e+01] [ 2.01412644e-03 -1.32549042e-04 9.99997963e-01 -4.22156920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.810371743 meters 0.03912340311181007 Centerline is valid? [True, True] Translation: X:303.69, Y:-18.68, Z:-4.22 [[ 9.99996362e-01 -1.64923826e-03 -2.13433372e-03 3.03685883e+02] [ 1.64954134e-03 9.99998630e-01 1.40249875e-04 -1.86785778e+01] [ 2.13409949e-03 -1.43770037e-04 9.99997712e-01 -4.22273446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.840371743 meters 0.03768623853430074 Centerline is valid? [True, True] Translation: X:303.72, Y:-18.68, Z:-4.22 [[ 9.99991975e-01 -3.56247906e-03 -1.83278563e-03 3.03716523e+02] [ 3.56270577e-03 9.99993646e-01 1.20444011e-04 -1.86787692e+01] [ 1.83234491e-03 -1.26972720e-04 9.99998313e-01 -4.22231898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.870371743 meters 0.039463679448015175 Centerline is valid? [True, True] Translation: X:303.75, Y:-18.68, Z:-4.22 [[ 9.99988732e-01 -4.25116917e-03 -2.11291956e-03 3.03746719e+02] [ 4.25147369e-03 9.99990953e-01 1.39651144e-04 -1.86831343e+01] [ 2.11230677e-03 -1.48632592e-04 9.99997758e-01 -4.22297681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.900371743 meters 0.037780814078860935 Centerline is valid? [True, True] Translation: X:303.78, Y:-18.68, Z:-4.22 [[ 9.99986279e-01 -4.81272676e-03 -2.06855162e-03 3.03778603e+02] [ 4.81301962e-03 9.99988408e-01 1.36618952e-04 -1.86820267e+01] [ 2.06787013e-03 -1.46573057e-04 9.99997851e-01 -4.22158289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.930371743 meters 0.04403839773669507 Centerline is valid? [True, True] Translation: X:303.81, Y:-18.69, Z:-4.22 [[ 9.99986446e-01 -4.79116934e-03 -2.03773979e-03 3.03808266e+02] [ 4.79145306e-03 9.99988512e-01 1.34373658e-04 -1.86929297e+01] [ 2.03707257e-03 -1.44135571e-04 9.99997915e-01 -4.22415165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.960371743 meters 0.037974831096495 Centerline is valid? [True, True] Translation: X:303.84, Y:-18.69, Z:-4.22 [[ 9.99985733e-01 -4.84271005e-03 -2.25435470e-03 3.03839642e+02] [ 4.84305746e-03 9.99988261e-01 1.48673834e-04 -1.86860782e+01] [ 2.25360826e-03 -1.59589683e-04 9.99997448e-01 -4.22265638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.990371743 meters 0.03960701159815938 Centerline is valid? [True, True] Translation: X:303.87, Y:-18.69, Z:-4.22 [[ 9.99984797e-01 -4.99551268e-03 -2.33482102e-03 3.03869734e+02] [ 4.99588582e-03 9.99987509e-01 1.54011194e-04 -1.86907014e+01] [ 2.33402249e-03 -1.65673352e-04 9.99997262e-01 -4.22343927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.020371743 meters 0.04324483811549478 Centerline is valid? [True, True] Translation: X:303.90, Y:-18.70, Z:-4.22 [[ 9.99984466e-01 -5.12354979e-03 -2.19488888e-03 3.03899717e+02] [ 5.12387996e-03 9.99986862e-01 1.44830794e-04 -1.86975580e+01] [ 2.19411799e-03 -1.56074891e-04 9.99997581e-01 -4.22473292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.050371743 meters 0.03931357756503724 Centerline is valid? [True, True] Translation: X:303.93, Y:-18.69, Z:-4.22 [[ 9.99986988e-01 -4.78439651e-03 -1.77017179e-03 3.03931918e+02] [ 4.78461138e-03 9.99988547e-01 1.17165752e-04 -1.86926076e+01] [ 1.76959095e-03 -1.25633812e-04 9.99998426e-01 -4.22304174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.080371743 meters 0.03902470636781043 Centerline is valid? [True, True] Translation: X:303.96, Y:-18.69, Z:-4.22 [[ 9.99987385e-01 -4.52658562e-03 -2.17712887e-03 3.03962804e+02] [ 4.52690994e-03 9.99989743e-01 1.44065411e-04 -1.86936135e+01] [ 2.17645442e-03 -1.53919260e-04 9.99997620e-01 -4.22335521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11037174300003 meters 0.039482303046877325 Centerline is valid? [True, True] Translation: X:303.99, Y:-18.70, Z:-4.22 [[ 9.99989219e-01 -3.92463206e-03 -2.48173779e-03 3.03993298e+02] [ 3.92505290e-03 9.99992283e-01 1.64729126e-04 -1.86961441e+01] [ 2.48107214e-03 -1.74468302e-04 9.99996907e-01 -4.22454985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.140371743 meters 0.039482303046877325 Centerline is valid? [True, True] Translation: X:304.02, Y:-18.70, Z:-4.22 [[ 9.99989219e-01 -3.92461927e-03 -2.48179772e-03 3.04023307e+02] [ 3.92503787e-03 9.99992284e-01 1.63821257e-04 -1.86981246e+01] [ 2.48113563e-03 -1.73560640e-04 9.99996907e-01 -4.22497192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17037174300003 meters 0.040078843922478256 Centerline is valid? [True, True] Translation: X:304.05, Y:-18.70, Z:-4.23 [[ 9.99989470e-01 -3.48790599e-03 -2.98224645e-03 3.04053812e+02] [ 3.48851162e-03 9.99993896e-01 1.97902907e-04 -1.87006352e+01] [ 2.98153797e-03 -2.08304425e-04 9.99995534e-01 -4.22612866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.200371743 meters 0.03976425973878842 Centerline is valid? [True, True] Translation: X:304.08, Y:-18.70, Z:-4.23 [[ 9.99989438e-01 -3.26561176e-03 -3.23415650e-03 3.04084261e+02] [ 3.26631984e-03 9.99994643e-01 2.13683144e-04 -1.87013905e+01] [ 3.23344137e-03 -2.24244677e-04 9.99994747e-01 -4.22623989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.230371743 meters 0.04053485268079581 Centerline is valid? [True, True] Translation: X:304.11, Y:-18.70, Z:-4.23 [[ 9.99990408e-01 -2.13245142e-03 -3.82578651e-03 3.04114026e+02] [ 2.13343283e-03 9.99997692e-01 2.52463089e-04 -1.87019976e+01] [ 3.82523931e-03 -2.60622726e-04 9.99992650e-01 -4.22568935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.260371743 meters 0.040070190571103795 Centerline is valid? [True, True] Translation: X:304.14, Y:-18.70, Z:-4.23 [[ 9.99991628e-01 -1.14219184e-03 -3.92939545e-03 3.04143348e+02] [ 1.14321808e-03 9.99999313e-01 2.58933342e-04 -1.87024763e+01] [ 3.92909700e-03 -2.63423330e-04 9.99992246e-01 -4.22567195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.290371743 meters 0.040710921877670114 Centerline is valid? [True, True] Translation: X:304.17, Y:-18.70, Z:-4.23 [[ 9.99992196e-01 -4.05495281e-04 -3.92991845e-03 3.04171973e+02] [ 4.06514406e-04 9.99999884e-01 2.58529334e-04 -1.87041229e+01] [ 3.92981317e-03 -2.60124885e-04 9.99992244e-01 -4.22597186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.320371743 meters 0.0393524263321283 Centerline is valid? [True, True] Translation: X:304.20, Y:-18.70, Z:-4.23 [[ 9.99990063e-01 1.88366062e-03 -4.04043002e-03 3.04202445e+02] [-1.88260024e-03 9.99998192e-01 2.66229711e-04 -1.87024264e+01] [ 4.04092420e-03 -2.58620551e-04 9.99991802e-01 -4.22540751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.350371743 meters 0.04162722001434736 Centerline is valid? [True, True] Translation: X:304.23, Y:-18.71, Z:-4.23 [[ 9.99988086e-01 2.87841934e-03 -3.94235737e-03 3.04229756e+02] [-2.87742258e-03 9.99995827e-01 2.58484289e-04 -1.87067436e+01] [ 3.94308495e-03 -2.47137382e-04 9.99992195e-01 -4.22651821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380371743 meters 0.03464204482482233 Centerline is valid? [True, True] Translation: X:304.26, Y:-18.70, Z:-4.22 [[ 9.99975892e-01 5.83878016e-03 -3.75813848e-03 3.04260641e+02] [-5.83789214e-03 9.99982929e-01 2.47220472e-04 -1.86965051e+01] [ 3.75951779e-03 -2.25274905e-04 9.99992908e-01 -4.22366060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.410371743 meters 0.0403952225456726 Centerline is valid? [True, True] Translation: X:304.29, Y:-18.71, Z:-4.23 [[ 9.99964076e-01 7.65350238e-03 -3.64288741e-03 3.04287886e+02] [-7.65268616e-03 9.99970689e-01 2.37945972e-04 -1.87055578e+01] [ 3.64460175e-03 -2.10059549e-04 9.99993336e-01 -4.22660858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440371743 meters 0.03407187459751894 Centerline is valid? [True, True] Translation: X:304.32, Y:-18.70, Z:-4.22 [[ 9.99949657e-01 9.32544448e-03 -3.70402734e-03 3.04317673e+02] [-9.32460973e-03 9.99956495e-01 2.42571122e-04 -1.86968404e+01] [ 3.70612828e-03 -2.08020301e-04 9.99993111e-01 -4.22392812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.470371743 meters 0.0331159843402902 Centerline is valid? [True, True] Translation: X:304.35, Y:-18.70, Z:-4.22 [[ 9.99928842e-01 1.13914662e-02 -3.54208889e-03 3.04347909e+02] [-1.13907144e-02 9.99935097e-01 2.32361324e-04 -1.86966819e+01] [ 3.54450593e-03 -1.91997867e-04 9.99993700e-01 -4.22383731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500371743 meters 0.03266476537972088 Centerline is valid? [True, True] Translation: X:304.38, Y:-18.70, Z:-4.22 [[ 9.99883076e-01 1.48253694e-02 -3.74727753e-03 3.04376655e+02] [-1.48245545e-02 9.99890080e-01 2.45159102e-04 -1.86965078e+01] [ 3.75050021e-03 -1.89578718e-04 9.99992949e-01 -4.22420878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.530371743 meters 0.0320362111646555 Centerline is valid? [True, True] Translation: X:304.41, Y:-18.70, Z:-4.22 [[ 9.99858954e-01 1.63615717e-02 -3.79093901e-03 3.04405608e+02] [-1.63607505e-02 9.99866123e-01 2.47529584e-04 -1.86969185e+01] [ 3.79448146e-03 -1.85472064e-04 9.99992784e-01 -4.22449596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560371743 meters 0.03266874733780381 Centerline is valid? [True, True] Translation: X:304.43, Y:-18.70, Z:-4.23 [[ 9.99809734e-01 1.90087568e-02 -4.37745957e-03 3.04434158e+02] [-1.90076865e-02 9.99819297e-01 2.86000980e-04 -1.87000242e+01] [ 4.38210507e-03 -2.02741185e-04 9.99990378e-01 -4.22597969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.590371743 meters 0.031088975893969736 Centerline is valid? [True, True] Translation: X:304.46, Y:-18.70, Z:-4.23 [[ 9.99785688e-01 2.02673873e-02 -4.22037958e-03 3.04463355e+02] [-2.02664058e-02 9.99794577e-01 2.75196477e-04 -1.86994582e+01] [ 4.22509013e-03 -1.89605574e-04 9.99991056e-01 -4.22584933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620371743 meters 0.03101921157933758 Centerline is valid? [True, True] Translation: X:304.49, Y:-18.70, Z:-4.23 [[ 9.99762512e-01 2.13748311e-02 -4.24683296e-03 3.04492170e+02] [-2.13738484e-02 9.99771515e-01 2.76649963e-04 -1.87010433e+01] [ 4.25177597e-03 -1.85813098e-04 9.99990944e-01 -4.22629533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.650371743 meters 0.03095944086053678 Centerline is valid? [True, True] Translation: X:304.52, Y:-18.70, Z:-4.23 [[ 9.99722668e-01 2.30651952e-02 -4.75224373e-03 3.04520328e+02] [-2.30639847e-02 9.99733943e-01 3.09377935e-04 -1.87025829e+01] [ 4.75811523e-03 -1.99686458e-04 9.99988660e-01 -4.22713834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680371743 meters 0.0312471709588831 Centerline is valid? [True, True] Translation: X:304.55, Y:-18.70, Z:-4.23 [[ 9.99697151e-01 2.39995606e-02 -5.44315277e-03 3.04547807e+02] [-2.39979893e-02 9.99711944e-01 3.53821773e-04 -1.87048277e+01] [ 5.45007640e-03 -2.23089896e-04 9.99985123e-01 -4.22806510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.710371743 meters 0.031255100405582784 Centerline is valid? [True, True] Translation: X:304.58, Y:-18.71, Z:-4.23 [[ 9.99677635e-01 2.46272575e-02 -6.17451742e-03 3.04576383e+02] [-2.46252475e-02 9.99696672e-01 4.01351166e-04 -1.87066990e+01] [ 6.18252870e-03 -2.49172765e-04 9.99980857e-01 -4.22902691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740371743 meters 0.030343939000321365 Centerline is valid? [True, True] Translation: X:304.61, Y:-18.71, Z:-4.23 [[ 9.99622292e-01 2.66430248e-02 -6.73962473e-03 3.04605083e+02] [-2.66406782e-02 9.99644978e-01 4.37721660e-04 -1.87082874e+01] [ 6.74889424e-03 -2.58008155e-04 9.99977193e-01 -4.22982603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.770371743 meters 0.030725647349980914 Centerline is valid? [True, True] Translation: X:304.63, Y:-18.71, Z:-4.23 [[ 9.99600747e-01 2.73428316e-02 -7.12150882e-03 3.04633215e+02] [-2.73402323e-02 9.99626079e-01 4.62120403e-04 -1.87115763e+01] [ 7.13148162e-03 -2.67232195e-04 9.99974535e-01 -4.23104448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800371743 meters 0.03104498500311116 Centerline is valid? [True, True] Translation: X:304.66, Y:-18.71, Z:-4.23 [[ 9.99536398e-01 2.95475542e-02 -7.34379193e-03 3.04661173e+02] [-2.95448525e-02 9.99563342e-01 4.76118696e-04 -1.87147478e+01] [ 7.35465335e-03 -2.58926717e-04 9.99972921e-01 -4.23205173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.830371743 meters 0.03105322494372004 Centerline is valid? [True, True] Translation: X:304.69, Y:-18.72, Z:-4.23 [[ 9.99507985e-01 3.05334006e-02 -7.17624651e-03 3.04689551e+02] [-3.05308495e-02 9.99533717e-01 4.64796404e-04 -1.87163438e+01] [ 7.18709217e-03 -2.45470815e-04 9.99974142e-01 -4.23218286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86037174300003 meters 0.027266165934745467 Centerline is valid? [True, True] Translation: X:304.72, Y:-18.71, Z:-4.23 [[ 9.99464882e-01 3.19728253e-02 -6.90568584e-03 3.04718452e+02] [-3.19705014e-02 9.99488713e-01 4.46685445e-04 -1.87121976e+01] [ 6.91643685e-03 -2.25668177e-04 9.99976056e-01 -4.22832026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.890371743 meters 0.029587308046758912 Centerline is valid? [True, True] Translation: X:304.75, Y:-18.72, Z:-4.23 [[ 9.99361806e-01 3.50724902e-02 -6.77498740e-03 3.04746113e+02] [-3.50703277e-02 9.99384751e-01 4.37758397e-04 -1.87200076e+01] [ 6.78617237e-03 -1.99877993e-04 9.99976954e-01 -4.23255431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92037174300003 meters 0.029169004178744597 Centerline is valid? [True, True] Translation: X:304.77, Y:-18.72, Z:-4.23 [[ 9.99320767e-01 3.60605372e-02 -7.59224106e-03 3.04774900e+02] [-3.60578521e-02 9.99349584e-01 4.90289196e-04 -1.87215716e+01] [ 7.60498303e-03 -2.16196270e-04 9.99971058e-01 -4.23293923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.950371743 meters 0.026534143326392562 Centerline is valid? [True, True] Translation: X:304.80, Y:-18.72, Z:-4.23 [[ 9.99264908e-01 3.74888853e-02 -8.01417887e-03 3.04804249e+02] [-3.74859438e-02 9.99297021e-01 5.16985572e-04 -1.87205445e+01] [ 8.02792628e-03 -2.16186481e-04 9.99967752e-01 -4.22998499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.980371743 meters 0.027710195674525213 Centerline is valid? [True, True] Translation: X:304.83, Y:-18.72, Z:-4.23 [[ 9.99291883e-01 3.67714668e-02 -7.97438907e-03 3.04832865e+02] [-3.67685359e-02 9.99323677e-01 5.13888502e-04 -1.87225395e+01] [ 7.98789224e-03 -2.20317998e-04 9.99968072e-01 -4.23207950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.010371743 meters 0.030384147200097845 Centerline is valid? [True, True] Translation: X:304.86, Y:-18.72, Z:-4.24 [[ 9.99411865e-01 3.31865547e-02 -8.63573814e-03 3.04862544e+02] [-3.31829814e-02 9.99449138e-01 5.56768252e-04 -1.87241513e+01] [ 8.64945826e-03 -2.69881259e-04 9.99962556e-01 -4.23650352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.040371743 meters 0.03209612565209334 Centerline is valid? [True, True] Translation: X:304.89, Y:-18.73, Z:-4.24 [[ 9.99482251e-01 3.08579888e-02 -9.11123801e-03 3.04890751e+02] [-3.08539242e-02 9.99523732e-01 5.86368971e-04 -1.87303336e+01] [ 9.12499279e-03 -3.04947932e-04 9.99958320e-01 -4.23915546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.070371743 meters 0.03226283893877658 Centerline is valid? [True, True] Translation: X:304.92, Y:-18.74, Z:-4.24 [[ 9.99510039e-01 2.97400234e-02 -9.75771212e-03 3.04919601e+02] [-2.97353136e-02 9.99557611e-01 6.27428462e-04 -1.87353264e+01] [ 9.77205515e-03 -3.36972416e-04 9.99952196e-01 -4.23976950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.100371743 meters 0.03375779898560936 Centerline is valid? [True, True] Translation: X:304.95, Y:-18.74, Z:-4.24 [[ 9.99569923e-01 2.76397610e-02 -9.79862450e-03 3.04946901e+02] [-2.76349207e-02 9.99617885e-01 6.29055475e-04 -1.87402759e+01] [ 9.81226724e-03 -3.58000722e-04 9.99951794e-01 -4.24143827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.130371743 meters 0.03208353703307382 Centerline is valid? [True, True] Translation: X:304.98, Y:-18.74, Z:-4.24 [[ 9.99682956e-01 2.32836328e-02 -9.58434076e-03 3.04977258e+02] [-2.32787914e-02 9.99728822e-01 6.16403851e-04 -1.87423560e+01] [ 9.59609382e-03 -3.93096555e-04 9.99953879e-01 -4.23835892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.160371743 meters 0.03671390823413248 Centerline is valid? [True, True] Translation: X:305.00, Y:-18.76, Z:-4.24 [[ 9.99731888e-01 2.08927392e-02 -9.98225664e-03 3.05004942e+02] [-2.08873810e-02 9.99781630e-01 6.40741144e-04 -1.87551523e+01] [ 9.99346365e-03 -4.32066156e-04 9.99949971e-01 -4.24249692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.190371743 meters 0.03381283789689101 Centerline is valid? [True, True] Translation: X:305.04, Y:-18.76, Z:-4.24 [[ 9.99834657e-01 1.59282916e-02 -8.77196970e-03 3.05035436e+02] [-1.59239576e-02 9.99873047e-01 5.63698793e-04 -1.87572009e+01] [ 8.77983483e-03 -4.23921116e-04 9.99961367e-01 -4.23804079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.220371743 meters 0.04227059512932643 Centerline is valid? [True, True] Translation: X:305.06, Y:-18.78, Z:-4.24 [[ 9.99878601e-01 1.29898005e-02 -8.60514018e-03 3.05062346e+02] [-1.29855357e-02 9.99915532e-01 5.51300936e-04 -1.87751800e+01] [ 8.61157462e-03 -4.39491653e-04 9.99962823e-01 -4.24379512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.250371743 meters 0.0373234703001299 Centerline is valid? [True, True] Translation: X:305.09, Y:-18.77, Z:-4.24 [[ 9.99909869e-01 1.00162486e-02 -8.94028459e-03 3.05092672e+02] [-1.00115204e-02 9.99949719e-01 5.73458125e-04 -1.87713184e+01] [ 8.94557896e-03 -4.83900597e-04 9.99959870e-01 -4.23922309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.280371743 meters 0.03936829648918693 Centerline is valid? [True, True] Translation: X:305.12, Y:-18.78, Z:-4.24 [[ 9.99933932e-01 7.09947776e-03 -9.04041636e-03 3.05121419e+02] [-7.09452333e-03 9.99974665e-01 5.79983280e-04 -1.87777663e+01] [ 9.04430491e-03 -5.15807516e-04 9.99958966e-01 -4.24012889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.310371743 meters 0.039065961329157385 Centerline is valid? [True, True] Translation: X:305.15, Y:-18.78, Z:-4.24 [[ 9.99959716e-01 1.07478895e-03 -8.91131529e-03 3.05151366e+02] [-1.06973711e-03 9.99999264e-01 5.71648313e-04 -1.87820873e+01] [ 8.91192314e-03 -5.62092520e-04 9.99960130e-01 -4.23793177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.340371743 meters 0.04342609627081009 Centerline is valid? [True, True] Translation: X:305.18, Y:-18.79, Z:-4.24 [[ 9.99960210e-01 -1.79163450e-03 -8.73893269e-03 3.05180318e+02] [ 1.79659900e-03 9.99998229e-01 5.60272692e-04 -1.87927183e+01] [ 8.73791341e-03 -5.75950757e-04 9.99961658e-01 -4.24007232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.370371743 meters 0.04259488777778223 Centerline is valid? [True, True] Translation: X:305.21, Y:-18.80, Z:-4.24 [[ 9.99936196e-01 -7.28152341e-03 -8.63614228e-03 3.05210829e+02] [ 7.28657792e-03 9.99973299e-01 5.53953798e-04 -1.87969097e+01] [ 8.63187806e-03 -6.16846377e-04 9.99962554e-01 -4.23887656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.400371743 meters 0.04270193769166927 Centerline is valid? [True, True] Translation: X:305.24, Y:-18.80, Z:-4.24 [[ 9.99907687e-01 -1.01381825e-02 -9.04628237e-03 3.05240576e+02] [ 1.01438409e-02 9.99948382e-01 5.79832513e-04 -1.88005065e+01] [ 9.03993697e-03 -6.71543036e-04 9.99958913e-01 -4.23865309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.430371743 meters 0.0465502474179724 Centerline is valid? [True, True] Translation: X:305.27, Y:-18.81, Z:-4.24 [[ 9.99878195e-01 -1.26301830e-02 -9.16916200e-03 3.05269695e+02] [ 1.26361027e-02 9.99919988e-01 5.87961773e-04 -1.88090130e+01] [ 9.16100230e-03 -7.03752629e-04 9.99957789e-01 -4.24007547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.460371743 meters 0.04766612350991306 Centerline is valid? [True, True] Translation: X:305.30, Y:-18.81, Z:-4.24 [[ 9.99800774e-01 -1.71598011e-02 -1.01957410e-02 3.05300065e+02] [ 1.71673644e-02 9.99852416e-01 6.54752835e-04 -1.88135866e+01] [ 1.01830009e-02 -8.29656393e-04 9.99947808e-01 -4.23981560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.490371743 meters 0.04810320779022538 Centerline is valid? [True, True] Translation: X:305.33, Y:-18.82, Z:-4.24 [[ 9.99765743e-01 -1.89171496e-02 -1.05166366e-02 3.05330683e+02] [ 1.89252916e-02 9.99820673e-01 6.75216029e-04 -1.88171560e+01] [ 1.05019775e-02 -8.74088269e-04 9.99944471e-01 -4.23962004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.520371743 meters 0.05004970019234931 Centerline is valid? [True, True] Translation: X:305.36, Y:-18.82, Z:-4.24 [[ 9.99688823e-01 -2.26402395e-02 -1.04726754e-02 3.05360758e+02] [ 2.26485145e-02 9.99743264e-01 6.72216847e-04 -1.88240266e+01] [ 1.04547675e-02 -9.09198210e-04 9.99944934e-01 -4.24082926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.550371743 meters 0.05274738625583966 Centerline is valid? [True, True] Translation: X:305.39, Y:-18.83, Z:-4.24 [[ 9.99658984e-01 -2.39254135e-02 -1.04637203e-02 3.05390397e+02] [ 2.39337439e-02 9.99713321e-01 6.71602978e-04 -1.88306522e+01] [ 1.04446522e-02 -9.21809953e-04 9.99945028e-01 -4.24234687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.580371743 meters 0.05349876672023811 Centerline is valid? [True, True] Translation: X:305.42, Y:-18.83, Z:-4.24 [[ 9.99645659e-01 -2.46293341e-02 -1.00971256e-02 3.05421944e+02] [ 2.46371391e-02 9.99696249e-01 6.49318540e-04 -1.88344278e+01] [ 1.00780663e-02 -8.97852747e-04 9.99948812e-01 -4.24313812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61037174300003 meters 0.054712702959166894 Centerline is valid? [True, True] Translation: X:305.45, Y:-18.84, Z:-4.24 [[ 9.99620550e-01 -2.55093627e-02 -1.03936310e-02 3.05453574e+02] [ 2.55176853e-02 9.99674147e-01 6.68895968e-04 -1.88370809e+01] [ 1.03731811e-02 -9.33863562e-04 9.99945761e-01 -4.24300136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.640371743 meters 0.053734167649911305 Centerline is valid? [True, True] Translation: X:305.49, Y:-18.84, Z:-4.24 [[ 9.99633985e-01 -2.51009265e-02 -1.00915410e-02 3.05485734e+02] [ 2.51087614e-02 9.99684514e-01 6.50415378e-04 -1.88372674e+01] [ 1.00720313e-02 -9.03563412e-04 9.99948868e-01 -4.24221926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67037174300003 meters 0.05419985246180555 Centerline is valid? [True, True] Translation: X:305.52, Y:-18.84, Z:-4.24 [[ 9.99650706e-01 -2.45431164e-02 -9.80309609e-03 3.05517550e+02] [ 2.45504900e-02 9.99698391e-01 6.32521775e-04 -1.88393856e+01] [ 9.78461533e-03 -8.72971651e-04 9.99951748e-01 -4.24176977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.700371743 meters 0.05468215458329991 Centerline is valid? [True, True] Translation: X:305.55, Y:-18.84, Z:-4.24 [[ 9.99711463e-01 -2.24829406e-02 -8.45625013e-03 3.05547198e+02] [ 2.24883470e-02 9.99746957e-01 5.44790095e-04 -1.88415180e+01] [ 8.44186184e-03 -7.34799990e-04 9.99964097e-01 -4.24143513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.730371743 meters 0.046723784022939585 Centerline is valid? [True, True] Translation: X:305.58, Y:-18.83, Z:-4.24 [[ 9.99730156e-01 -2.17406139e-02 -8.18291026e-03 3.05580262e+02] [ 2.17456649e-02 9.99763395e-01 5.28787042e-04 -1.88317617e+01] [ 8.16947799e-03 -7.06587176e-04 9.99966380e-01 -4.23920212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.760371743 meters 0.054556270361495525 Centerline is valid? [True, True] Translation: X:305.61, Y:-18.84, Z:-4.24 [[ 9.99750941e-01 -2.08921468e-02 -7.84691761e-03 3.05611041e+02] [ 2.08967703e-02 9.99781510e-01 5.07671017e-04 -1.88448502e+01] [ 7.83459680e-03 -6.71519811e-04 9.99969084e-01 -4.24213238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.790371743 meters 0.04736951264510976 Centerline is valid? [True, True] Translation: X:305.64, Y:-18.83, Z:-4.24 [[ 9.99786153e-01 -1.89478447e-02 -8.28414094e-03 3.05642936e+02] [ 1.89529293e-02 9.99820234e-01 5.35693515e-04 -1.88349142e+01] [ 8.27250149e-03 -6.92587696e-04 9.99965542e-01 -4.23960790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.820371743 meters 0.046441774324287234 Centerline is valid? [True, True] Translation: X:305.67, Y:-18.83, Z:-4.24 [[ 9.99816582e-01 -1.72273160e-02 -8.36796118e-03 3.05674657e+02] [ 1.72324499e-02 9.99851364e-01 5.41807753e-04 -1.88344472e+01] [ 8.35738350e-03 -6.85908848e-04 9.99964841e-01 -4.23998928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.850371743 meters 0.04667403054107171 Centerline is valid? [True, True] Translation: X:305.71, Y:-18.84, Z:-4.24 [[ 9.99848249e-01 -1.53996679e-02 -8.14432026e-03 3.05706602e+02] [ 1.54044742e-02 9.99881205e-01 5.27730117e-04 -1.88356931e+01] [ 8.13522589e-03 -6.53109005e-04 9.99966695e-01 -4.24063716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880371743 meters 0.044918664872546823 Centerline is valid? [True, True] Translation: X:305.74, Y:-18.83, Z:-4.24 [[ 9.99914409e-01 -1.04589784e-02 -7.86031446e-03 3.05737502e+02] [ 1.04632979e-02 9.99945129e-01 5.08605588e-04 -1.88322058e+01] [ 7.85456366e-03 -5.90806867e-04 9.99968978e-01 -4.24054348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.910371743 meters 0.0432453429010005 Centerline is valid? [True, True] Translation: X:305.77, Y:-18.83, Z:-4.24 [[ 9.99940451e-01 -7.64913558e-03 -7.78368781e-03 3.05768724e+02] [ 7.65328973e-03 9.99970586e-01 5.04053536e-04 -1.88299388e+01] [ 7.77960329e-03 -5.63594338e-04 9.99969580e-01 -4.24054344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940371743 meters 0.04391140325747537 Centerline is valid? [True, True] Translation: X:305.80, Y:-18.83, Z:-4.24 [[ 9.99969297e-01 -2.71460858e-03 -7.35096850e-03 3.05798771e+02] [ 2.71817879e-03 9.99996193e-01 4.75731842e-04 -1.88290029e+01] [ 7.34964909e-03 -4.95698482e-04 9.99972868e-01 -4.24214402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.970371743 meters 0.03961840449770836 Centerline is valid? [True, True] Translation: X:305.83, Y:-18.82, Z:-4.24 [[ 9.99975507e-01 -3.79282206e-04 -6.98873462e-03 3.05828722e+02] [ 3.82447428e-04 9.99999825e-01 4.51572587e-04 -1.88219419e+01] [ 6.98856213e-03 -4.54234350e-04 9.99975477e-01 -4.24018467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000371743 meters 0.038511322592360356 Centerline is valid? [True, True] Translation: X:305.86, Y:-18.82, Z:-4.24 [[ 9.99977573e-01 1.81659251e-03 -6.44618082e-03 3.05858914e+02] [-1.81394449e-03 9.99998268e-01 4.16612388e-04 -1.88206973e+01] [ 6.44692647e-03 -4.04910030e-04 9.99979136e-01 -4.23954408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.030371743 meters 0.04245242303162139 Centerline is valid? [True, True] Translation: X:305.89, Y:-18.83, Z:-4.24 [[ 9.99973954e-01 4.83349951e-03 -5.35992634e-03 3.05888039e+02] [-4.83171450e-03 9.99988267e-01 3.45926304e-04 -1.88254271e+01] [ 5.36153549e-03 -3.20019660e-04 9.99985576e-01 -4.24202334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060371743 meters 0.037473859491923035 Centerline is valid? [True, True] Translation: X:305.92, Y:-18.82, Z:-4.24 [[ 9.99967700e-01 6.32694703e-03 -4.95665134e-03 3.05917886e+02] [-6.32545845e-03 9.99979944e-01 3.15939972e-04 -1.88173396e+01] [ 4.95855086e-03 -2.84576675e-04 9.99987666e-01 -4.23935012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.090371743 meters 0.037473859491923035 Centerline is valid? [True, True] Translation: X:305.95, Y:-18.82, Z:-4.24 [[ 9.99968150e-01 6.25561504e-03 -4.95652888e-03 3.05946184e+02] [-6.25411619e-03 9.99980392e-01 3.17840771e-04 -1.88191020e+01] [ 4.95841998e-03 -2.86831940e-04 9.99987666e-01 -4.23974954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120371743 meters 0.03663366970092792 Centerline is valid? [True, True] Translation: X:305.98, Y:-18.82, Z:-4.24 [[ 9.99945473e-01 9.36352759e-03 -4.62326264e-03 3.05975196e+02] [-9.36225537e-03 9.99956129e-01 2.96743933e-04 -1.88173315e+01] [ 4.62583838e-03 -2.53443587e-04 9.99989269e-01 -4.23989246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.150371743 meters 0.03621303064917971 Centerline is valid? [True, True] Translation: X:306.00, Y:-18.82, Z:-4.24 [[ 9.99929987e-01 1.07445932e-02 -4.95732376e-03 3.06004684e+02] [-1.07431498e-02 9.99942240e-01 3.17698389e-04 -1.88158563e+01] [ 4.96045097e-03 -2.64418874e-04 9.99987662e-01 -4.23937086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180371743 meters 0.03647447148504153 Centerline is valid? [True, True] Translation: X:306.03, Y:-18.82, Z:-4.24 [[ 9.99914084e-01 1.17972684e-02 -5.71390703e-03 3.06032680e+02] [-1.17953731e-02 9.99930365e-01 3.65300228e-04 -1.88167183e+01] [ 5.71781868e-03 -2.97871178e-04 9.99983609e-01 -4.24045824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.210371743 meters 0.03798275983903255 Centerline is valid? [True, True] Translation: X:306.06, Y:-18.82, Z:-4.24 [[ 9.99900361e-01 1.26360086e-02 -6.29280692e-03 3.06060527e+02] [-1.26337288e-02 9.99920111e-01 4.01908221e-04 -1.88198139e+01] [ 6.29738271e-03 -3.22366559e-04 9.99980119e-01 -4.24219548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240371743 meters 0.03789818210621272 Centerline is valid? [True, True] Translation: X:306.09, Y:-18.82, Z:-4.24 [[ 9.99873799e-01 1.44052190e-02 -6.69892816e-03 3.06088604e+02] [-1.44026780e-02 9.99896185e-01 4.27395777e-04 -1.88195028e+01] [ 6.70438944e-03 -3.30859334e-04 9.99977471e-01 -4.24231149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.270371743 meters 0.035365187943213076 Centerline is valid? [True, True] Translation: X:306.12, Y:-18.82, Z:-4.24 [[ 9.99869903e-01 1.49674469e-02 -6.01268719e-03 3.06117954e+02] [-1.49654121e-02 9.99887939e-01 3.83267839e-04 -1.88158590e+01] [ 6.01774994e-03 -2.93235635e-04 9.99981850e-01 -4.24073792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300371743 meters 0.03467842492637601 Centerline is valid? [True, True] Translation: X:306.15, Y:-18.81, Z:-4.24 [[ 9.99852334e-01 1.63542968e-02 -5.27713330e-03 3.06147241e+02] [-1.63527495e-02 9.99866228e-01 3.36226754e-04 -1.88149223e+01] [ 5.28192612e-03 -2.49881466e-04 9.99986019e-01 -4.24047704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.330371743 meters 0.03658276418183886 Centerline is valid? [True, True] Translation: X:306.18, Y:-18.82, Z:-4.24 [[ 9.99837731e-01 1.73537523e-02 -4.83312278e-03 3.06175286e+02] [-1.73524692e-02 9.99849387e-01 3.07297000e-04 -1.88206790e+01] [ 4.83772761e-03 -2.23380521e-04 9.99988273e-01 -4.24211407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36037174300003 meters 0.03339475324787162 Centerline is valid? [True, True] Translation: X:306.20, Y:-18.82, Z:-4.24 [[ 9.99835371e-01 1.74909744e-02 -4.82676230e-03 3.06204298e+02] [-1.74896980e-02 9.99846997e-01 3.06535634e-04 -1.88155868e+01] [ 4.83138540e-03 -2.22066554e-04 9.99988304e-01 -4.23992434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.390371743 meters 0.03331741337016715 Centerline is valid? [True, True] Translation: X:306.23, Y:-18.82, Z:-4.24 [[ 9.99836906e-01 1.75308285e-02 -4.33941520e-03 3.06233252e+02] [-1.75297989e-02 9.99846303e-01 2.75182578e-04 -1.88171744e+01] [ 4.34357243e-03 -1.99068621e-04 9.99990547e-01 -4.23982421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42037174300003 meters 0.0327724180297951 Centerline is valid? [True, True] Translation: X:306.26, Y:-18.82, Z:-4.24 [[ 9.99847666e-01 1.69758429e-02 -4.05777384e-03 3.06261921e+02] [-1.69749396e-02 9.99855882e-01 2.56952287e-04 -1.88179923e+01] [ 4.06155102e-03 -1.88032678e-04 9.99991734e-01 -4.24002045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.450371743 meters 0.036931835320436805 Centerline is valid? [True, True] Translation: X:306.29, Y:-18.83, Z:-4.24 [[ 9.99859835e-01 1.61345470e-02 -4.47057907e-03 3.06289051e+02] [-1.61334445e-02 9.99869808e-01 2.82562805e-04 -1.88265599e+01] [ 4.47455606e-03 -2.10397360e-04 9.99989967e-01 -4.24308698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.480371743 meters 0.05735466279802813 Centerline is valid? [True, True] Translation: X:306.32, Y:-18.86, Z:-4.26 [[ 9.99809467e-01 1.94038627e-02 -2.12620923e-03 3.06315635e+02] [-1.94036206e-02 9.99811723e-01 1.34444975e-04 -1.88621647e+01] [ 2.12841766e-03 -9.31632013e-05 9.99997731e-01 -4.25515507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.510371743 meters 0.03475937901432864 Centerline is valid? [True, True] Translation: X:306.35, Y:-18.83, Z:-4.24 [[ 9.99897240e-01 1.38696805e-02 -3.62511801e-03 3.06348622e+02] [-1.38689376e-02 9.99903795e-01 2.29983157e-04 -1.88270039e+01] [ 3.62795905e-03 -1.79682988e-04 9.99993403e-01 -4.24282136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.540371743 meters 0.0347252312456823 Centerline is valid? [True, True] Translation: X:306.38, Y:-18.83, Z:-4.24 [[ 9.99877745e-01 1.49629024e-02 -4.53941322e-03 3.06377051e+02] [-1.49617546e-02 9.99888026e-01 2.86708492e-04 -1.88273779e+01] [ 4.54319491e-03 -2.18755854e-04 9.99989656e-01 -4.24403131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.570371743 meters 0.03407819187526235 Centerline is valid? [True, True] Translation: X:306.41, Y:-18.83, Z:-4.24 [[ 9.99849304e-01 1.65699982e-02 -5.17721727e-03 3.06405732e+02] [-1.65685279e-02 9.99862679e-01 3.26752534e-04 -1.88269844e+01] [ 5.18192062e-03 -2.40924425e-04 9.99986545e-01 -4.24490206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.600371743 meters 0.03421737753238809 Centerline is valid? [True, True] Translation: X:306.43, Y:-18.83, Z:-4.25 [[ 9.99796703e-01 1.92668967e-02 -5.94470492e-03 3.06433276e+02] [-1.92650095e-02 9.99814342e-01 3.74568680e-04 -1.88280263e+01] [ 5.95081802e-03 -2.59967734e-04 9.99982260e-01 -4.24584014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.630371743 meters 0.03205428086284505 Centerline is valid? [True, True] Translation: X:306.46, Y:-18.83, Z:-4.25 [[ 9.99640710e-01 2.61326148e-02 -5.96133900e-03 3.06464271e+02] [-2.61308318e-02 9.99658461e-01 3.76794392e-04 -1.88251364e+01] [ 5.96914959e-03 -2.20884267e-04 9.99982160e-01 -4.24597507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.660371743 meters 0.031115782877454527 Centerline is valid? [True, True] Translation: X:306.49, Y:-18.83, Z:-4.25 [[ 9.99550063e-01 2.95910764e-02 -4.90303608e-03 3.06494136e+02] [-2.95899150e-02 9.99562075e-01 3.09269361e-04 -1.88256864e+01] [ 4.91004052e-03 -1.64049788e-04 9.99987932e-01 -4.24554936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.690371743 meters 0.030541160227138712 Centerline is valid? [True, True] Translation: X:306.52, Y:-18.83, Z:-4.24 [[ 9.99449095e-01 3.29871996e-02 -3.65403327e-03 3.06524082e+02] [-3.29865770e-02 9.99455768e-01 2.30545027e-04 -1.88264316e+01] [ 3.65964967e-03 -1.09883968e-04 9.99993297e-01 -4.24481363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.720371743 meters 0.029464956900029995 Centerline is valid? [True, True] Translation: X:306.55, Y:-18.83, Z:-4.24 [[ 9.99255472e-01 3.85809754e-02 9.98414621e-05 3.06553961e+02] [-3.85809749e-02 9.99255477e-01 -6.55322518e-06 -1.88259213e+01] [-1.00019958e-04 2.69636519e-06 9.99999995e-01 -4.24247347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.750371743 meters 0.030261390484237153 Centerline is valid? [True, True] Translation: X:306.58, Y:-18.83, Z:-4.24 [[ 9.99174005e-01 4.06126016e-02 1.38704629e-03 3.06581682e+02] [-4.06125176e-02 9.99174967e-01 -8.86949835e-05 -1.88303677e+01] [-1.38950407e-03 3.22902798e-05 9.99999034e-01 -4.24422718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.780371743 meters 0.028330364746150673 Centerline is valid? [True, True] Translation: X:306.61, Y:-18.83, Z:-4.24 [[ 9.99016041e-01 4.42497005e-02 2.98570905e-03 3.06610949e+02] [-4.42493330e-02 9.99020501e-01 -1.89043413e-04 -1.88284063e+01] [-2.99114967e-03 5.67417680e-05 9.99995525e-01 -4.24377744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.810371743 meters 0.028563489493397088 Centerline is valid? [True, True] Translation: X:306.64, Y:-18.83, Z:-4.25 [[ 9.98935618e-01 4.59991820e-02 3.42155976e-03 3.06638577e+02] [-4.59987104e-02 9.98941476e-01 -2.16433565e-04 -1.88314645e+01] [-3.42789372e-03 5.88158605e-05 9.99994123e-01 -4.24570048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.840371743 meters 0.02862496449294901 Centerline is valid? [True, True] Translation: X:306.67, Y:-18.83, Z:-4.25 [[ 9.98931498e-01 4.60635420e-02 3.74339660e-03 3.06665723e+02] [-4.60629759e-02 9.98938510e-01 -2.37354101e-04 -1.88336095e+01] [-3.75035639e-03 6.46685003e-05 9.99992965e-01 -4.24698615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.870371743 meters 0.02800196375262464 Centerline is valid? [True, True] Translation: X:306.69, Y:-18.84, Z:-4.25 [[ 9.98896877e-01 4.67020683e-02 4.89356117e-03 3.06694811e+02] [-4.67011220e-02 9.98908860e-01 -3.07531024e-04 -1.88362050e+01] [-4.90258395e-03 7.86569818e-05 9.99987979e-01 -4.24695407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.900371743 meters 0.028096593719911522 Centerline is valid? [True, True] Translation: X:306.72, Y:-18.84, Z:-4.25 [[ 9.98913853e-01 4.62287870e-02 5.83208870e-03 3.06721778e+02] [-4.62274358e-02 9.98930873e-01 -3.66331733e-04 -1.88411130e+01] [-5.84278853e-03 9.63313368e-05 9.99982926e-01 -4.24791551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.930371743 meters 0.027738220353786595 Centerline is valid? [True, True] Translation: X:306.75, Y:-18.85, Z:-4.25 [[ 9.98942844e-01 4.55500018e-02 6.19616241e-03 3.06750041e+02] [-4.55484717e-02 9.98962054e-01 -3.87911861e-04 -1.88461793e+01] [-6.20740052e-03 1.05276050e-04 9.99980728e-01 -4.24831539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.960371743 meters 0.02823202725461036 Centerline is valid? [True, True] Translation: X:306.78, Y:-18.86, Z:-4.25 [[ 9.99092868e-01 4.20119843e-02 6.95946644e-03 3.06777437e+02] [-4.20099715e-02 9.99117097e-01 -4.35209751e-04 -1.88559883e+01] [-6.97160593e-03 1.42447971e-04 9.99975688e-01 -4.25007954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.990371743 meters 0.028389245759450715 Centerline is valid? [True, True] Translation: X:306.81, Y:-18.86, Z:-4.25 [[ 9.99188960e-01 3.96467394e-02 7.03982839e-03 3.06806079e+02] [-3.96446263e-02 9.99213746e-01 -4.39502714e-04 -1.88609342e+01] [-7.05171815e-03 1.60054894e-04 9.99975124e-01 -4.25107138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.020371743 meters 0.030146204960873245 Centerline is valid? [True, True] Translation: X:306.83, Y:-18.87, Z:-4.25 [[ 9.99395312e-01 3.41980688e-02 6.28512593e-03 3.06833964e+02] [-3.41962798e-02 9.99415059e-01 -3.91910365e-04 -1.88724160e+01] [-6.29485209e-03 1.76745456e-04 9.99980172e-01 -4.25343311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.050371743 meters 0.03165417332272935 Centerline is valid? [True, True] Translation: X:306.86, Y:-18.88, Z:-4.25 [[ 9.99483705e-01 3.15876248e-02 5.87755990e-03 3.06860773e+02] [-3.15860145e-02 9.99500970e-01 -3.66634816e-04 -1.88809311e+01] [-5.88620794e-03 1.80796832e-04 9.99982660e-01 -4.25498212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.080371743 meters 0.032772621953444596 Centerline is valid? [True, True] Translation: X:306.89, Y:-18.89, Z:-4.26 [[ 9.99583689e-01 2.82179380e-02 6.01632411e-03 3.06889863e+02] [-2.82161969e-02 9.99601774e-01 -3.74097107e-04 -1.88880238e+01] [-6.02448450e-03 2.04183580e-04 9.99981832e-01 -4.25575877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11037174300003 meters 0.03406472979563106 Centerline is valid? [True, True] Translation: X:306.92, Y:-18.90, Z:-4.25 [[ 9.99741726e-01 2.16039399e-02 7.05349278e-03 3.06919366e+02] [-2.16013857e-02 9.99766567e-01 -4.38100699e-04 -1.88980741e+01] [-7.06131097e-03 2.85622330e-04 9.99975028e-01 -4.25472028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.140371743 meters 0.03273255589690308 Centerline is valid? [True, True] Translation: X:306.95, Y:-18.90, Z:-4.25 [[ 9.99784301e-01 1.92229461e-02 7.86321253e-03 3.06948746e+02] [-1.92196975e-02 9.99815165e-01 -4.88499979e-04 -1.89001123e+01] [-7.87114954e-03 3.37266043e-04 9.99968965e-01 -4.25382880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17037174300003 meters 0.03476453427822887 Centerline is valid? [True, True] Translation: X:306.98, Y:-18.91, Z:-4.25 [[ 9.99834472e-01 1.63028989e-02 8.07739753e-03 3.06977177e+02] [-1.62993774e-02 9.99867031e-01 -5.01610625e-04 -1.89082178e+01] [-8.08450119e-03 3.69871043e-04 9.99967251e-01 -4.25412092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.200371743 meters 0.036174405244715525 Centerline is valid? [True, True] Translation: X:307.00, Y:-18.91, Z:-4.25 [[ 9.99876584e-01 1.34564536e-02 8.10800798e-03 3.07004814e+02] [-1.34528147e-02 9.99909380e-01 -5.03178478e-04 -1.89149176e+01] [-8.11404423e-03 3.94040849e-04 9.99967003e-01 -4.25425551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.230371743 meters 0.034751662022242946 Centerline is valid? [True, True] Translation: X:307.03, Y:-18.92, Z:-4.25 [[ 9.99914562e-01 9.55208992e-03 8.92336651e-03 3.07034662e+02] [-9.54753582e-03 9.99954268e-01 -5.52816976e-04 -1.89192863e+01] [-8.92823898e-03 4.67573583e-04 9.99960033e-01 -4.25376914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.260371743 meters 0.03514691443748393 Centerline is valid? [True, True] Translation: X:307.07, Y:-18.92, Z:-4.25 [[ 9.99930032e-01 7.94103431e-03 8.76762393e-03 3.07065320e+02] [-7.93657904e-03 9.99968358e-01 -5.42827170e-04 -1.89238578e+01] [-8.77165711e-03 4.73204249e-04 9.99961416e-01 -4.25462702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.290371743 meters 0.03751590719502412 Centerline is valid? [True, True] Translation: X:307.10, Y:-18.93, Z:-4.26 [[ 9.99942053e-01 6.71810901e-03 8.41180004e-03 3.07095394e+02] [-6.71396877e-03 9.99977326e-01 -5.20337029e-04 -1.89346041e+01] [-8.41510499e-03 4.63830314e-04 9.99964485e-01 -4.25589551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.320371743 meters 0.036335757185146686 Centerline is valid? [True, True] Translation: X:307.13, Y:-18.94, Z:-4.26 [[ 9.99947589e-01 6.18538839e-03 8.15841879e-03 3.07126739e+02] [-6.18146394e-03 9.99980766e-01 -5.06158496e-04 -1.89361995e+01] [-8.16139266e-03 4.55700996e-04 9.99966591e-01 -4.25657819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.350371743 meters 0.038672466790150094 Centerline is valid? [True, True] Translation: X:307.16, Y:-18.94, Z:-4.26 [[ 9.99947250e-01 6.51212188e-03 7.94285895e-03 3.07157993e+02] [-6.50841960e-03 9.99978699e-01 -4.91873421e-04 -1.89432166e+01] [-7.94589290e-03 4.40152016e-04 9.99968334e-01 -4.25761598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380371743 meters 0.03838109671683915 Centerline is valid? [True, True] Translation: X:307.19, Y:-18.95, Z:-4.26 [[ 9.99932732e-01 8.54420770e-03 7.84392131e-03 3.07188410e+02] [-8.54063609e-03 9.99963409e-01 -4.88719015e-04 -1.89470048e+01] [-7.84781001e-03 4.21694062e-04 9.99969117e-01 -4.25859952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.410371743 meters 0.03542299728937466 Centerline is valid? [True, True] Translation: X:307.22, Y:-18.94, Z:-4.26 [[ 9.99922272e-01 9.41169204e-03 8.17744798e-03 3.07219273e+02] [-9.40783506e-03 9.99955615e-01 -5.09999931e-04 -1.89443491e+01] [-8.18188498e-03 4.33028207e-04 9.99966434e-01 -4.25898303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440371743 meters 0.03773443923358887 Centerline is valid? [True, True] Translation: X:307.25, Y:-18.95, Z:-4.26 [[ 9.99914237e-01 1.05012209e-02 7.82580156e-03 3.07249127e+02] [-1.04977227e-02 9.99944778e-01 -4.87959563e-04 -1.89519446e+01] [-7.83049358e-03 4.05764620e-04 9.99969259e-01 -4.25982145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.470371743 meters 0.03452991488522541 Centerline is valid? [True, True] Translation: X:307.28, Y:-18.95, Z:-4.26 [[ 9.99896195e-01 1.22295558e-02 7.61825421e-03 3.07279630e+02] [-1.22262880e-02 9.99925143e-01 -4.75373165e-04 -1.89491154e+01] [-7.62349753e-03 3.82180848e-04 9.99970868e-01 -4.26090514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500371743 meters 0.03744301602335086 Centerline is valid? [True, True] Translation: X:307.31, Y:-18.96, Z:-4.26 [[ 9.99888308e-01 1.30547632e-02 7.27627195e-03 3.07308686e+02] [-1.30518049e-02 9.99914719e-01 -4.53914585e-04 -1.89574198e+01] [-7.28157717e-03 3.58895405e-04 9.99973425e-01 -4.26210081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.530371743 meters 0.035069325249375456 Centerline is valid? [True, True] Translation: X:307.34, Y:-18.96, Z:-4.26 [[ 9.99873864e-01 1.40539357e-02 7.39881955e-03 3.07338474e+02] [-1.40509043e-02 9.99901175e-01 -4.61537518e-04 -1.89558421e+01] [-7.40457478e-03 3.57519197e-04 9.99972522e-01 -4.26104525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560371743 meters 0.03535850584552489 Centerline is valid? [True, True] Translation: X:307.37, Y:-18.96, Z:-4.26 [[ 9.99868038e-01 1.42999949e-02 7.70822353e-03 3.07366556e+02] [-1.42967143e-02 9.99897681e-01 -4.80533082e-04 -1.89582732e+01] [-7.71430646e-03 3.70267400e-04 9.99970176e-01 -4.26135612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.590371743 meters 0.03643251181667232 Centerline is valid? [True, True] Translation: X:307.39, Y:-18.96, Z:-4.26 [[ 9.99857273e-01 1.47548523e-02 8.22975852e-03 3.07394612e+02] [-1.47511297e-02 9.99891065e-01 -5.12865513e-04 -1.89625436e+01] [-8.23642926e-03 3.91394078e-04 9.99966003e-01 -4.26181432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620371743 meters 0.03427929589772022 Centerline is valid? [True, True] Translation: X:307.42, Y:-18.96, Z:-4.26 [[ 9.99854240e-01 1.51583596e-02 7.85644044e-03 3.07423826e+02] [-1.51549814e-02 9.99885037e-01 -4.89345407e-04 -1.89613403e+01] [-7.86295492e-03 3.70209871e-04 9.99969018e-01 -4.26212604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.650371743 meters 0.03418579832141725 Centerline is valid? [True, True] Translation: X:307.45, Y:-18.96, Z:-4.26 [[ 9.99850690e-01 1.53404436e-02 7.95416376e-03 3.07452230e+02] [-1.53369911e-02 9.99882259e-01 -4.94869834e-04 -1.89624354e+01] [-7.96081875e-03 3.72803007e-04 9.99968243e-01 -4.26293037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680371743 meters 0.03210602249696868 Centerline is valid? [True, True] Translation: X:307.48, Y:-18.96, Z:-4.26 [[ 9.99835379e-01 1.63056714e-02 7.95861201e-03 3.07481365e+02] [-1.63022499e-02 9.99866987e-01 -4.94606141e-04 -1.89599451e+01] [-7.96561830e-03 3.64781437e-04 9.99968207e-01 -4.26135723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.710371743 meters 0.032541378435349794 Centerline is valid? [True, True] Translation: X:307.51, Y:-18.96, Z:-4.26 [[ 9.99822668e-01 1.69428033e-02 8.22036057e-03 3.07509064e+02] [-1.69391788e-02 9.99856392e-01 -5.10345940e-04 -1.89619687e+01] [-8.22782674e-03 3.71009282e-04 9.99966082e-01 -4.26119646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740371743 meters 0.03262853924786502 Centerline is valid? [True, True] Translation: X:307.54, Y:-18.96, Z:-4.26 [[ 9.99809365e-01 1.78869090e-02 7.82892584e-03 3.07537809e+02] [-1.78836563e-02 9.99839957e-01 -4.85285516e-04 -1.89638688e+01] [-7.83635314e-03 3.45183184e-04 9.99969236e-01 -4.26196134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.770371743 meters 0.032091994478002664 Centerline is valid? [True, True] Translation: X:307.57, Y:-18.96, Z:-4.26 [[ 9.99795507e-01 1.87739212e-02 7.51559261e-03 3.07566847e+02] [-1.87709523e-02 9.99823702e-01 -4.65374103e-04 -1.89645214e+01] [-7.52300452e-03 3.24204107e-04 9.99971649e-01 -4.26292092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800371743 meters 0.03228157725683428 Centerline is valid? [True, True] Translation: X:307.60, Y:-18.97, Z:-4.26 [[ 9.99791318e-01 1.90733342e-02 7.31632946e-03 3.07595779e+02] [-1.90705324e-02 9.99818038e-01 -4.52540902e-04 -1.89662384e+01] [-7.32362964e-03 3.12920167e-04 9.99973133e-01 -4.26343467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.830371743 meters 0.03232721699029287 Centerline is valid? [True, True] Translation: X:307.62, Y:-18.97, Z:-4.26 [[ 9.99805136e-01 1.82251248e-02 7.58522110e-03 3.07624335e+02] [-1.82220932e-02 9.99833854e-01 -4.68595516e-04 -1.89693133e+01] [-7.59250106e-03 3.30285598e-04 9.99971122e-01 -4.26346218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86037174300003 meters 0.032247822904780635 Centerline is valid? [True, True] Translation: X:307.65, Y:-18.97, Z:-4.26 [[ 9.99825508e-01 1.69413131e-02 7.87059329e-03 3.07652639e+02] [-1.69380132e-02 9.99856424e-01 -4.85746969e-04 -1.89705509e+01] [-7.87769245e-03 3.52349997e-04 9.99968908e-01 -4.26346613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.890371743 meters 0.03253958504158573 Centerline is valid? [True, True] Translation: X:307.68, Y:-18.97, Z:-4.26 [[ 9.99842486e-01 1.57594167e-02 8.16360524e-03 3.07681108e+02] [-1.57558343e-02 9.99875743e-01 -5.02949202e-04 -1.89726828e+01] [-8.17051704e-03 3.74245569e-04 9.99966551e-01 -4.26299927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92037174300003 meters 0.03298514672455855 Centerline is valid? [True, True] Translation: X:307.71, Y:-18.98, Z:-4.26 [[ 9.99880082e-01 1.24616069e-02 9.19403052e-03 3.07711181e+02] [-1.24569336e-02 9.99922250e-01 -5.65387214e-04 -1.89750673e+01] [-9.20036131e-03 4.50789985e-04 9.99957574e-01 -4.26275734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.950371743 meters 0.03298514672455855 Centerline is valid? [True, True] Translation: X:307.74, Y:-18.98, Z:-4.26 [[ 9.99880530e-01 1.24256208e-02 9.19403537e-03 3.07740313e+02] [-1.24209468e-02 9.99922697e-01 -5.65308422e-04 -1.89768282e+01] [-9.20034895e-03 4.51042260e-04 9.99957574e-01 -4.26316733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.980371743 meters 0.03456186246824217 Centerline is valid? [True, True] Translation: X:307.77, Y:-18.98, Z:-4.26 [[ 9.99911183e-01 1.02475379e-02 8.52143182e-03 3.07769896e+02] [-1.02434470e-02 9.99947397e-01 -5.23581577e-04 -1.89807352e+01] [-8.52634900e-03 4.36246238e-04 9.99963555e-01 -4.26393166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.010371743 meters 0.03532664836635282 Centerline is valid? [True, True] Translation: X:307.80, Y:-18.99, Z:-4.26 [[ 9.99930828e-01 8.66365870e-03 7.95493641e-03 3.07799118e+02] [-8.66004466e-03 9.99962382e-01 -4.88647428e-04 -1.89851582e+01] [-7.95887063e-03 4.19723523e-04 9.99968240e-01 -4.26496311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.040371743 meters 0.03718069354453296 Centerline is valid? [True, True] Translation: X:307.83, Y:-18.99, Z:-4.27 [[ 9.99974105e-01 3.79205132e-03 6.11630741e-03 3.07829460e+02] [-3.78982533e-03 9.99992748e-01 -3.75491887e-04 -1.89899103e+01] [-6.11768694e-03 3.52302427e-04 9.99981225e-01 -4.26744409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.070371743 meters 0.037568269945601425 Centerline is valid? [True, True] Translation: X:307.86, Y:-18.99, Z:-4.27 [[ 9.99984373e-01 1.39438865e-03 5.41384598e-03 3.07860425e+02] [-1.39261024e-03 9.99998975e-01 -3.32249425e-04 -1.89919809e+01] [-5.41430371e-03 3.24704856e-04 9.99985290e-01 -4.26850397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.100371743 meters 0.039482385064653985 Centerline is valid? [True, True] Translation: X:307.89, Y:-19.00, Z:-4.27 [[ 9.99986893e-01 -2.34768470e-03 4.55002181e-03 3.07891378e+02] [ 2.34897942e-03 9.99997202e-01 -2.79230790e-04 -1.89955922e+01] [-4.54935353e-03 2.89915038e-04 9.99989610e-01 -4.26906181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.130371743 meters 0.03952912724699674 Centerline is valid? [True, True] Translation: X:307.92, Y:-19.00, Z:-4.27 [[ 9.99982832e-01 -3.54905606e-03 4.66259362e-03 3.07923376e+02] [ 3.55042707e-03 9.99993656e-01 -2.85800566e-04 -1.89972575e+01] [-4.66154972e-03 3.02349858e-04 9.99989089e-01 -4.26888743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.160371743 meters 0.040200259405977636 Centerline is valid? [True, True] Translation: X:307.96, Y:-19.00, Z:-4.27 [[ 9.99980583e-01 -4.32737296e-03 4.48421036e-03 3.07955050e+02] [ 4.32865088e-03 9.99990593e-01 -2.75316211e-04 -1.89989398e+01] [-4.48297678e-03 2.94721446e-04 9.99989908e-01 -4.26901566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.190371743 meters 0.04119381177536837 Centerline is valid? [True, True] Translation: X:307.99, Y:-19.00, Z:-4.27 [[ 9.99977454e-01 -3.97215191e-03 5.41428820e-03 3.07986716e+02] [ 3.97400907e-03 9.99992048e-01 -3.32296491e-04 -1.89995676e+01] [-5.41292522e-03 3.53805429e-04 9.99985287e-01 -4.26824989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.220371743 meters 0.03962299948304144 Centerline is valid? [True, True] Translation: X:308.02, Y:-19.00, Z:-4.27 [[ 9.99979312e-01 -3.20083663e-03 5.57938490e-03 3.08018751e+02] [ 3.20280308e-03 9.99994812e-01 -3.43550623e-04 -1.89973348e+01] [-5.57825631e-03 3.61413187e-04 9.99984376e-01 -4.26778274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.250371743 meters 0.03986109714104391 Centerline is valid? [True, True] Translation: X:308.05, Y:-19.00, Z:-4.27 [[ 9.99976622e-01 1.44425514e-03 6.68357978e-03 3.08047967e+02] [-1.44152779e-03 9.99998876e-01 -4.12866363e-04 -1.89975866e+01] [-6.68416855e-03 4.03222145e-04 9.99977579e-01 -4.26743929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.280371743 meters 0.03793451521949858 Centerline is valid? [True, True] Translation: X:308.08, Y:-18.99, Z:-4.27 [[ 9.99968193e-01 4.13960620e-03 6.81741829e-03 3.08078951e+02] [-4.13683349e-03 9.99991355e-01 -4.20761410e-04 -1.89947784e+01] [-6.81910114e-03 3.92545503e-04 9.99976673e-01 -4.26732228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.310371743 meters 0.0385789839406665 Centerline is valid? [True, True] Translation: X:308.11, Y:-19.00, Z:-4.27 [[ 9.99949338e-01 7.27731459e-03 6.95428332e-03 3.08108343e+02] [-7.27450248e-03 9.99973448e-01 -4.29579456e-04 -1.89956182e+01] [-6.95722485e-03 3.78968741e-04 9.99975726e-01 -4.26788417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.340371743 meters 0.03339380739786931 Centerline is valid? [True, True] Translation: X:308.14, Y:-18.98, Z:-4.27 [[ 9.99881143e-01 1.40415478e-02 6.36669905e-03 3.08139620e+02] [-1.40393288e-02 9.99901367e-01 -3.93082058e-04 -1.89849257e+01] [-6.37159056e-03 3.03651156e-04 9.99979655e-01 -4.26742418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.370371743 meters 0.03202911185924611 Centerline is valid? [True, True] Translation: X:308.17, Y:-18.98, Z:-4.27 [[ 9.99831778e-01 1.72220226e-02 6.31016519e-03 3.08169632e+02] [-1.72199045e-02 9.99851650e-01 -3.89833776e-04 -1.89818348e+01] [-6.31594281e-03 2.81107755e-04 9.99980015e-01 -4.26826460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.400371743 meters 0.031268865231757995 Centerline is valid? [True, True] Translation: X:308.20, Y:-18.98, Z:-4.27 [[ 9.99772564e-01 2.06102097e-02 5.48076008e-03 3.08199404e+02] [-2.06086634e-02 9.99787562e-01 -3.38461875e-04 -1.89806335e+01] [-5.48657153e-03 2.25433757e-04 9.99984923e-01 -4.26929118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.430371743 meters 0.030961465560992062 Centerline is valid? [True, True] Translation: X:308.23, Y:-18.98, Z:-4.27 [[ 9.99598929e-01 2.79230073e-02 4.72085021e-03 3.08228790e+02] [-2.79219426e-02 9.99610064e-01 -2.91300411e-04 -1.89789901e+01] [-4.72714336e-03 1.59368271e-04 9.99988814e-01 -4.27158660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.460371743 meters 0.030156899828371966 Centerline is valid? [True, True] Translation: X:308.26, Y:-18.98, Z:-4.27 [[ 9.99502797e-01 3.12327921e-02 4.32109972e-03 3.08257446e+02] [-3.12319293e-02 9.99512129e-01 -2.67020589e-04 -1.89775383e+01] [-4.32733138e-03 1.31931544e-04 9.99990628e-01 -4.27221178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.490371743 meters 0.02941460714942714 Centerline is valid? [True, True] Translation: X:308.29, Y:-18.98, Z:-4.27 [[ 9.99398119e-01 3.44303253e-02 4.23700838e-03 3.08286621e+02] [-3.44295257e-02 9.99407094e-01 -2.61551609e-04 -1.89757510e+01] [-4.24350154e-03 1.15515998e-04 9.99990990e-01 -4.27252528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.520371743 meters 0.02818024527643726 Centerline is valid? [True, True] Translation: X:308.32, Y:-18.97, Z:-4.27 [[ 9.99160014e-01 4.07713245e-02 4.11883827e-03 3.08317002e+02] [-4.07706258e-02 9.99168500e-01 -2.53490896e-04 -1.89707165e+01] [-4.12574862e-03 8.53503535e-05 9.99991485e-01 -4.27264323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.550371743 meters 0.027941479578294744 Centerline is valid? [True, True] Translation: X:308.35, Y:-18.97, Z:-4.27 [[ 9.99040023e-01 4.36078365e-02 4.17002532e-03 3.08346253e+02] [-4.36071432e-02 9.99048723e-01 -2.57076489e-04 -1.89700992e+01] [-4.17726902e-03 7.49868102e-05 9.99991272e-01 -4.27371336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.580371743 meters 0.027451035965493094 Centerline is valid? [True, True] Translation: X:308.38, Y:-18.97, Z:-4.27 [[ 9.98891512e-01 4.68506877e-02 4.55633837e-03 3.08375254e+02] [-4.68498955e-02 9.98901901e-01 -2.80497440e-04 -1.89697263e+01] [-4.56447656e-03 6.67225360e-05 9.99989580e-01 -4.27312682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61037174300003 meters 0.027252594049196055 Centerline is valid? [True, True] Translation: X:308.40, Y:-18.97, Z:-4.27 [[ 9.98658264e-01 5.15106221e-02 5.32240839e-03 3.08404182e+02] [-5.15096102e-02 9.98672445e-01 -3.27112819e-04 -1.89691669e+01] [-5.33219238e-03 5.25187392e-05 9.99985782e-01 -4.27334028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.640371743 meters 0.027305635203178857 Centerline is valid? [True, True] Translation: X:308.43, Y:-18.97, Z:-4.27 [[ 9.98562424e-01 5.32949285e-02 5.72156617e-03 3.08432965e+02] [-5.32937912e-02 9.98578814e-01 -3.51173847e-04 -1.89704925e+01] [-5.73215055e-03 4.57450547e-05 9.99983570e-01 -4.27344217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67037174300003 meters 0.02705757889711191 Centerline is valid? [True, True] Translation: X:308.46, Y:-18.97, Z:-4.27 [[ 9.98496079e-01 5.44637567e-02 6.26733266e-03 3.08461242e+02] [-5.44624184e-02 9.98515747e-01 -3.84135548e-04 -1.89726747e+01] [-6.27895182e-03 4.22237447e-05 9.99980286e-01 -4.27343792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.700371743 meters 0.026938087216569144 Centerline is valid? [True, True] Translation: X:308.49, Y:-18.98, Z:-4.27 [[ 9.98504198e-01 5.42735956e-02 6.61383745e-03 3.08489042e+02] [-5.42721027e-02 9.98526101e-01 -4.05111719e-04 -1.89761016e+01] [-6.62607619e-03 4.55588863e-05 9.99978046e-01 -4.27334972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.730371743 meters 0.026848511329481687 Centerline is valid? [True, True] Translation: X:308.52, Y:-18.98, Z:-4.27 [[ 9.98562268e-01 5.30983103e-02 7.34620052e-03 3.08515098e+02] [-5.30964428e-02 9.98589288e-01 -4.49144033e-04 -1.89833900e+01] [-7.35968594e-03 5.84411678e-05 9.99972915e-01 -4.27420355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.760371743 meters 0.027163434551379078 Centerline is valid? [True, True] Translation: X:308.54, Y:-18.99, Z:-4.28 [[ 9.98655176e-01 5.13885616e-02 6.85966789e-03 3.08544011e+02] [-5.13869005e-02 9.98678733e-01 -4.18299929e-04 -1.89889910e+01] [-6.87210027e-03 6.52403184e-05 9.99976385e-01 -4.27542316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.790371743 meters 0.027267824633033774 Centerline is valid? [True, True] Translation: X:308.57, Y:-19.00, Z:-4.28 [[ 9.98797766e-01 4.85604973e-02 6.70074429e-03 3.08570918e+02] [-4.85588508e-02 9.98820240e-01 -4.08287867e-04 -1.89986144e+01] [-6.71266568e-03 8.24165676e-05 9.99977466e-01 -4.27698259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.820371743 meters 0.02736107338618507 Centerline is valid? [True, True] Translation: X:308.60, Y:-19.00, Z:-4.28 [[ 9.98886232e-01 4.67240663e-02 6.56945537e-03 3.08599065e+02] [-4.67224484e-02 9.98907830e-01 -3.99607448e-04 -1.90046941e+01] [-6.58095169e-03 9.22213380e-05 9.99978341e-01 -4.27748736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.850371743 meters 0.02746959014022027 Centerline is valid? [True, True] Translation: X:308.63, Y:-19.01, Z:-4.28 [[ 9.98993647e-01 4.44697473e-02 5.84255406e-03 3.08627383e+02] [-4.44684308e-02 9.99010727e-01 -3.55097127e-04 -1.90106549e+01] [-5.85256526e-03 9.49305628e-05 9.99982869e-01 -4.27820335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880371743 meters 0.027824168373282058 Centerline is valid? [True, True] Translation: X:308.66, Y:-19.02, Z:-4.28 [[ 9.99175047e-01 4.02094105e-02 5.69461701e-03 3.08655925e+02] [-4.02080927e-02 9.99191268e-01 -3.45756235e-04 -1.90203470e+01] [-5.70391425e-03 1.16501314e-04 9.99983726e-01 -4.27810728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.910371743 meters 0.028147777906929433 Centerline is valid? [True, True] Translation: X:308.68, Y:-19.03, Z:-4.28 [[ 9.99269870e-01 3.77749438e-02 5.72541380e-03 3.08684339e+02] [-3.77735741e-02 9.99286264e-01 -3.47222498e-04 -1.90265287e+01] [-5.73444368e-03 1.30699638e-04 9.99983549e-01 -4.27875740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940371743 meters 0.029226014944210996 Centerline is valid? [True, True] Translation: X:308.71, Y:-19.04, Z:-4.28 [[ 9.99411572e-01 3.37571948e-02 6.07955256e-03 3.08712407e+02] [-3.37555799e-02 9.99430050e-01 -3.68070565e-04 -1.90381068e+01] [-6.08851255e-03 1.62635160e-04 9.99981452e-01 -4.27916757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.970371743 meters 0.029114546355332158 Centerline is valid? [True, True] Translation: X:308.74, Y:-19.04, Z:-4.28 [[ 9.99482666e-01 3.14887452e-02 6.54672594e-03 3.08741267e+02] [-3.14868256e-02 9.99504089e-01 -3.96095531e-04 -1.90435539e+01] [-6.55595190e-03 1.89754999e-04 9.99978492e-01 -4.27897704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000371743 meters 0.030950989970114983 Centerline is valid? [True, True] Translation: X:308.77, Y:-19.05, Z:-4.28 [[ 9.99538592e-01 2.95016255e-02 7.22897889e-03 3.08768764e+02] [-2.94992367e-02 9.99564707e-01 -4.36874279e-04 -1.90524505e+01] [-7.23872067e-03 2.23423342e-04 9.99973775e-01 -4.28008439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.030371743 meters 0.030120775322296893 Centerline is valid? [True, True] Translation: X:308.80, Y:-19.06, Z:-4.28 [[ 9.99607485e-01 2.70417838e-02 7.32247629e-03 3.08797150e+02] [-2.70392725e-02 9.99634274e-01 -4.41751867e-04 -1.90557892e+01] [-7.33174403e-03 2.43584041e-04 9.99973093e-01 -4.27950297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060371743 meters 0.03274821708406367 Centerline is valid? [True, True] Translation: X:308.82, Y:-19.07, Z:-4.28 [[ 9.99693647e-01 2.33693439e-02 8.15391350e-03 3.08824444e+02] [-2.33661137e-02 9.99726854e-01 -4.91216385e-04 -1.90691763e+01] [-8.16316570e-03 3.00540629e-04 9.99966636e-01 -4.28021126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.090371743 meters 0.0331745513976256 Centerline is valid? [True, True] Translation: X:308.85, Y:-19.07, Z:-4.28 [[ 9.99731607e-01 2.15058795e-02 8.61455176e-03 3.08853123e+02] [-2.15022106e-02 9.99768666e-01 -5.18291525e-04 -1.90747467e+01] [-8.62370524e-03 3.32920513e-04 9.99962760e-01 -4.28032660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120371743 meters 0.03305181319759362 Centerline is valid? [True, True] Translation: X:308.88, Y:-19.08, Z:-4.28 [[ 9.99756863e-01 2.02035540e-02 8.83355150e-03 3.08882051e+02] [-2.01996510e-02 9.99795825e-01 -5.30845296e-04 -1.90794992e+01] [-8.84247287e-03 3.52281571e-04 9.99960843e-01 -4.27992510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.150371743 meters 0.03333205216586454 Centerline is valid? [True, True] Translation: X:308.91, Y:-19.08, Z:-4.28 [[ 9.99777274e-01 1.90975351e-02 8.98253428e-03 3.08910867e+02] [-1.90934605e-02 9.99817558e-01 -5.39162143e-04 -1.90843484e+01] [-8.99119216e-03 3.67534395e-04 9.99959511e-01 -4.28041058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180371743 meters 0.033387429802223596 Centerline is valid? [True, True] Translation: X:308.94, Y:-19.09, Z:-4.28 [[ 9.99810439e-01 1.74292093e-02 8.67804658e-03 3.08940108e+02] [-1.74253500e-02 9.99848032e-01 -5.20133894e-04 -1.90917756e+01] [-8.68579331e-03 3.68817298e-04 9.99962210e-01 -4.28129773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.210371743 meters 0.034898233973020644 Centerline is valid? [True, True] Translation: X:308.97, Y:-19.10, Z:-4.28 [[ 9.99823840e-01 1.67694202e-02 8.43062630e-03 3.08968472e+02] [-1.67657560e-02 9.99859317e-01 -5.05119386e-04 -1.90983072e+01] [-8.43791082e-03 3.63684580e-04 9.99964334e-01 -4.28250133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240371743 meters 0.035316808625017224 Centerline is valid? [True, True] Translation: X:309.00, Y:-19.11, Z:-4.28 [[ 9.99820279e-01 1.69512984e-02 8.48897815e-03 3.08996687e+02] [-1.69475945e-02 9.99856250e-01 -5.08076861e-04 -1.91057767e+01] [-8.49637043e-03 3.64117790e-04 9.99963839e-01 -4.28334987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.270371743 meters 0.03522447187303529 Centerline is valid? [True, True] Translation: X:309.03, Y:-19.11, Z:-4.28 [[ 9.99823857e-01 1.66963676e-02 8.57242589e-03 3.09026474e+02] [-1.66925838e-02 9.99860538e-01 -5.12753063e-04 -1.91101360e+01] [-8.57979147e-03 3.69566807e-04 9.99963125e-01 -4.28342314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300371743 meters 0.03575688335932684 Centerline is valid? [True, True] Translation: X:309.06, Y:-19.11, Z:-4.28 [[ 9.99819335e-01 1.66358566e-02 9.19491034e-03 3.09056400e+02] [-1.66315039e-02 9.99861536e-01 -5.49643750e-04 -1.91143094e+01] [-9.20278097e-03 3.96619261e-04 9.99957575e-01 -4.28395104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.330371743 meters 0.03521785823048093 Centerline is valid? [True, True] Translation: X:309.09, Y:-19.12, Z:-4.28 [[ 9.99833947e-01 1.59580142e-02 8.79883027e-03 3.09085616e+02] [-1.59540047e-02 9.99872589e-01 -5.25697772e-04 -1.91189696e+01] [-8.80609829e-03 3.85233900e-04 9.99961151e-01 -4.28456826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36037174300003 meters 0.0341307942161815 Centerline is valid? [True, True] Translation: X:309.12, Y:-19.12, Z:-4.28 [[ 9.99845150e-01 1.50140611e-02 9.17904688e-03 3.09115631e+02] [-1.50096608e-02 9.99887198e-01 -5.48087538e-04 -1.91204364e+01] [-9.18624049e-03 4.10228286e-04 9.99957721e-01 -4.28470993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.390371743 meters 0.035031515125993284 Centerline is valid? [True, True] Translation: X:309.14, Y:-19.13, Z:-4.29 [[ 9.99863116e-01 1.35233613e-02 9.53245665e-03 3.09144648e+02] [-1.35185522e-02 9.99908458e-01 -5.68756532e-04 -1.91279751e+01] [-9.53927553e-03 4.39813665e-04 9.99954403e-01 -4.28522019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42037174300003 meters 0.03561881057570759 Centerline is valid? [True, True] Translation: X:309.17, Y:-19.13, Z:-4.29 [[ 9.99871369e-01 1.26694092e-02 9.83522157e-03 3.09174734e+02] [-1.26642510e-02 9.99919633e-01 -5.86569084e-04 -1.91325044e+01] [-9.84186263e-03 4.61937919e-04 9.99951461e-01 -4.28555100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.450371743 meters 0.03860507039776849 Centerline is valid? [True, True] Translation: X:309.20, Y:-19.14, Z:-4.29 [[ 9.99879737e-01 1.19757183e-02 9.85357768e-03 3.09204824e+02] [-1.19705101e-02 9.99928178e-01 -5.87359817e-04 -1.91411320e+01] [-9.85990404e-03 4.69336828e-04 9.99951280e-01 -4.28627343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.480371743 meters 0.03653931053908035 Centerline is valid? [True, True] Translation: X:309.24, Y:-19.14, Z:-4.29 [[ 9.99885517e-01 1.15024124e-02 9.83089700e-03 3.09235885e+02] [-1.14971968e-02 9.99933733e-01 -5.86885996e-04 -1.91414190e+01] [-9.83699614e-03 4.73791050e-04 9.99951503e-01 -4.28571656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.510371743 meters 0.038216907255727385 Centerline is valid? [True, True] Translation: X:309.27, Y:-19.15, Z:-4.29 [[ 9.99906720e-01 9.23003522e-03 1.00676184e-02 3.09265475e+02] [-9.22444556e-03 9.99957273e-01 -6.01507218e-04 -1.91484060e+01] [-1.00727402e-02 5.08582911e-04 9.99949139e-01 -4.28585478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.540371743 meters 0.03781240653225866 Centerline is valid? [True, True] Translation: X:309.30, Y:-19.15, Z:-4.29 [[ 9.99912927e-01 8.16054847e-03 1.03703230e-02 3.09297158e+02] [-8.15456866e-03 9.99966560e-01 -6.18780903e-04 -1.91509078e+01] [-1.03750258e-02 5.34161513e-04 9.99946035e-01 -4.28632680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.570371743 meters 0.03896613719734384 Centerline is valid? [True, True] Translation: X:309.33, Y:-19.16, Z:-4.29 [[ 9.99920961e-01 6.51665244e-03 1.07519901e-02 3.09329156e+02] [-6.51009717e-03 9.99978601e-01 -6.44566001e-04 -1.91574004e+01] [-1.07559605e-02 5.74518554e-04 9.99941988e-01 -4.28666742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.600371743 meters 0.0404558214599296 Centerline is valid? [True, True] Translation: X:309.36, Y:-19.16, Z:-4.29 [[ 9.99926967e-01 5.63481557e-03 1.06916071e-02 3.09360218e+02] [-5.62827773e-03 9.99983955e-01 -6.41483032e-04 -1.91630290e+01] [-1.06950502e-02 5.81260849e-04 9.99942637e-01 -4.28746576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.630371743 meters 0.04091806138983404 Centerline is valid? [True, True] Translation: X:309.39, Y:-19.17, Z:-4.29 [[ 9.99929995e-01 5.31858643e-03 1.05696360e-02 3.09392462e+02] [-5.31216954e-03 9.99985689e-01 -6.35087616e-04 -1.91672271e+01] [-1.05728625e-02 5.78895459e-04 9.99943938e-01 -4.28828243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.660371743 meters 0.04190397265170887 Centerline is valid? [True, True] Translation: X:309.42, Y:-19.17, Z:-4.29 [[ 9.99943959e-01 3.93926306e-03 9.82659991e-03 3.09424046e+02] [-3.93362927e-03 9.99992088e-01 -5.92581643e-04 -1.91724040e+01] [-9.82885649e-03 5.53894232e-04 9.99951542e-01 -4.28959638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.690371743 meters 0.041701815530010414 Centerline is valid? [True, True] Translation: X:309.46, Y:-19.17, Z:-4.29 [[ 9.99952284e-01 3.52865361e-03 9.10922603e-03 3.09456031e+02] [-3.52378030e-03 9.99993640e-01 -5.50980360e-04 -1.91746977e+01] [-9.11111231e-03 5.18855158e-04 9.99958358e-01 -4.29061283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.720371743 meters 0.038410600466891286 Centerline is valid? [True, True] Translation: X:309.49, Y:-19.17, Z:-4.29 [[ 9.99958854e-01 3.23085975e-03 8.47659858e-03 3.09488625e+02] [-3.22661494e-03 9.99994662e-01 -5.14395805e-04 -1.91710377e+01] [-8.47821527e-03 4.87023920e-04 9.99963941e-01 -4.29117433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.750371743 meters 0.04115727750174408 Centerline is valid? [True, True] Translation: X:309.52, Y:-19.18, Z:-4.29 [[ 9.99966796e-01 3.09031454e-03 7.54038972e-03 3.09519151e+02] [-3.08693952e-03 9.99995130e-01 -4.59189188e-04 -1.91777445e+01] [-7.54177204e-03 4.35897214e-04 9.99971465e-01 -4.29241035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.780371743 meters 0.03801953572027667 Centerline is valid? [True, True] Translation: X:309.55, Y:-19.17, Z:-4.29 [[ 9.99967704e-01 2.52181416e-03 7.63094229e-03 3.09551322e+02] [-2.51832865e-03 9.99996720e-01 -4.66334569e-04 -1.91735570e+01] [-7.63209328e-03 4.47102287e-04 9.99970775e-01 -4.29235449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.810371743 meters 0.03853928928034251 Centerline is valid? [True, True] Translation: X:309.58, Y:-19.18, Z:-4.29 [[ 9.99969734e-01 2.43787253e-03 7.38837973e-03 3.09583801e+02] [-2.43458988e-03 9.99996934e-01 -4.53260945e-04 -1.91759408e+01] [-7.38946207e-03 4.35259552e-04 9.99972603e-01 -4.29307443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.840371743 meters 0.03870026404427008 Centerline is valid? [True, True] Translation: X:309.62, Y:-19.18, Z:-4.29 [[ 9.99968630e-01 2.38437101e-03 7.55335112e-03 3.09615971e+02] [-2.38092374e-03 9.99997057e-01 -4.65348814e-04 -1.91779338e+01] [-7.55443846e-03 4.47350263e-04 9.99971365e-01 -4.29327985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.870371743 meters 0.03960967345926004 Centerline is valid? [True, True] Translation: X:309.65, Y:-19.18, Z:-4.29 [[ 9.99968302e-01 2.38877307e-03 7.59536136e-03 3.09647609e+02] [-2.38527201e-03 9.99997045e-01 -4.69972124e-04 -1.91798694e+01] [-7.59646157e-03 4.51840223e-04 9.99971044e-01 -4.29366659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.900371743 meters 0.03960967345926004 Centerline is valid? [True, True] Translation: X:309.68, Y:-19.18, Z:-4.29 [[ 9.99967689e-01 2.63314179e-03 7.59525964e-03 3.09679338e+02] [-2.62963537e-03 9.99996431e-01 -4.71607886e-04 -1.91819005e+01] [-7.59647435e-03 4.51619885e-04 9.99971044e-01 -4.29411239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.930371743 meters 0.03877932019016939 Centerline is valid? [True, True] Translation: X:309.71, Y:-19.18, Z:-4.29 [[ 9.99971070e-01 2.65229974e-03 7.12914777e-03 3.09711771e+02] [-2.64920022e-03 9.99996392e-01 -4.44175586e-04 -1.91812771e+01] [-7.13030014e-03 4.25276196e-04 9.99974489e-01 -4.29417385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.960371743 meters 0.040399382011521524 Centerline is valid? [True, True] Translation: X:309.74, Y:-19.18, Z:-4.29 [[ 9.99973720e-01 3.09955264e-03 6.55376657e-03 3.09743238e+02] [-3.09693301e-03 9.99995121e-01 -4.09824337e-04 -1.91834942e+01] [-6.55500486e-03 3.89516991e-04 9.99978440e-01 -4.29455681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.990371743 meters 0.039618489191120085 Centerline is valid? [True, True] Translation: X:309.78, Y:-19.18, Z:-4.30 [[ 9.99972037e-01 4.03502045e-03 6.29637860e-03 3.09775501e+02] [-4.03261337e-03 9.99991791e-01 -3.94944939e-04 -1.91826194e+01] [-6.29792053e-03 3.69543035e-04 9.99980100e-01 -4.29503382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.020371743 meters 0.03981797286234732 Centerline is valid? [True, True] Translation: X:309.81, Y:-19.18, Z:-4.30 [[ 9.99970258e-01 4.93741058e-03 5.92489587e-03 3.09806529e+02] [-4.93527754e-03 9.99987751e-01 -3.74578798e-04 -1.91829654e+01] [-5.92667275e-03 3.45326652e-04 9.99982377e-01 -4.29549537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.050371743 meters 0.03698471281742935 Centerline is valid? [True, True] Translation: X:309.84, Y:-19.18, Z:-4.30 [[ 9.99952574e-01 7.83115130e-03 5.78992731e-03 3.09837366e+02] [-7.82915995e-03 9.99969284e-01 -3.66519356e-04 -1.91764277e+01] [-5.79261974e-03 3.21171707e-04 9.99983171e-01 -4.29545883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.080371743 meters 0.039067416001945604 Centerline is valid? [True, True] Translation: X:309.87, Y:-19.18, Z:-4.30 [[ 9.99933270e-01 9.91779107e-03 5.92398671e-03 3.09867740e+02] [-9.91574380e-03 9.99950768e-01 -3.74861009e-04 -1.91803127e+01] [-5.92741285e-03 3.16095260e-04 9.99982383e-01 -4.29651446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11037174300003 meters 0.03602648984849259 Centerline is valid? [True, True] Translation: X:309.90, Y:-19.17, Z:-4.30 [[ 9.99921366e-01 1.13409610e-02 5.35213704e-03 3.09898211e+02] [-1.13393082e-02 9.99935651e-01 -3.39055322e-04 -1.91747928e+01] [-5.35563785e-03 2.78339129e-04 9.99985620e-01 -4.29638537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.140371743 meters 0.03554447399264981 Centerline is valid? [True, True] Translation: X:309.93, Y:-19.17, Z:-4.30 [[ 9.99873394e-01 1.50660177e-02 5.11971520e-03 3.09927765e+02] [-1.50645544e-02 9.99886471e-01 -3.24250347e-04 -1.91713930e+01] [-5.12401912e-03 2.47083067e-04 9.99986842e-01 -4.29684736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17037174300003 meters 0.03484542507920928 Centerline is valid? [True, True] Translation: X:309.96, Y:-19.17, Z:-4.30 [[ 9.99834897e-01 1.73136277e-02 5.51513522e-03 3.09957911e+02] [-1.73119645e-02 9.99850076e-01 -3.49177401e-04 -1.91688076e+01] [-5.52035389e-03 2.53641926e-04 9.99984731e-01 -4.29748148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.200371743 meters 0.03348970279387416 Centerline is valid? [True, True] Translation: X:309.99, Y:-19.16, Z:-4.30 [[ 9.99732945e-01 2.21884433e-02 6.45844619e-03 3.09988792e+02] [-2.21862649e-02 9.99753771e-01 -4.08741880e-04 -1.91636086e+01] [-6.46592528e-03 2.65343925e-04 9.99979060e-01 -4.29704622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.230371743 meters 0.03335711718152372 Centerline is valid? [True, True] Translation: X:310.02, Y:-19.16, Z:-4.30 [[ 9.99693782e-01 2.38059819e-02 6.75404381e-03 3.10018186e+02] [-2.38036356e-02 9.99716562e-01 -4.27577595e-04 -1.91625531e+01] [-6.76230836e-03 2.66675866e-04 9.99977100e-01 -4.29743629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.260371743 meters 0.03279994938493555 Centerline is valid? [True, True] Translation: X:310.05, Y:-19.16, Z:-4.30 [[ 9.99643499e-01 2.58374299e-02 6.73075745e-03 3.10047301e+02] [-2.58351472e-02 9.99666126e-01 -4.25880423e-04 -1.91609440e+01] [-6.73951388e-03 2.51838487e-04 9.99977258e-01 -4.29778700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.290371743 meters 0.031216344374433096 Centerline is valid? [True, True] Translation: X:310.08, Y:-19.15, Z:-4.30 [[ 9.99550534e-01 2.93210140e-02 6.24569392e-03 3.10077973e+02] [-2.93191212e-02 9.99570024e-01 -3.94422910e-04 -1.91540199e+01] [-6.25457331e-03 2.11127373e-04 9.99980418e-01 -4.29838968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.320371743 meters 0.03107775612290491 Centerline is valid? [True, True] Translation: X:310.11, Y:-19.15, Z:-4.30 [[ 9.99524240e-01 3.03120588e-02 5.69844988e-03 3.10107413e+02] [-3.03104980e-02 9.99540466e-01 -3.60082208e-04 -1.91533154e+01] [-5.70674609e-03 1.87188041e-04 9.99983699e-01 -4.29864198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.350371743 meters 0.030966980702901954 Centerline is valid? [True, True] Translation: X:310.14, Y:-19.15, Z:-4.30 [[ 9.99495297e-01 3.12651921e-02 5.62494406e-03 3.10136446e+02] [-3.12636872e-02 9.99511108e-01 -3.55291151e-04 -1.91533008e+01] [-5.63330232e-03 1.79255343e-04 9.99984117e-01 -4.29897939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380371743 meters 0.03108260428997648 Centerline is valid? [True, True] Translation: X:310.16, Y:-19.15, Z:-4.30 [[ 9.99497251e-01 3.12514595e-02 5.34702922e-03 3.10164978e+02] [-3.12500996e-02 9.99511539e-01 -3.37709250e-04 -1.91519994e+01] [-5.35497132e-03 1.70444271e-04 9.99985648e-01 -4.29879913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.410371743 meters 0.030901217831987165 Centerline is valid? [True, True] Translation: X:310.19, Y:-19.15, Z:-4.30 [[ 9.99531151e-01 3.02088023e-02 4.99063954e-03 3.10193875e+02] [-3.02076084e-02 9.99543597e-01 -3.14456087e-04 -1.91524223e+01] [-4.99786114e-03 1.63553370e-04 9.99987497e-01 -4.29890366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440371743 meters 0.03191704657482579 Centerline is valid? [True, True] Translation: X:310.22, Y:-19.16, Z:-4.30 [[ 9.99641645e-01 2.63822976e-02 4.53397139e-03 3.10221815e+02] [-2.63812742e-02 9.99651913e-01 -2.85396386e-04 -1.91553531e+01] [-4.53992259e-03 1.65682170e-04 9.99989681e-01 -4.30038389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.470371743 meters 0.032503428446350485 Centerline is valid? [True, True] Translation: X:310.25, Y:-19.16, Z:-4.30 [[ 9.99707987e-01 2.38043593e-02 4.15848676e-03 3.10251487e+02] [-2.38034781e-02 9.99716623e-01 -2.61259721e-04 -1.91585375e+01] [-4.16352746e-03 1.62196981e-04 9.99991319e-01 -4.30056677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500371743 meters 0.03426862173445442 Centerline is valid? [True, True] Translation: X:310.28, Y:-19.16, Z:-4.30 [[ 9.99769023e-01 2.10248277e-02 4.45616797e-03 3.10279931e+02] [-2.10237884e-02 9.99778937e-01 -2.79934368e-04 -1.91644396e+01] [-4.46106845e-03 1.86184177e-04 9.99990032e-01 -4.30177512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.530371743 meters 0.03358904433133533 Centerline is valid? [True, True] Translation: X:310.31, Y:-19.16, Z:-4.30 [[ 9.99835620e-01 1.75845479e-02 4.41776037e-03 3.10308952e+02] [-1.75834936e-02 9.99845360e-01 -2.77379053e-04 -1.91645811e+01] [-4.42195479e-03 1.99653796e-04 9.99990203e-01 -4.30151198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560371743 meters 0.03645093888866073 Centerline is valid? [True, True] Translation: X:310.34, Y:-19.17, Z:-4.30 [[ 9.99926559e-01 1.11349723e-02 4.78424178e-03 3.10338331e+02] [-1.11336659e-02 9.99937974e-01 -2.99618867e-04 -1.91723530e+01] [-4.78728128e-03 2.46330713e-04 9.99988511e-01 -4.30156673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.590371743 meters 0.036921437138160276 Centerline is valid? [True, True] Translation: X:310.37, Y:-19.18, Z:-4.30 [[ 9.99955480e-01 8.23108029e-03 4.61388082e-03 3.10368613e+02] [-8.22983556e-03 9.99966093e-01 -2.88701186e-04 -1.91757039e+01] [-4.61610070e-03 2.50716852e-04 9.99989314e-01 -4.30160830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620371743 meters 0.04010454571485277 Centerline is valid? [True, True] Translation: X:310.40, Y:-19.18, Z:-4.30 [[ 9.99986413e-01 2.29158957e-03 4.68205561e-03 3.10397983e+02] [-2.29024323e-03 9.99997335e-01 -2.92895572e-04 -1.91823291e+01] [-4.68271433e-03 2.82168546e-04 9.99988996e-01 -4.30163370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.650371743 meters 0.04097492194801601 Centerline is valid? [True, True] Translation: X:310.43, Y:-19.19, Z:-4.30 [[ 9.99988693e-01 -1.04678900e-03 4.63870149e-03 3.10428829e+02] [ 1.04814603e-03 9.99999409e-01 -2.90124946e-04 -1.91852129e+01] [-4.63839505e-03 2.94983702e-04 9.99989199e-01 -4.30208866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680371743 meters 0.04484267658430486 Centerline is valid? [True, True] Translation: X:310.46, Y:-19.19, Z:-4.30 [[ 9.99983874e-01 -3.53809309e-03 4.44226174e-03 3.10458856e+02] [ 3.53936241e-03 9.99993698e-01 -2.77907650e-04 -1.91941400e+01] [-4.44125049e-03 2.93625942e-04 9.99990094e-01 -4.30302598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.710371743 meters 0.045248751409300854 Centerline is valid? [True, True] Translation: X:310.49, Y:-19.20, Z:-4.30 [[ 9.99952906e-01 -8.73904969e-03 4.22074905e-03 3.10489715e+02] [ 8.74024156e-03 9.99961769e-01 -2.64018768e-04 -1.91958702e+01] [-4.21828042e-03 3.00896701e-04 9.99991058e-01 -4.30314743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740371743 meters 0.046134065387300284 Centerline is valid? [True, True] Translation: X:310.52, Y:-19.20, Z:-4.30 [[ 9.99934504e-01 -1.07245430e-02 3.99654733e-03 3.10520537e+02] [ 1.07256271e-02 9.99942448e-01 -2.49908807e-04 -1.91985490e+01] [-3.99363716e-03 2.92757915e-04 9.99991983e-01 -4.30306093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.770371743 meters 0.0468261335304456 Centerline is valid? [True, True] Translation: X:310.55, Y:-19.20, Z:-4.30 [[ 9.99919293e-01 -1.21198321e-02 3.81015628e-03 3.10552519e+02] [ 1.21208270e-02 9.99926512e-01 -2.38137394e-04 -1.91998784e+01] [-3.80699009e-03 2.84300420e-04 9.99992713e-01 -4.30335817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800371743 meters 0.051168924722527 Centerline is valid? [True, True] Translation: X:310.58, Y:-19.20, Z:-4.31 [[ 9.99883090e-01 -1.49326767e-02 3.28952261e-03 3.10581727e+02] [ 1.49334346e-02 9.99888469e-01 -2.05958287e-04 -1.92043410e+01] [-3.28608022e-03 2.55058080e-04 9.99994568e-01 -4.30516249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.830371743 meters 0.05152827686458617 Centerline is valid? [True, True] Translation: X:310.61, Y:-19.21, Z:-4.31 [[ 9.99870825e-01 -1.57268603e-02 3.31661917e-03 3.10613986e+02] [ 1.57276348e-02 9.99876292e-01 -2.07559106e-04 -1.92056547e+01] [-3.31294462e-03 2.59694869e-04 9.99994478e-01 -4.30592089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86037174300003 meters 0.05186922337693537 Centerline is valid? [True, True] Translation: X:310.65, Y:-19.20, Z:-4.31 [[ 9.99843739e-01 -1.75572602e-02 2.05902827e-03 3.10645643e+02] [ 1.75575629e-02 9.99845846e-01 -1.29040854e-04 -1.92042258e+01] [-2.05644526e-03 1.65172208e-04 9.99997872e-01 -4.30768964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.890371743 meters 0.053072350123268615 Centerline is valid? [True, True] Translation: X:310.68, Y:-19.21, Z:-4.31 [[ 9.99837376e-01 -1.79470806e-02 1.76732560e-03 3.10677146e+02] [ 1.79473028e-02 9.99838928e-01 -1.09940186e-04 -1.92061809e+01] [-1.76506783e-03 1.41641034e-04 9.99998432e-01 -4.30833888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92037174300003 meters 0.053989812438862035 Centerline is valid? [True, True] Translation: X:310.71, Y:-19.21, Z:-4.31 [[ 9.99808648e-01 -1.95024255e-02 1.52419097e-03 3.10707801e+02] [ 1.95025935e-02 9.99809802e-01 -9.54611817e-05 -1.92071090e+01] [-1.52203935e-03 1.25168592e-04 9.99998834e-01 -4.30891960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.950371743 meters 0.05490984721303138 Centerline is valid? [True, True] Translation: X:310.74, Y:-19.21, Z:-4.31 [[ 9.99764902e-01 -2.16462634e-02 1.25694586e-03 3.10738810e+02] [ 2.16463798e-02 9.99765687e-01 -7.90319345e-05 -1.92060104e+01] [-1.25494060e-03 1.06221682e-04 9.99999207e-01 -4.30774503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.980371743 meters 0.050340650528629356 Centerline is valid? [True, True] Translation: X:310.77, Y:-19.20, Z:-4.31 [[ 9.99735536e-01 -2.29354442e-02 1.68037280e-03 3.10771344e+02] [ 2.29356530e-02 9.99736938e-01 -1.05100465e-04 -1.91988778e+01] [-1.67752023e-03 1.43613118e-04 9.99998583e-01 -4.30614823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.010371743 meters 0.05773516968263077 Centerline is valid? [True, True] Translation: X:310.80, Y:-19.21, Z:-4.31 [[ 9.99695150e-01 -2.46298672e-02 1.72555014e-03 3.10800786e+02] [ 2.46300917e-02 9.99696627e-01 -1.08940604e-04 -1.92086963e+01] [-1.72234346e-03 1.51407851e-04 9.99998505e-01 -4.30694540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.040371743 meters 0.057064781389945474 Centerline is valid? [True, True] Translation: X:310.83, Y:-19.21, Z:-4.31 [[ 9.99614770e-01 -2.76693934e-02 2.17189467e-03 3.10831614e+02] [ 2.76697560e-02 9.99617110e-01 -1.37069847e-04 -1.92057622e+01] [-2.16727044e-03 1.97112839e-04 9.99997632e-01 -4.30577753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.070371743 meters 0.052033491732490174 Centerline is valid? [True, True] Translation: X:310.86, Y:-19.20, Z:-4.31 [[ 9.99553347e-01 -2.97753733e-02 2.55616863e-03 3.10863508e+02] [ 2.97758815e-02 9.99556587e-01 -1.60983092e-04 -1.91982730e+01] [-2.55024186e-03 2.37023363e-04 9.99996720e-01 -4.30504845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.100371743 meters 0.05601449401781471 Centerline is valid? [True, True] Translation: X:310.89, Y:-19.20, Z:-4.31 [[ 9.99510709e-01 -3.11051243e-02 3.28849657e-03 3.10893668e+02] [ 3.11059740e-02 9.99516071e-01 -2.07556647e-04 -1.92048542e+01] [-3.28044909e-03 3.09746980e-04 9.99994571e-01 -4.30554894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.130371743 meters 0.05579789058848657 Centerline is valid? [True, True] Translation: X:310.92, Y:-19.20, Z:-4.31 [[ 9.99416132e-01 -3.40663463e-02 2.62293741e-03 3.10924460e+02] [ 3.40668975e-02 9.99419541e-01 -1.65713677e-04 -1.92027137e+01] [-2.61576964e-03 2.54972262e-04 9.99996546e-01 -4.30633756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.160371743 meters 0.056050806330386664 Centerline is valid? [True, True] Translation: X:310.96, Y:-19.20, Z:-4.31 [[ 9.99401271e-01 -3.44907027e-02 2.73704597e-03 3.10956634e+02] [ 3.44913024e-02 9.99404983e-01 -1.72171452e-04 -1.92030747e+01] [-2.72947907e-03 2.66472649e-04 9.99996239e-01 -4.30663959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.190371743 meters 0.053252035719496486 Centerline is valid? [True, True] Translation: X:310.99, Y:-19.20, Z:-4.31 [[ 9.99378583e-01 -3.52009169e-02 1.82843327e-03 3.10988753e+02] [ 3.52011842e-02 9.99380240e-01 -1.14194717e-04 -1.91982098e+01] [-1.82328032e-03 1.78486771e-04 9.99998322e-01 -4.30645927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.220371743 meters 0.05243572956145608 Centerline is valid? [True, True] Translation: X:311.02, Y:-19.19, Z:-4.31 [[ 9.99367415e-01 -3.55380649e-02 1.34770707e-03 3.11020747e+02] [ 3.55382112e-02 9.99368315e-01 -8.47330568e-05 -1.91941951e+01] [-1.34384449e-03 1.32574554e-04 9.99999088e-01 -4.30654039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.250371743 meters 0.05685087571600752 Centerline is valid? [True, True] Translation: X:311.05, Y:-19.20, Z:-4.31 [[ 9.99388913e-01 -3.49173633e-02 1.60574824e-03 3.11052083e+02] [ 3.49175702e-02 9.99390191e-01 -1.00974513e-04 -1.92006670e+01] [-1.60124328e-03 1.56981636e-04 9.99998706e-01 -4.30731752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.280371743 meters 0.05898211518726194 Centerline is valid? [True, True] Translation: X:311.08, Y:-19.20, Z:-4.31 [[ 9.99374237e-01 -3.53449766e-02 1.36673720e-03 3.11082816e+02] [ 3.53451271e-02 9.99375162e-01 -8.61443842e-05 -1.92030437e+01] [-1.36283843e-03 1.34397978e-04 9.99999062e-01 -4.30799154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.310371743 meters 0.052522575903351215 Centerline is valid? [True, True] Translation: X:311.12, Y:-19.19, Z:-4.31 [[ 9.99426066e-01 -3.38126693e-02 2.05954159e-03 3.11115215e+02] [ 3.38130083e-02 9.99428168e-01 -1.29976185e-04 -1.91918513e+01] [-2.05396904e-03 1.99540884e-04 9.99997871e-01 -4.30667820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.340371743 meters 0.05256317651433797 Centerline is valid? [True, True] Translation: X:311.15, Y:-19.19, Z:-4.31 [[ 9.99456769e-01 -3.29079091e-02 1.79887762e-03 3.11147778e+02] [ 3.29081664e-02 9.99458373e-01 -1.13608278e-04 -1.91914066e+01] [-1.79416469e-03 1.72744327e-04 9.99998376e-01 -4.30695977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.370371743 meters 0.05914308454255883 Centerline is valid? [True, True] Translation: X:311.18, Y:-19.20, Z:-4.31 [[ 9.99537628e-01 -3.03458660e-02 1.91295375e-03 3.11177147e+02] [ 3.03461546e-02 9.99539442e-01 -1.21978546e-04 -1.91968036e+01] [-1.90837118e-03 1.79972937e-04 9.99998163e-01 -4.30932690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.400371743 meters 0.05195041461573518 Centerline is valid? [True, True] Translation: X:311.21, Y:-19.19, Z:-4.31 [[ 9.99582371e-01 -2.88555663e-02 1.56174353e-03 3.11209691e+02] [ 2.88557556e-02 9.99583581e-01 -9.88320682e-05 -1.91860533e+01] [-1.55824134e-03 1.43856083e-04 9.99998776e-01 -4.30907523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.430371743 meters 0.052199545317918684 Centerline is valid? [True, True] Translation: X:311.24, Y:-19.19, Z:-4.31 [[ 9.99611160e-01 -2.78566105e-02 1.24053291e-03 3.11241887e+02] [ 2.78567288e-02 9.99611923e-01 -7.82055793e-05 -1.91858874e+01] [-1.23787294e-03 1.12732359e-04 9.99999227e-01 -4.31064263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.460371743 meters 0.052482193631124135 Centerline is valid? [True, True] Translation: X:311.27, Y:-19.18, Z:-4.31 [[ 9.99673613e-01 -2.55382812e-02 6.81406570e-04 3.11271614e+02] [ 2.55383169e-02 9.99673843e-01 -4.37283198e-05 -1.91831417e+01] [-6.80067579e-04 6.11160244e-05 9.99999767e-01 -4.31193159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.490371743 meters 0.07406908292100123 Centerline is valid? [True, True] Translation: X:311.30, Y:-19.21, Z:-4.32 [[ 9.99748596e-01 -2.23035434e-02 2.30150678e-03 3.11299158e+02] [ 2.23039406e-02 9.99751225e-01 -1.47071698e-04 -1.92123787e+01] [-2.29765401e-03 1.98367394e-04 9.99997341e-01 -4.31583453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.520371743 meters 0.05317439056106424 Centerline is valid? [True, True] Translation: X:311.33, Y:-19.18, Z:-4.31 [[ 9.99741310e-01 -2.27444333e-02 5.37849562e-05 3.11333807e+02] [ 2.27444335e-02 9.99741312e-01 -2.47552887e-06 -1.91798144e+01] [-5.37147384e-05 3.69819684e-06 9.99999999e-01 -4.31362027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.550371743 meters 0.05295217805520829 Centerline is valid? [True, True] Translation: X:311.37, Y:-19.18, Z:-4.31 [[ 9.99757312e-01 -2.20297799e-02 -7.99077551e-05 3.11366103e+02] [ 2.20297805e-02 9.99757315e-01 6.06742873e-06 -1.91786546e+01] [ 7.97546983e-05 -7.82630653e-06 9.99999997e-01 -4.31396364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.580371743 meters 0.05357429058813358 Centerline is valid? [True, True] Translation: X:311.40, Y:-19.18, Z:-4.31 [[ 9.99781143e-01 -2.09203265e-02 7.81045747e-05 3.11396891e+02] [ 2.09203269e-02 9.99781146e-01 -4.51874343e-06 -1.91791618e+01] [-7.79929479e-05 6.15172772e-06 9.99999997e-01 -4.31448519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61037174300003 meters 0.05321823835328348 Centerline is valid? [True, True] Translation: X:311.43, Y:-19.18, Z:-4.31 [[ 9.99805737e-01 -1.97100541e-02 -4.93908253e-05 3.11428619e+02] [ 1.97100543e-02 9.99805738e-01 3.63652054e-06 -1.91780381e+01] [ 4.93095542e-05 -4.60930994e-06 9.99999999e-01 -4.31476656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.640371743 meters 0.051238815883283106 Centerline is valid? [True, True] Translation: X:311.46, Y:-19.17, Z:-4.31 [[ 9.99850700e-01 -1.72622480e-02 7.70091343e-04 3.11459832e+02] [ 1.72622908e-02 9.99850994e-01 -4.89813562e-05 -1.91724564e+01] [-7.69131067e-04 6.22675840e-05 9.99999702e-01 -4.31469190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67037174300003 meters 0.05075286250062443 Centerline is valid? [True, True] Translation: X:311.49, Y:-19.17, Z:-4.31 [[ 9.99881127e-01 -1.53953594e-02 8.45564763e-04 3.11491810e+02] [ 1.53954101e-02 9.99881482e-01 -5.34673830e-05 -1.91712164e+01] [-8.44641399e-04 6.64788434e-05 9.99999641e-01 -4.31431776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.700371743 meters 0.05016406346634744 Centerline is valid? [True, True] Translation: X:311.52, Y:-19.17, Z:-4.31 [[ 9.99926569e-01 -1.20189071e-02 1.55002608e-03 3.11522091e+02] [ 1.20190757e-02 9.99927763e-01 -9.95129026e-05 -1.91674015e+01] [-1.54871808e-03 1.18135476e-04 9.99998794e-01 -4.31369993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.730371743 meters 0.05029579189174972 Centerline is valid? [True, True] Translation: X:311.55, Y:-19.17, Z:-4.31 [[ 9.99942440e-01 -1.06364435e-02 1.40776412e-03 3.11554134e+02] [ 1.06365798e-02 9.99943426e-01 -8.93594845e-05 -1.91667972e+01] [-1.40673401e-03 1.04328136e-04 9.99999005e-01 -4.31351993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.760371743 meters 0.05029579189174972 Centerline is valid? [True, True] Translation: X:311.59, Y:-19.17, Z:-4.31 [[ 9.99943142e-01 -1.05702997e-02 1.40775923e-03 3.11585848e+02] [ 1.05704361e-02 9.99944127e-01 -8.94361144e-05 -1.91689001e+01] [-1.40673521e-03 1.04311658e-04 9.99999005e-01 -4.31396599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.790371743 meters 0.05002155385471169 Centerline is valid? [True, True] Translation: X:311.62, Y:-19.17, Z:-4.31 [[ 9.99956313e-01 -9.21536587e-03 1.56529250e-03 3.11617111e+02] [ 9.21553374e-03 9.99957531e-01 -1.00066909e-04 -1.91681333e+01] [-1.56430387e-03 1.14487543e-04 9.99998770e-01 -4.31387242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.820371743 meters 0.05000534139934508 Centerline is valid? [True, True] Translation: X:311.65, Y:-19.17, Z:-4.31 [[ 9.99963647e-01 -8.34029672e-03 1.77291018e-03 3.11649529e+02] [ 8.34051022e-03 9.99965211e-01 -1.13063513e-04 -1.91685473e+01] [-1.77190552e-03 1.27846379e-04 9.99998422e-01 -4.31401030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.850371743 meters 0.050845187108614985 Centerline is valid? [True, True] Translation: X:311.68, Y:-19.17, Z:-4.32 [[ 9.99969386e-01 -7.74303300e-03 1.12812532e-03 3.11680771e+02] [ 7.74311901e-03 9.99970019e-01 -7.18986923e-05 -1.91689101e+01] [-1.12753478e-03 8.06316998e-05 9.99999361e-01 -4.31549658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880371743 meters 0.04338250439900508 Centerline is valid? [True, True] Translation: X:311.71, Y:-19.16, Z:-4.31 [[ 9.99970016e-01 -7.70001249e-03 8.23115839e-04 3.11713613e+02] [ 7.70005792e-03 9.99970353e-01 -5.20303985e-05 -1.91582113e+01] [-8.22690801e-04 5.83668780e-05 9.99999660e-01 -4.31437641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.910371743 meters 0.05227991199729373 Centerline is valid? [True, True] Translation: X:311.74, Y:-19.17, Z:-4.32 [[ 9.99973290e-01 -7.30875760e-03 -3.33420824e-05 3.11744104e+02] [ 7.30875770e-03 9.99973291e-01 2.88332849e-06 -1.91700106e+01] [ 3.33201180e-05 -3.12694066e-06 9.99999999e-01 -4.31734473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940371743 meters 0.05281056079423534 Centerline is valid? [True, True] Translation: X:311.78, Y:-19.17, Z:-4.32 [[ 9.99976427e-01 -6.86296407e-03 -2.12830880e-04 3.11775696e+02] [ 6.86296746e-03 9.99976449e-01 1.52142874e-05 -1.91707906e+01] [ 2.12721453e-04 -1.66745801e-05 9.99999977e-01 -4.31750848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.970371743 meters 0.05303122480201448 Centerline is valid? [True, True] Translation: X:311.81, Y:-19.17, Z:-4.32 [[ 9.99980109e-01 -6.29825128e-03 -3.37211923e-04 3.11807928e+02] [ 6.29825929e-03 9.99980166e-01 2.26765412e-05 -1.91716190e+01] [ 3.37062411e-04 -2.47999383e-05 9.99999943e-01 -4.31750149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000371743 meters 0.05335341094466001 Centerline is valid? [True, True] Translation: X:311.84, Y:-19.17, Z:-4.32 [[ 9.99986796e-01 -5.11214034e-03 -5.23909101e-04 3.11838908e+02] [ 5.11215901e-03 9.99986932e-01 3.43165257e-05 -1.91716015e+01] [ 5.23726824e-04 -3.69943792e-05 9.99999862e-01 -4.31889795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.030371743 meters 0.045396179890207077 Centerline is valid? [True, True] Translation: X:311.87, Y:-19.16, Z:-4.32 [[ 9.99990380e-01 -4.34145716e-03 -6.26341135e-04 3.11872260e+02] [ 4.34148400e-03 9.99990575e-01 4.14897899e-05 -1.91609714e+01] [ 6.26155105e-04 -4.42086407e-05 9.99999803e-01 -4.31741608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060371743 meters 0.0539911837496647 Centerline is valid? [True, True] Translation: X:311.90, Y:-19.17, Z:-4.32 [[ 9.99992778e-01 -3.74458264e-03 -6.49360413e-04 3.11902287e+02] [ 3.74461104e-03 9.99992988e-01 4.25220213e-05 -1.91731681e+01] [ 6.49196632e-04 -4.49533164e-05 9.99999788e-01 -4.32085231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.090371743 meters 0.046324201557638923 Centerline is valid? [True, True] Translation: X:311.93, Y:-19.16, Z:-4.32 [[ 9.99994715e-01 -3.23272741e-03 -3.46943897e-04 3.11934778e+02] [ 3.23273557e-03 9.99994774e-01 2.29446863e-05 -1.91624785e+01] [ 3.46867910e-04 -2.40661428e-05 9.99999940e-01 -4.31864248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120371743 meters 0.04196699788644306 Centerline is valid? [True, True] Translation: X:311.97, Y:-19.15, Z:-4.32 [[ 9.99994111e-01 -3.22341333e-03 -1.17791680e-03 3.11967114e+02] [ 3.22350609e-03 9.99994802e-01 7.68548121e-05 -1.91548292e+01] [ 1.17766294e-03 -8.06513814e-05 9.99999303e-01 -4.31729872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.150371743 meters 0.04167779284635351 Centerline is valid? [True, True] Translation: X:312.00, Y:-19.16, Z:-4.32 [[ 9.99994147e-01 -3.31753344e-03 -8.36576838e-04 3.11998814e+02] [ 3.31758040e-03 9.99994495e-01 5.47568094e-05 -1.91557641e+01] [ 8.36390575e-04 -5.75318999e-05 9.99999649e-01 -4.31718362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180371743 meters 0.04419975024786196 Centerline is valid? [True, True] Translation: X:312.03, Y:-19.16, Z:-4.32 [[ 9.99993485e-01 -3.47453891e-03 -9.78429102e-04 3.12029306e+02] [ 3.47460432e-03 9.99993961e-01 6.51613907e-05 -1.91601951e+01] [ 9.78196787e-04 -6.85606201e-05 9.99999519e-01 -4.31828143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.210371743 meters 0.04059842745717082 Centerline is valid? [True, True] Translation: X:312.06, Y:-19.16, Z:-4.32 [[ 9.99991477e-01 -3.84310929e-03 -1.50849023e-03 3.12061065e+02] [ 3.84326235e-03 9.99992610e-01 9.85820068e-05 -1.91550614e+01] [ 1.50810022e-03 -1.04378690e-04 9.99998857e-01 -4.31741939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240371743 meters 0.04401953582149643 Centerline is valid? [True, True] Translation: X:312.09, Y:-19.16, Z:-4.32 [[ 9.99984209e-01 -5.15990992e-03 -2.22645781e-03 3.12091305e+02] [ 5.16024943e-03 9.99986675e-01 1.46770229e-04 -1.91612196e+01] [ 2.22567083e-03 -1.58256989e-04 9.99997511e-01 -4.31922027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.270371743 meters 0.04128933374074781 Centerline is valid? [True, True] Translation: X:312.12, Y:-19.16, Z:-4.32 [[ 9.99978575e-01 -6.04698426e-03 -2.50669476e-03 3.12123329e+02] [ 6.04741471e-03 9.99981701e-01 1.64177257e-04 -1.91583568e+01] [ 2.50565611e-03 -1.79332762e-04 9.99996845e-01 -4.31916686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300371743 meters 0.041531606034334055 Centerline is valid? [True, True] Translation: X:312.15, Y:-19.16, Z:-4.32 [[ 9.99960875e-01 -7.99756355e-03 -3.77995107e-03 3.12154198e+02] [ 7.99855489e-03 9.99967981e-01 2.47217600e-04 -1.91600684e+01] [ 3.77785290e-03 -2.77442073e-04 9.99992825e-01 -4.31998621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.330371743 meters 0.04502063347501082 Centerline is valid? [True, True] Translation: X:312.19, Y:-19.17, Z:-4.32 [[ 9.99955115e-01 -8.58428741e-03 -4.00973000e-03 3.12185308e+02] [ 8.58541209e-03 9.99963110e-01 2.63359665e-04 -1.91676811e+01] [ 4.00732133e-03 -2.97773029e-04 9.99991926e-01 -4.32206001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36037174300003 meters 0.04393674109811206 Centerline is valid? [True, True] Translation: X:312.22, Y:-19.17, Z:-4.32 [[ 9.99936994e-01 -9.75713506e-03 -5.55033447e-03 3.12216575e+02] [ 9.75930124e-03 9.99952311e-01 3.63330137e-04 -1.91666057e+01] [ 5.54652472e-03 -4.17474631e-04 9.99984531e-01 -4.32278031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.390371743 meters 0.04744749631476456 Centerline is valid? [True, True] Translation: X:312.25, Y:-19.17, Z:-4.32 [[ 9.99940038e-01 -9.53548324e-03 -5.38462708e-03 3.12246930e+02] [ 9.53752177e-03 9.99954454e-01 3.53032699e-04 -1.91741168e+01] [ 5.38101550e-03 -4.04367528e-04 9.99985440e-01 -4.32426688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42037174300003 meters 0.04540698292359483 Centerline is valid? [True, True] Translation: X:312.28, Y:-19.17, Z:-4.32 [[ 9.99931154e-01 -9.99099127e-03 -6.15358846e-03 3.12279689e+02] [ 9.99366565e-03 9.99949980e-01 4.04009049e-04 -1.91718646e+01] [ 6.14924421e-03 -4.65478140e-04 9.99980985e-01 -4.32335108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.450371743 meters 0.045263716877727095 Centerline is valid? [True, True] Translation: X:312.31, Y:-19.17, Z:-4.32 [[ 9.99933506e-01 -9.91446757e-03 -5.88957445e-03 3.12311540e+02] [ 9.91691875e-03 9.99950751e-01 3.87131267e-04 -1.91733409e+01] [ 5.88544619e-03 -4.45511956e-04 9.99982581e-01 -4.32292298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.480371743 meters 0.04635672687059005 Centerline is valid? [True, True] Translation: X:312.34, Y:-19.18, Z:-4.32 [[ 9.99938338e-01 -9.61608407e-03 -5.55445318e-03 3.12343811e+02] [ 9.61826208e-03 9.99953677e-01 3.65539923e-04 -1.91773018e+01] [ 5.55068082e-03 -4.18941569e-04 9.99984507e-01 -4.32390395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.510371743 meters 0.045830119175872215 Centerline is valid? [True, True] Translation: X:312.38, Y:-19.18, Z:-4.32 [[ 9.99940009e-01 -9.31253026e-03 -5.76668752e-03 3.12376009e+02] [ 9.31487508e-03 9.99956543e-01 3.79888166e-04 -1.91785978e+01] [ 5.76289919e-03 -4.33581350e-04 9.99983300e-01 -4.32421090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.540371743 meters 0.04793201070544456 Centerline is valid? [True, True] Translation: X:312.41, Y:-19.18, Z:-4.33 [[ 9.99943331e-01 -8.13888087e-03 -6.86242165e-03 3.12406545e+02] [ 8.14217090e-03 9.99966750e-01 4.51624428e-04 -1.91829625e+01] [ 6.85851776e-03 -5.07473845e-04 9.99976351e-01 -4.32605174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.570371743 meters 0.04563831577849658 Centerline is valid? [True, True] Translation: X:312.44, Y:-19.18, Z:-4.33 [[ 9.99953477e-01 -6.88787198e-03 -6.75284612e-03 3.12437979e+02] [ 6.89103104e-03 9.99976158e-01 4.44656294e-04 -1.91811773e+01] [ 6.74962238e-03 -4.91169680e-04 9.99977100e-01 -4.32547905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.600371743 meters 0.04581704804362154 Centerline is valid? [True, True] Translation: X:312.47, Y:-19.18, Z:-4.33 [[ 9.99961706e-01 -5.67896717e-03 -6.65849383e-03 3.12468233e+02] [ 5.68200870e-03 9.99983761e-01 4.37961381e-04 -1.91829573e+01] [ 6.65589854e-03 -4.75778230e-04 9.99977736e-01 -4.32589604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.630371743 meters 0.041618505623646405 Centerline is valid? [True, True] Translation: X:312.50, Y:-19.18, Z:-4.32 [[ 9.99972805e-01 -3.52501950e-03 -6.47786118e-03 3.12499041e+02] [ 3.52785327e-03 9.99993686e-01 4.26080297e-04 -1.91777786e+01] [ 6.47631834e-03 -4.48921653e-04 9.99978928e-01 -4.32465916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.660371743 meters 0.04288730650839749 Centerline is valid? [True, True] Translation: X:312.53, Y:-19.18, Z:-4.33 [[ 9.99974965e-01 -2.66404718e-03 -6.55532627e-03 3.12528046e+02] [ 2.66692833e-03 9.99996351e-01 4.30811172e-04 -1.91814608e+01] [ 6.55415464e-03 -4.48282972e-04 9.99978421e-01 -4.32604743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.690371743 meters 0.042226833670570924 Centerline is valid? [True, True] Translation: X:312.56, Y:-19.18, Z:-4.33 [[ 9.99976651e-01 -1.46912074e-03 -6.67383030e-03 3.12557285e+02] [ 1.47205049e-03 9.99998822e-01 4.34100108e-04 -1.91821041e+01] [ 6.67318469e-03 -4.43914188e-04 9.99977636e-01 -4.32639199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.720371743 meters 0.04123275867844841 Centerline is valid? [True, True] Translation: X:312.59, Y:-19.18, Z:-4.33 [[ 9.99969331e-01 1.76444485e-04 -7.82986045e-03 3.12586546e+02] [-1.72471598e-04 9.99999856e-01 5.08074366e-04 -1.91817228e+01] [ 7.82994897e-03 -5.06708355e-04 9.99969217e-01 -4.32749249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.750371743 meters 0.04147014605115105 Centerline is valid? [True, True] Translation: X:312.62, Y:-19.18, Z:-4.33 [[ 9.99967532e-01 3.95816437e-04 -8.04849924e-03 3.12615350e+02] [-3.91642465e-04 9.99999788e-01 5.20171990e-04 -1.91838714e+01] [ 8.04870342e-03 -5.17002967e-04 9.99967475e-01 -4.32880687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.780371743 meters 0.040945908321014114 Centerline is valid? [True, True] Translation: X:312.64, Y:-19.18, Z:-4.33 [[ 9.99964418e-01 9.22037828e-04 -8.38530961e-03 3.12643847e+02] [-9.17541763e-04 9.99999433e-01 5.40014688e-04 -1.91846379e+01] [ 8.38580277e-03 -5.32301601e-04 9.99964697e-01 -4.32951266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.810371743 meters 0.039848987060071756 Centerline is valid? [True, True] Translation: X:312.67, Y:-19.18, Z:-4.33 [[ 9.99964373e-01 1.08419027e-03 -8.37116761e-03 3.12672587e+02] [-1.07969960e-03 9.99999271e-01 5.40946058e-04 -1.91844113e+01] [ 8.37174799e-03 -5.31888440e-04 9.99964815e-01 -4.32932887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.840371743 meters 0.041095343404216444 Centerline is valid? [True, True] Translation: X:312.70, Y:-19.19, Z:-4.33 [[ 9.99962868e-01 1.21340976e-03 -8.53170614e-03 3.12699862e+02] [-1.20876135e-03 9.99999118e-01 5.49974520e-04 -1.91877600e+01] [ 8.53236597e-03 -5.39641302e-04 9.99963453e-01 -4.33002560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.870371743 meters 0.04106278597295325 Centerline is valid? [True, True] Translation: X:312.73, Y:-19.19, Z:-4.33 [[ 9.99964097e-01 5.89959401e-04 -8.45315289e-03 3.12728284e+02] [-5.85374933e-04 9.99999680e-01 5.44802170e-04 -1.91888044e+01] [ 8.45347160e-03 -5.39834346e-04 9.99964123e-01 -4.33037592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.900371743 meters 0.03982873606225799 Centerline is valid? [True, True] Translation: X:312.76, Y:-19.19, Z:-4.33 [[ 9.99973423e-01 -1.24721206e-04 -7.28956612e-03 3.12757506e+02] [ 1.28144420e-04 9.99999882e-01 4.69139406e-04 -1.91889547e+01] [ 7.28950675e-03 -4.70061055e-04 9.99973321e-01 -4.32970760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.930371743 meters 0.04196906943533431 Centerline is valid? [True, True] Translation: X:312.79, Y:-19.19, Z:-4.33 [[ 9.99973275e-01 -7.10111593e-04 -7.27639525e-03 3.12785204e+02] [ 7.13529355e-04 9.99999636e-01 4.67120119e-04 -1.91947534e+01] [ 7.27606090e-03 -4.72299557e-04 9.99973418e-01 -4.33067103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.960371743 meters 0.07854987811762155 Centerline is valid? [True, True] Translation: X:312.81, Y:-19.25, Z:-4.34 [[ 9.99994415e-01 3.27874100e-03 -6.48121806e-04 3.12810420e+02] [-3.27871507e-03 9.99994624e-01 4.10728374e-05 -1.92507611e+01] [ 6.48252989e-04 -3.89476013e-05 9.99999789e-01 -4.34219512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.990371743 meters 0.04258890140346787 Centerline is valid? [True, True] Translation: X:312.84, Y:-19.20, Z:-4.33 [[ 9.99973614e-01 -2.03081068e-03 -6.97474329e-03 3.12843838e+02] [ 2.03398833e-03 9.99997831e-01 4.48531194e-04 -1.91999249e+01] [ 6.97381727e-03 -4.62705905e-04 9.99975576e-01 -4.33159657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.020371743 meters 0.03999222779221792 Centerline is valid? [True, True] Translation: X:312.87, Y:-19.20, Z:-4.33 [[ 9.99968030e-01 -2.27984776e-03 -7.66425368e-03 3.12872916e+02] [ 2.28365210e-03 9.99997274e-01 4.87659861e-04 -1.91974880e+01] [ 7.66312099e-03 -5.05146759e-04 9.99970510e-01 -4.33050523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.050371743 meters 0.040007446005997885 Centerline is valid? [True, True] Translation: X:312.90, Y:-19.20, Z:-4.33 [[ 9.99960587e-01 -2.94503414e-03 -8.37559329e-03 3.12901956e+02] [ 2.94958572e-03 9.99995509e-01 5.31132555e-04 -1.91989006e+01] [ 8.37399147e-03 -5.55816152e-04 9.99964783e-01 -4.33113029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.080371743 meters 0.04045806126676379 Centerline is valid? [True, True] Translation: X:312.93, Y:-19.20, Z:-4.33 [[ 9.99956068e-01 -3.23456514e-03 -8.79770700e-03 3.12930925e+02] [ 3.23958079e-03 9.99994598e-01 5.55917395e-04 -1.92018028e+01] [ 8.79586132e-03 -5.84393855e-04 9.99961145e-01 -4.33174471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11037174300003 meters 0.0407733643869809 Centerline is valid? [True, True] Translation: X:312.96, Y:-19.21, Z:-4.33 [[ 9.99957998e-01 -3.06640321e-03 -8.63705196e-03 3.12959744e+02] [ 3.07121218e-03 9.99995136e-01 5.43575684e-04 -1.92050235e+01] [ 8.63534313e-03 -5.70079072e-04 9.99962552e-01 -4.33331461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.140371743 meters 0.04032918986566405 Centerline is valid? [True, True] Translation: X:312.99, Y:-19.21, Z:-4.33 [[ 9.99947268e-01 -3.25980123e-03 -9.73836584e-03 3.12988270e+02] [ 3.26590436e-03 9.99994480e-01 6.10872184e-04 -1.92058014e+01] [ 9.73632076e-03 -6.42644543e-04 9.99952394e-01 -4.33352392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17037174300003 meters 0.04146934533909994 Centerline is valid? [True, True] Translation: X:313.02, Y:-19.21, Z:-4.33 [[ 9.99952444e-01 -1.21085226e-03 -9.67697329e-03 3.13016967e+02] [ 1.21680865e-03 9.99999074e-01 6.09658016e-04 -1.92097372e+01] [ 9.67622613e-03 -6.21404048e-04 9.99952991e-01 -4.33417707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.200371743 meters 0.039102848283711585 Centerline is valid? [True, True] Translation: X:313.05, Y:-19.21, Z:-4.33 [[ 9.99955329e-01 2.07250258e-04 -9.44972447e-03 3.13046219e+02] [-2.01644620e-04 9.99999803e-01 5.94155502e-04 -1.92074241e+01] [ 9.44984575e-03 -5.92223474e-04 9.99955174e-01 -4.33302135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.230371743 meters 0.03831063631523598 Centerline is valid? [True, True] Translation: X:313.07, Y:-19.21, Z:-4.33 [[ 9.99952284e-01 1.95522143e-03 -9.57112977e-03 3.13074849e+02] [-1.94955699e-03 9.99997919e-01 6.01119504e-04 -1.92076631e+01] [ 9.57228518e-03 -5.82431358e-04 9.99954015e-01 -4.33254692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.260371743 meters 0.03806079346509621 Centerline is valid? [True, True] Translation: X:313.10, Y:-19.21, Z:-4.33 [[ 9.99937028e-01 5.59260680e-03 -9.72946405e-03 3.13103688e+02] [-5.58692325e-03 9.99984206e-01 6.11239995e-04 -1.92083221e+01] [ 9.73272881e-03 -5.56843735e-04 9.99952481e-01 -4.33238717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.290371743 meters 0.0376940792930441 Centerline is valid? [True, True] Translation: X:313.13, Y:-19.21, Z:-4.33 [[ 9.99920855e-01 7.33946319e-03 -1.02184012e-02 3.13132608e+02] [-7.33329690e-03 9.99972906e-01 6.40787916e-04 -1.92091776e+01] [ 1.02228274e-02 -5.65802631e-04 9.99947585e-01 -4.33275945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.320371743 meters 0.03685794123910255 Centerline is valid? [True, True] Translation: X:313.16, Y:-19.21, Z:-4.33 [[ 9.99896607e-01 1.03627251e-02 -9.96945461e-03 3.13162560e+02] [-1.03570001e-02 9.99946169e-01 6.25715144e-04 -1.92093326e+01] [ 9.97540206e-03 -5.22396807e-04 9.99950108e-01 -4.33240068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.350371743 meters 0.03673799495779593 Centerline is valid? [True, True] Translation: X:313.19, Y:-19.21, Z:-4.33 [[ 9.99884439e-01 1.19955039e-02 -9.33899649e-03 3.13190830e+02] [-1.19905640e-02 9.99927940e-01 5.84774671e-04 -1.92113025e+01] [ 9.34533819e-03 -4.72727259e-04 9.99956220e-01 -4.33271304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380371743 meters 0.03566930633988711 Centerline is valid? [True, True] Translation: X:313.22, Y:-19.21, Z:-4.33 [[ 9.99868288e-01 1.35904138e-02 -8.87175251e-03 3.13219996e+02] [-1.35860337e-02 9.99907552e-01 5.53804283e-04 -1.92111753e+01] [ 8.87845877e-03 -4.33199411e-04 9.99960492e-01 -4.33215205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.410371743 meters 0.034919127693689364 Centerline is valid? [True, True] Translation: X:313.25, Y:-19.21, Z:-4.33 [[ 9.99836338e-01 1.55058467e-02 -9.32021742e-03 3.13249073e+02] [-1.55010949e-02 9.99879682e-01 5.81873790e-04 -1.92112127e+01] [ 9.32811847e-03 -4.37304985e-04 9.99956397e-01 -4.33240198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440371743 meters 0.03363160637263624 Centerline is valid? [True, True] Translation: X:313.28, Y:-19.21, Z:-4.33 [[ 9.99805259e-01 1.73282669e-02 -9.44330279e-03 3.13277818e+02] [-1.73234761e-02 9.99849764e-01 5.88890094e-04 -1.92107879e+01] [ 9.45208850e-03 -4.25184582e-04 9.99955238e-01 -4.33234663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.470371743 meters 0.035076967743947876 Centerline is valid? [True, True] Translation: X:313.31, Y:-19.22, Z:-4.33 [[ 9.99795465e-01 1.77205734e-02 -9.74728582e-03 3.13305093e+02] [-1.77155076e-02 9.99842885e-01 6.05815523e-04 -1.92155711e+01] [ 9.75648977e-03 -4.33013497e-04 9.99952311e-01 -4.33451643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500371743 meters 0.0352119076155079 Centerline is valid? [True, True] Translation: X:313.33, Y:-19.22, Z:-4.33 [[ 9.99797098e-01 1.76060368e-02 -9.78728528e-03 3.13332519e+02] [-1.76009298e-02 9.99844907e-01 6.07693842e-04 -1.92177200e+01] [ 9.79646642e-03 -4.35305218e-04 9.99951919e-01 -4.33479145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.530371743 meters 0.03337009207937087 Centerline is valid? [True, True] Translation: X:313.36, Y:-19.22, Z:-4.33 [[ 9.99799269e-01 1.76600296e-02 -9.46282407e-03 3.13361200e+02] [-1.76552606e-02 9.99843961e-01 5.87277876e-04 -1.92169601e+01] [ 9.47171885e-03 -4.20091367e-04 9.99955054e-01 -4.33313665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560371743 meters 0.03542370636311286 Centerline is valid? [True, True] Translation: X:313.39, Y:-19.22, Z:-4.33 [[ 9.99853464e-01 1.47697589e-02 -8.65476635e-03 3.13389084e+02] [-1.47656691e-02 9.99890838e-01 5.36255313e-04 -1.92232214e+01] [ 8.66174194e-03 -4.08383316e-04 9.99962403e-01 -4.33423610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.590371743 meters 0.03522653498990564 Centerline is valid? [True, True] Translation: X:313.42, Y:-19.23, Z:-4.33 [[ 9.99886849e-01 1.23558808e-02 -8.58025889e-03 3.13418241e+02] [-1.23517733e-02 9.99923573e-01 5.31541200e-04 -1.92250266e+01] [ 8.58617078e-03 -4.25499643e-04 9.99963048e-01 -4.33381587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620371743 meters 0.0362053132538131 Centerline is valid? [True, True] Translation: X:313.45, Y:-19.23, Z:-4.33 [[ 9.99940565e-01 7.95149942e-03 -7.45921910e-03 3.13447561e+02] [-7.94827100e-03 9.99968305e-01 4.62355075e-04 -1.92318070e+01] [ 7.46265910e-03 -4.03039700e-04 9.99972073e-01 -4.33377666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.650371743 meters 0.03820013047050939 Centerline is valid? [True, True] Translation: X:313.48, Y:-19.24, Z:-4.33 [[ 9.99963493e-01 5.02206023e-03 -6.91311792e-03 3.13475359e+02] [-5.01922563e-03 9.99987312e-01 4.27319887e-04 -1.92388248e+01] [ 6.91517623e-03 -3.92605789e-04 9.99976013e-01 -4.33492318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680371743 meters 0.04137500025561107 Centerline is valid? [True, True] Translation: X:313.50, Y:-19.25, Z:-4.34 [[ 9.99976788e-01 -7.32590697e-04 -6.77393198e-03 3.13504515e+02] [ 7.35447853e-04 9.99999642e-01 4.19305588e-04 -1.92476316e+01] [ 6.77362238e-03 -4.24277729e-04 9.99976969e-01 -4.33531413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.710371743 meters 0.04137500025561107 Centerline is valid? [True, True] Translation: X:313.53, Y:-19.25, Z:-4.34 [[ 9.99976736e-01 -8.00374088e-04 -6.77400516e-03 3.13532825e+02] [ 8.03224816e-04 9.99999590e-01 4.18123274e-04 -1.92493192e+01] [ 6.77366773e-03 -4.23554596e-04 9.99976969e-01 -4.33571255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740371743 meters 0.041124971007566055 Centerline is valid? [True, True] Translation: X:313.56, Y:-19.25, Z:-4.33 [[ 9.99970352e-01 -3.68943823e-03 -6.75894944e-03 3.13563164e+02] [ 3.69234845e-03 9.99993096e-01 4.18145528e-04 -1.92518535e+01] [ 6.75736006e-03 -4.43089527e-04 9.99977071e-01 -4.33487450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.770371743 meters 0.04469732667400381 Centerline is valid? [True, True] Translation: X:313.59, Y:-19.26, Z:-4.34 [[ 9.99957957e-01 -6.44059885e-03 -6.52709288e-03 3.13591806e+02] [ 6.44336657e-03 9.99979160e-01 4.03094763e-04 -1.92600117e+01] [ 6.52436068e-03 -4.45134268e-04 9.99978617e-01 -4.33631660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800371743 meters 0.04533767823068838 Centerline is valid? [True, True] Translation: X:313.62, Y:-19.27, Z:-4.34 [[ 9.99924489e-01 -1.06784217e-02 -6.08168661e-03 3.13621864e+02] [ 1.06809056e-02 9.99942887e-01 3.76098144e-04 -1.92654556e+01] [ 6.07732313e-03 -4.41027666e-04 9.99981436e-01 -4.33643455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.830371743 meters 0.0458791680987579 Centerline is valid? [True, True] Translation: X:313.65, Y:-19.27, Z:-4.34 [[ 9.99908264e-01 -1.23778931e-02 -5.50011826e-03 3.13652803e+02] [ 1.23799537e-02 9.99923307e-01 3.40762879e-04 -1.92695351e+01] [ 5.49547852e-03 -4.08822828e-04 9.99984816e-01 -4.33689302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86037174300003 meters 0.043302774488937636 Centerline is valid? [True, True] Translation: X:313.68, Y:-19.27, Z:-4.34 [[ 9.99872159e-01 -1.53097720e-02 -4.61258401e-03 3.13684121e+02] [ 1.53112519e-02 9.99882735e-01 2.85706385e-04 -1.92694489e+01] [ 4.60766902e-03 -3.56294296e-04 9.99989321e-01 -4.33530083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.890371743 meters 0.043971105351050734 Centerline is valid? [True, True] Translation: X:313.72, Y:-19.27, Z:-4.34 [[ 9.99858374e-01 -1.61765938e-02 -4.64209862e-03 3.13715862e+02] [ 1.61781071e-02 9.99869084e-01 2.88623672e-04 -1.92730082e+01] [ 4.63682195e-03 -3.63683164e-04 9.99989184e-01 -4.33547823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92037174300003 meters 0.04818642521751711 Centerline is valid? [True, True] Translation: X:313.75, Y:-19.28, Z:-4.34 [[ 9.99845425e-01 -1.68741136e-02 -4.93869845e-03 3.13746823e+02] [ 1.68758347e-02 9.99857546e-01 3.07009796e-04 -1.92815288e+01] [ 4.93281439e-03 -3.90306998e-04 9.99987757e-01 -4.33678647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.950371743 meters 0.04415977137763942 Centerline is valid? [True, True] Translation: X:313.78, Y:-19.28, Z:-4.34 [[ 9.99844486e-01 -1.70236255e-02 -4.60434708e-03 3.13779519e+02] [ 1.70251259e-02 9.99855021e-01 2.86864032e-04 -1.92783009e+01] [ 4.59879608e-03 -3.65209009e-04 9.99989359e-01 -4.33553980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.980371743 meters 0.04874508980144039 Centerline is valid? [True, True] Translation: X:313.81, Y:-19.29, Z:-4.34 [[ 9.99835176e-01 -1.77016739e-02 -4.03390771e-03 3.13810039e+02] [ 1.77028314e-02 9.99843261e-01 2.51412512e-04 -1.92880905e+01] [ 4.02882501e-03 -3.22782661e-04 9.99991832e-01 -4.33722833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.010371743 meters 0.04737828995668996 Centerline is valid? [True, True] Translation: X:313.84, Y:-19.29, Z:-4.34 [[ 9.99829503e-01 -1.80542585e-02 -3.87416589e-03 3.13841810e+02] [ 1.80553333e-02 9.99836960e-01 2.42645456e-04 -1.92884953e+01] [ 3.86915346e-03 -3.12553442e-04 9.99992466e-01 -4.33682282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.040371743 meters 0.04450869285282635 Centerline is valid? [True, True] Translation: X:313.87, Y:-19.29, Z:-4.34 [[ 9.99824653e-01 -1.83713227e-02 -3.62727955e-03 3.13874445e+02] [ 1.83722666e-02 9.99831190e-01 2.27052049e-04 -1.92864208e+01] [ 3.62249598e-03 -2.93653583e-04 9.99993396e-01 -4.33529911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.070371743 meters 0.044343281747193396 Centerline is valid? [True, True] Translation: X:313.91, Y:-19.29, Z:-4.34 [[ 9.99825773e-01 -1.82033774e-02 -4.13056987e-03 3.13907231e+02] [ 1.82046032e-02 9.99834249e-01 2.59375872e-04 -1.92884066e+01] [ 4.12516371e-03 -3.34526068e-04 9.99991436e-01 -4.33565606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.100371743 meters 0.04573767145962087 Centerline is valid? [True, True] Translation: X:313.94, Y:-19.29, Z:-4.34 [[ 9.99820969e-01 -1.82982566e-02 -4.81697584e-03 3.13938243e+02] [ 1.82999212e-02 9.99832497e-01 3.01713246e-04 -1.92923949e+01] [ 4.81064816e-03 -3.89809508e-04 9.99988353e-01 -4.33689379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.130371743 meters 0.04656791684974338 Centerline is valid? [True, True] Translation: X:313.97, Y:-19.30, Z:-4.34 [[ 9.99812547e-01 -1.83151479e-02 -6.27910479e-03 3.13968994e+02] [ 1.83179773e-02 9.99832134e-01 3.93393299e-04 -1.92956900e+01] [ 6.27084569e-03 -5.08340055e-04 9.99980209e-01 -4.33878667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.160371743 meters 0.0478650529753166 Centerline is valid? [True, True] Translation: X:314.00, Y:-19.30, Z:-4.34 [[ 9.99809049e-01 -1.83844474e-02 -6.62405134e-03 3.14000399e+02] [ 1.83875998e-02 9.99830848e-01 4.15307203e-04 -1.92995279e+01] [ 6.61529567e-03 -5.37028304e-04 9.99977974e-01 -4.34038816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.190371743 meters 0.047093623056428294 Centerline is valid? [True, True] Translation: X:314.03, Y:-19.30, Z:-4.34 [[ 9.99804521e-01 -1.85020058e-02 -6.97102951e-03 3.14032214e+02] [ 1.85055049e-02 9.99828663e-01 4.37772075e-04 -1.92999796e+01] [ 6.96173545e-03 -5.66688920e-04 9.99975606e-01 -4.34088165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.220371743 meters 0.04817417812046532 Centerline is valid? [True, True] Translation: X:314.06, Y:-19.30, Z:-4.34 [[ 9.99784366e-01 -1.96774018e-02 -6.63485875e-03 3.14064110e+02] [ 1.96806005e-02 9.99806231e-01 4.17167309e-04 -1.93031082e+01] [ 6.62536435e-03 -5.47655358e-04 9.99977902e-01 -4.34070801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.250371743 meters 0.04664124077755422 Centerline is valid? [True, True] Translation: X:314.10, Y:-19.30, Z:-4.34 [[ 9.99770047e-01 -2.04454534e-02 -6.46809780e-03 3.14096221e+02] [ 2.04485126e-02 9.99790824e-01 4.07182034e-04 -1.93028364e+01] [ 6.45841981e-03 -5.39351381e-04 9.99978999e-01 -4.33970826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.280371743 meters 0.04692992276897929 Centerline is valid? [True, True] Translation: X:314.13, Y:-19.31, Z:-4.34 [[ 9.99729333e-01 -2.25988989e-02 -5.52716765e-03 3.14127041e+02] [ 2.26011656e-02 9.99744500e-01 3.47968325e-04 -1.93057867e+01] [ 5.51789176e-03 -4.72794573e-04 9.99984665e-01 -4.33904882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.310371743 meters 0.04711261578515161 Centerline is valid? [True, True] Translation: X:314.16, Y:-19.31, Z:-4.34 [[ 9.99702410e-01 -2.38413057e-02 -5.16564255e-03 3.14158822e+02] [ 2.38433044e-02 9.99715655e-01 3.25667322e-04 -1.93087193e+01] [ 5.15640939e-03 -4.48736395e-04 9.99986605e-01 -4.33916921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.340371743 meters 0.04837560617913199 Centerline is valid? [True, True] Translation: X:314.19, Y:-19.31, Z:-4.34 [[ 9.99659795e-01 -2.56524493e-02 -4.71656549e-03 3.14190103e+02] [ 2.56541355e-02 9.99670834e-01 2.97330883e-04 -1.93132648e+01] [ 4.70738569e-03 -4.18229139e-04 9.99988833e-01 -4.33927010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.370371743 meters 0.05079804521175181 Centerline is valid? [True, True] Translation: X:314.22, Y:-19.32, Z:-4.34 [[ 9.99564306e-01 -2.91781117e-02 -4.45368530e-03 3.14218954e+02] [ 2.91796484e-02 9.99574144e-01 2.80426918e-04 -1.93202160e+01] [ 4.44360634e-03 -4.10261709e-04 9.99990043e-01 -4.33977781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.400371743 meters 0.0511975580502831 Centerline is valid? [True, True] Translation: X:314.25, Y:-19.32, Z:-4.34 [[ 9.99500308e-01 -3.13655510e-02 -3.91620705e-03 3.14249567e+02] [ 3.13667567e-02 9.99507912e-01 2.46810620e-04 -1.93236297e+01] [ 3.90653858e-03 -3.69526005e-04 9.99992301e-01 -4.34039461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.430371743 meters 0.0524323320197133 Centerline is valid? [True, True] Translation: X:314.28, Y:-19.33, Z:-4.34 [[ 9.99367389e-01 -3.53329992e-02 -4.04982566e-03 3.14280677e+02] [ 3.53343219e-02 9.99375515e-01 2.55492009e-04 -1.93297489e+01] [ 4.03826930e-03 -3.98428225e-04 9.99991767e-01 -4.34149205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.460371743 meters 0.055145013768721336 Centerline is valid? [True, True] Translation: X:314.31, Y:-19.34, Z:-4.34 [[ 9.99291343e-01 -3.73212656e-02 -4.89234028e-03 3.14310762e+02] [ 3.73232203e-02 9.99303198e-01 3.08826288e-04 -1.93368420e+01] [ 4.87740550e-03 -4.91205330e-04 9.99987985e-01 -4.34285652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.490371743 meters 0.05406702795902673 Centerline is valid? [True, True] Translation: X:314.34, Y:-19.34, Z:-4.34 [[ 9.99202527e-01 -3.96227795e-02 -4.93417118e-03 3.14341718e+02] [ 3.96247938e-02 9.99214581e-01 3.11109019e-04 -1.93382683e+01] [ 4.91796879e-03 -5.06376433e-04 9.99987779e-01 -4.34327261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.520371743 meters 0.05797611741554433 Centerline is valid? [True, True] Translation: X:314.37, Y:-19.35, Z:-4.34 [[ 9.99112829e-01 -4.17814574e-02 -5.27876752e-03 3.14370652e+02] [ 4.17837960e-02 9.99126620e-01 3.33452113e-04 -1.93467928e+01] [ 5.26022504e-03 -5.53723229e-04 9.99986012e-01 -4.34467901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.550371743 meters 0.0577693494271969 Centerline is valid? [True, True] Translation: X:314.40, Y:-19.35, Z:-4.34 [[ 9.98957400e-01 -4.53417649e-02 -5.31393682e-03 3.14401702e+02] [ 4.53441846e-02 9.98971367e-01 3.35694094e-04 -1.93503950e+01] [ 5.29324977e-03 -5.76300231e-04 9.99985825e-01 -4.34480435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.580371743 meters 0.0572316820428242 Centerline is valid? [True, True] Translation: X:314.43, Y:-19.35, Z:-4.34 [[ 9.98877171e-01 -4.70195888e-02 -5.79275154e-03 3.14433085e+02] [ 4.70224937e-02 9.98893764e-01 3.66223929e-04 -1.93521333e+01] [ 5.76912369e-03 -6.38202345e-04 9.99983155e-01 -4.34475008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61037174300003 meters 0.05978267800360884 Centerline is valid? [True, True] Translation: X:314.46, Y:-19.36, Z:-4.35 [[ 9.98799706e-01 -4.87126145e-02 -5.12137064e-03 3.14463080e+02] [ 4.87149065e-02 9.98812672e-01 3.23674072e-04 -1.93594887e+01] [ 5.09952288e-03 -5.72772660e-04 9.99986833e-01 -4.34546131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.640371743 meters 0.06074535166552283 Centerline is valid? [True, True] Translation: X:314.49, Y:-19.36, Z:-4.35 [[ 9.98814075e-01 -4.84615936e-02 -4.68157952e-03 3.14494266e+02] [ 4.84635252e-02 9.98824908e-01 2.99989250e-04 -1.93635850e+01] [ 4.66154027e-03 -5.26519332e-04 9.99988996e-01 -4.34601842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67037174300003 meters 0.057360674811979255 Centerline is valid? [True, True] Translation: X:314.53, Y:-19.36, Z:-4.34 [[ 9.98831565e-01 -4.81206293e-02 -4.46211273e-03 3.14526627e+02] [ 4.81223729e-02 9.98841407e-01 2.84177284e-04 -1.93616042e+01] [ 4.44326816e-03 -4.98572694e-04 9.99990004e-01 -4.34499874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.700371743 meters 0.059139210352472736 Centerline is valid? [True, True] Translation: X:314.56, Y:-19.37, Z:-4.35 [[ 9.98906404e-01 -4.66383846e-02 -3.29505178e-03 3.14556420e+02] [ 4.66393250e-02 9.98911773e-01 2.09093214e-04 -1.93666801e+01] [ 3.28171425e-03 -3.62543542e-04 9.99994549e-01 -4.34538269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.730371743 meters 0.05426328514420252 Centerline is valid? [True, True] Translation: X:314.59, Y:-19.36, Z:-4.34 [[ 9.98957861e-01 -4.55088246e-02 -3.48407198e-03 3.14588267e+02] [ 4.55098714e-02 9.98963864e-01 2.21739397e-04 -1.93618792e+01] [ 3.47037091e-03 -3.80067982e-04 9.99993906e-01 -4.34393921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.760371743 meters 0.06257097890992384 Centerline is valid? [True, True] Translation: X:314.62, Y:-19.38, Z:-4.35 [[ 9.99080320e-01 -4.27364180e-02 -3.48028218e-03 3.14617411e+02] [ 4.27374442e-02 9.99086314e-01 2.20999355e-04 -1.93765060e+01] [ 3.46765757e-03 -3.69534472e-04 9.99993919e-01 -4.34652831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.790371743 meters 0.055349421828446196 Centerline is valid? [True, True] Translation: X:314.65, Y:-19.37, Z:-4.35 [[ 9.99131136e-01 -4.15132372e-02 -3.69102200e-03 3.14650000e+02] [ 4.15143882e-02 9.99137878e-01 2.35737328e-04 -1.93687176e+01] [ 3.67805367e-03 -3.88763024e-04 9.99993160e-01 -4.34564758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.820371743 meters 0.0544555789894448 Centerline is valid? [True, True] Translation: X:314.68, Y:-19.37, Z:-4.35 [[ 9.99243669e-01 -3.86763724e-02 -4.02854200e-03 3.14680760e+02] [ 3.86777162e-02 9.99251704e-01 2.56185946e-04 -1.93701981e+01] [ 4.01561912e-03 -4.11806989e-04 9.99991853e-01 -4.34664305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.850371743 meters 0.05679533924905932 Centerline is valid? [True, True] Translation: X:314.71, Y:-19.38, Z:-4.35 [[ 9.99297601e-01 -3.72660917e-02 -3.94254631e-03 3.14710776e+02] [ 3.72673690e-02 9.99305299e-01 2.50983005e-04 -1.93757207e+01] [ 3.93045426e-03 -3.97735043e-04 9.99992197e-01 -4.34752881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880371743 meters 0.05453619765380943 Centerline is valid? [True, True] Translation: X:314.74, Y:-19.37, Z:-4.35 [[ 9.99345641e-01 -3.59696360e-02 -3.80450939e-03 3.14742573e+02] [ 3.59708188e-02 9.99352811e-01 2.42906363e-04 -1.93748411e+01] [ 3.79330990e-03 -3.79598733e-04 9.99992733e-01 -4.34733796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.910371743 meters 0.05193361039082894 Centerline is valid? [True, True] Translation: X:314.77, Y:-19.37, Z:-4.35 [[ 9.99446546e-01 -3.30811406e-02 -3.49865634e-03 3.14772991e+02] [ 3.30821210e-02 9.99452612e-01 2.22713135e-04 -1.93742693e+01] [ 3.48937362e-03 -3.38332846e-04 9.99993855e-01 -4.34691580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940371743 meters 0.05363701358064005 Centerline is valid? [True, True] Translation: X:314.80, Y:-19.38, Z:-4.35 [[ 9.99495618e-01 -3.15638811e-02 -3.49715930e-03 3.14802941e+02] [ 3.15648525e-02 9.99501681e-01 2.22914131e-04 -1.93788161e+01] [ 3.48838056e-03 -3.33189014e-04 9.99993860e-01 -4.34744482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.970371743 meters 0.051860432436557996 Centerline is valid? [True, True] Translation: X:314.83, Y:-19.38, Z:-4.35 [[ 9.99581604e-01 -2.87446404e-02 -3.21923090e-03 3.14833463e+02] [ 2.87454485e-02 9.99586743e-01 2.05016051e-04 -1.93791138e+01] [ 3.21200742e-03 -2.97468509e-04 9.99994797e-01 -4.34719154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000371743 meters 0.05182325603601848 Centerline is valid? [True, True] Translation: X:314.86, Y:-19.38, Z:-4.35 [[ 9.99608562e-01 -2.78564101e-02 -2.59688631e-03 3.14864705e+02] [ 2.78569344e-02 9.99611907e-01 1.65937340e-04 -1.93816494e+01] [ 2.59125606e-03 -2.38213677e-04 9.99996614e-01 -4.34750763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.030371743 meters 0.050915452893685195 Centerline is valid? [True, True] Translation: X:314.90, Y:-19.38, Z:-4.35 [[ 9.99646939e-01 -2.64844110e-02 -2.13845650e-03 3.14895879e+02] [ 2.64847638e-02 9.99649208e-01 1.36809865e-04 -1.93834260e+01] [ 2.13408302e-03 -1.93398079e-04 9.99997704e-01 -4.34787007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060371743 meters 0.05134900246264783 Centerline is valid? [True, True] Translation: X:314.93, Y:-19.39, Z:-4.35 [[ 9.99683124e-01 -2.50820220e-02 -2.13148270e-03 3.14926285e+02] [ 2.50823695e-02 9.99685379e-01 1.36437074e-04 -1.93870542e+01] [ 2.12738997e-03 -1.89856477e-04 9.99997719e-01 -4.34864320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.090371743 meters 0.048117291756106524 Centerline is valid? [True, True] Translation: X:314.96, Y:-19.38, Z:-4.35 [[ 9.99690409e-01 -2.47432725e-02 -2.61846383e-03 3.14958667e+02] [ 2.47437973e-02 9.99693811e-01 1.68201999e-04 -1.93845934e+01] [ 2.61350022e-03 -2.32940663e-04 9.99996558e-01 -4.34827683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120371743 meters 0.04818037855965453 Centerline is valid? [True, True] Translation: X:314.99, Y:-19.39, Z:-4.35 [[ 9.99707084e-01 -2.40859487e-02 -2.36933567e-03 3.14991042e+02] [ 2.40863772e-02 9.99709870e-01 1.52465694e-04 -1.93875426e+01] [ 2.36497597e-03 -2.09489747e-04 9.99997181e-01 -4.34818501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.150371743 meters 0.04949203245406839 Centerline is valid? [True, True] Translation: X:315.02, Y:-19.39, Z:-4.35 [[ 9.99704147e-01 -2.42628664e-02 -1.71231193e-03 3.15021796e+02] [ 2.42630907e-02 9.99705602e-01 1.10304225e-04 -1.93936357e+01] [ 1.70913153e-03 -1.51817570e-04 9.99998528e-01 -4.34817391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180371743 meters 0.05103410528347959 Centerline is valid? [True, True] Translation: X:315.05, Y:-19.40, Z:-4.35 [[ 9.99704158e-01 -2.43078626e-02 -8.50503315e-04 3.15053712e+02] [ 2.43079188e-02 9.99704517e-01 5.57366067e-05 -1.93999313e+01] [ 8.48897168e-04 -7.63940830e-05 9.99999637e-01 -4.34894542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.210371743 meters 0.048427660471844616 Centerline is valid? [True, True] Translation: X:315.09, Y:-19.40, Z:-4.35 [[ 9.99684623e-01 -2.51090954e-02 -4.34410617e-04 3.15085349e+02] [ 2.51091102e-02 9.99684716e-01 2.86134641e-05 -1.94011994e+01] [ 4.33555196e-04 -3.95121041e-05 9.99999905e-01 -4.34785242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240371743 meters 0.050286761465707645 Centerline is valid? [True, True] Translation: X:315.12, Y:-19.41, Z:-4.35 [[ 9.99683477e-01 -2.51575828e-02 2.06706714e-04 3.15117200e+02] [ 2.51575858e-02 9.99683498e-01 -1.20132320e-05 -1.94073302e+01] [-2.06339068e-04 1.72096714e-05 9.99999979e-01 -4.34822196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.270371743 meters 0.048518887928412635 Centerline is valid? [True, True] Translation: X:315.15, Y:-19.41, Z:-4.35 [[ 9.99687347e-01 -2.49989831e-02 5.08681758e-04 3.15149451e+02] [ 2.49990024e-02 9.99687476e-01 -3.16872228e-05 -1.94080092e+01] [-5.07730634e-04 4.43938522e-05 9.99999870e-01 -4.34798866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300371743 meters 0.04977868137145381 Centerline is valid? [True, True] Translation: X:315.18, Y:-19.41, Z:-4.35 [[ 9.99680792e-01 -2.52637809e-02 2.35389912e-04 3.15180590e+02] [ 2.52637850e-02 9.99680820e-01 -1.43910181e-05 -1.94148502e+01] [-2.34951209e-04 2.03332645e-05 9.99999972e-01 -4.34905008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.330371743 meters 0.04770991756160439 Centerline is valid? [True, True] Translation: X:315.21, Y:-19.42, Z:-4.35 [[ 9.99678985e-01 -2.53345303e-02 -2.97759134e-04 3.15212748e+02] [ 2.53345375e-02 9.99679029e-01 2.02016327e-05 -1.94157038e+01] [ 2.97151763e-04 -2.77387376e-05 9.99999955e-01 -4.34958030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36037174300003 meters 0.053660892952621324 Centerline is valid? [True, True] Translation: X:315.24, Y:-19.43, Z:-4.35 [[ 9.99682353e-01 -2.51927511e-02 -7.20637662e-04 3.15243412e+02] [ 2.51927920e-02 9.99682610e-01 4.77597990e-05 -1.94308486e+01] [ 7.19205738e-04 -6.58995030e-05 9.99999739e-01 -4.35232329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.390371743 meters 0.04905425666665162 Centerline is valid? [True, True] Translation: X:315.28, Y:-19.43, Z:-4.35 [[ 9.99681443e-01 -2.52311971e-02 -6.31479705e-04 3.15275693e+02] [ 2.52312285e-02 9.99681641e-01 4.17834521e-05 -1.94277985e+01] [ 6.30224421e-04 -5.77031504e-05 9.99999800e-01 -4.35233114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42037174300003 meters 0.04883705618928725 Centerline is valid? [True, True] Translation: X:315.31, Y:-19.43, Z:-4.35 [[ 9.99692295e-01 -2.47946284e-02 -7.36333282e-04 3.15308159e+02] [ 2.47946709e-02 9.99692564e-01 4.86088900e-05 -1.94313872e+01] [ 7.34901666e-04 -6.68510742e-05 9.99999728e-01 -4.35301394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.450371743 meters 0.04745319710377255 Centerline is valid? [True, True] Translation: X:315.34, Y:-19.43, Z:-4.35 [[ 9.99702336e-01 -2.43787942e-02 -9.55653243e-04 3.15339872e+02] [ 2.43788653e-02 9.99702789e-01 6.28699367e-05 -1.94339872e+01] [ 9.53836519e-04 -8.61489643e-05 9.99999541e-01 -4.35314300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.480371743 meters 0.05271572487983226 Centerline is valid? [True, True] Translation: X:315.37, Y:-19.45, Z:-4.35 [[ 9.99707930e-01 -2.41453455e-02 -1.02825641e-03 3.15370173e+02] [ 2.41454274e-02 9.99708454e-01 6.73642030e-05 -1.94451315e+01] [ 1.02633009e-03 -9.21722185e-05 9.99999469e-01 -4.35475746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.510371743 meters 0.047550072637909384 Centerline is valid? [True, True] Translation: X:315.40, Y:-19.44, Z:-4.35 [[ 9.99721758e-01 -2.35467416e-02 -1.39943777e-03 3.15402483e+02] [ 2.35468930e-02 9.99722729e-01 9.17612178e-05 -1.94411269e+01] [ 1.39688907e-03 -1.24688097e-04 9.99999017e-01 -4.35339088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.540371743 meters 0.04790083397294463 Centerline is valid? [True, True] Translation: X:315.43, Y:-19.45, Z:-4.35 [[ 9.99747266e-01 -2.24412736e-02 -1.33922245e-03 3.15433230e+02] [ 2.24414106e-02 9.99748156e-01 8.73953357e-05 -1.94464658e+01] [ 1.33692391e-03 -1.17427289e-04 9.99999099e-01 -4.35462527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.570371743 meters 0.04790083397294463 Centerline is valid? [True, True] Translation: X:315.47, Y:-19.45, Z:-4.36 [[ 9.99749685e-01 -2.23332555e-02 -1.33914746e-03 3.15465823e+02] [ 2.23333940e-02 9.99750575e-01 8.85497458e-05 -1.94486743e+01] [ 1.33683584e-03 -1.18435288e-04 9.99999099e-01 -4.35508392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.600371743 meters 0.04551305214292773 Centerline is valid? [True, True] Translation: X:315.50, Y:-19.45, Z:-4.36 [[ 9.99771138e-01 -2.13544462e-02 -1.28792991e-03 3.15498309e+02] [ 2.13545730e-02 9.99771962e-01 8.48258974e-05 -1.94489706e+01] [ 1.28582480e-03 -1.12309677e-04 9.99999167e-01 -4.35504839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.630371743 meters 0.0665074247854487 Centerline is valid? [True, True] Translation: X:315.53, Y:-19.48, Z:-4.36 [[ 9.99875752e-01 -1.56992404e-02 1.41921672e-03 3.15525307e+02] [ 1.56993876e-02 9.99876753e-01 -9.26687624e-05 -1.94841951e+01] [-1.41758698e-03 1.14938082e-04 9.99998989e-01 -4.35966055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.660371743 meters 0.0439076632711286 Centerline is valid? [True, True] Translation: X:315.56, Y:-19.45, Z:-4.36 [[ 9.99839535e-01 -1.79010870e-02 -6.74210918e-04 3.15558709e+02] [ 1.79011208e-02 9.99839761e-01 4.41179841e-05 -1.94531900e+01] [ 6.73313123e-04 -5.61800357e-05 9.99999772e-01 -4.35541766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.690371743 meters 0.04624976015978128 Centerline is valid? [True, True] Translation: X:315.59, Y:-19.46, Z:-4.36 [[ 9.99868542e-01 -1.61998718e-02 -6.79835192e-04 3.15588469e+02] [ 1.61999067e-02 9.99868772e-01 4.58380991e-05 -1.94600038e+01] [ 6.79003407e-04 -5.68453400e-05 9.99999768e-01 -4.35612459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.720371743 meters 0.044835805418660286 Centerline is valid? [True, True] Translation: X:315.62, Y:-19.46, Z:-4.36 [[ 9.99888356e-01 -1.49300971e-02 -6.06639798e-04 3.15620476e+02] [ 1.49301243e-02 9.99888539e-01 4.03246695e-05 -1.94606973e+01] [ 6.05970130e-04 -4.93773751e-05 9.99999815e-01 -4.35627454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.750371743 meters 0.0447611069496741 Centerline is valid? [True, True] Translation: X:315.65, Y:-19.47, Z:-4.36 [[ 9.99920665e-01 -1.25951467e-02 -1.63918471e-04 3.15650982e+02] [ 1.25951487e-02 9.99920678e-01 1.09431793e-05 -1.94651929e+01] [ 1.63767638e-04 -1.30068886e-05 9.99999987e-01 -4.35702072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.780371743 meters 0.04266832911224883 Centerline is valid? [True, True] Translation: X:315.68, Y:-19.47, Z:-4.36 [[ 9.99945762e-01 -1.04140985e-02 -1.36777728e-04 3.15683059e+02] [ 1.04140999e-02 9.99945772e-01 9.68653259e-06 -1.94664467e+01] [ 1.36669434e-04 -1.11104241e-05 9.99999991e-01 -4.35680576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.810371743 meters 0.043178308360570086 Centerline is valid? [True, True] Translation: X:315.71, Y:-19.47, Z:-4.36 [[ 9.99960119e-01 -8.92468430e-03 -3.32076819e-04 3.15712869e+02] [ 8.92469208e-03 9.99960174e-01 2.19428472e-05 -1.94703943e+01] [ 3.31867760e-04 -2.49056554e-05 9.99999945e-01 -4.35739828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.840371743 meters 0.04177019357908412 Centerline is valid? [True, True] Translation: X:315.75, Y:-19.47, Z:-4.36 [[ 9.99966006e-01 -8.21493184e-03 -7.08358161e-04 3.15745358e+02] [ 8.21496742e-03 9.99966255e-01 4.73309017e-05 -1.94708573e+01] [ 7.07945437e-04 -5.31484319e-05 9.99999748e-01 -4.35775372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.870371743 meters 0.04204561801039379 Centerline is valid? [True, True] Translation: X:315.78, Y:-19.48, Z:-4.36 [[ 9.99981348e-01 -5.95672608e-03 -1.34964595e-03 3.15775805e+02] [ 5.95685132e-03 9.99982254e-01 8.87963533e-05 -1.94751389e+01] [ 1.34909306e-03 -9.68343372e-05 9.99999085e-01 -4.35952685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.900371743 meters 0.042918259300997796 Centerline is valid? [True, True] Translation: X:315.81, Y:-19.48, Z:-4.36 [[ 9.99987276e-01 -4.86323085e-03 -1.34059230e-03 3.15806042e+02] [ 4.86335313e-03 9.99988170e-01 8.79697838e-05 -1.94792699e+01] [ 1.34014863e-03 -9.44884382e-05 9.99999098e-01 -4.36100140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.930371743 meters 0.04173800475305563 Centerline is valid? [True, True] Translation: X:315.84, Y:-19.48, Z:-4.36 [[ 9.99991413e-01 -3.83882892e-03 -1.56127320e-03 3.15837089e+02] [ 3.83899394e-03 9.99992626e-01 1.02714729e-04 -1.94802604e+01] [ 1.56086738e-03 -1.08707566e-04 9.99998776e-01 -4.36151251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.960371743 meters 0.041168018193711624 Centerline is valid? [True, True] Translation: X:315.87, Y:-19.48, Z:-4.36 [[ 9.99994596e-01 -2.85786524e-03 -1.62468699e-03 3.15867991e+02] [ 2.85804165e-03 9.99995910e-01 1.06266534e-04 -1.94817212e+01] [ 1.62437665e-03 -1.10909383e-04 9.99998675e-01 -4.36096102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.990371743 meters 0.04128912939706598 Centerline is valid? [True, True] Translation: X:315.90, Y:-19.48, Z:-4.36 [[ 9.99996526e-01 -2.32792914e-03 -1.23674742e-03 3.15898621e+02] [ 2.32803104e-03 9.99997287e-01 8.09620504e-05 -1.94838331e+01] [ 1.23655559e-03 -8.38409554e-05 9.99999232e-01 -4.36149442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.020371743 meters 0.03999470262319417 Centerline is valid? [True, True] Translation: X:315.93, Y:-19.48, Z:-4.36 [[ 9.99998081e-01 -1.73639951e-03 -9.07699248e-04 3.15929264e+02] [ 1.73645416e-03 9.99998491e-01 5.94213429e-05 -1.94837889e+01] [ 9.07594698e-04 -6.09974070e-05 9.99999586e-01 -4.36122629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.050371743 meters 0.04112766516016459 Centerline is valid? [True, True] Translation: X:315.96, Y:-19.49, Z:-4.36 [[ 9.99996946e-01 -1.98025169e-03 -1.47865675e-03 3.15959005e+02] [ 1.98039738e-03 9.99998034e-01 9.70748212e-05 -1.94878430e+01] [ 1.47846161e-03 -1.00002853e-04 9.99998902e-01 -4.36201098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.080371743 meters 0.04017570568780712 Centerline is valid? [True, True] Translation: X:315.99, Y:-19.49, Z:-4.36 [[ 9.99996016e-01 -2.34846745e-03 -1.56632243e-03 3.15989519e+02] [ 2.34863097e-03 9.99997237e-01 1.02565204e-04 -1.94886717e+01] [ 1.56607723e-03 -1.06243509e-04 9.99998768e-01 -4.36238273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11037174300003 meters 0.042115520286724356 Centerline is valid? [True, True] Translation: X:316.02, Y:-19.49, Z:-4.36 [[ 9.99994329e-01 -2.89052849e-03 -1.72821821e-03 3.16019103e+02] [ 2.89073079e-03 9.99995815e-01 1.14567495e-04 -1.94940005e+01] [ 1.72787982e-03 -1.19562659e-04 9.99998500e-01 -4.36394816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.140371743 meters 0.04128459715389408 Centerline is valid? [True, True] Translation: X:316.05, Y:-19.50, Z:-4.36 [[ 9.99989897e-01 -4.26826482e-03 -1.40979182e-03 3.16049921e+02] [ 4.26839975e-03 9.99990886e-01 9.27162136e-05 -1.94955905e+01] [ 1.40938324e-03 -9.87328319e-05 9.99999002e-01 -4.36333970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17037174300003 meters 0.04095364965349122 Centerline is valid? [True, True] Translation: X:316.08, Y:-19.50, Z:-4.36 [[ 9.99985543e-01 -5.08956272e-03 -1.73473963e-03 3.16081190e+02] [ 5.08976871e-03 9.99987041e-01 1.14346728e-04 -1.94967044e+01] [ 1.73413518e-03 -1.23174498e-04 9.99998489e-01 -4.36306227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.200371743 meters 0.04359520808244214 Centerline is valid? [True, True] Translation: X:316.11, Y:-19.50, Z:-4.36 [[ 9.99976855e-01 -6.61942588e-03 -1.57272800e-03 3.16111371e+02] [ 6.61959723e-03 9.99978085e-01 1.03771307e-04 -1.95030360e+01] [ 1.57200663e-03 -1.14179731e-04 9.99998758e-01 -4.36394800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.230371743 meters 0.047077042323708365 Centerline is valid? [True, True] Translation: X:316.14, Y:-19.51, Z:-4.37 [[ 9.99974667e-01 -6.97287707e-03 -1.42959501e-03 3.16141862e+02] [ 6.97301951e-03 9.99975684e-01 9.46790819e-05 -1.95104805e+01] [ 1.42890006e-03 -1.04645277e-04 9.99998974e-01 -4.36526371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.260371743 meters 0.044364483894545365 Centerline is valid? [True, True] Translation: X:316.17, Y:-19.51, Z:-4.36 [[ 9.99968235e-01 -7.86665034e-03 -1.28272737e-03 3.16173945e+02] [ 7.86676628e-03 9.99969053e-01 8.53635097e-05 -1.95085541e+01] [ 1.28201615e-03 -9.54517146e-05 9.99999174e-01 -4.36487153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.290371743 meters 0.04718415735183688 Centerline is valid? [True, True] Translation: X:316.20, Y:-19.51, Z:-4.37 [[ 9.99951431e-01 -9.67789763e-03 -1.86389357e-03 3.16203598e+02] [ 9.67814289e-03 9.99953158e-01 1.22612735e-04 -1.95135344e+01] [ 1.86261962e-03 -1.40645808e-04 9.99998255e-01 -4.36619951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.320371743 meters 0.04785211307573391 Centerline is valid? [True, True] Translation: X:316.24, Y:-19.52, Z:-4.37 [[ 9.99943070e-01 -1.05579986e-02 -1.54418726e-03 3.16236065e+02] [ 1.05581696e-02 9.99944256e-01 1.02652251e-04 -1.95160691e+01] [ 1.54301737e-03 -1.18950198e-04 9.99998802e-01 -4.36676975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.350371743 meters 0.04792350131394058 Centerline is valid? [True, True] Translation: X:316.27, Y:-19.52, Z:-4.37 [[ 9.99934968e-01 -1.13236523e-02 -1.35450393e-03 3.16268270e+02] [ 1.13237849e-02 9.99935880e-01 9.02517176e-05 -1.95183359e+01] [ 1.35339510e-03 -1.05583960e-04 9.99999079e-01 -4.36719553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380371743 meters 0.05089755405908528 Centerline is valid? [True, True] Translation: X:316.30, Y:-19.52, Z:-4.37 [[ 9.99902189e-01 -1.38789105e-02 -1.72862173e-03 3.16297765e+02] [ 1.38791281e-02 9.99903674e-01 1.13951803e-04 -1.95228226e+01] [ 1.72687369e-03 -1.37932420e-04 9.99998499e-01 -4.36811289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.410371743 meters 0.046801445996001834 Centerline is valid? [True, True] Translation: X:316.33, Y:-19.52, Z:-4.37 [[ 9.99892611e-01 -1.45871861e-02 -1.40748359e-03 3.16330237e+02] [ 1.45873326e-02 9.99893595e-01 9.38721108e-05 -1.95183424e+01] [ 1.40596450e-03 -1.14393461e-04 9.99999005e-01 -4.36685673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440371743 meters 0.05397394507834069 Centerline is valid? [True, True] Translation: X:316.36, Y:-19.53, Z:-4.37 [[ 9.99857240e-01 -1.68652282e-02 -1.03170704e-03 3.16359502e+02] [ 1.68653073e-02 9.99857768e-01 6.80836884e-05 -1.95285146e+01] [ 1.03041205e-03 -8.54740249e-05 9.99999465e-01 -4.36823896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.470371743 meters 0.046587167793424644 Centerline is valid? [True, True] Translation: X:316.39, Y:-19.52, Z:-4.37 [[ 9.99845141e-01 -1.75733403e-02 -9.33589150e-04 3.16392417e+02] [ 1.75734064e-02 9.99845574e-01 6.26826415e-05 -1.95187133e+01] [ 9.32343436e-04 -7.90792760e-05 9.99999562e-01 -4.36663815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500371743 meters 0.04559184742699584 Centerline is valid? [True, True] Translation: X:316.42, Y:-19.52, Z:-4.37 [[ 9.99838478e-01 -1.79531757e-02 -8.36950392e-04 3.16424513e+02] [ 1.79532291e-02 9.99838826e-01 5.63718091e-05 -1.95185070e+01] [ 8.35803444e-04 -7.13886660e-05 9.99999648e-01 -4.36693350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.530371743 meters 0.0462687984346427 Centerline is valid? [True, True] Translation: X:316.46, Y:-19.52, Z:-4.37 [[ 9.99821595e-01 -1.88299455e-02 -1.48724382e-03 3.16456190e+02] [ 1.88301137e-02 9.99822693e-01 9.92034964e-05 -1.95191570e+01] [ 1.48511212e-03 -1.27190768e-04 9.99998889e-01 -4.36708503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560371743 meters 0.046431882881844966 Centerline is valid? [True, True] Translation: X:316.49, Y:-19.52, Z:-4.37 [[ 9.99818351e-01 -1.89848017e-02 -1.68586578e-03 3.16488422e+02] [ 1.89850185e-02 9.99819762e-01 1.12724163e-04 -1.95202399e+01] [ 1.68342187e-03 -1.44709880e-04 9.99998573e-01 -4.36727027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.590371743 meters 0.0469144808774001 Centerline is valid? [True, True] Translation: X:316.52, Y:-19.52, Z:-4.37 [[ 9.99809785e-01 -1.94457926e-02 -1.50188860e-03 3.16520913e+02] [ 1.94459655e-02 9.99810904e-01 1.00641583e-04 -1.95203121e+01] [ 1.49964754e-03 -1.29828113e-04 9.99998867e-01 -4.36741242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620371743 meters 0.04779689651912768 Centerline is valid? [True, True] Translation: X:316.55, Y:-19.52, Z:-4.37 [[ 9.99809587e-01 -1.94667368e-02 -1.35516249e-03 3.16551791e+02] [ 1.94668775e-02 9.99810498e-01 9.07240127e-05 -1.95226886e+01] [ 1.35313958e-03 -1.17087520e-04 9.99999078e-01 -4.36776033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.650371743 meters 0.04674820803625442 Centerline is valid? [True, True] Translation: X:316.58, Y:-19.52, Z:-4.37 [[ 9.99804289e-01 -1.97501744e-02 -1.14645581e-03 3.16584311e+02] [ 1.97502758e-02 9.99804941e-01 7.72116692e-05 -1.95219533e+01] [ 1.14470724e-03 -9.98393764e-05 9.99999340e-01 -4.36800844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680371743 meters 0.049554561795445456 Centerline is valid? [True, True] Translation: X:316.62, Y:-19.53, Z:-4.37 [[ 9.99797094e-01 -2.00441141e-02 -2.00117304e-03 3.16615558e+02] [ 2.00444240e-02 9.99799081e-01 1.34960607e-04 -1.95254425e+01] [ 1.99806580e-03 -1.75045583e-04 9.99997989e-01 -4.36999460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.710371743 meters 0.04991537097903432 Centerline is valid? [True, True] Translation: X:316.65, Y:-19.53, Z:-4.37 [[ 9.99791502e-01 -2.03349463e-02 -1.85515137e-03 3.16647453e+02] [ 2.03352123e-02 9.99793210e-01 1.24641893e-04 -1.95269531e+01] [ 1.85223316e-03 -1.62340803e-04 9.99998271e-01 -4.37126690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740371743 meters 0.050783589151450384 Centerline is valid? [True, True] Translation: X:316.68, Y:-19.53, Z:-4.37 [[ 9.99762032e-01 -2.17280270e-02 -1.94203516e-03 3.16678621e+02] [ 2.17283202e-02 9.99763904e-01 1.30004353e-04 -1.95278687e+01] [ 1.93875192e-03 -1.72170578e-04 9.99998106e-01 -4.37188735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.770371743 meters 0.05196657287283368 Centerline is valid? [True, True] Translation: X:316.71, Y:-19.53, Z:-4.37 [[ 9.99754276e-01 -2.21137412e-02 -1.53955764e-03 3.16710883e+02] [ 2.21139270e-02 9.99755452e-01 1.03758163e-04 -1.95308761e+01] [ 1.53688666e-03 -1.37778333e-04 9.99998809e-01 -4.37260982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800371743 meters 0.052357995475322626 Centerline is valid? [True, True] Translation: X:316.74, Y:-19.53, Z:-4.37 [[ 9.99725693e-01 -2.33340365e-02 -2.01551272e-03 3.16742047e+02] [ 2.33343560e-02 9.99727708e-01 1.35113448e-04 -1.95319654e+01] [ 2.01181117e-03 -1.82107077e-04 9.99997960e-01 -4.37300951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.830371743 meters 0.05480287252960399 Centerline is valid? [True, True] Translation: X:316.77, Y:-19.53, Z:-4.37 [[ 9.99707598e-01 -2.41553262e-02 -1.11254050e-03 3.16772996e+02] [ 2.41554256e-02 9.99708212e-01 7.60024901e-05 -1.95347520e+01] [ 1.11038001e-03 -1.02854156e-04 9.99999378e-01 -4.37302515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86037174300003 meters 0.055306839133526006 Centerline is valid? [True, True] Translation: X:316.80, Y:-19.54, Z:-4.37 [[ 9.99682482e-01 -2.51752094e-02 -1.06961267e-03 3.16804574e+02] [ 2.51753011e-02 9.99683049e-01 7.23443025e-05 -1.95356417e+01] [ 1.06745238e-03 -9.92491530e-05 9.99999425e-01 -4.37341523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.890371743 meters 0.0575004487912434 Centerline is valid? [True, True] Translation: X:316.84, Y:-19.54, Z:-4.37 [[ 9.99652811e-01 -2.63375550e-02 -7.68552422e-04 3.16835228e+02] [ 2.63376036e-02 9.99653104e-01 5.32174713e-05 -1.95386744e+01] [ 7.66884196e-04 -7.34408239e-05 9.99999703e-01 -4.37428821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92037174300003 meters 0.053927615470593 Centerline is valid? [True, True] Translation: X:316.87, Y:-19.53, Z:-4.37 [[ 9.99636681e-01 -2.69534391e-02 1.33588065e-04 3.16867538e+02] [ 2.69534404e-02 9.99636690e-01 -7.98519830e-06 -1.95347560e+01] [-1.33324303e-04 1.15829551e-05 9.99999991e-01 -4.37405150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.950371743 meters 0.04967854238734474 Centerline is valid? [True, True] Translation: X:316.90, Y:-19.53, Z:-4.37 [[ 9.99607642e-01 -2.80099140e-02 8.17364336e-05 3.16899733e+02] [ 2.80099144e-02 9.99607645e-01 -3.81460295e-06 -1.95294850e+01] [-8.15975175e-05 6.10253679e-06 9.99999997e-01 -4.37344677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.980371743 meters 0.05290642047422105 Centerline is valid? [True, True] Translation: X:316.93, Y:-19.53, Z:-4.37 [[ 9.99576340e-01 -2.90991997e-02 6.13666147e-04 3.16930143e+02] [ 2.90992302e-02 9.99576527e-01 -4.07906411e-05 -1.95340172e+01] [-6.12219301e-04 5.86305722e-05 9.99999811e-01 -4.37414422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.010371743 meters 0.056690325444374454 Centerline is valid? [True, True] Translation: X:316.96, Y:-19.54, Z:-4.38 [[ 9.99562827e-01 -2.95453976e-02 1.10615030e-03 3.16961259e+02] [ 2.95454960e-02 9.99563434e-01 -7.27572403e-05 -1.95401969e+01] [-1.10351775e-03 1.05407192e-04 9.99999386e-01 -4.37509360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.040371743 meters 0.05412318360863769 Centerline is valid? [True, True] Translation: X:316.99, Y:-19.54, Z:-4.37 [[ 9.99542854e-01 -3.02111553e-02 1.16976715e-03 3.16993896e+02] [ 3.02112670e-02 9.99543532e-01 -7.79699596e-05 -1.95369215e+01] [-1.16687763e-03 1.13274464e-04 9.99999313e-01 -4.37453572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.070371743 meters 0.0519461746857768 Centerline is valid? [True, True] Translation: X:317.03, Y:-19.54, Z:-4.38 [[ 9.99518075e-01 -3.10072253e-02 1.47299792e-03 3.17026541e+02] [ 3.10074038e-02 9.99519150e-01 -9.85235252e-05 -1.95353229e+01] [-1.46923468e-03 1.44149885e-04 9.99998910e-01 -4.37510322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.100371743 meters 0.0642523265062401 Centerline is valid? [True, True] Translation: X:317.06, Y:-19.55, Z:-4.38 [[ 9.99501301e-01 -3.15587105e-02 1.09445311e-03 3.17056740e+02] [ 3.15588095e-02 9.99501894e-01 -7.32586013e-05 -1.95541184e+01] [-1.09159601e-03 1.07761704e-04 9.99999398e-01 -4.37805711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.130371743 meters 0.05503634441705061 Centerline is valid? [True, True] Translation: X:317.09, Y:-19.54, Z:-4.38 [[ 9.99455303e-01 -3.29915929e-02 8.07590302e-04 3.17088470e+02] [ 3.29916475e-02 9.99455626e-01 -5.43824560e-05 -1.95423784e+01] [-8.05356507e-04 8.09965686e-05 9.99999672e-01 -4.37752762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.160371743 meters 0.05238832655393195 Centerline is valid? [True, True] Translation: X:317.12, Y:-19.54, Z:-4.38 [[ 9.99430267e-01 -3.37478911e-02 4.71454217e-04 3.17120656e+02] [ 3.37479094e-02 9.99430377e-01 -3.08996163e-05 -1.95403656e+01] [-4.70142869e-04 4.67926060e-05 9.99999888e-01 -4.37777713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.190371743 meters 0.05263758573656939 Centerline is valid? [True, True] Translation: X:317.15, Y:-19.54, Z:-4.38 [[ 9.99414389e-01 -3.42149520e-02 4.64744815e-04 3.17153049e+02] [ 3.42149699e-02 9.99414496e-01 -3.04810693e-05 -1.95426229e+01] [-4.63429797e-04 4.63644491e-05 9.99999892e-01 -4.37880952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.220371743 meters 0.061527401956966106 Centerline is valid? [True, True] Translation: X:317.18, Y:-19.56, Z:-4.38 [[ 9.99364717e-01 -3.56308473e-02 7.77987121e-04 3.17182605e+02] [ 3.56308989e-02 9.99365017e-01 -5.25054439e-05 -1.95565083e+01] [-7.75622299e-04 8.01924685e-05 9.99999696e-01 -4.38085048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.250371743 meters 0.059693730324816875 Centerline is valid? [True, True] Translation: X:317.21, Y:-19.56, Z:-4.38 [[ 9.99369531e-01 -3.54922664e-02 9.16724759e-04 3.17214937e+02] [ 3.54923373e-02 9.99369947e-01 -6.12524542e-05 -1.95560098e+01] [-9.13973185e-04 9.37505408e-05 9.99999578e-01 -4.38081614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.280371743 meters 0.06123690423853183 Centerline is valid? [True, True] Translation: X:317.25, Y:-19.56, Z:-4.38 [[ 9.99377026e-01 -3.52606202e-02 1.49956078e-03 3.17245899e+02] [ 3.52608112e-02 9.99378139e-01 -1.01148219e-04 -1.95592245e+01] [-1.49506171e-03 1.53960936e-04 9.99998871e-01 -4.38060293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.310371743 meters 0.05584377412924228 Centerline is valid? [True, True] Translation: X:317.28, Y:-19.55, Z:-4.38 [[ 9.99368535e-01 -3.54832684e-02 1.86229758e-03 3.17278518e+02] [ 3.54835635e-02 9.99370252e-01 -1.25646617e-04 -1.95528084e+01] [-1.85666645e-03 1.91648230e-04 9.99998258e-01 -4.37986500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.340371743 meters 0.05589032335470604 Centerline is valid? [True, True] Translation: X:317.31, Y:-19.55, Z:-4.38 [[ 9.99393032e-01 -3.47786307e-02 2.00337754e-03 3.17311091e+02] [ 3.47789708e-02 9.99395019e-01 -1.35175059e-04 -1.95544941e+01] [-1.99746433e-03 2.04768421e-04 9.99997984e-01 -4.37990877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.370371743 meters 0.05608506390838655 Centerline is valid? [True, True] Translation: X:317.34, Y:-19.56, Z:-4.38 [[ 9.99439941e-01 -3.33711216e-02 2.48466989e-03 3.17342361e+02] [ 3.33716433e-02 9.99442997e-01 -1.68792504e-04 -1.95556391e+01] [-2.47765313e-03 2.51615487e-04 9.99996899e-01 -4.37932428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.400371743 meters 0.05657573078571433 Centerline is valid? [True, True] Translation: X:317.37, Y:-19.56, Z:-4.38 [[ 9.99468839e-01 -3.25082029e-02 2.29255364e-03 3.17374994e+02] [ 3.25086435e-02 9.99471442e-01 -1.55168765e-04 -1.95574204e+01] [-2.28629764e-03 2.29614155e-04 9.99997360e-01 -4.38041564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.430371743 meters 0.054371788791537756 Centerline is valid? [True, True] Translation: X:317.41, Y:-19.55, Z:-4.38 [[ 9.99535156e-01 -3.04683366e-02 1.07314656e-03 3.17406501e+02] [ 3.04684323e-02 9.99535727e-01 -7.29836244e-05 -1.95541479e+01] [-1.07042464e-03 1.05646792e-04 9.99999422e-01 -4.38102560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.460371743 meters 0.053547456599726595 Centerline is valid? [True, True] Translation: X:317.44, Y:-19.55, Z:-4.38 [[ 9.99605544e-01 -2.80697780e-02 9.18680545e-04 3.17437627e+02] [ 2.80698472e-02 9.99605962e-01 -6.24601681e-05 -1.95548587e+01] [-9.16565307e-04 8.82227528e-05 9.99999576e-01 -4.38167147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.490371743 meters 0.0567830962104836 Centerline is valid? [True, True] Translation: X:317.47, Y:-19.56, Z:-4.38 [[ 9.99699116e-01 -2.45269723e-02 -3.25439754e-04 3.17466559e+02] [ 2.45269807e-02 9.99699168e-01 2.19581452e-05 -1.95585311e+01] [ 3.24803284e-04 -2.99335929e-05 9.99999947e-01 -4.38401569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.520371743 meters 0.0567830962104836 Centerline is valid? [True, True] Translation: X:317.50, Y:-19.56, Z:-4.38 [[ 9.99701616e-01 -2.44248588e-02 -3.25322745e-04 3.17499161e+02] [ 2.44248678e-02 9.99701668e-01 2.36716868e-05 -1.95608579e+01] [ 3.24647513e-04 -3.16105886e-05 9.99999947e-01 -4.38447483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.550371743 meters 0.055604266080840965 Centerline is valid? [True, True] Translation: X:317.53, Y:-19.56, Z:-4.39 [[ 9.99754240e-01 -2.21586264e-02 -6.74186715e-04 3.17530538e+02] [ 2.21586627e-02 9.99754466e-01 4.63265832e-05 -1.95599030e+01] [ 6.72994645e-04 -6.12542740e-05 9.99999772e-01 -4.38507974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.580371743 meters 0.046050949827088974 Centerline is valid? [True, True] Translation: X:317.56, Y:-19.55, Z:-4.38 [[ 9.99811380e-01 -1.94122198e-02 -6.07652955e-04 3.17562284e+02] [ 1.94122488e-02 9.99811564e-01 4.18013921e-05 -1.95466135e+01] [ 6.06726993e-04 -5.35894179e-05 9.99999815e-01 -4.38330060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61037174300003 meters 0.04412261129165827 Centerline is valid? [True, True] Translation: X:317.59, Y:-19.54, Z:-4.38 [[ 9.99896397e-01 -1.43651322e-02 -9.15339244e-04 3.17593472e+02] [ 1.43651957e-02 9.99896813e-01 6.28373453e-05 -1.95423605e+01] [ 9.14342126e-04 -7.59798625e-05 9.99999579e-01 -4.38376859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.640371743 meters 0.04391779936650436 Centerline is valid? [True, True] Translation: X:317.62, Y:-19.54, Z:-4.38 [[ 9.99926175e-01 -1.21243960e-02 -8.02347962e-04 3.17624334e+02] [ 1.21244441e-02 9.99926495e-01 5.51447774e-05 -1.95423407e+01] [ 8.01620388e-04 -6.48687294e-05 9.99999677e-01 -4.38433596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67037174300003 meters 0.042814889621796255 Centerline is valid? [True, True] Translation: X:317.66, Y:-19.54, Z:-4.38 [[ 9.99969007e-01 -7.87012123e-03 -2.15892029e-04 3.17655293e+02] [ 7.87012460e-03 9.99969030e-01 1.47596322e-05 -1.95394119e+01] [ 2.15769182e-04 -1.64582719e-05 9.99999977e-01 -4.38369049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.700371743 meters 0.04202728572185313 Centerline is valid? [True, True] Translation: X:317.69, Y:-19.54, Z:-4.38 [[ 9.99979241e-01 -6.43606357e-03 3.07616314e-04 3.17686798e+02] [ 6.43607019e-03 9.99979288e-01 -2.05482679e-05 -1.95389013e+01] [-3.07477693e-04 2.25276816e-05 9.99999952e-01 -4.38342285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.730371743 meters 0.041776388391063235 Centerline is valid? [True, True] Translation: X:317.72, Y:-19.54, Z:-4.38 [[ 9.99988402e-01 -4.80952132e-03 2.53183213e-04 3.17718617e+02] [ 4.80952566e-03 9.99988434e-01 -1.65715967e-05 -1.95385867e+01] [-2.53100584e-04 1.77890957e-05 9.99999968e-01 -4.38389193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.760371743 meters 0.042782433892546476 Centerline is valid? [True, True] Translation: X:317.75, Y:-19.54, Z:-4.38 [[ 9.99989953e-01 -4.46514670e-03 3.96052273e-04 3.17749259e+02] [ 4.46515750e-03 9.99990031e-01 -2.64011295e-05 -1.95417231e+01] [-3.95930440e-04 2.81693000e-05 9.99999921e-01 -4.38432684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.790371743 meters 0.0417554551600607 Centerline is valid? [True, True] Translation: X:317.78, Y:-19.54, Z:-4.38 [[ 9.99989521e-01 -4.57217827e-03 2.31754707e-04 3.17781936e+02] [ 4.57218185e-03 9.99989547e-01 -1.48955673e-05 -1.95412576e+01] [-2.31684179e-04 1.59550359e-05 9.99999973e-01 -4.38473270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.820371743 meters 0.04032197266217959 Centerline is valid? [True, True] Translation: X:317.81, Y:-19.54, Z:-4.38 [[ 9.99986634e-01 -5.16943355e-03 -9.66362738e-05 3.17814559e+02] [ 5.16943431e-03 9.99986638e-01 7.66568958e-06 -1.95401658e+01] [ 9.65953551e-05 -8.16514197e-06 9.99999995e-01 -4.38448750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.850371743 meters 0.05636912945683939 Centerline is valid? [True, True] Translation: X:317.84, Y:-19.57, Z:-4.39 [[ 9.99993876e-01 -2.93981737e-03 1.89856454e-03 3.17842646e+02] [ 2.94007029e-03 9.99995669e-01 -1.30436606e-04 -1.95658454e+01] [-1.89817286e-03 1.36017720e-04 9.99998189e-01 -4.38791865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880371743 meters 0.045566102391730104 Centerline is valid? [True, True] Translation: X:317.87, Y:-19.55, Z:-4.39 [[ 9.99976527e-01 -6.67200582e-03 -1.55860073e-03 3.17873933e+02] [ 6.67218042e-03 9.99977735e-01 1.06855082e-04 -1.95499923e+01] [ 1.55785309e-03 -1.17251839e-04 9.99998780e-01 -4.38653006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.910371743 meters 0.04281852413359848 Centerline is valid? [True, True] Translation: X:317.91, Y:-19.55, Z:-4.39 [[ 9.99965607e-01 -8.03900486e-03 -2.03948088e-03 3.17906040e+02] [ 8.03930896e-03 9.99967674e-01 1.40951769e-04 -1.95457703e+01] [ 2.03828184e-03 -1.57342938e-04 9.99997910e-01 -4.38565185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940371743 meters 0.04335583862805078 Centerline is valid? [True, True] Translation: X:317.94, Y:-19.55, Z:-4.39 [[ 9.99959264e-01 -8.80071815e-03 -2.00417862e-03 3.17937939e+02] [ 8.80101416e-03 9.99961261e-01 1.38926701e-04 -1.95484748e+01] [ 2.00287833e-03 -1.56559846e-04 9.99997982e-01 -4.38617447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.970371743 meters 0.044514221576919207 Centerline is valid? [True, True] Translation: X:317.97, Y:-19.55, Z:-4.39 [[ 9.99949790e-01 -9.79273121e-03 -2.12604418e-03 3.17970259e+02] [ 9.79306672e-03 9.99952036e-01 1.47457035e-04 -1.95517481e+01] [ 2.12449820e-03 -1.68270123e-04 9.99997729e-01 -4.38697741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000371743 meters 0.04692764998717662 Centerline is valid? [True, True] Translation: X:318.00, Y:-19.56, Z:-4.39 [[ 9.99934967e-01 -1.13431687e-02 -1.18099492e-03 3.18000797e+02] [ 1.13432732e-02 9.99935660e-01 8.18937631e-05 -1.95566367e+01] [ 1.17999000e-03 -9.52847854e-05 9.99999299e-01 -4.38773115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.030371743 meters 0.04815775585462035 Centerline is valid? [True, True] Translation: X:318.03, Y:-19.56, Z:-4.39 [[ 9.99927605e-01 -1.20130264e-02 -6.87578659e-04 3.18032681e+02] [ 1.20130625e-02 9.99927839e-01 4.84193937e-05 -1.95603298e+01] [ 6.86947379e-04 -5.66758138e-05 9.99999762e-01 -4.38787590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060371743 meters 0.049428910841752084 Centerline is valid? [True, True] Translation: X:318.06, Y:-19.56, Z:-4.39 [[ 9.99921524e-01 -1.25142964e-02 -5.81015068e-04 3.18063807e+02] [ 1.25143223e-02 9.99921692e-01 4.08497839e-05 -1.95640816e+01] [ 5.80458364e-04 -4.81175879e-05 9.99999830e-01 -4.38836263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.090371743 meters 0.05015491033711717 Centerline is valid? [True, True] Translation: X:318.09, Y:-19.57, Z:-4.39 [[ 9.99901547e-01 -1.40246366e-02 -4.53947561e-04 3.18094917e+02] [ 1.40246525e-02 9.99901649e-01 3.18394037e-05 -1.95664867e+01] [ 4.53456379e-04 -3.82027258e-05 9.99999896e-01 -4.38871337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120371743 meters 0.04577962212328639 Centerline is valid? [True, True] Translation: X:318.13, Y:-19.56, Z:-4.39 [[ 9.99895616e-01 -1.44432889e-02 -3.85218414e-04 3.18127445e+02] [ 1.44433006e-02 9.99895690e-01 2.76449260e-05 -1.95622487e+01] [ 3.84778948e-04 -3.32058657e-05 9.99999925e-01 -4.38813173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.150371743 meters 0.04812600079379224 Centerline is valid? [True, True] Translation: X:318.16, Y:-19.57, Z:-4.39 [[ 9.99878079e-01 -1.55831455e-02 -9.96761632e-04 3.18158004e+02] [ 1.55832224e-02 9.99878572e-01 6.94630312e-05 -1.95669818e+01] [ 9.95558144e-04 -8.49873204e-05 9.99999501e-01 -4.39007993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180371743 meters 0.05320356232683518 Centerline is valid? [True, True] Translation: X:318.19, Y:-19.58, Z:-4.39 [[ 9.99875419e-01 -1.57432339e-02 -1.13903287e-03 3.18188259e+02] [ 1.57433347e-02 9.99876063e-01 7.96010178e-05 -1.95762418e+01] [ 1.13763853e-03 -9.75232767e-05 9.99999348e-01 -4.39198663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.210371743 meters 0.04687193492196141 Centerline is valid? [True, True] Translation: X:318.22, Y:-19.57, Z:-4.39 [[ 9.99868853e-01 -1.61085127e-02 -1.67120375e-03 3.18221491e+02] [ 1.61087303e-02 9.99870239e-01 1.16837080e-04 -1.95687673e+01] [ 1.66910482e-03 -1.43742727e-04 9.99998597e-01 -4.39089234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240371743 meters 0.04817314394448915 Centerline is valid? [True, True] Translation: X:318.25, Y:-19.57, Z:-4.39 [[ 9.99870461e-01 -1.59085132e-02 -2.44531154e-03 3.18253407e+02] [ 1.59089785e-02 9.99873430e-01 1.70955528e-04 -1.95716553e+01] [ 2.44228239e-03 -2.09835791e-04 9.99996996e-01 -4.39232240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.270371743 meters 0.04959028372618252 Centerline is valid? [True, True] Translation: X:318.28, Y:-19.58, Z:-4.39 [[ 9.99873949e-01 -1.55758240e-02 -3.07906656e-03 3.18284144e+02] [ 1.55765581e-02 9.99878655e-01 2.14585155e-04 -1.95751334e+01] [ 3.07535059e-03 -2.62519366e-04 9.99995237e-01 -4.39333841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300371743 meters 0.04765392003232445 Centerline is valid? [True, True] Translation: X:318.32, Y:-19.57, Z:-4.39 [[ 9.99901744e-01 -1.37911328e-02 -2.51145625e-03 3.18315942e+02] [ 1.37916163e-02 9.99904876e-01 1.75296922e-04 -1.95728042e+01] [ 2.50879980e-03 -2.09916739e-04 9.99996831e-01 -4.39358379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.330371743 meters 0.04769682022497649 Centerline is valid? [True, True] Translation: X:318.35, Y:-19.57, Z:-4.39 [[ 9.99913672e-01 -1.29411714e-02 -2.27466470e-03 3.18347993e+02] [ 1.29415669e-02 9.99916242e-01 1.59242763e-04 -1.95742670e+01] [ 2.27241339e-03 -1.88666741e-04 9.99997400e-01 -4.39414219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36037174300003 meters 0.04434575334654268 Centerline is valid? [True, True] Translation: X:318.38, Y:-19.57, Z:-4.39 [[ 9.99941752e-01 -1.07341757e-02 -1.12740244e-03 3.18379018e+02] [ 1.07342713e-02 9.99942383e-01 7.87804247e-05 -1.95696277e+01] [ 1.12649184e-03 -9.08776795e-05 9.99999361e-01 -4.39239185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.390371743 meters 0.04247256327190297 Centerline is valid? [True, True] Translation: X:318.41, Y:-19.57, Z:-4.39 [[ 9.99953208e-01 -9.67215787e-03 -1.74165094e-04 3.18410934e+02] [ 9.67216026e-03 9.99953223e-01 1.28940659e-05 -1.95682295e+01] [ 1.74032234e-04 -1.45780152e-05 9.99999985e-01 -4.39181459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42037174300003 meters 0.042080266755775135 Centerline is valid? [True, True] Translation: X:318.44, Y:-19.57, Z:-4.39 [[ 9.99960717e-01 -8.85888620e-03 2.89349164e-04 3.18442923e+02] [ 8.85889211e-03 9.99960759e-01 -1.91597893e-05 -1.95692211e+01] [-2.89168076e-04 2.17223497e-05 9.99999958e-01 -4.39190792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.450371743 meters 0.041976613023273206 Centerline is valid? [True, True] Translation: X:318.47, Y:-19.57, Z:-4.39 [[ 9.99973714e-01 -7.25014777e-03 -7.86958590e-05 3.18474765e+02] [ 7.25014829e-03 9.99973717e-01 6.24948747e-06 -1.95690470e+01] [ 7.86484807e-05 -6.81987983e-06 9.99999997e-01 -4.39187959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.480371743 meters 0.06413966909534709 Centerline is valid? [True, True] Translation: X:318.50, Y:-19.60, Z:-4.40 [[ 9.99987091e-01 -3.85145065e-03 3.31434510e-03 3.18501878e+02] [ 3.85223882e-03 9.99992553e-01 -2.31452924e-04 -1.96030363e+01] [-3.31342899e-03 2.44217585e-04 9.99994481e-01 -4.39603013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.510371743 meters 0.042515055039836505 Centerline is valid? [True, True] Translation: X:318.54, Y:-19.57, Z:-4.39 [[ 9.99982019e-01 -5.96033261e-03 -6.60778289e-04 3.18535624e+02] [ 5.96036471e-03 9.99982236e-01 4.66179783e-05 -1.95725430e+01] [ 6.60488692e-04 -5.05556196e-05 9.99999781e-01 -4.39324780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.540371743 meters 0.04381301495425462 Centerline is valid? [True, True] Translation: X:318.57, Y:-19.58, Z:-4.39 [[ 9.99989322e-01 -4.52329562e-03 -9.46596781e-04 3.18566247e+02] [ 4.52336068e-03 9.99989767e-01 6.65998793e-05 -1.95750934e+01] [ 9.46285844e-04 -7.08809668e-05 9.99999550e-01 -4.39451195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.570371743 meters 0.0421988400807244 Centerline is valid? [True, True] Translation: X:318.60, Y:-19.57, Z:-4.39 [[ 9.99993502e-01 -3.39389899e-03 -1.21546736e-03 3.18597597e+02] [ 3.39400531e-03 9.99994237e-01 8.54172307e-05 -1.95745805e+01] [ 1.21517045e-03 -8.95419783e-05 9.99999258e-01 -4.39497571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.600371743 meters 0.0427874622460408 Centerline is valid? [True, True] Translation: X:318.63, Y:-19.57, Z:-4.40 [[ 9.99998975e-01 -7.27522639e-04 -1.23335888e-03 3.18627108e+02] [ 7.27629144e-04 9.99999732e-01 8.59066262e-05 -1.95748954e+01] [ 1.23329605e-03 -8.68039660e-05 9.99999236e-01 -4.39548046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.630371743 meters 0.04306913486785571 Centerline is valid? [True, True] Translation: X:318.66, Y:-19.58, Z:-4.40 [[ 9.99998779e-01 1.01038670e-03 -1.19182327e-03 3.18657076e+02] [-1.01028820e-03 9.99999486e-01 8.32494916e-05 -1.95762038e+01] [ 1.19190678e-03 -8.20453050e-05 9.99999286e-01 -4.39591419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.660371743 meters 0.0430174679917334 Centerline is valid? [True, True] Translation: X:318.69, Y:-19.58, Z:-4.40 [[ 9.99995563e-01 2.87348779e-03 -7.86049717e-04 3.18686196e+02] [-2.87344591e-03 9.99995870e-01 5.44051865e-05 -1.95764015e+01] [ 7.86202803e-04 -5.21462738e-05 9.99999690e-01 -4.39566878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.690371743 meters 0.03823042518661421 Centerline is valid? [True, True] Translation: X:318.72, Y:-19.57, Z:-4.39 [[ 9.99987217e-01 5.03277383e-03 -4.87220530e-04 3.18716765e+02] [-5.03275797e-03 9.99987335e-01 3.37600434e-05 -1.95696235e+01] [ 4.87384266e-04 -3.13075489e-05 9.99999881e-01 -4.39397277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.720371743 meters 0.036122095011355236 Centerline is valid? [True, True] Translation: X:318.75, Y:-19.57, Z:-4.39 [[ 9.99960088e-01 8.93417362e-03 -5.93598877e-05 3.18748005e+02] [-8.93417339e-03 9.99960089e-01 4.08647094e-06 -1.95655684e+01] [ 5.93940275e-05 -3.55597630e-06 9.99999998e-01 -4.39311476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.750371743 meters 0.03521194450510189 Centerline is valid? [True, True] Translation: X:318.78, Y:-19.57, Z:-4.39 [[ 9.99938611e-01 1.10766163e-02 2.86262972e-04 3.18778029e+02] [-1.10766110e-02 9.99938652e-01 -2.02248685e-05 -1.95652128e+01] [-2.86469434e-04 1.70528034e-05 9.99999959e-01 -4.39334165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.780371743 meters 0.03563483041881939 Centerline is valid? [True, True] Translation: X:318.81, Y:-19.57, Z:-4.39 [[ 9.99917492e-01 1.28436213e-02 2.25745807e-04 3.18806358e+02] [-1.28436178e-02 9.99917517e-01 -1.67273326e-05 -1.95669400e+01] [-2.25942026e-04 1.38265596e-05 9.99999974e-01 -4.39398901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.810371743 meters 0.032787009725290646 Centerline is valid? [True, True] Translation: X:318.84, Y:-19.56, Z:-4.39 [[ 9.99856392e-01 1.69340179e-02 6.59839376e-04 3.18836421e+02] [-1.69339909e-02 9.99856609e-01 -4.64651818e-05 -1.95619849e+01] [-6.60531603e-04 3.52847950e-05 9.99999781e-01 -4.39320304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.840371743 meters 0.03292910528165432 Centerline is valid? [True, True] Translation: X:318.86, Y:-19.56, Z:-4.39 [[ 9.99818055e-01 1.90696577e-02 4.53021007e-04 3.18863942e+02] [-1.90696448e-02 9.99818157e-01 -3.27682202e-05 -1.95626089e+01] [-4.53563508e-04 2.41233085e-05 9.99999897e-01 -4.39374574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.870371743 meters 0.0308106081894567 Centerline is valid? [True, True] Translation: X:318.89, Y:-19.56, Z:-4.39 [[ 9.99711734e-01 2.39992344e-02 6.96196479e-04 3.18894972e+02] [-2.39992063e-02 9.99711976e-01 -4.86056880e-05 -1.95585910e+01] [-6.97162458e-04 3.18835137e-05 9.99999756e-01 -4.39348914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.900371743 meters 0.030050276821988832 Centerline is valid? [True, True] Translation: X:318.92, Y:-19.56, Z:-4.39 [[ 9.99661810e-01 2.60036203e-02 2.79858286e-04 3.18923848e+02] [-2.60036156e-02 9.99661849e-01 -2.04536412e-05 -1.95578698e+01] [-2.80295520e-04 1.31693967e-05 9.99999961e-01 -4.39409961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.930371743 meters 0.030034242300602025 Centerline is valid? [True, True] Translation: X:318.95, Y:-19.56, Z:-4.40 [[ 9.99609954e-01 2.79252320e-02 3.49351216e-04 3.18952588e+02] [-2.79252250e-02 9.99610015e-01 -2.50111078e-05 -1.95593785e+01] [-3.49913416e-04 1.52456410e-05 9.99999939e-01 -4.39522686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.960371743 meters 0.028759297845616157 Centerline is valid? [True, True] Translation: X:318.98, Y:-19.56, Z:-4.40 [[ 9.99526534e-01 3.07686206e-02 1.43075627e-05 3.18981792e+02] [-3.07686205e-02 9.99526534e-01 -2.00907431e-06 -1.95573076e+01] [-1.43626053e-05 1.56789912e-06 1.00000000e+00 -4.39525728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.990371743 meters 0.0290120166023803 Centerline is valid? [True, True] Translation: X:319.01, Y:-19.56, Z:-4.40 [[ 9.99515213e-01 3.11339206e-02 -1.35163357e-04 3.19010781e+02] [-3.11339200e-02 9.99515222e-01 6.07176094e-06 -1.95594381e+01] [ 1.35286870e-04 -1.86065227e-06 9.99999991e-01 -4.39614708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.020371743 meters 0.02921622039068351 Centerline is valid? [True, True] Translation: X:319.04, Y:-19.56, Z:-4.40 [[ 9.99514828e-01 3.11434417e-02 -4.42267960e-04 3.19037218e+02] [-3.11434321e-02 9.99514925e-01 2.87609844e-05 -1.95607223e+01] [ 4.42949143e-04 -1.49732882e-05 9.99999902e-01 -4.39642430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.050371743 meters 0.029093039506369548 Centerline is valid? [True, True] Translation: X:319.07, Y:-19.56, Z:-4.40 [[ 9.99530117e-01 3.06447067e-02 -6.68028161e-04 3.19066091e+02] [-3.06446834e-02 9.99530340e-01 4.50642616e-05 -1.95624176e+01] [ 6.69095396e-04 -2.45715752e-05 9.99999776e-01 -4.39653560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.080371743 meters 0.030731750860856617 Centerline is valid? [True, True] Translation: X:319.09, Y:-19.57, Z:-4.40 [[ 9.99559985e-01 2.96511792e-02 -8.03015110e-04 3.19093659e+02] [-2.96511454e-02 9.99560307e-01 5.40628509e-05 -1.95680044e+01] [ 8.04265057e-04 -3.02287447e-05 9.99999676e-01 -4.39797502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11037174300003 meters 0.031465386818502535 Centerline is valid? [True, True] Translation: X:319.12, Y:-19.57, Z:-4.40 [[ 9.99652306e-01 2.63663043e-02 -2.91791392e-04 3.19122643e+02] [-2.63662998e-02 9.99652349e-01 1.93506874e-05 -1.95713852e+01] [ 2.92200156e-04 -1.16504999e-05 9.99999957e-01 -4.39772039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.140371743 meters 0.03179672175350715 Centerline is valid? [True, True] Translation: X:319.15, Y:-19.57, Z:-4.40 [[ 9.99702743e-01 2.43731000e-02 6.15141999e-04 3.19151600e+02] [-2.43730780e-02 9.99702931e-01 -4.32532743e-05 -1.95743830e+01] [-6.16013477e-04 2.82475130e-05 9.99999810e-01 -4.39744364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17037174300003 meters 0.03450791864870507 Centerline is valid? [True, True] Translation: X:319.18, Y:-19.58, Z:-4.40 [[ 9.99813425e-01 1.92950535e-02 9.03946368e-04 3.19180150e+02] [-1.92950050e-02 9.99813832e-01 -6.23440620e-05 -1.95823263e+01] [-9.04981014e-04 4.48907805e-05 9.99999589e-01 -4.39762073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.200371743 meters 0.03560553311134059 Centerline is valid? [True, True] Translation: X:319.21, Y:-19.59, Z:-4.40 [[ 9.99866985e-01 1.62683753e-02 1.16319198e-03 3.19209316e+02] [-1.62682925e-02 9.99867659e-01 -8.05879913e-05 -1.95866209e+01] [-1.16434908e-03 6.16541245e-05 9.99999320e-01 -4.39806082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.230371743 meters 0.035870815582698036 Centerline is valid? [True, True] Translation: X:319.24, Y:-19.59, Z:-4.40 [[ 9.99911208e-01 1.32828076e-02 1.06951631e-03 3.19239719e+02] [-1.32827367e-02 9.99911778e-01 -7.34391198e-05 -1.95899788e+01] [-1.07039743e-03 5.92264955e-05 9.99999425e-01 -4.39807751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.260371743 meters 0.03720695214020879 Centerline is valid? [True, True] Translation: X:319.27, Y:-19.59, Z:-4.40 [[ 9.99975872e-01 6.86326151e-03 1.07252365e-03 3.19270195e+02] [-6.86318647e-03 9.99976445e-01 -7.36290308e-05 -1.95946543e+01] [-1.07300372e-03 6.62663245e-05 9.99999422e-01 -4.39818850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.290371743 meters 0.04206315291017272 Centerline is valid? [True, True] Translation: X:319.30, Y:-19.61, Z:-4.40 [[ 9.99991266e-01 4.04260777e-03 1.06062537e-03 3.19298986e+02] [-4.04253255e-03 9.99991826e-01 -7.30581428e-05 -1.96051780e+01] [-1.06091204e-03 6.87698922e-05 9.99999435e-01 -4.40032870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.320371743 meters 0.03862398833398299 Centerline is valid? [True, True] Translation: X:319.33, Y:-19.60, Z:-4.40 [[ 9.99999079e-01 8.16488340e-04 1.08406691e-03 3.19329492e+02] [-8.16407889e-04 9.99999664e-01 -7.46529594e-05 -1.96018333e+01] [-1.08412750e-03 7.37678499e-05 9.99999410e-01 -4.39968429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.350371743 meters 0.040525999233449295 Centerline is valid? [True, True] Translation: X:319.36, Y:-19.61, Z:-4.40 [[ 9.99992092e-01 -3.82190297e-03 1.09992146e-03 3.19359523e+02] [ 3.82198825e-03 9.99992693e-01 -7.54482536e-05 -1.96072110e+01] [-1.09962506e-03 7.96515438e-05 9.99999392e-01 -4.40018428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380371743 meters 0.04485196186089688 Centerline is valid? [True, True] Translation: X:319.39, Y:-19.62, Z:-4.40 [[ 9.99985862e-01 -5.08505935e-03 1.55479363e-03 3.19390117e+02] [ 5.08522682e-03 9.99987065e-01 -1.03777585e-04 -1.96158182e+01] [-1.55424580e-03 1.11682596e-04 9.99998786e-01 -4.40137327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.410371743 meters 0.04485196186089688 Centerline is valid? [True, True] Translation: X:319.42, Y:-19.62, Z:-4.40 [[ 9.99986213e-01 -5.01560103e-03 1.55462692e-03 3.19421825e+02] [ 5.01577217e-03 9.99987415e-01 -1.06198724e-04 -1.96180672e+01] [-1.55407470e-03 1.13994914e-04 9.99998786e-01 -4.40181828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440371743 meters 0.04442754660375433 Centerline is valid? [True, True] Translation: X:319.45, Y:-19.62, Z:-4.40 [[ 9.99980552e-01 -5.90720374e-03 2.00000491e-03 3.19454321e+02] [ 5.90748957e-03 9.99982541e-01 -1.37033692e-04 -1.96194480e+01] [-1.99916051e-03 1.48846035e-04 9.99997991e-01 -4.40127227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.470371743 meters 0.079600241500144 Centerline is valid? [True, True] Translation: X:319.48, Y:-19.67, Z:-4.40 [[ 9.99973590e-01 -2.32696778e-03 6.88514784e-03 3.19480754e+02] [ 2.33029419e-03 9.99997172e-01 -4.75145931e-04 -1.96712341e+01] [-6.88402272e-03 4.91177802e-04 9.99976184e-01 -4.40487623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500371743 meters 0.042888960825246895 Centerline is valid? [True, True] Translation: X:319.52, Y:-19.62, Z:-4.40 [[ 9.99977892e-01 -6.43722418e-03 1.66665167e-03 3.19515753e+02] [ 6.43742421e-03 9.99979273e-01 -1.14687825e-04 -1.96190740e+01] [-1.66587885e-03 1.25414234e-04 9.99998605e-01 -4.40157815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.530371743 meters 0.04381158749576635 Centerline is valid? [True, True] Translation: X:319.55, Y:-19.62, Z:-4.40 [[ 9.99981652e-01 -5.92210924e-03 1.27468837e-03 3.19546902e+02] [ 5.92222415e-03 9.99982460e-01 -8.63907039e-05 -1.96217005e+01] [-1.27415440e-03 9.39381090e-05 9.99999184e-01 -4.40257481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560371743 meters 0.04205003509612099 Centerline is valid? [True, True] Translation: X:319.58, Y:-19.62, Z:-4.40 [[ 9.99992254e-01 -3.73403575e-03 1.24438966e-03 3.19578399e+02] [ 3.73414515e-03 9.99993024e-01 -8.56072692e-05 -1.96191919e+01] [-1.24406132e-03 9.02533378e-05 9.99999222e-01 -4.40265710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.590371743 meters 0.039949130693825566 Centerline is valid? [True, True] Translation: X:319.61, Y:-19.62, Z:-4.40 [[ 9.99996218e-01 -2.26971496e-03 1.55345699e-03 3.19609709e+02] [ 2.26988396e-03 9.99997418e-01 -1.07039547e-04 -1.96170830e+01] [-1.55321003e-03 1.10565309e-04 9.99998788e-01 -4.40219184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620371743 meters 0.03890679089421305 Centerline is valid? [True, True] Translation: X:319.64, Y:-19.62, Z:-4.40 [[ 9.99998231e-01 -1.08176354e-03 1.53867064e-03 3.19640981e+02] [ 1.08192803e-03 9.99999409e-01 -1.06071187e-04 -1.96158304e+01] [-1.53855498e-03 1.07735731e-04 9.99998811e-01 -4.40218010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.650371743 meters 0.04201702385433912 Centerline is valid? [True, True] Translation: X:319.67, Y:-19.62, Z:-4.40 [[ 9.99994657e-01 2.41677417e-03 2.20138530e-03 3.19670106e+02] [-2.41644416e-03 9.99997069e-01 -1.52557620e-04 -1.96205370e+01] [-2.20174755e-03 1.47237281e-04 9.99997565e-01 -4.40281554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680371743 meters 0.04141776578854414 Centerline is valid? [True, True] Translation: X:319.70, Y:-19.62, Z:-4.40 [[ 9.99988419e-01 3.80262236e-03 2.95003298e-03 3.19700934e+02] [-3.80203600e-03 9.99992751e-01 -2.04344740e-04 -1.96200471e+01] [-2.95078864e-03 1.93126242e-04 9.99995628e-01 -4.40295310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.710371743 meters 0.03984184042104894 Centerline is valid? [True, True] Translation: X:319.73, Y:-19.62, Z:-4.40 [[ 9.99969844e-01 6.81247653e-03 3.72855487e-03 3.19731019e+02] [-6.81156002e-03 9.99976768e-01 -2.58450595e-04 -1.96176201e+01] [-3.73022894e-03 2.33045525e-04 9.99993016e-01 -4.40270065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740371743 meters 0.03796776976225474 Centerline is valid? [True, True] Translation: X:319.76, Y:-19.62, Z:-4.40 [[ 9.99959725e-01 7.97552218e-03 4.11575730e-03 3.19760235e+02] [-7.97441349e-03 9.99968163e-01 -2.85719026e-04 -1.96155185e+01] [-4.11790502e-03 2.52886768e-04 9.99991489e-01 -4.40223255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.770371743 meters 0.03692580202038218 Centerline is valid? [True, True] Translation: X:319.79, Y:-19.61, Z:-4.40 [[ 9.99933937e-01 1.02265484e-02 5.24785406e-03 3.19790186e+02] [-1.02247818e-02 9.99947660e-01 -3.63358040e-04 -1.96134132e+01] [-5.25129528e-03 3.09675873e-04 9.99986164e-01 -4.40149364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800371743 meters 0.035103951935874095 Centerline is valid? [True, True] Translation: X:319.82, Y:-19.61, Z:-4.40 [[ 9.99923128e-01 1.10800960e-02 5.56500044e-03 3.19818842e+02] [-1.10781220e-02 9.99938561e-01 -3.85400844e-04 -1.96109647e+01] [-5.56892881e-03 3.23721464e-04 9.99984441e-01 -4.40128999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.830371743 meters 0.03520508427151334 Centerline is valid? [True, True] Translation: X:319.85, Y:-19.61, Z:-4.40 [[ 9.99918227e-01 1.15018583e-02 5.58979263e-03 3.19847815e+02] [-1.14998765e-02 9.99933800e-01 -3.86562163e-04 -1.96119417e+01] [-5.59386877e-03 3.22248627e-04 9.99984302e-01 -4.40189928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86037174300003 meters 0.03689194879373784 Centerline is valid? [True, True] Translation: X:319.88, Y:-19.62, Z:-4.40 [[ 9.99913387e-01 1.20202273e-02 5.36019267e-03 3.19875716e+02] [-1.20184120e-02 9.99927708e-01 -3.70737512e-04 -1.96159805e+01] [-5.36426152e-03 3.06284398e-04 9.99985565e-01 -4.40333524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.890371743 meters 0.03539429656844487 Centerline is valid? [True, True] Translation: X:319.91, Y:-19.61, Z:-4.40 [[ 9.99898055e-01 1.36074783e-02 4.32632344e-03 3.19905237e+02] [-1.36063128e-02 9.99907385e-01 -2.98723044e-04 -1.96140656e+01] [-4.32998763e-03 2.39827281e-04 9.99990597e-01 -4.40492298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92037174300003 meters 0.03532466354458143 Centerline is valid? [True, True] Translation: X:319.93, Y:-19.61, Z:-4.41 [[ 9.99867933e-01 1.58652829e-02 3.52265712e-03 3.19933902e+02] [-1.58645243e-02 9.99874121e-01 -2.43179078e-04 -1.96141039e+01] [-3.52607179e-03 1.87261683e-04 9.99993766e-01 -4.40644302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.950371743 meters 0.034724110878501156 Centerline is valid? [True, True] Translation: X:319.96, Y:-19.61, Z:-4.41 [[ 9.99852846e-01 1.68443941e-02 3.24855047e-03 3.19962579e+02] [-1.68437539e-02 9.99858109e-01 -2.24324556e-04 -1.96130839e+01] [-3.25186814e-03 1.69573761e-04 9.99994698e-01 -4.40677355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.980371743 meters 0.03514013376905596 Centerline is valid? [True, True] Translation: X:319.99, Y:-19.62, Z:-4.41 [[ 9.99835669e-01 1.78173555e-02 3.34303722e-03 3.19990587e+02] [-1.78166832e-02 9.99841244e-01 -2.30766328e-04 -1.96150051e+01] [-3.34661814e-03 1.71166571e-04 9.99994385e-01 -4.40729502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.010371743 meters 0.03284772070475029 Centerline is valid? [True, True] Translation: X:320.02, Y:-19.61, Z:-4.41 [[ 9.99820325e-01 1.86513050e-02 3.38337613e-03 3.20020002e+02] [-1.86506227e-02 9.99826035e-01 -2.33094695e-04 -1.96118010e+01] [-3.38713506e-03 1.69950742e-04 9.99994249e-01 -4.40683149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.040371743 meters 0.03166202369083498 Centerline is valid? [True, True] Translation: X:320.05, Y:-19.61, Z:-4.41 [[ 9.99775498e-01 2.07416527e-02 4.32858686e-03 3.20048699e+02] [-2.07405581e-02 9.99784847e-01 -2.97623426e-04 -1.96103784e+01] [-4.33382876e-03 2.07779302e-04 9.99990587e-01 -4.40674947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.070371743 meters 0.031198794658226576 Centerline is valid? [True, True] Translation: X:320.08, Y:-19.61, Z:-4.41 [[ 9.99728673e-01 2.28204003e-02 4.67017520e-03 3.20076384e+02] [-2.28191498e-02 9.99739558e-01 -3.20867902e-04 -1.96108010e+01] [-4.67628122e-03 2.14211415e-04 9.99989043e-01 -4.40700395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.100371743 meters 0.0309746537927794 Centerline is valid? [True, True] Translation: X:320.11, Y:-19.61, Z:-4.41 [[ 9.99712246e-01 2.34409007e-02 5.09398410e-03 3.20105047e+02] [-2.34394247e-02 9.99725198e-01 -3.49269447e-04 -1.96111800e+01] [-5.10077145e-03 2.29768887e-04 9.99986965e-01 -4.40699782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.130371743 meters 0.030138649618986383 Centerline is valid? [True, True] Translation: X:320.13, Y:-19.61, Z:-4.41 [[ 9.99695837e-01 2.41211145e-02 5.13860713e-03 3.20133473e+02] [-2.41196233e-02 9.99709018e-01 -3.51969325e-04 -1.96111183e+01] [-5.14560178e-03 2.27921000e-04 9.99986735e-01 -4.40662438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.160371743 meters 0.030241728137334303 Centerline is valid? [True, True] Translation: X:320.16, Y:-19.61, Z:-4.41 [[ 9.99685730e-01 2.45111745e-02 5.25762201e-03 3.20162297e+02] [-2.45096210e-02 9.99699529e-01 -3.59723325e-04 -1.96126448e+01] [-5.26485949e-03 2.30747952e-04 9.99986114e-01 -4.40701780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.190371743 meters 0.031760729786319865 Centerline is valid? [True, True] Translation: X:320.19, Y:-19.62, Z:-4.41 [[ 9.99694647e-01 2.40902272e-02 5.50215097e-03 3.20190197e+02] [-2.40885210e-02 9.99709759e-01 -3.76166787e-04 -1.96172643e+01] [-5.50961596e-03 2.43513244e-04 9.99984792e-01 -4.40829701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.220371743 meters 0.031421921059053226 Centerline is valid? [True, True] Translation: X:320.22, Y:-19.62, Z:-4.41 [[ 9.99704569e-01 2.36138914e-02 5.75835744e-03 3.20218848e+02] [-2.36120188e-02 9.99721120e-01 -3.92972557e-04 -1.96186685e+01] [-5.76603116e-03 2.56890017e-04 9.99983343e-01 -4.40865233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.250371743 meters 0.03118552173396327 Centerline is valid? [True, True] Translation: X:320.25, Y:-19.62, Z:-4.41 [[ 9.99716119e-01 2.30708978e-02 5.95104698e-03 3.20247913e+02] [-2.30688908e-02 9.99733795e-01 -4.05681636e-04 -1.96207688e+01] [-5.95882223e-03 2.68282418e-04 9.99982210e-01 -4.40903605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.280371743 meters 0.03203915547277911 Centerline is valid? [True, True] Translation: X:320.28, Y:-19.62, Z:-4.41 [[ 9.99723522e-01 2.28034267e-02 5.73438078e-03 3.20275080e+02] [-2.28015601e-02 9.99739934e-01 -3.90685138e-04 -1.96244745e+01] [-5.74179843e-03 2.59824294e-04 9.99983482e-01 -4.40975763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.310371743 meters 0.03221927641764877 Centerline is valid? [True, True] Translation: X:320.30, Y:-19.63, Z:-4.41 [[ 9.99735064e-01 2.24381976e-02 5.13117401e-03 3.20303413e+02] [-2.24367007e-02 9.99748205e-01 -3.49117656e-04 -1.96271262e+01] [-5.13771557e-03 2.33898547e-04 9.99986774e-01 -4.41129513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.340371743 meters 0.03296718468782238 Centerline is valid? [True, True] Translation: X:320.33, Y:-19.63, Z:-4.41 [[ 9.99736267e-01 2.25547426e-02 4.32206535e-03 3.20329851e+02] [-2.25536801e-02 9.99745590e-01 -2.94410854e-04 -1.96313819e+01] [-4.32760613e-03 1.96854728e-04 9.99990616e-01 -4.41318324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.370371743 meters 0.03265712036635977 Centerline is valid? [True, True] Translation: X:320.36, Y:-19.63, Z:-4.41 [[ 9.99742916e-01 2.23884148e-02 3.58612888e-03 3.20358976e+02] [-2.23876847e-02 9.99749335e-01 -2.43598561e-04 -1.96333092e+01] [-3.59068375e-03 1.63250813e-04 9.99993540e-01 -4.41441928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.400371743 meters 0.033090588972429016 Centerline is valid? [True, True] Translation: X:320.39, Y:-19.64, Z:-4.42 [[ 9.99741880e-01 2.25121472e-02 3.06212109e-03 3.20386636e+02] [-2.25116141e-02 9.99746560e-01 -2.08475800e-04 -1.96364630e+01] [-3.06603826e-03 1.39488700e-04 9.99995290e-01 -4.41579402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.430371743 meters 0.03316521000661021 Centerline is valid? [True, True] Translation: X:320.42, Y:-19.64, Z:-4.42 [[ 9.99743272e-01 2.25280457e-02 2.42436057e-03 3.20415394e+02] [-2.25277129e-02 9.99746205e-01 -1.64529103e-04 -1.96393920e+01] [-2.42745180e-03 1.09871565e-04 9.99997048e-01 -4.41685489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.460371743 meters 0.03139391433017195 Centerline is valid? [True, True] Translation: X:320.44, Y:-19.64, Z:-4.42 [[ 9.99725769e-01 2.32908610e-02 2.43362168e-03 3.20444303e+02] [-2.32905281e-02 9.99728725e-01 -1.65014172e-04 -1.96406088e+01] [-2.43680482e-03 1.08288586e-04 9.99997025e-01 -4.41861753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.490371743 meters 0.029285610473244447 Centerline is valid? [True, True] Translation: X:320.47, Y:-19.64, Z:-4.42 [[ 9.99677174e-01 2.53291825e-02 1.99486280e-03 3.20473310e+02] [-2.53289628e-02 9.99679161e-01 -1.35321805e-04 -1.96413692e+01] [-1.99765036e-03 8.47503140e-05 9.99998001e-01 -4.41882452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.520371743 meters 0.030217403728252365 Centerline is valid? [True, True] Translation: X:320.50, Y:-19.65, Z:-4.42 [[ 9.99642455e-01 2.66099997e-02 2.62098327e-03 3.20500496e+02] [-2.66096257e-02 9.99645885e-01 -1.77485773e-04 -1.96459062e+01] [-2.62477804e-03 1.07678931e-04 9.99996549e-01 -4.42027333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.550371743 meters 0.028614038775303594 Centerline is valid? [True, True] Translation: X:320.53, Y:-19.65, Z:-4.42 [[ 9.99554318e-01 2.97230007e-02 2.77640305e-03 3.20529994e+02] [-2.97225955e-02 9.99558169e-01 -1.87107925e-04 -1.96472159e+01] [-2.78073776e-03 1.04502629e-04 9.99996128e-01 -4.42038785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.580371743 meters 0.02841103750597573 Centerline is valid? [True, True] Translation: X:320.56, Y:-19.65, Z:-4.42 [[ 9.99506349e-01 3.12849365e-02 2.88284156e-03 3.20558566e+02] [-3.12845053e-02 9.99510501e-01 -1.94542147e-04 -1.96496977e+01] [-2.88751665e-03 1.04257839e-04 9.99995826e-01 -4.42132382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61037174300003 meters 0.027575527417537278 Centerline is valid? [True, True] Translation: X:320.59, Y:-19.65, Z:-4.42 [[ 9.99441738e-01 3.32869495e-02 2.86211157e-03 3.20587547e+02] [-3.32865332e-02 9.99445831e-01 -1.92965397e-04 -1.96512175e+01] [-2.86694870e-03 9.75879001e-05 9.99995886e-01 -4.42214866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.640371743 meters 0.026705329871731028 Centerline is valid? [True, True] Translation: X:320.62, Y:-19.65, Z:-4.42 [[ 9.99393848e-01 3.47365162e-02 2.30450191e-03 3.20616356e+02] [-3.47362501e-02 9.99396502e-01 -1.55418167e-04 -1.96521045e+01] [-2.30850983e-03 7.52742052e-05 9.99997333e-01 -4.42222399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67037174300003 meters 0.026283921891265077 Centerline is valid? [True, True] Translation: X:320.64, Y:-19.66, Z:-4.42 [[ 9.99294370e-01 3.75361927e-02 1.34020752e-03 3.20644683e+02] [-3.75361048e-02 9.99295268e-01 -9.07007618e-05 -1.96558719e+01] [-1.34266760e-03 4.03305907e-05 9.99999098e-01 -4.42468922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.700371743 meters 0.026221714401150144 Centerline is valid? [True, True] Translation: X:320.67, Y:-19.66, Z:-4.43 [[ 9.99231476e-01 3.91966967e-02 2.76475935e-04 3.20672181e+02] [-3.91966927e-02 9.99231514e-01 -1.97154969e-05 -1.96590231e+01] [-2.77036250e-04 8.86340278e-06 9.99999962e-01 -4.42603866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.730371743 meters 0.025921097164266486 Centerline is valid? [True, True] Translation: X:320.70, Y:-19.66, Z:-4.43 [[ 9.99129964e-01 4.16954932e-02 -8.95389713e-04 3.20700509e+02] [-4.16954596e-02 9.99130365e-01 5.62240299e-05 -1.96633036e+01] [ 8.96955339e-04 -1.88414274e-05 9.99999598e-01 -4.42849281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.760371743 meters 0.025755009252354622 Centerline is valid? [True, True] Translation: X:320.73, Y:-19.67, Z:-4.43 [[ 9.99085525e-01 4.27384001e-02 -1.24218896e-03 3.20729190e+02] [-4.27383349e-02 9.99086297e-01 7.90116645e-05 -1.96660467e+01] [ 1.24443080e-03 -2.58503225e-05 9.99999225e-01 -4.42916799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.790371743 meters 0.025381628479407396 Centerline is valid? [True, True] Translation: X:320.76, Y:-19.67, Z:-4.43 [[ 9.99027396e-01 4.40749637e-02 -1.28841032e-03 3.20758116e+02] [-4.40748949e-02 9.99028226e-01 8.17470673e-05 -1.96687381e+01] [ 1.29076127e-03 -2.48810106e-05 9.99999167e-01 -4.42969425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.820371743 meters 0.025004945583558116 Centerline is valid? [True, True] Translation: X:320.79, Y:-19.67, Z:-4.43 [[ 9.98939462e-01 4.60264795e-02 -1.23078356e-03 3.20786680e+02] [-4.60264188e-02 9.98940220e-01 7.75477948e-05 -1.96722027e+01] [ 1.23304845e-03 -2.08169928e-05 9.99999240e-01 -4.42955032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.850371743 meters 0.025275484540508503 Centerline is valid? [True, True] Translation: X:320.81, Y:-19.68, Z:-4.43 [[ 9.98910458e-01 4.66433609e-02 -1.51426082e-03 3.20813953e+02] [-4.66432665e-02 9.98911606e-01 9.76553347e-05 -1.96769188e+01] [ 1.51716768e-03 -2.69188642e-05 9.99998849e-01 -4.43119239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880371743 meters 0.025155456799653024 Centerline is valid? [True, True] Translation: X:320.84, Y:-19.68, Z:-4.43 [[ 9.98898433e-01 4.68891540e-02 -1.82408266e-03 3.20841375e+02] [-4.68890215e-02 9.98900098e-01 1.15339975e-04 -1.96819423e+01] [ 1.82748455e-03 -2.96834693e-05 9.99998330e-01 -4.43125244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.910371743 meters 0.025299203415974695 Centerline is valid? [True, True] Translation: X:320.87, Y:-19.69, Z:-4.43 [[ 9.98923600e-01 4.63568303e-02 -1.63886337e-03 3.20868990e+02] [-4.63567190e-02 9.98924944e-01 1.05850155e-04 -1.96868006e+01] [ 1.64200838e-03 -2.97638892e-05 9.99998651e-01 -4.43253788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940371743 meters 0.02547525618926246 Centerline is valid? [True, True] Translation: X:320.90, Y:-19.69, Z:-4.43 [[ 9.98969444e-01 4.53603845e-02 -1.57641670e-03 3.20897311e+02] [-4.53602845e-02 9.98970688e-01 9.91359438e-05 -1.96913768e+01] [ 1.57929092e-03 -2.75270685e-05 9.99998753e-01 -4.43312632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.970371743 meters 0.025636719428853157 Centerline is valid? [True, True] Translation: X:320.93, Y:-19.70, Z:-4.43 [[ 9.99016079e-01 4.43047294e-02 -1.99131661e-03 3.20925929e+02] [-4.43045669e-02 9.99018063e-01 1.25660764e-04 -1.96962837e+01] [ 1.99492863e-03 -3.73127038e-05 9.99998009e-01 -4.43354356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000371743 meters 0.026198295079891406 Centerline is valid? [True, True] Translation: X:320.95, Y:-19.70, Z:-4.43 [[ 9.99082661e-01 4.27720505e-02 -2.09500408e-03 3.20954569e+02] [-4.27718680e-02 9.99084856e-01 1.31883220e-04 -1.97013140e+01] [ 2.09872776e-03 -4.21550008e-05 9.99997797e-01 -4.43430128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.030371743 meters 0.02639664684477458 Centerline is valid? [True, True] Translation: X:320.98, Y:-19.71, Z:-4.44 [[ 9.99132274e-01 4.16151702e-02 -1.69608529e-03 3.20982110e+02] [-4.16150464e-02 9.99133713e-01 1.08202016e-04 -1.97065877e+01] [ 1.69911884e-03 -3.75254585e-05 9.99998556e-01 -4.43508090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060371743 meters 0.0270077417974807 Centerline is valid? [True, True] Translation: X:321.01, Y:-19.72, Z:-4.43 [[ 9.99240010e-01 3.89494787e-02 -1.52963964e-03 3.21010642e+02] [-3.89493791e-02 9.99241181e-01 9.48916237e-05 -1.97150614e+01] [ 1.53217490e-03 -3.52409929e-05 9.99998826e-01 -4.43460016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.090371743 meters 0.027836191076979724 Centerline is valid? [True, True] Translation: X:321.04, Y:-19.72, Z:-4.43 [[ 9.99345376e-01 3.61684805e-02 -8.12421672e-04 3.21037330e+02] [-3.61684513e-02 9.99345706e-01 5.06826275e-05 -1.97238071e+01] [ 8.13723223e-04 -2.12654158e-05 9.99999669e-01 -4.43468367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120371743 meters 0.02841216729906818 Centerline is valid? [True, True] Translation: X:321.07, Y:-19.73, Z:-4.43 [[ 9.99397815e-01 3.46980447e-02 -2.32343830e-04 3.21065850e+02] [-3.46980424e-02 9.99397842e-01 1.39295364e-05 -1.97289378e+01] [ 2.32687250e-04 -5.85927215e-06 9.99999973e-01 -4.43495242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.150371743 meters 0.028553386250664413 Centerline is valid? [True, True] Translation: X:321.09, Y:-19.73, Z:-4.43 [[ 9.99448298e-01 3.32119024e-02 2.62305247e-04 3.21094023e+02] [-3.32118989e-02 9.99448333e-01 -1.77656716e-05 -1.97338371e+01] [-2.62750573e-04 9.04421495e-06 9.99999965e-01 -4.43496151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180371743 meters 0.02856802407537727 Centerline is valid? [True, True] Translation: X:321.12, Y:-19.74, Z:-4.44 [[ 9.99528460e-01 3.06944665e-02 8.40534787e-04 3.21122288e+02] [-3.06944312e-02 9.99528813e-01 -5.47505387e-05 -1.97415615e+01] [-8.41819278e-04 2.89249844e-05 9.99999645e-01 -4.43566198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.210371743 meters 0.030072708174577467 Centerline is valid? [True, True] Translation: X:321.15, Y:-19.75, Z:-4.44 [[ 9.99567886e-01 2.93781233e-02 9.83305868e-04 3.21149488e+02] [-2.93780740e-02 9.99568369e-01 -6.45882216e-05 -1.97500182e+01] [-9.84778924e-04 3.56726796e-05 9.99999514e-01 -4.43761784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240371743 meters 0.02919580551828655 Centerline is valid? [True, True] Translation: X:321.18, Y:-19.75, Z:-4.44 [[ 9.99644049e-01 2.66789758e-02 8.61620495e-05 3.21179109e+02] [-2.66789754e-02 9.99644053e-01 -5.99643440e-06 -1.97546120e+01] [-8.62913594e-05 3.69558478e-06 9.99999996e-01 -4.43766888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.270371743 meters 0.03214369473641308 Centerline is valid? [True, True] Translation: X:321.21, Y:-19.76, Z:-4.44 [[ 9.99664304e-01 2.59058298e-02 -4.08316050e-04 3.21206589e+02] [-2.59058218e-02 9.99664388e-01 2.47779437e-05 -1.97645423e+01] [ 4.08820907e-04 -1.41918630e-05 9.99999916e-01 -4.44055799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300371743 meters 0.030102765404421018 Centerline is valid? [True, True] Translation: X:321.24, Y:-19.76, Z:-4.44 [[ 9.99693407e-01 2.47476784e-02 -8.02226218e-04 3.21235433e+02] [-2.47476462e-02 9.99693729e-01 5.00499374e-05 -1.97636128e+01] [ 8.03219139e-04 -3.01813818e-05 9.99999677e-01 -4.43910971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.330371743 meters 0.030102765404421018 Centerline is valid? [True, True] Translation: X:321.26, Y:-19.77, Z:-4.44 [[ 9.99696045e-01 2.46409172e-02 -8.02263330e-04 3.21262855e+02] [-2.46408854e-02 9.99696366e-01 4.94654248e-05 -1.97652668e+01] [ 8.03238609e-04 -2.96819108e-05 9.99999677e-01 -4.43949596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36037174300003 meters 0.030353644481591963 Centerline is valid? [True, True] Translation: X:321.29, Y:-19.77, Z:-4.44 [[ 9.99724450e-01 2.34384883e-02 -1.28865687e-03 3.21291118e+02] [-2.34384036e-02 9.99725280e-01 8.07833659e-05 -1.97722054e+01] [ 1.29019629e-03 -5.05570462e-05 9.99999166e-01 -4.44043137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.390371743 meters 0.030585834429555814 Centerline is valid? [True, True] Translation: X:321.32, Y:-19.78, Z:-4.44 [[ 9.99736434e-01 2.28944614e-02 -1.70463636e-03 3.21319394e+02] [-2.28943120e-02 9.99737885e-01 1.07060303e-04 -1.97761449e+01] [ 1.70664064e-03 -6.80056084e-05 9.99998541e-01 -4.44121757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42037174300003 meters 0.030313957950662565 Centerline is valid? [True, True] Translation: X:321.35, Y:-19.78, Z:-4.44 [[ 9.99747741e-01 2.24162154e-02 -1.40296980e-03 3.21347501e+02] [-2.24161142e-02 9.99748723e-01 8.78270908e-05 -1.97813715e+01] [ 1.40458601e-03 -5.63558044e-05 9.99999012e-01 -4.44087168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.450371743 meters 0.031355423284938067 Centerline is valid? [True, True] Translation: X:321.38, Y:-19.79, Z:-4.44 [[ 9.99761409e-01 2.18068038e-02 -1.26054516e-03 3.21375233e+02] [-2.18067222e-02 9.99762202e-01 7.84568172e-05 -1.97860574e+01] [ 1.26195630e-03 -5.09497400e-05 9.99999202e-01 -4.44131590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.480371743 meters 0.030818159145197293 Centerline is valid? [True, True] Translation: X:321.40, Y:-19.79, Z:-4.44 [[ 9.99756078e-01 2.20745247e-02 -7.06876059e-04 3.21404205e+02] [-2.20744993e-02 9.99756328e-01 4.36430965e-05 -1.97883007e+01] [ 7.07667214e-04 -2.80285159e-05 9.99999749e-01 -4.44068643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.510371743 meters 0.03074568637906357 Centerline is valid? [True, True] Translation: X:321.43, Y:-19.79, Z:-4.44 [[ 9.99756254e-01 2.20645055e-02 -7.67785227e-04 3.21431727e+02] [-2.20644760e-02 9.99756549e-01 4.68992242e-05 -1.97909861e+01] [ 7.68633117e-04 -2.99470140e-05 9.99999704e-01 -4.44093832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.540371743 meters 0.030830676763025696 Centerline is valid? [True, True] Translation: X:321.46, Y:-19.80, Z:-4.44 [[ 9.99724789e-01 2.34393881e-02 -9.69995139e-04 3.21459234e+02] [-2.34393410e-02 9.99725259e-01 5.98236855e-05 -1.97958134e+01] [ 9.71130872e-04 -3.70711744e-05 9.99999528e-01 -4.44193416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.570371743 meters 0.030720740672958522 Centerline is valid? [True, True] Translation: X:321.49, Y:-19.80, Z:-4.44 [[ 9.99696764e-01 2.46016447e-02 -1.06749137e-03 3.21487824e+02] [-2.46015881e-02 9.99697333e-01 6.61446647e-05 -1.97986933e+01] [ 1.06879554e-03 -3.98626244e-05 9.99999428e-01 -4.44263727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.600371743 meters 0.029991998609674796 Centerline is valid? [True, True] Translation: X:321.52, Y:-19.80, Z:-4.44 [[ 9.99658600e-01 2.61171937e-02 -7.58515192e-04 3.21516756e+02] [-2.61171658e-02 9.99658888e-01 4.66451662e-05 -1.97999236e+01] [ 7.59474694e-04 -2.68189745e-05 9.99999711e-01 -4.44252091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.630371743 meters 0.030216236149148527 Centerline is valid? [True, True] Translation: X:321.55, Y:-19.80, Z:-4.44 [[ 9.99543987e-01 3.01846327e-02 -8.40454408e-04 3.21545728e+02] [-3.01845994e-02 9.99544340e-01 5.22688694e-05 -1.98035437e+01] [ 8.41649162e-04 -2.68762545e-05 9.99999645e-01 -4.44341985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.660371743 meters 0.028992194446376653 Centerline is valid? [True, True] Translation: X:321.57, Y:-19.80, Z:-4.44 [[ 9.99471298e-01 3.25068788e-02 -6.53561166e-04 3.21574373e+02] [-3.25068596e-02 9.99471512e-01 4.00017772e-05 -1.98042618e+01] [ 6.54516099e-04 -1.87354072e-05 9.99999786e-01 -4.44299703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.690371743 meters 0.028781097547895488 Centerline is valid? [True, True] Translation: X:321.60, Y:-19.81, Z:-4.44 [[ 9.99396572e-01 3.47272086e-02 -7.16641077e-04 3.21603151e+02] [-3.47271861e-02 9.99396828e-01 4.39056083e-05 -1.98053410e+01] [ 7.17733538e-04 -1.89921864e-05 9.99999742e-01 -4.44313679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.720371743 meters 0.0279211027284729 Centerline is valid? [True, True] Translation: X:321.63, Y:-19.81, Z:-4.44 [[ 9.99246531e-01 3.88023152e-02 -8.66883220e-04 3.21632216e+02] [-3.88022857e-02 9.99246906e-01 5.07913165e-05 -1.98053826e+01] [ 8.68201197e-04 -1.71159964e-05 9.99999623e-01 -4.44289757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.750371743 meters 0.02802771326367759 Centerline is valid? [True, True] Translation: X:321.66, Y:-19.81, Z:-4.44 [[ 9.99178759e-01 4.05101482e-02 -8.57092067e-04 3.21659796e+02] [-4.05101184e-02 9.99179127e-01 5.21507246e-05 -1.98095794e+01] [ 8.58501137e-04 -1.73869951e-05 9.99999631e-01 -4.44440979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.780371743 meters 0.027562004845113473 Centerline is valid? [True, True] Translation: X:321.69, Y:-19.81, Z:-4.44 [[ 9.99151253e-01 4.11832165e-02 -8.46656793e-04 3.21688169e+02] [-4.11831897e-02 9.99151611e-01 4.90488708e-05 -1.98110725e+01] [ 8.47958489e-04 -1.41392133e-05 9.99999640e-01 -4.44448851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.810371743 meters 0.02757487136069166 Centerline is valid? [True, True] Translation: X:321.72, Y:-19.82, Z:-4.45 [[ 9.99158510e-01 4.09882585e-02 -1.49458303e-03 3.21716174e+02] [-4.09881677e-02 9.99159628e-01 9.13861011e-05 -1.98165166e+01] [ 1.49707278e-03 -3.00489807e-05 9.99998879e-01 -4.44536746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.840371743 meters 0.027705381405066922 Centerline is valid? [True, True] Translation: X:321.74, Y:-19.82, Z:-4.44 [[ 9.99227440e-01 3.92790918e-02 -1.29495178e-03 3.21743097e+02] [-3.92790229e-02 9.99228278e-01 7.86397157e-05 -1.98229714e+01] [ 1.29704133e-03 -2.77145213e-05 9.99999158e-01 -4.44484464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.870371743 meters 0.027765024416203772 Centerline is valid? [True, True] Translation: X:321.77, Y:-19.83, Z:-4.44 [[ 9.99297635e-01 3.74459452e-02 -1.42745465e-03 3.21771606e+02] [-3.74458587e-02 9.99298654e-01 8.72197415e-05 -1.98270507e+01] [ 1.42971953e-03 -3.37062163e-05 9.99998977e-01 -4.44428699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.900371743 meters 0.02800238481610452 Centerline is valid? [True, True] Translation: X:321.80, Y:-19.83, Z:-4.44 [[ 9.99353430e-01 3.59508638e-02 -5.07022695e-04 3.21799570e+02] [-3.59508532e-02 9.99353559e-01 3.00507463e-05 -1.98320252e+01] [ 5.07775284e-04 -1.18034179e-05 9.99999871e-01 -4.44407004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.930371743 meters 0.029304489302043508 Centerline is valid? [True, True] Translation: X:321.83, Y:-19.84, Z:-4.44 [[ 9.99456304e-01 3.29705185e-02 -2.03866646e-04 3.21826965e+02] [-3.29705170e-02 9.99456325e-01 1.07241301e-05 -1.98424021e+01] [ 2.04109388e-04 -3.99671068e-06 9.99999979e-01 -4.44422254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.960371743 meters 0.028650729975452885 Centerline is valid? [True, True] Translation: X:321.86, Y:-19.84, Z:-4.44 [[ 9.99511420e-01 3.12498410e-02 -6.06832891e-04 3.21856050e+02] [-3.12498247e-02 9.99511604e-01 3.63326041e-05 -1.98441347e+01] [ 6.07671904e-04 -1.73514313e-05 9.99999815e-01 -4.44297561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.990371743 meters 0.02904295991797443 Centerline is valid? [True, True] Translation: X:321.88, Y:-19.85, Z:-4.44 [[ 9.99607443e-01 2.79809543e-02 -1.42311338e-03 3.21884756e+02] [-2.79808592e-02 9.99608455e-01 8.67165007e-05 -1.98531124e+01] [ 1.42498258e-03 -4.68625245e-05 9.99998984e-01 -4.44339594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.020371743 meters 0.029667034709239523 Centerline is valid? [True, True] Translation: X:321.91, Y:-19.86, Z:-4.44 [[ 9.99647656e-01 2.64439346e-02 -2.29817702e-03 3.21912761e+02] [-2.64436830e-02 9.99650295e-01 1.39804845e-04 -1.98588826e+01] [ 2.30107032e-03 -7.89833213e-05 9.99997349e-01 -4.44454370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.050371743 meters 0.030583868382844197 Centerline is valid? [True, True] Translation: X:321.94, Y:-19.87, Z:-4.45 [[ 9.99713745e-01 2.37154798e-02 -3.16293390e-03 3.21941346e+02] [-2.37149870e-02 9.99718741e-01 1.93207743e-04 -1.98681328e+01] [ 3.16662632e-03 -1.18143500e-04 9.99994979e-01 -4.44569603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.080371743 meters 0.03157690116335589 Centerline is valid? [True, True] Translation: X:321.97, Y:-19.87, Z:-4.45 [[ 9.99723492e-01 2.32421112e-02 -3.56995023e-03 3.21968961e+02] [-2.32414829e-02 9.99729857e-01 2.17375704e-04 -1.98744762e+01] [ 3.57403810e-03 -1.34344660e-04 9.99993604e-01 -4.44687285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11037174300003 meters 0.03041220341532084 Centerline is valid? [True, True] Translation: X:322.00, Y:-19.88, Z:-4.45 [[ 9.99725300e-01 2.31136110e-02 -3.88390820e-03 3.21998155e+02] [-2.31128662e-02 9.99732834e-01 2.36558246e-04 -1.98762698e+01] [ 3.88833826e-03 -1.46725013e-04 9.99992430e-01 -4.44579368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.140371743 meters 0.031169022994194544 Centerline is valid? [True, True] Translation: X:322.03, Y:-19.88, Z:-4.45 [[ 9.99701926e-01 2.39271364e-02 -4.85300631e-03 3.22025549e+02] [-2.39259851e-02 9.99713689e-01 2.95169135e-04 -1.98841212e+01] [ 4.85867940e-03 -1.78968196e-04 9.99988181e-01 -4.44711973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17037174300003 meters 0.03177847363920358 Centerline is valid? [True, True] Translation: X:322.05, Y:-19.89, Z:-4.45 [[ 9.99667089e-01 2.53215163e-02 -4.95300493e-03 3.22053472e+02] [-2.53203358e-02 9.99679344e-01 3.00895488e-04 -1.98889562e+01] [ 4.95903584e-03 -1.75383569e-04 9.99987689e-01 -4.44838480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.200371743 meters 0.03045941694688088 Centerline is valid? [True, True] Translation: X:322.08, Y:-19.89, Z:-4.45 [[ 9.99612359e-01 2.74941411e-02 -4.38224523e-03 3.22082454e+02] [-2.74932388e-02 9.99621954e-01 2.66021939e-04 -1.98904225e+01] [ 4.38790259e-03 -1.45436704e-04 9.99990363e-01 -4.44807370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.230371743 meters 0.02876235491758334 Centerline is valid? [True, True] Translation: X:322.11, Y:-19.89, Z:-4.45 [[ 9.99550690e-01 2.94609972e-02 -5.51978789e-03 3.22111277e+02] [-2.94595966e-02 9.99565916e-01 3.34880255e-04 -1.98900184e+01] [ 5.52725774e-03 -1.72119065e-04 9.99984710e-01 -4.44659232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.260371743 meters 0.028846481129497503 Centerline is valid? [True, True] Translation: X:322.14, Y:-19.90, Z:-4.45 [[ 9.99389698e-01 3.45042958e-02 -5.44848664e-03 3.22139751e+02] [-3.45030045e-02 9.99404539e-01 3.30852902e-04 -1.98967423e+01] [ 5.45665813e-03 -1.42661823e-04 9.99985102e-01 -4.44844629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.290371743 meters 0.028160465922344002 Centerline is valid? [True, True] Translation: X:322.17, Y:-19.90, Z:-4.45 [[ 9.99304128e-01 3.69134079e-02 -5.35356830e-03 3.22168687e+02] [-3.69122000e-02 9.99318460e-01 3.24291801e-04 -1.98994226e+01] [ 5.36189035e-03 -1.26454151e-04 9.99985617e-01 -4.44850086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.320371743 meters 0.027963300912579554 Centerline is valid? [True, True] Translation: X:322.20, Y:-19.90, Z:-4.45 [[ 9.99228163e-01 3.89853960e-02 -4.81842819e-03 3.22196454e+02] [-3.89844450e-02 9.99239775e-01 2.91165040e-04 -1.99023353e+01] [ 4.82611628e-03 -1.03096559e-04 9.99988349e-01 -4.44886014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.350371743 meters 0.027530457705196184 Centerline is valid? [True, True] Translation: X:322.22, Y:-19.91, Z:-4.45 [[ 9.99154884e-01 4.07899149e-02 -5.06949797e-03 3.22224868e+02] [-4.07888857e-02 9.99167740e-01 3.06296871e-04 -1.99056190e+01] [ 5.07777265e-03 -9.92588419e-05 9.99987103e-01 -4.44866403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380371743 meters 0.026267642942656152 Centerline is valid? [True, True] Translation: X:322.25, Y:-19.91, Z:-4.45 [[ 9.99033819e-01 4.37072324e-02 -4.59406829e-03 3.22253594e+02] [-4.37064201e-02 9.99044379e-01 2.77106318e-04 -1.99090433e+01] [ 4.60178965e-03 -7.60483042e-05 9.99989409e-01 -4.44649101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.410371743 meters 0.026036352903067127 Centerline is valid? [True, True] Translation: X:322.28, Y:-19.91, Z:-4.45 [[ 9.99006384e-01 4.43309472e-02 -4.58397343e-03 3.22282193e+02] [-4.43301467e-02 9.99016898e-01 2.76152356e-04 -1.99122436e+01] [ 4.59170901e-03 -7.26697515e-05 9.99989455e-01 -4.44584535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440371743 meters 0.02603271104057154 Centerline is valid? [True, True] Translation: X:322.31, Y:-19.92, Z:-4.45 [[ 9.98965746e-01 4.52095167e-02 -4.85154381e-03 3.22310809e+02] [-4.52086318e-02 9.98977524e-01 2.91961268e-04 -1.99178874e+01] [ 4.85978265e-03 -7.23276479e-05 9.99988189e-01 -4.44565653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.470371743 meters 0.02611768622992572 Centerline is valid? [True, True] Translation: X:322.34, Y:-19.92, Z:-4.45 [[ 9.98941878e-01 4.57411432e-02 -4.78256902e-03 3.22339410e+02] [-4.57402911e-02 9.98953324e-01 2.87452498e-04 -1.99222793e+01] [ 4.79071162e-03 -6.83922394e-05 9.99988522e-01 -4.44596503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500371743 meters 0.02624532920205392 Centerline is valid? [True, True] Translation: X:322.37, Y:-19.93, Z:-4.45 [[ 9.98938720e-01 4.58469606e-02 -4.41481085e-03 3.22367090e+02] [-4.58462424e-02 9.98948473e-01 2.63796584e-04 -1.99271349e+01] [ 4.42226283e-03 -6.11141328e-05 9.99990220e-01 -4.44672580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.530371743 meters 0.02670365291890629 Centerline is valid? [True, True] Translation: X:322.40, Y:-19.93, Z:-4.45 [[ 9.98997891e-01 4.45362501e-02 -4.44250471e-03 3.22395737e+02] [-4.45355074e-02 9.99007767e-01 2.66014233e-04 -1.99349865e+01] [ 4.44994399e-03 -6.78984566e-05 9.99990097e-01 -4.44666060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560371743 meters 0.02687518148959738 Centerline is valid? [True, True] Translation: X:322.42, Y:-19.94, Z:-4.45 [[ 9.99040553e-01 4.36152932e-02 -3.95966635e-03 3.22423197e+02] [-4.36146988e-02 9.99048398e-01 2.36392507e-04 -1.99406540e+01] [ 3.96620865e-03 -6.34660465e-05 9.99992133e-01 -4.44717464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.590371743 meters 0.027322491250172797 Centerline is valid? [True, True] Translation: X:322.45, Y:-19.95, Z:-4.45 [[ 9.99088970e-01 4.25231932e-02 -3.60662361e-03 3.22450970e+02] [-4.25226973e-02 9.99095478e-01 2.14104203e-04 -1.99465245e+01] [ 3.61246574e-03 -6.05457836e-05 9.99993473e-01 -4.44791983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620371743 meters 0.028119072898316225 Centerline is valid? [True, True] Translation: X:322.48, Y:-19.96, Z:-4.45 [[ 9.99200434e-01 3.98042149e-02 -3.75718951e-03 3.22479228e+02] [-3.98036549e-02 9.99207495e-01 2.23721378e-04 -1.99554164e+01] [ 3.76311698e-03 -7.39926229e-05 9.99992917e-01 -4.44809592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.650371743 meters 0.028712785622272 Centerline is valid? [True, True] Translation: X:322.51, Y:-19.96, Z:-4.45 [[ 9.99256434e-01 3.83830729e-02 -3.64941259e-03 3.22506793e+02] [-3.83825373e-02 9.99263095e-01 2.16708081e-04 -1.99615719e+01] [ 3.65504124e-03 -7.64732293e-05 9.99993317e-01 -4.44891507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680371743 meters 0.029434425760531208 Centerline is valid? [True, True] Translation: X:322.54, Y:-19.97, Z:-4.45 [[ 9.99385877e-01 3.49382256e-02 -2.68129081e-03 3.22535178e+02] [-3.49379248e-02 9.99389472e-01 1.58954433e-04 -1.99711580e+01] [ 2.68520739e-03 -6.51780789e-05 9.99996393e-01 -4.44991210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.710371743 meters 0.029395392856817092 Centerline is valid? [True, True] Translation: X:322.56, Y:-19.98, Z:-4.45 [[ 9.99445266e-01 3.31880114e-02 -2.77766347e-03 3.22563229e+02] [-3.31876833e-02 9.99449124e-01 1.64166969e-04 -1.99755438e+01] [ 2.78158170e-03 -7.18916840e-05 9.99996129e-01 -4.44961905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740371743 meters 0.030175806470326902 Centerline is valid? [True, True] Translation: X:322.59, Y:-19.98, Z:-4.45 [[ 9.99507647e-01 3.12925676e-02 -2.28905346e-03 3.22590802e+02] [-3.12923407e-02 9.99510266e-01 1.34868989e-04 -1.99821530e+01] [ 2.29215282e-03 -6.31727448e-05 9.99997371e-01 -4.45116970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.770371743 meters 0.03162077888402254 Centerline is valid? [True, True] Translation: X:322.62, Y:-19.99, Z:-4.45 [[ 9.99640742e-01 2.67327515e-02 -1.93581309e-03 3.22618423e+02] [-2.67325808e-02 9.99642614e-01 1.13986299e-04 -1.99924466e+01] [ 1.93816843e-03 -6.21960688e-05 9.99998120e-01 -4.45217312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800371743 meters 0.031005472126497555 Centerline is valid? [True, True] Translation: X:322.65, Y:-20.00, Z:-4.45 [[ 9.99695883e-01 2.46428679e-02 -9.33050478e-04 3.22647423e+02] [-2.46428279e-02 9.99696318e-01 5.43444438e-05 -1.99959085e+01] [ 9.34106330e-04 -3.13349144e-05 9.99999563e-01 -4.45130227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.830371743 meters 0.03249190156186944 Centerline is valid? [True, True] Translation: X:322.68, Y:-20.00, Z:-4.45 [[ 9.99793215e-01 2.03353115e-02 3.93921787e-05 3.22676214e+02] [-2.03353114e-02 9.99793216e-01 -3.08856198e-06 -2.00039444e+01] [-3.94468401e-05 2.28687111e-06 9.99999999e-01 -4.45126278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86037174300003 meters 0.03326725267658704 Centerline is valid? [True, True] Translation: X:322.70, Y:-20.01, Z:-4.45 [[ 9.99834518e-01 1.81763464e-02 7.46863547e-04 3.22704326e+02] [-1.81763173e-02 9.99834796e-01 -4.57032279e-05 -2.00087188e+01] [-7.47570881e-04 3.21204360e-05 9.99999720e-01 -4.45195938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.890371743 meters 0.033616243045359866 Centerline is valid? [True, True] Translation: X:322.73, Y:-20.01, Z:-4.45 [[ 9.99867669e-01 1.62023757e-02 1.45858260e-03 3.22732896e+02] [-1.62022657e-02 9.99868731e-01 -8.71982107e-05 -2.00129035e+01] [-1.45980396e-03 6.35543288e-05 9.99998932e-01 -4.45183639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92037174300003 meters 0.03505503144919318 Centerline is valid? [True, True] Translation: X:322.76, Y:-20.02, Z:-4.45 [[ 9.99916111e-01 1.27386580e-02 2.34469020e-03 3.22760894e+02] [-1.27383669e-02 9.99918854e-01 -1.39054619e-04 -2.00210718e+01] [-2.34627130e-03 1.09175430e-04 9.99997242e-01 -4.45236203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.950371743 meters 0.03563573862332694 Centerline is valid? [True, True] Translation: X:322.79, Y:-20.03, Z:-4.45 [[ 9.99932038e-01 1.12451766e-02 3.07649473e-03 3.22789292e+02] [-1.12446689e-02 9.99936760e-01 -1.82249659e-04 -2.00258290e+01] [-3.07834960e-03 1.47643109e-04 9.99995251e-01 -4.45281079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.980371743 meters 0.03523294970261409 Centerline is valid? [True, True] Translation: X:322.82, Y:-20.03, Z:-4.45 [[ 9.99946417e-01 9.70755502e-03 3.59521045e-03 3.22818841e+02] [-9.70685363e-03 9.99952865e-01 -2.12488138e-04 -2.00276512e+01] [-3.59710373e-03 1.77578571e-04 9.99993515e-01 -4.45237963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.010371743 meters 0.034707374080245705 Centerline is valid? [True, True] Translation: X:322.85, Y:-20.03, Z:-4.45 [[ 9.99967856e-01 7.15458097e-03 3.61919411e-03 3.22848637e+02] [-7.15385465e-03 9.99974388e-01 -2.13592393e-04 -2.00301459e+01] [-3.62062958e-03 1.87694339e-04 9.99993428e-01 -4.45216010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.040371743 meters 0.03588582750505485 Centerline is valid? [True, True] Translation: X:322.88, Y:-20.04, Z:-4.45 [[ 9.99974919e-01 6.23223518e-03 3.36451558e-03 3.22877872e+02] [-6.23160243e-03 9.99980564e-01 -1.98516843e-04 -2.00356210e+01] [-3.36568739e-03 1.77545540e-04 9.99994320e-01 -4.45250472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.070371743 meters 0.03536586355724835 Centerline is valid? [True, True] Translation: X:322.91, Y:-20.04, Z:-4.45 [[ 9.99983401e-01 5.02544914e-03 2.81826955e-03 3.22908420e+02] [-5.02500099e-03 9.99987361e-01 -1.66072316e-04 -2.00375088e+01] [-2.81906852e-03 1.51907752e-04 9.99996015e-01 -4.45318937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.100371743 meters 0.03471434818692282 Centerline is valid? [True, True] Translation: X:322.94, Y:-20.04, Z:-4.45 [[ 9.99990345e-01 3.66155801e-03 2.42970039e-03 3.22938426e+02] [-3.66122038e-03 9.99993287e-01 -1.43390998e-04 -2.00389782e+01] [-2.43020912e-03 1.34493945e-04 9.99997038e-01 -4.45336954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.130371743 meters 0.03675791931527295 Centerline is valid? [True, True] Translation: X:322.97, Y:-20.04, Z:-4.45 [[ 9.99993323e-01 2.68809016e-03 2.47542909e-03 3.22967420e+02] [-2.68773686e-03 9.99996377e-01 -1.46037145e-04 -2.00447806e+01] [-2.47581269e-03 1.39382868e-04 9.99996925e-01 -4.45400420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.160371743 meters 0.0362067305830794 Centerline is valid? [True, True] Translation: X:323.00, Y:-20.05, Z:-4.45 [[ 9.99994424e-01 1.29297986e-03 3.07893227e-03 3.22998006e+02] [-1.29242770e-03 9.99999148e-01 -1.81318079e-04 -2.00466548e+01] [-3.07916408e-03 1.77337771e-04 9.99995244e-01 -4.45336255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.190371743 meters 0.03836340319056256 Centerline is valid? [True, True] Translation: X:323.03, Y:-20.05, Z:-4.45 [[ 9.99996145e-01 3.34344779e-04 2.75634714e-03 3.23028413e+02] [-3.33902584e-04 9.99999931e-01 -1.60886522e-04 -2.00519552e+01] [-2.75640074e-03 1.59965550e-04 9.99996188e-01 -4.45475023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.220371743 meters 0.03836340319056256 Centerline is valid? [True, True] Translation: X:323.06, Y:-20.05, Z:-4.46 [[ 9.99996133e-01 3.69692514e-04 2.75626561e-03 3.23059253e+02] [-3.69246658e-04 9.99999919e-01 -1.62268081e-04 -2.00538058e+01] [-2.75632538e-03 1.61249711e-04 9.99996188e-01 -4.45518375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.250371743 meters 0.03905823800566338 Centerline is valid? [True, True] Translation: X:323.09, Y:-20.06, Z:-4.46 [[ 9.99996562e-01 -4.82908517e-04 2.57720181e-03 3.23090795e+02] [ 4.83301300e-04 9.99999872e-01 -1.51785955e-04 -2.00565353e+01] [-2.57712818e-03 1.53030998e-04 9.99996667e-01 -4.45575211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.280371743 meters 0.039610090727953004 Centerline is valid? [True, True] Translation: X:323.12, Y:-20.06, Z:-4.46 [[ 9.99997022e-01 -1.44788694e-03 1.96471853e-03 3.23121335e+02] [ 1.44811618e-03 9.99998945e-01 -1.15262527e-04 -2.00598560e+01] [-1.96454957e-03 1.18107324e-04 9.99998063e-01 -4.45654505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.310371743 meters 0.037858090776569805 Centerline is valid? [True, True] Translation: X:323.15, Y:-20.06, Z:-4.46 [[ 9.99995414e-01 -2.56610050e-03 1.60848076e-03 3.23152504e+02] [ 2.56625649e-03 9.99996703e-01 -9.49266294e-05 -2.00571266e+01] [-1.60823186e-03 9.90539682e-05 9.99998702e-01 -4.45636433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.340371743 meters 0.03854321453665185 Centerline is valid? [True, True] Translation: X:323.18, Y:-20.06, Z:-4.46 [[ 9.99992832e-01 -3.62742286e-03 1.08494930e-03 3.23184216e+02] [ 3.62749134e-03 9.99993419e-01 -6.11544477e-05 -2.00581958e+01] [-1.08472033e-03 6.50896535e-05 9.99999410e-01 -4.45673039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.370371743 meters 0.03910776771929835 Centerline is valid? [True, True] Translation: X:323.22, Y:-20.06, Z:-4.46 [[ 9.99989871e-01 -4.38842637e-03 9.99530316e-04 3.23215627e+02] [ 4.38848744e-03 9.99990369e-01 -5.89124460e-05 -2.00594431e+01] [-9.99262156e-04 6.32982755e-05 9.99999499e-01 -4.45700919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.400371743 meters 0.0397001812287605 Centerline is valid? [True, True] Translation: X:323.25, Y:-20.06, Z:-4.46 [[ 9.99990538e-01 -4.13698467e-03 1.34484990e-03 3.23246780e+02] [ 4.13709499e-03 9.99991439e-01 -7.92620178e-05 -2.00618218e+01] [-1.34451049e-03 8.48250397e-05 9.99999093e-01 -4.45696563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.430371743 meters 0.03892130682291283 Centerline is valid? [True, True] Translation: X:323.28, Y:-20.06, Z:-4.46 [[ 9.99985950e-01 -5.01633277e-03 1.71350437e-03 3.23278443e+02] [ 5.01651404e-03 9.99987412e-01 -1.01508344e-04 -2.00598018e+01] [-1.71297360e-03 1.10102737e-04 9.99998527e-01 -4.45593639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.460371743 meters 0.040348710980204164 Centerline is valid? [True, True] Translation: X:323.31, Y:-20.06, Z:-4.46 [[ 9.99981801e-01 -5.68123230e-03 2.03001337e-03 3.23309104e+02] [ 5.68148799e-03 9.99983853e-01 -1.20210372e-04 -2.00626582e+01] [-2.02929765e-03 1.31741681e-04 9.99997932e-01 -4.45618824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.490371743 meters 0.03825916759774746 Centerline is valid? [True, True] Translation: X:323.34, Y:-20.06, Z:-4.46 [[ 9.99977916e-01 -6.21917647e-03 2.34313710e-03 3.23341685e+02] [ 6.21951862e-03 9.99980649e-01 -1.38764740e-04 -2.00594242e+01] [-2.34222876e-03 1.53334860e-04 9.99997245e-01 -4.45519203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.520371743 meters 0.03854376978074985 Centerline is valid? [True, True] Translation: X:323.37, Y:-20.06, Z:-4.46 [[ 9.99971073e-01 -7.14868249e-03 2.59792559e-03 3.23373970e+02] [ 7.14910702e-03 9.99974433e-01 -1.54161047e-04 -2.00605774e+01] [-2.59675712e-03 1.72729435e-04 9.99996614e-01 -4.45547545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.550371743 meters 0.04091324954283978 Centerline is valid? [True, True] Translation: X:323.40, Y:-20.06, Z:-4.46 [[ 9.99955502e-01 -9.00620708e-03 2.80769353e-03 3.23404215e+02] [ 9.00671280e-03 9.99959425e-01 -1.67526035e-04 -2.00636364e+01] [-2.80607083e-03 1.92806669e-04 9.99996044e-01 -4.45638591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.580371743 meters 0.040012625825246034 Centerline is valid? [True, True] Translation: X:323.44, Y:-20.06, Z:-4.46 [[ 9.99944278e-01 -1.01713399e-02 2.82588298e-03 3.23436357e+02] [ 1.01718552e-02 9.99948251e-01 -1.68046635e-04 -2.00636324e+01] [-2.82402748e-03 1.96781744e-04 9.99995993e-01 -4.45634125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61037174300003 meters 0.043367462479213005 Centerline is valid? [True, True] Translation: X:323.47, Y:-20.07, Z:-4.46 [[ 9.99900784e-01 -1.38734510e-02 2.43914074e-03 3.23465875e+02] [ 1.38738484e-02 9.99903743e-01 -1.46108828e-04 -2.00684113e+01] [-2.43687893e-03 1.79934601e-04 9.99997015e-01 -4.45830746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.640371743 meters 0.04181419368621657 Centerline is valid? [True, True] Translation: X:323.50, Y:-20.07, Z:-4.46 [[ 9.99871227e-01 -1.58690177e-02 2.38837765e-03 3.23496898e+02] [ 1.58694035e-02 9.99874063e-01 -1.42651776e-04 -2.00668060e+01] [-2.38581312e-03 1.80535535e-04 9.99997138e-01 -4.45839424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67037174300003 meters 0.06365744483591179 Centerline is valid? [True, True] Translation: X:323.53, Y:-20.10, Z:-4.46 [[ 9.99902633e-01 -1.37441363e-02 2.41317972e-03 3.23525557e+02] [ 1.37445235e-02 9.99905529e-01 -1.43966918e-04 -2.01005317e+01] [-2.41097304e-03 1.77120906e-04 9.99997078e-01 -4.46407603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.700371743 meters 0.04392161213511071 Centerline is valid? [True, True] Translation: X:323.56, Y:-20.07, Z:-4.46 [[ 9.99789785e-01 -2.03693436e-02 2.34020081e-03 3.23557652e+02] [ 2.03697270e-02 9.99792506e-01 -1.40098028e-04 -2.00710290e+01] [-2.33686153e-03 1.87737829e-04 9.99997252e-01 -4.45941205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.730371743 meters 0.047056266100485154 Centerline is valid? [True, True] Translation: X:323.59, Y:-20.08, Z:-4.46 [[ 9.99707524e-01 -2.41510993e-02 1.26145161e-03 3.23587024e+02] [ 2.41512136e-02 9.99708314e-01 -7.54191858e-05 -2.00750682e+01] [-1.25926220e-03 1.05862715e-04 9.99999202e-01 -4.46011215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.760371743 meters 0.047294596340888076 Centerline is valid? [True, True] Translation: X:323.62, Y:-20.08, Z:-4.46 [[ 9.99678245e-01 -2.53418865e-02 1.09332952e-03 3.23619332e+02] [ 2.53419721e-02 9.99678839e-01 -6.45329090e-05 -2.00752992e+01] [-1.09134300e-03 9.22192713e-05 9.99999400e-01 -4.46089053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.790371743 meters 0.04514606300357624 Centerline is valid? [True, True] Translation: X:323.65, Y:-20.07, Z:-4.46 [[ 9.99685477e-01 -2.50667893e-02 7.76634145e-04 3.23651545e+02] [ 2.50668322e-02 9.99685777e-01 -4.55837668e-05 -2.00697612e+01] [-7.75247470e-04 6.50371875e-05 9.99999697e-01 -4.46008920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.820371743 meters 0.04862401995717298 Centerline is valid? [True, True] Translation: X:323.68, Y:-20.07, Z:-4.46 [[ 9.99725288e-01 -2.34301987e-02 6.11035694e-04 3.23682086e+02] [ 2.34302252e-02 9.99725474e-01 -3.61867131e-05 -2.00739642e+01] [-6.10020087e-04 5.04934761e-05 9.99999813e-01 -4.46115770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.850371743 meters 0.044626738007474444 Centerline is valid? [True, True] Translation: X:323.71, Y:-20.06, Z:-4.46 [[ 9.99824735e-01 -1.86876797e-02 1.12703862e-03 3.23713693e+02] [ 1.86877677e-02 9.99825366e-01 -6.75840218e-05 -2.00640719e+01] [-1.12557881e-03 8.86340125e-05 9.99999363e-01 -4.45995583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880371743 meters 0.04220195367966313 Centerline is valid? [True, True] Translation: X:323.74, Y:-20.06, Z:-4.46 [[ 9.99882876e-01 -1.52198743e-02 1.60907146e-03 3.23744478e+02] [ 1.52200493e-02 9.99884164e-01 -9.66088071e-05 -2.00592963e+01] [-1.60741470e-03 1.21087639e-04 9.99998701e-01 -4.45966264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.910371743 meters 0.042582556286779344 Centerline is valid? [True, True] Translation: X:323.77, Y:-20.06, Z:-4.46 [[ 9.99941282e-01 -1.06066082e-02 2.22108268e-03 3.23774526e+02] [ 1.06069307e-02 9.99943736e-01 -1.33446526e-04 -2.00593515e+01] [-2.21954230e-03 1.56997560e-04 9.99997524e-01 -4.46024385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940371743 meters 0.040372092424044534 Centerline is valid? [True, True] Translation: X:323.80, Y:-20.05, Z:-4.46 [[ 9.99994071e-01 -2.44657850e-03 2.42313984e-03 3.23804689e+02] [ 2.44693885e-03 9.99996996e-01 -1.45758159e-04 -2.00524799e+01] [-2.42277595e-03 1.51686569e-04 9.99997054e-01 -4.46123671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.970371743 meters 0.039414390557826154 Centerline is valid? [True, True] Translation: X:323.83, Y:-20.05, Z:-4.46 [[ 9.99996150e-01 1.53431307e-03 2.31212270e-03 3.23834690e+02] [-1.53399590e-03 9.99998814e-01 -1.38946059e-04 -2.00507642e+01] [-2.31233315e-03 1.35398737e-04 9.99997317e-01 -4.46183778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000371743 meters 0.03593226934055971 Centerline is valid? [True, True] Translation: X:323.87, Y:-20.04, Z:-4.46 [[ 9.99986888e-01 4.76712131e-03 1.87033150e-03 3.23865564e+02] [-4.76691954e-03 9.99988632e-01 -1.12324944e-04 -2.00436950e+01] [-1.87084571e-03 1.03407752e-04 9.99998245e-01 -4.46139436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.030371743 meters 0.034558351546312524 Centerline is valid? [True, True] Translation: X:323.90, Y:-20.04, Z:-4.46 [[ 9.99948432e-01 9.83962020e-03 2.51314062e-03 3.23896472e+02] [-9.83927170e-03 9.99951582e-01 -1.50996454e-04 -2.00390500e+01] [-2.51450469e-03 1.26261194e-04 9.99996831e-01 -4.46181692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060371743 meters 0.03515640056940655 Centerline is valid? [True, True] Translation: X:323.93, Y:-20.04, Z:-4.46 [[ 9.99931846e-01 1.12210642e-02 3.22354635e-03 3.23925355e+02] [-1.12204964e-02 9.99937029e-01 -1.94153349e-04 -2.00405264e+01] [-3.22552197e-03 1.57970327e-04 9.99994786e-01 -4.46241554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.090371743 meters 0.035003559261760506 Centerline is valid? [True, True] Translation: X:323.95, Y:-20.04, Z:-4.46 [[ 9.99909278e-01 1.31364811e-02 2.97801755e-03 3.23953783e+02] [-1.31360048e-02 9.99913703e-01 -1.79439102e-04 -2.00388128e+01] [-2.98011775e-03 1.40303570e-04 9.99995550e-01 -4.46333177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120371743 meters 0.03354936107020694 Centerline is valid? [True, True] Translation: X:323.98, Y:-20.04, Z:-4.46 [[ 9.99901503e-01 1.37788631e-02 2.66980788e-03 3.23982608e+02] [-1.37784827e-02 9.99905059e-01 -1.60804405e-04 -2.00361987e+01] [-2.67177010e-03 1.24002664e-04 9.99996423e-01 -4.46360771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.150371743 meters 0.033581709342824013 Centerline is valid? [True, True] Translation: X:324.01, Y:-20.04, Z:-4.46 [[ 9.99898814e-01 1.39907122e-02 2.57333764e-03 3.24011310e+02] [-1.39903600e-02 9.99902118e-01 -1.54840105e-04 -2.00365385e+01] [-2.57525208e-03 1.18822517e-04 9.99996677e-01 -4.46410373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180371743 meters 0.03256941962487342 Centerline is valid? [True, True] Translation: X:324.04, Y:-20.03, Z:-4.46 [[ 9.99902507e-01 1.37483455e-02 2.44120949e-03 3.24040460e+02] [-1.37480280e-02 9.99905481e-01 -1.46791318e-04 -2.00325724e+01] [-2.44299689e-03 1.13215190e-04 9.99997009e-01 -4.46397041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.210371743 meters 0.03314175161985263 Centerline is valid? [True, True] Translation: X:324.07, Y:-20.03, Z:-4.46 [[ 9.99914117e-01 1.29687152e-02 1.88993476e-03 3.24067991e+02] [-1.29685229e-02 9.99915899e-01 -1.13948270e-04 -2.00341397e+01] [-1.89125358e-03 8.94288217e-05 9.99998208e-01 -4.46448483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240371743 meters 0.033437996772799884 Centerline is valid? [True, True] Translation: X:324.10, Y:-20.04, Z:-4.46 [[ 9.99945988e-01 1.01581375e-02 2.19841827e-03 3.24097458e+02] [-1.01578729e-02 9.99948399e-01 -1.31499085e-04 -2.00359506e+01] [-2.19964061e-03 1.09160729e-04 9.99997575e-01 -4.46487649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.270371743 meters 0.03720953471091429 Centerline is valid? [True, True] Translation: X:324.13, Y:-20.04, Z:-4.47 [[ 9.99962799e-01 8.37288510e-03 2.07237665e-03 3.24125379e+02] [-8.37264579e-03 9.99964941e-01 -1.24124882e-04 -2.00440312e+01] [-2.07334327e-03 1.06768989e-04 9.99997845e-01 -4.46645401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300371743 meters 0.03469386036083952 Centerline is valid? [True, True] Translation: X:324.15, Y:-20.04, Z:-4.47 [[ 9.99982089e-01 5.42756855e-03 2.52265113e-03 3.24154629e+02] [-5.42720533e-03 9.99985261e-01 -1.50803996e-04 -2.00403220e+01] [-2.52343245e-03 1.37110349e-04 9.99996807e-01 -4.46524593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.330371743 meters 0.03725408247731861 Centerline is valid? [True, True] Translation: X:324.18, Y:-20.05, Z:-4.46 [[ 9.99994052e-01 1.64088268e-04 3.44527224e-03 3.24183741e+02] [-1.63382619e-04 9.99999966e-01 -2.05097021e-04 -2.00467509e+01] [-3.44530578e-03 2.04532903e-04 9.99994044e-01 -4.46480357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36037174300003 meters 0.04932682323744093 Centerline is valid? [True, True] Translation: X:324.21, Y:-20.07, Z:-4.47 [[ 9.99988161e-01 1.83012966e-03 4.50863811e-03 3.24213146e+02] [-1.82894101e-03 9.99998292e-01 -2.67747504e-04 -2.00686404e+01] [-4.50912042e-03 2.59498301e-04 9.99989800e-01 -4.46746556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.390371743 meters 0.040382370176316566 Centerline is valid? [True, True] Translation: X:324.24, Y:-20.06, Z:-4.47 [[ 9.99976870e-01 -5.95056619e-03 3.29390798e-03 3.24244179e+02] [ 5.95124385e-03 9.99982272e-01 -1.95966387e-04 -2.00553462e+01] [-3.29268348e-03 2.15564704e-04 9.99994556e-01 -4.46539801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42037174300003 meters 0.04228243573695555 Centerline is valid? [True, True] Translation: X:324.27, Y:-20.06, Z:-4.47 [[ 9.99920070e-01 -1.23159127e-02 2.85862161e-03 3.24274647e+02] [ 1.23164487e-02 9.99924135e-01 -1.69982631e-04 -2.00614668e+01] [-2.85631125e-03 2.05177111e-04 9.99995900e-01 -4.46649977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.450371743 meters 0.04165760627834816 Centerline is valid? [True, True] Translation: X:324.31, Y:-20.06, Z:-4.47 [[ 9.99877646e-01 -1.54854945e-02 2.21176656e-03 3.24305195e+02] [ 1.54858231e-02 9.99880079e-01 -1.31541308e-04 -2.00627768e+01] [-2.20946434e-03 1.65776239e-04 9.99997545e-01 -4.46659159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.480371743 meters 0.042871662452361056 Centerline is valid? [True, True] Translation: X:324.34, Y:-20.07, Z:-4.47 [[ 9.99760527e-01 -2.17476103e-02 2.43510726e-03 3.24335855e+02] [ 2.17480269e-02 9.99763473e-01 -1.44737340e-04 -2.00675102e+01] [-2.43138361e-03 1.97661457e-04 9.99997025e-01 -4.46684038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.510371743 meters 0.04462786563490963 Centerline is valid? [True, True] Translation: X:324.37, Y:-20.07, Z:-4.47 [[ 9.99693930e-01 -2.45780076e-02 2.82290356e-03 3.24366181e+02] [ 2.45785783e-02 9.99697887e-01 -1.67648746e-04 -2.00722183e+01] [-2.81793025e-03 2.36980390e-04 9.99996002e-01 -4.46756633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.540371743 meters 0.045977995462956334 Centerline is valid? [True, True] Translation: X:324.40, Y:-20.08, Z:-4.47 [[ 9.99632591e-01 -2.69827539e-02 2.57166487e-03 3.24396796e+02] [ 2.69832360e-02 9.99635875e-01 -1.52965708e-04 -2.00765438e+01] [-2.56660103e-03 2.22301347e-04 9.99996682e-01 -4.46794820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.570371743 meters 0.04714520934244981 Centerline is valid? [True, True] Translation: X:324.43, Y:-20.08, Z:-4.47 [[ 9.99576725e-01 -2.89587801e-02 2.78556757e-03 3.24427536e+02] [ 2.89593536e-02 9.99580576e-01 -1.65761439e-04 -2.00799479e+01] [-2.77959898e-03 2.46359512e-04 9.99996107e-01 -4.46802354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.600371743 meters 0.04674352391139937 Centerline is valid? [True, True] Translation: X:324.46, Y:-20.08, Z:-4.47 [[ 9.99490133e-01 -3.18978161e-02 1.41572562e-03 3.24458396e+02] [ 3.18979673e-02 9.99491127e-01 -8.42958573e-05 -2.00804533e+01] [-1.41231635e-03 1.29411647e-04 9.99998994e-01 -4.46882147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.630371743 meters 0.04853840178983981 Centerline is valid? [True, True] Translation: X:324.49, Y:-20.08, Z:-4.47 [[ 9.99443721e-01 -3.33380270e-02 9.08010634e-04 3.24488610e+02] [ 3.33380896e-02 9.99444130e-01 -5.38817875e-05 -2.00845948e+01] [-9.05709586e-04 8.41231541e-05 9.99999586e-01 -4.46969528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.660371743 meters 0.04928697415307704 Centerline is valid? [True, True] Translation: X:324.52, Y:-20.09, Z:-4.47 [[ 9.99432597e-01 -3.36531453e-02 1.39633363e-03 3.24520916e+02] [ 3.36532929e-02 9.99433564e-01 -8.23324782e-05 -2.00872958e+01] [-1.39277195e-03 1.29276987e-04 9.99999022e-01 -4.47039681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.690371743 meters 0.049369706501065355 Centerline is valid? [True, True] Translation: X:324.55, Y:-20.09, Z:-4.47 [[ 9.99440439e-01 -3.34008970e-02 1.78583490e-03 3.24553245e+02] [ 3.34011387e-02 9.99442021e-01 -1.05715212e-04 -2.00889326e+01] [-1.78130746e-03 1.65304977e-04 9.99998400e-01 -4.47045241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.720371743 meters 0.049524988621577865 Centerline is valid? [True, True] Translation: X:324.59, Y:-20.09, Z:-4.47 [[ 9.99465924e-01 -3.26100427e-02 2.10988173e-03 3.24585973e+02] [ 3.26103787e-02 9.99468132e-01 -1.25027602e-04 -2.00906939e+01] [-2.10468240e-03 1.93764870e-04 9.99997766e-01 -4.47057924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.750371743 meters 0.049727767938883644 Centerline is valid? [True, True] Translation: X:324.62, Y:-20.09, Z:-4.47 [[ 9.99500336e-01 -3.15622498e-02 1.70351827e-03 3.24617667e+02] [ 3.15624683e-02 9.99501776e-01 -1.01527886e-04 -2.00906673e+01] [-1.69946508e-03 1.55244398e-04 9.99998544e-01 -4.47084709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.780371743 meters 0.050921594188989665 Centerline is valid? [True, True] Translation: X:324.65, Y:-20.09, Z:-4.47 [[ 9.99517066e-01 -3.10399420e-02 1.46887309e-03 3.24648863e+02] [ 3.10401019e-02 9.99518136e-01 -8.61792544e-05 -2.00929426e+01] [-1.46549030e-03 1.31731606e-04 9.99998917e-01 -4.47150907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.810371743 meters 0.0511582975383129 Centerline is valid? [True, True] Translation: X:324.68, Y:-20.09, Z:-4.47 [[ 9.99558307e-01 -2.97130159e-02 5.71859795e-04 3.24680383e+02] [ 2.97130401e-02 9.99558470e-01 -3.38568044e-05 -2.00919220e+01] [-5.70601314e-04 5.08335431e-05 9.99999836e-01 -4.47256807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.840371743 meters 0.05125657133348407 Centerline is valid? [True, True] Translation: X:324.71, Y:-20.09, Z:-4.47 [[ 9.99561439e-01 -2.96117993e-02 -2.66178719e-04 3.24712854e+02] [ 2.96118049e-02 9.99561474e-01 1.70000523e-05 -2.00928084e+01] [ 2.65558591e-04 -2.48746290e-05 9.99999964e-01 -4.47383765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.870371743 meters 0.05197990561693188 Centerline is valid? [True, True] Translation: X:324.74, Y:-20.09, Z:-4.47 [[ 9.99574120e-01 -2.91745637e-02 -6.50864380e-04 3.24743889e+02] [ 2.91745958e-02 9.99574330e-01 3.99201791e-05 -2.00948146e+01] [ 6.49422672e-04 -5.88918831e-05 9.99999787e-01 -4.47469877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.900371743 meters 0.047113314757682434 Centerline is valid? [True, True] Translation: X:324.78, Y:-20.09, Z:-4.47 [[ 9.99591542e-01 -2.85669297e-02 -8.24820655e-04 3.24776414e+02] [ 2.85669812e-02 9.99591879e-01 5.07369053e-05 -2.00863973e+01] [ 8.23034631e-04 -7.42788175e-05 9.99999659e-01 -4.47339491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.930371743 meters 0.04695186581215795 Centerline is valid? [True, True] Translation: X:324.81, Y:-20.09, Z:-4.47 [[ 9.99599681e-01 -2.82715495e-02 -1.09405613e-03 3.24808689e+02] [ 2.82716397e-02 9.99600275e-01 6.70467515e-05 -2.00857032e+01] [ 1.09172329e-03 -9.79506720e-05 9.99999399e-01 -4.47361752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.960371743 meters 0.04874448347402928 Centerline is valid? [True, True] Translation: X:324.84, Y:-20.09, Z:-4.47 [[ 9.99630424e-01 -2.71784455e-02 -5.90254449e-04 3.24839204e+02] [ 2.71784722e-02 9.99630596e-01 3.71881613e-05 -2.00856854e+01] [ 5.89025691e-04 -5.32166316e-05 9.99999825e-01 -4.47408695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.990371743 meters 0.04774474558034525 Centerline is valid? [True, True] Translation: X:324.87, Y:-20.08, Z:-4.47 [[ 9.99638883e-01 -2.68525420e-02 -1.02244200e-03 3.24871192e+02] [ 2.68526202e-02 9.99639401e-01 6.28931566e-05 -2.00846140e+01] [ 1.02038447e-03 -9.03256915e-05 9.99999475e-01 -4.47387042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.020371743 meters 0.048717772188437335 Centerline is valid? [True, True] Translation: X:324.90, Y:-20.09, Z:-4.47 [[ 9.99649448e-01 -2.64601481e-02 -9.17294349e-04 3.24902638e+02] [ 2.64602108e-02 9.99649866e-01 5.63214598e-05 -2.00858057e+01] [ 9.15482899e-04 -8.05735180e-05 9.99999578e-01 -4.47429662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.050371743 meters 0.04919008311617952 Centerline is valid? [True, True] Translation: X:324.93, Y:-20.08, Z:-4.47 [[ 9.99670326e-01 -2.56546044e-02 -1.03970361e-03 3.24934622e+02] [ 2.56546848e-02 9.99670862e-01 6.40515488e-05 -2.00841867e+01] [ 1.03771818e-03 -9.07037010e-05 9.99999457e-01 -4.47478972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.080371743 meters 0.04946912676102834 Centerline is valid? [True, True] Translation: X:324.97, Y:-20.08, Z:-4.48 [[ 9.99688881e-01 -2.49007243e-02 -1.44729484e-03 3.24967113e+02] [ 2.49008789e-02 9.99689921e-01 8.88690580e-05 -2.00844970e+01] [ 1.44463316e-03 -1.24880323e-04 9.99998949e-01 -4.47571175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11037174300003 meters 0.04816629064357338 Centerline is valid? [True, True] Translation: X:325.00, Y:-20.08, Z:-4.48 [[ 9.99711229e-01 -2.39043064e-02 -2.45831788e-03 3.24999880e+02] [ 2.39047488e-02 9.99714229e-01 1.50729916e-04 -2.00828260e+01] [ 2.45401227e-03 -2.09451861e-04 9.99996967e-01 -4.47586587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.140371743 meters 0.04816629064357338 Centerline is valid? [True, True] Translation: X:325.03, Y:-20.08, Z:-4.48 [[ 9.99713762e-01 -2.37981235e-02 -2.45828663e-03 3.25032473e+02] [ 2.37985668e-02 9.99716763e-01 1.51242235e-04 -2.00849035e+01] [ 2.45399107e-03 -2.09702643e-04 9.99996967e-01 -4.47632416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17037174300003 meters 0.04831851517160766 Centerline is valid? [True, True] Translation: X:325.06, Y:-20.08, Z:-4.48 [[ 9.99772281e-01 -2.11082770e-02 -3.13474540e-03 3.25062495e+02] [ 2.11089788e-02 9.99777162e-01 1.90954898e-04 -2.00826947e+01] [ 3.13001614e-03 -2.57082689e-04 9.99995068e-01 -4.47680079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.200371743 meters 0.0484604138096067 Centerline is valid? [True, True] Translation: X:325.09, Y:-20.08, Z:-4.48 [[ 9.99811517e-01 -1.91446321e-02 -3.22686076e-03 3.25094563e+02] [ 1.91453684e-02 9.99816691e-01 1.97459996e-04 -2.00822510e+01] [ 3.22248895e-03 -2.59202216e-04 9.99994774e-01 -4.47714547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.230371743 meters 0.04753251293490723 Centerline is valid? [True, True] Translation: X:325.12, Y:-20.08, Z:-4.48 [[ 9.99886843e-01 -1.49149843e-02 -1.96080435e-03 3.25124139e+02] [ 1.49152467e-02 9.99888754e-01 1.19254463e-04 -2.00791796e+01] [ 1.95880754e-03 -1.48486849e-04 9.99998071e-01 -4.47682591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.260371743 meters 0.04698001535008296 Centerline is valid? [True, True] Translation: X:325.15, Y:-20.08, Z:-4.48 [[ 9.99915272e-01 -1.29189126e-02 -1.59689286e-03 3.25154800e+02] [ 1.29190844e-02 9.99916540e-01 9.73294073e-05 -2.00787820e+01] [ 1.59550219e-03 -1.17951554e-04 9.99998720e-01 -4.47706752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.290371743 meters 0.040886185176225526 Centerline is valid? [True, True] Translation: X:325.19, Y:-20.07, Z:-4.48 [[ 9.99943051e-01 -1.05812735e-02 -1.38974711e-03 3.25186201e+02] [ 1.05814018e-02 9.99944012e-01 8.49812723e-05 -2.00696983e+01] [ 1.38877009e-03 -9.96819052e-05 9.99999031e-01 -4.47578953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.320371743 meters 0.04003980240185811 Centerline is valid? [True, True] Translation: X:325.22, Y:-20.07, Z:-4.48 [[ 9.99982307e-01 -5.61064616e-03 -1.97663591e-03 3.25216331e+02] [ 5.61089526e-03 9.99984252e-01 1.20501214e-04 -2.00662496e+01] [ 1.97592869e-03 -1.31589779e-04 9.99998039e-01 -4.47642285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.350371743 meters 0.038255359621778076 Centerline is valid? [True, True] Translation: X:325.25, Y:-20.06, Z:-4.48 [[ 9.99993910e-01 -2.88850040e-03 -1.95883657e-03 3.25247807e+02] [ 2.88874041e-03 9.99995820e-01 1.19710348e-04 -2.00632616e+01] [ 1.95848260e-03 -1.25368189e-04 9.99998074e-01 -4.47658569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380371743 meters 0.037327642580895375 Centerline is valid? [True, True] Translation: X:325.28, Y:-20.06, Z:-4.48 [[ 9.99997085e-01 1.29001560e-03 -2.04116542e-03 3.25277801e+02] [-1.28976460e-03 9.99999161e-01 1.24283015e-04 -2.00603291e+01] [ 2.04132403e-03 -1.21650030e-04 9.99997909e-01 -4.47765686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.410371743 meters 0.03809882325632441 Centerline is valid? [True, True] Translation: X:325.31, Y:-20.06, Z:-4.48 [[ 9.99991249e-01 3.33002615e-03 -2.53255961e-03 3.25306308e+02] [-3.32964793e-03 9.99994445e-01 1.53541832e-04 -2.00623060e+01] [ 2.53305684e-03 -1.45107957e-04 9.99996781e-01 -4.47850212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440371743 meters 0.036840517247725205 Centerline is valid? [True, True] Translation: X:325.34, Y:-20.06, Z:-4.48 [[ 9.99985679e-01 4.67984105e-03 -2.59648366e-03 3.25335496e+02] [-4.67944908e-03 9.99989039e-01 1.57014620e-04 -2.00605603e+01] [ 2.59719000e-03 -1.44862258e-04 9.99996617e-01 -4.47855040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.470371743 meters 0.03637820969630856 Centerline is valid? [True, True] Translation: X:325.36, Y:-20.06, Z:-4.48 [[ 9.99973934e-01 6.69165877e-03 -2.71171971e-03 3.25364231e+02] [-6.69123896e-03 9.99977600e-01 1.63855458e-04 -2.00586941e+01] [ 2.71275543e-03 -1.45706423e-04 9.99996310e-01 -4.47879078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500371743 meters 0.03645926098167283 Centerline is valid? [True, True] Translation: X:325.39, Y:-20.06, Z:-4.48 [[ 9.99966242e-01 7.69041876e-03 -2.89339601e-03 3.25393525e+02] [-7.68994454e-03 9.99970417e-01 1.74988644e-04 -2.00594744e+01] [ 2.89465615e-03 -1.52732682e-04 9.99995799e-01 -4.47929981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.530371743 meters 0.03663012161102738 Centerline is valid? [True, True] Translation: X:325.42, Y:-20.06, Z:-4.48 [[ 9.99965349e-01 7.79220953e-03 -2.92956994e-03 3.25422622e+02] [-7.79172506e-03 9.99969628e-01 1.76747024e-04 -2.00601108e+01] [ 2.93085821e-03 -1.53914497e-04 9.99995693e-01 -4.48012194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560371743 meters 0.03508478098473992 Centerline is valid? [True, True] Translation: X:325.45, Y:-20.06, Z:-4.48 [[ 9.99967269e-01 7.29442398e-03 -3.50027224e-03 3.25451485e+02] [-7.29372965e-03 9.99973378e-01 2.11090295e-04 -2.00571352e+01] [ 3.50171884e-03 -1.85553346e-04 9.99993852e-01 -4.48045326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.590371743 meters 0.03435965359323895 Centerline is valid? [True, True] Translation: X:325.48, Y:-20.06, Z:-4.48 [[ 9.99971163e-01 6.50469963e-03 -3.91945550e-03 3.25480603e+02] [-6.50382369e-03 9.99978822e-01 2.36189700e-04 -2.00568463e+01] [ 3.92090883e-03 -2.10691441e-04 9.99992291e-01 -4.48041741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620371743 meters 0.040337391162092055 Centerline is valid? [True, True] Translation: X:325.51, Y:-20.07, Z:-4.48 [[ 9.99983942e-01 3.94491770e-03 -4.06864897e-03 3.25508039e+02] [-3.94395192e-03 9.99992192e-01 2.45369355e-04 -2.00673416e+01] [ 4.06958517e-03 -2.29318859e-04 9.99991693e-01 -4.48384875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.650371743 meters 0.03513893394138353 Centerline is valid? [True, True] Translation: X:325.54, Y:-20.06, Z:-4.48 [[ 9.99989245e-01 2.43659571e-03 -3.94625488e-03 3.25538203e+02] [-2.43567548e-03 9.99997005e-01 2.37981124e-04 -2.00596091e+01] [ 3.94682293e-03 -2.28366768e-04 9.99992185e-01 -4.48080707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680371743 meters 0.041856898828698516 Centerline is valid? [True, True] Translation: X:325.57, Y:-20.07, Z:-4.48 [[ 9.99994163e-01 3.20377988e-04 -3.40178403e-03 3.25565601e+02] [-3.19684742e-04 9.99999928e-01 2.04330565e-04 -2.00720886e+01] [ 3.40184925e-03 -2.03241873e-04 9.99994193e-01 -4.48368459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.710371743 meters 0.0377449153972885 Centerline is valid? [True, True] Translation: X:325.60, Y:-20.07, Z:-4.48 [[ 9.99985008e-01 -4.32652017e-03 -3.35645988e-03 3.25596643e+02] [ 4.32722439e-03 9.99990617e-01 2.02576458e-04 -2.00660576e+01] [ 3.35555194e-03 -2.17097575e-04 9.99994347e-01 -4.48076754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740371743 meters 0.039452354728331536 Centerline is valid? [True, True] Translation: X:325.63, Y:-20.07, Z:-4.48 [[ 9.99971770e-01 -6.67559851e-03 -3.44900032e-03 3.25626637e+02] [ 6.67635897e-03 9.99977691e-01 2.09022174e-04 -2.00701965e+01] [ 3.44752803e-03 -2.32043037e-04 9.99994030e-01 -4.48178940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.770371743 meters 0.04056511851194628 Centerline is valid? [True, True] Translation: X:325.66, Y:-20.07, Z:-4.48 [[ 9.99949730e-01 -9.35644974e-03 -3.60472883e-03 3.25657412e+02] [ 9.35729636e-03 9.99956196e-01 2.18070051e-04 -2.00730775e+01] [ 3.60253057e-03 -2.51789605e-04 9.99993479e-01 -4.48260926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800371743 meters 0.043092037672755525 Centerline is valid? [True, True] Translation: X:325.69, Y:-20.08, Z:-4.48 [[ 9.99885761e-01 -1.46620658e-02 -3.67271987e-03 3.25688017e+02] [ 1.46629801e-02 9.99892468e-01 2.22128559e-04 -2.00780702e+01] [ 3.66906807e-03 -2.75956202e-04 9.99993231e-01 -4.48357574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.830371743 meters 0.042460557940037454 Centerline is valid? [True, True] Translation: X:325.72, Y:-20.08, Z:-4.48 [[ 9.99846583e-01 -1.71469925e-02 -3.57641445e-03 3.25718628e+02] [ 1.71478773e-02 9.99852941e-01 2.16865779e-04 -2.00783773e+01] [ 3.57216991e-03 -2.78160424e-04 9.99993581e-01 -4.48346755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86037174300003 meters 0.06233280597102264 Centerline is valid? [True, True] Translation: X:325.75, Y:-20.11, Z:-4.49 [[ 9.99810610e-01 -1.94485609e-02 -7.05138194e-04 3.25746834e+02] [ 1.94485967e-02 9.99810857e-01 4.39301320e-05 -2.01083151e+01] [ 7.04150444e-04 -5.76357604e-05 9.99999750e-01 -4.48835739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.890371743 meters 0.045386887545756094 Centerline is valid? [True, True] Translation: X:325.78, Y:-20.08, Z:-4.48 [[ 9.99715510e-01 -2.36197818e-02 -3.31722759e-03 3.25779487e+02] [ 2.36205792e-02 9.99720975e-01 2.01407503e-04 -2.00847207e+01] [ 3.31154480e-03 -2.79705042e-04 9.99994478e-01 -4.48455742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92037174300003 meters 0.04603116406762783 Centerline is valid? [True, True] Translation: X:325.81, Y:-20.09, Z:-4.48 [[ 9.99675925e-01 -2.52771829e-02 -3.01800533e-03 3.25810173e+02] [ 2.52778502e-02 9.99680447e-01 1.83180572e-04 -2.00865743e+01] [ 3.01241062e-03 -2.59409894e-04 9.99995429e-01 -4.48495066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.950371743 meters 0.04766838280892793 Centerline is valid? [True, True] Translation: X:325.84, Y:-20.09, Z:-4.49 [[ 9.99614251e-01 -2.76718897e-02 -2.36988927e-03 3.25841254e+02] [ 2.76723081e-02 9.99617038e-01 1.43938830e-04 -2.00891504e+01] [ 2.36499863e-03 -2.09463612e-04 9.99997181e-01 -4.48547180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.980371743 meters 0.052360605675281675 Centerline is valid? [True, True] Translation: X:325.87, Y:-20.10, Z:-4.49 [[ 9.99593057e-01 -2.84584249e-02 -1.95901196e-03 3.25871670e+02] [ 2.84587135e-02 9.99594962e-01 1.19634251e-04 -2.00972835e+01] [ 1.95481389e-03 -1.75336527e-04 9.99998074e-01 -4.48651225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.010371743 meters 0.049493998956713116 Centerline is valid? [True, True] Translation: X:325.90, Y:-20.09, Z:-4.49 [[ 9.99585265e-01 -2.87543541e-02 -1.57642473e-03 3.25904370e+02] [ 2.87545422e-02 9.99586498e-01 9.67742725e-05 -2.00945084e+01] [ 1.57299019e-03 -1.42063508e-04 9.99998753e-01 -4.48602063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.040371743 meters 0.050919622567759615 Centerline is valid? [True, True] Translation: X:325.94, Y:-20.10, Z:-4.49 [[ 9.99602810e-01 -2.81595129e-02 -1.12404829e-03 3.25935788e+02] [ 2.81596083e-02 9.99603437e-01 6.90940584e-05 -2.00961524e+01] [ 1.12165688e-03 -1.00719375e-04 9.99999366e-01 -4.48618462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.070371743 meters 0.05039780369263114 Centerline is valid? [True, True] Translation: X:325.97, Y:-20.10, Z:-4.49 [[ 9.99612824e-01 -2.77920727e-02 -1.34301629e-03 3.25968104e+02] [ 2.77922087e-02 9.99613719e-01 8.27466709e-05 -2.00955041e+01] [ 1.34019781e-03 -1.20040022e-04 9.99999095e-01 -4.48722126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.100371743 meters 0.048638609724385884 Centerline is valid? [True, True] Translation: X:326.00, Y:-20.09, Z:-4.49 [[ 9.99643191e-01 -2.66433216e-02 -1.90394364e-03 3.25999472e+02] [ 2.66435914e-02 9.99644990e-01 1.16477111e-04 -2.00924665e+01] [ 1.90016438e-03 -1.67163447e-04 9.99998181e-01 -4.48731949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.130371743 meters 0.051844714714184725 Centerline is valid? [True, True] Translation: X:326.03, Y:-20.10, Z:-4.49 [[ 9.99656120e-01 -2.61702293e-02 -1.66169676e-03 3.26030144e+02] [ 2.61704348e-02 9.99657490e-01 1.02050669e-04 -2.00973440e+01] [ 1.65845692e-03 -1.45502903e-04 9.99998614e-01 -4.48868597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.160371743 meters 0.04669400106883827 Centerline is valid? [True, True] Translation: X:326.06, Y:-20.09, Z:-4.49 [[ 9.99660583e-01 -2.60029092e-02 -1.60243196e-03 3.26063212e+02] [ 2.60031008e-02 9.99661857e-01 9.88290617e-05 -2.00906833e+01] [ 1.59932026e-03 -1.40463717e-04 9.99998711e-01 -4.48773319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.190371743 meters 0.04830409448661637 Centerline is valid? [True, True] Translation: X:326.09, Y:-20.09, Z:-4.49 [[ 9.99670358e-01 -2.56253673e-02 -1.58604418e-03 3.26094370e+02] [ 2.56255542e-02 9.99671607e-01 9.76542526e-05 -2.00928211e+01] [ 1.58302091e-03 -1.38265323e-04 9.99998737e-01 -4.48812083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.220371743 meters 0.04678433711657796 Centerline is valid? [True, True] Translation: X:326.13, Y:-20.09, Z:-4.49 [[ 9.99676336e-01 -2.53630456e-02 -1.98450226e-03 3.26126766e+02] [ 2.53633382e-02 9.99678291e-01 1.22388059e-04 -2.00913201e+01] [ 1.98075970e-03 -1.72682049e-04 9.99998023e-01 -4.48834318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.250371743 meters 0.0486730757438504 Centerline is valid? [True, True] Translation: X:326.16, Y:-20.09, Z:-4.49 [[ 9.99684737e-01 -2.49938486e-02 -2.39454428e-03 3.26157914e+02] [ 2.49942726e-02 9.99687584e-01 1.47340787e-04 -2.00947647e+01] [ 2.39011357e-03 -2.07144229e-04 9.99997122e-01 -4.48946052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.280371743 meters 0.04658828001200322 Centerline is valid? [True, True] Translation: X:326.19, Y:-20.09, Z:-4.49 [[ 9.99696754e-01 -2.43684510e-02 -3.54658335e-03 3.26190326e+02] [ 2.43693779e-02 9.99702999e-01 2.18376730e-04 -2.00906182e+01] [ 3.54020851e-03 -3.04738538e-04 9.99993687e-01 -4.49040358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.310371743 meters 0.04488210151402834 Centerline is valid? [True, True] Translation: X:326.22, Y:-20.09, Z:-4.49 [[ 9.99711477e-01 -2.37810287e-02 -3.38027505e-03 3.26222903e+02] [ 2.37818684e-02 9.99717150e-01 2.08443802e-04 -2.00886930e+01] [ 3.37436193e-03 -2.88772918e-04 9.99994265e-01 -4.49041909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.340371743 meters 0.047101728269295914 Centerline is valid? [True, True] Translation: X:326.25, Y:-20.09, Z:-4.49 [[ 9.99750904e-01 -2.21169561e-02 -2.99505287e-03 3.26253126e+02] [ 2.21176062e-02 9.99755359e-01 1.84096352e-04 -2.00912398e+01] [ 2.99024850e-03 -2.50293894e-04 9.99995498e-01 -4.49059612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.370371743 meters 0.04557408580020448 Centerline is valid? [True, True] Translation: X:326.29, Y:-20.09, Z:-4.49 [[ 9.99770536e-01 -2.13234227e-02 -2.04606256e-03 3.26285970e+02] [ 2.13237270e-02 9.99772615e-01 1.27032775e-04 -2.00898468e+01] [ 2.04288854e-03 -1.70633305e-04 9.99997899e-01 -4.48984341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.400371743 meters 0.04414501004853019 Centerline is valid? [True, True] Translation: X:326.32, Y:-20.09, Z:-4.49 [[ 9.99801966e-01 -1.98738835e-02 -1.02844697e-03 3.26317658e+02] [ 1.98739595e-02 9.99802491e-01 6.37658565e-05 -2.00885402e+01] [ 1.02697657e-03 -8.41925421e-05 9.99999469e-01 -4.48922741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.430371743 meters 0.04653845467680468 Centerline is valid? [True, True] Translation: X:326.35, Y:-20.09, Z:-4.49 [[ 9.99824769e-01 -1.87177637e-02 -2.77866830e-04 3.26347972e+02] [ 1.87177693e-02 9.99824807e-01 1.73457096e-05 -2.00925837e+01] [ 2.77493476e-04 -2.25437172e-05 9.99999961e-01 -4.48995973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.460371743 meters 0.045906832121455764 Centerline is valid? [True, True] Translation: X:326.38, Y:-20.09, Z:-4.49 [[ 9.99879785e-01 -1.54951410e-02 5.62706534e-04 3.26377602e+02] [ 1.54951630e-02 9.99879942e-01 -3.48152069e-05 -2.00902817e+01] [-5.62099510e-04 4.35302511e-05 9.99999841e-01 -4.48971007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.490371743 meters 0.04528080293119073 Centerline is valid? [True, True] Translation: X:326.41, Y:-20.09, Z:-4.49 [[ 9.99905265e-01 -1.37523310e-02 5.78139927e-04 3.26408981e+02] [ 1.37523536e-02 9.99905431e-01 -3.50937645e-05 -2.00907737e+01] [-5.77602633e-04 4.30412246e-05 9.99999832e-01 -4.49028554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.520371743 meters 0.04497316639408776 Centerline is valid? [True, True] Translation: X:326.44, Y:-20.09, Z:-4.49 [[ 9.99925280e-01 -1.21991945e-02 7.83521223e-04 3.26440900e+02] [ 1.21992355e-02 9.99925585e-01 -4.75364782e-05 -2.00915912e+01] [-7.82883011e-04 5.70912862e-05 9.99999692e-01 -4.49134266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.550371743 meters 0.04480072374888779 Centerline is valid? [True, True] Translation: X:326.47, Y:-20.09, Z:-4.49 [[ 9.99949505e-01 -9.96940124e-03 1.26451457e-03 3.26470388e+02] [ 9.96950795e-03 9.99950300e-01 -7.81091942e-05 -2.00920017e+01] [-1.26367303e-03 9.07118381e-05 9.99999197e-01 -4.49222314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.580371743 meters 0.044477285235091014 Centerline is valid? [True, True] Translation: X:326.50, Y:-20.09, Z:-4.49 [[ 9.99959825e-01 -8.85288931e-03 1.40556106e-03 3.26501457e+02] [ 8.85301907e-03 9.99960808e-01 -8.61244379e-05 -2.00929088e+01] [-1.40474352e-03 9.85644366e-05 9.99999008e-01 -4.49270983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61037174300003 meters 0.03957587619464249 Centerline is valid? [True, True] Translation: X:326.53, Y:-20.09, Z:-4.49 [[ 9.99972931e-01 -7.22440583e-03 1.39500589e-03 3.26533804e+02] [ 7.22453179e-03 9.99973899e-01 -8.52736017e-05 -2.00855629e+01] [-1.39435342e-03 9.53495578e-05 9.99999023e-01 -4.49188899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.640371743 meters 0.04053947682785333 Centerline is valid? [True, True] Translation: X:326.56, Y:-20.09, Z:-4.49 [[ 9.99983048e-01 -5.71110733e-03 1.13476259e-03 3.26564510e+02] [ 5.71118988e-03 9.99983689e-01 -6.95181331e-05 -2.00883630e+01] [-1.13434705e-03 7.59977992e-05 9.99999354e-01 -4.49280405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67037174300003 meters 0.04001763541990404 Centerline is valid? [True, True] Translation: X:326.60, Y:-20.09, Z:-4.49 [[ 9.99988662e-01 -4.62679526e-03 1.12617641e-03 3.26596683e+02] [ 4.62687542e-03 9.99989294e-01 -6.85840986e-05 -2.00887735e+01] [-1.12584702e-03 7.37939990e-05 9.99999364e-01 -4.49350685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.700371743 meters 0.04017620598953064 Centerline is valid? [True, True] Translation: X:326.63, Y:-20.09, Z:-4.49 [[ 9.99996053e-01 -2.43635389e-03 1.39957311e-03 3.26626933e+02] [ 2.43647696e-03 9.99997028e-01 -8.62350579e-05 -2.00900601e+01] [-1.39935885e-03 8.96447451e-05 9.99999017e-01 -4.49433552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.730371743 meters 0.03850446412805097 Centerline is valid? [True, True] Translation: X:326.66, Y:-20.09, Z:-4.49 [[ 9.99998154e-01 -1.37510742e-03 1.34174578e-03 3.26658365e+02] [ 1.37521930e-03 9.99999051e-01 -8.24656908e-05 -2.00891444e+01] [-1.34163111e-03 8.43107333e-05 9.99999096e-01 -4.49431933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.760371743 meters 0.036124603261501846 Centerline is valid? [True, True] Translation: X:326.69, Y:-20.09, Z:-4.49 [[ 9.99998397e-01 1.01284895e-03 1.47640748e-03 3.26689268e+02] [-1.01271561e-03 9.99999483e-01 -9.10587722e-05 -2.00867780e+01] [-1.47649895e-03 8.95634453e-05 9.99998906e-01 -4.49398330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.790371743 meters 0.03581296300189418 Centerline is valid? [True, True] Translation: X:326.72, Y:-20.09, Z:-4.49 [[ 9.99996802e-01 2.08882642e-03 1.42591694e-03 3.26719455e+02] [-2.08870279e-03 9.99997815e-01 -8.81860372e-05 -2.00878910e+01] [-1.42609803e-03 8.52074385e-05 9.99998979e-01 -4.49436976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.820371743 meters 0.03594242594046317 Centerline is valid? [True, True] Translation: X:326.75, Y:-20.09, Z:-4.49 [[ 9.99993938e-01 3.31395542e-03 1.06881568e-03 3.26749165e+02] [-3.31388642e-03 9.99994507e-01 -6.63302155e-05 -2.00894121e+01] [-1.06902963e-03 6.27878796e-05 9.99999427e-01 -4.49491464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.850371743 meters 0.03487148715939914 Centerline is valid? [True, True] Translation: X:326.78, Y:-20.09, Z:-4.49 [[ 9.99980259e-01 6.18456540e-03 1.11012924e-03 3.26779059e+02] [-6.18449275e-03 9.99980873e-01 -6.88641844e-05 -2.00893468e+01] [-1.11053391e-03 6.19972388e-05 9.99999381e-01 -4.49478596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880371743 meters 0.03531236948112491 Centerline is valid? [True, True] Translation: X:326.81, Y:-20.09, Z:-4.50 [[ 9.99971396e-01 7.52445598e-03 7.68446938e-04 3.26806865e+02] [-7.52442080e-03 9.99971690e-01 -4.86569618e-05 -2.00918155e+01] [-7.68791300e-04 4.28734519e-05 9.99999704e-01 -4.49543310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.910371743 meters 0.03347752820522094 Centerline is valid? [True, True] Translation: X:326.84, Y:-20.09, Z:-4.49 [[ 9.99956803e-01 9.27430101e-03 6.16026322e-04 3.26836352e+02] [-9.27427889e-03 9.99956992e-01 -3.87406935e-05 -2.00900074e+01] [-6.16359121e-04 3.30258201e-05 9.99999810e-01 -4.49495818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940371743 meters 0.032338015265408596 Centerline is valid? [True, True] Translation: X:326.87, Y:-20.09, Z:-4.49 [[ 9.99918649e-01 1.27548101e-02 9.91088943e-05 3.26866647e+02] [-1.27548095e-02 9.99918654e-01 -6.36061469e-06 -2.00890798e+01] [-9.91819610e-05 5.09598220e-06 9.99999995e-01 -4.49474025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.970371743 meters 0.03164049249961182 Centerline is valid? [True, True] Translation: X:326.90, Y:-20.09, Z:-4.50 [[ 9.99891812e-01 1.47093042e-02 -1.91563750e-05 3.26895546e+02] [-1.47093042e-02 9.99891812e-01 1.77869467e-07 -2.00894538e+01] [ 1.91569186e-05 1.03926738e-07 1.00000000e+00 -4.49513805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000371743 meters 0.03324631843957615 Centerline is valid? [True, True] Translation: X:326.92, Y:-20.10, Z:-4.50 [[ 9.99835603e-01 1.80635823e-02 -1.57320355e-03 3.26924363e+02] [-1.80634531e-02 9.99836838e-01 9.63243234e-05 -2.00951005e+01] [ 1.57468682e-03 -6.78909994e-05 9.99998758e-01 -4.49769784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.030371743 meters 0.03324631843957615 Centerline is valid? [True, True] Translation: X:326.95, Y:-20.10, Z:-4.50 [[ 9.99837405e-01 1.79635215e-02 -1.57326904e-03 3.26951795e+02] [-1.79633938e-02 9.99838641e-01 9.52589332e-05 -2.00966895e+01] [ 1.57472636e-03 -6.69821933e-05 9.99998758e-01 -4.49808398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060371743 meters 0.031029122678270193 Centerline is valid? [True, True] Translation: X:326.98, Y:-20.09, Z:-4.50 [[ 9.99802284e-01 1.97791258e-02 -2.04409568e-03 3.26980523e+02] [-1.97789126e-02 9.99804370e-01 1.24477326e-04 -2.00943087e+01] [ 2.04615785e-03 -8.40227252e-05 9.99997903e-01 -4.49769243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.090371743 meters 0.03065848183239884 Centerline is valid? [True, True] Translation: X:327.01, Y:-20.10, Z:-4.50 [[ 9.99767056e-01 2.14172729e-02 -2.67080416e-03 3.27009050e+02] [-2.14169144e-02 9.99770618e-01 1.62759899e-04 -2.00956820e+01] [ 2.67367740e-03 -1.05521601e-04 9.99996420e-01 -4.49828039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120371743 meters 0.02991160629348496 Centerline is valid? [True, True] Translation: X:327.04, Y:-20.10, Z:-4.50 [[ 9.99690171e-01 2.47597033e-02 -2.55337372e-03 3.27038808e+02] [-2.47593856e-02 9.99693427e-01 1.55961447e-04 -2.00973487e+01] [ 2.55645249e-03 -9.26931607e-05 9.99996728e-01 -4.49835799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.150371743 meters 0.02943757148907485 Centerline is valid? [True, True] Translation: X:327.07, Y:-20.10, Z:-4.50 [[ 9.99658788e-01 2.60157492e-02 -2.34255342e-03 3.27067503e+02] [-2.60154869e-02 9.99661530e-01 1.42391897e-04 -2.00983938e+01] [ 2.34546496e-03 -8.14006438e-05 9.99997246e-01 -4.49766854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180371743 meters 0.02956873052739018 Centerline is valid? [True, True] Translation: X:327.10, Y:-20.10, Z:-4.50 [[ 9.99607253e-01 2.79467270e-02 -2.07865398e-03 3.27095359e+02] [-2.79465257e-02 9.99609412e-01 1.25826959e-04 -2.01018269e+01] [ 2.08135853e-03 -6.76863841e-05 9.99997832e-01 -4.49758153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.210371743 meters 0.028170613120614692 Centerline is valid? [True, True] Translation: X:327.12, Y:-20.10, Z:-4.50 [[ 9.99584493e-01 2.87370985e-02 -2.24073254e-03 3.27124036e+02] [-2.87368663e-02 9.99587002e-01 1.35778297e-04 -2.01008971e+01] [ 2.24370899e-03 -7.13302493e-05 9.99997480e-01 -4.49609809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240371743 meters 0.028489710867987947 Centerline is valid? [True, True] Translation: X:327.15, Y:-20.11, Z:-4.50 [[ 9.99574179e-01 2.91301482e-02 -1.70129591e-03 3.27151245e+02] [-2.91300160e-02 9.99575626e-01 1.02456553e-04 -2.01054309e+01] [ 1.70355850e-03 -5.28541480e-05 9.99998548e-01 -4.49717518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.270371743 meters 0.02830224160620507 Centerline is valid? [True, True] Translation: X:327.18, Y:-20.11, Z:-4.50 [[ 9.99608210e-01 2.78668297e-02 -2.62036661e-03 3.27180107e+02] [-2.78665097e-02 9.99611641e-01 1.58540899e-04 -2.01097578e+01] [ 2.62376700e-03 -8.54583125e-05 9.99996554e-01 -4.49739683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300371743 meters 0.02901903590334499 Centerline is valid? [True, True] Translation: X:327.21, Y:-20.11, Z:-4.50 [[ 9.99643905e-01 2.64867559e-02 -3.24280405e-03 3.27207945e+02] [-2.64862596e-02 9.99649158e-01 1.95911131e-04 -2.01145552e+01] [ 3.24685539e-03 -1.09951618e-04 9.99994723e-01 -4.49885379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.330371743 meters 0.030623199116399172 Centerline is valid? [True, True] Translation: X:327.24, Y:-20.12, Z:-4.50 [[ 9.99737461e-01 2.25018216e-02 -4.32171171e-03 3.27236625e+02] [-2.25008986e-02 9.99746788e-01 2.62099485e-04 -2.01229549e+01] [ 4.32651511e-03 -1.64788277e-04 9.99990627e-01 -4.50021125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36037174300003 meters 0.03025922759865611 Centerline is valid? [True, True] Translation: X:327.27, Y:-20.13, Z:-4.50 [[ 9.99791563e-01 1.99665047e-02 -4.26247882e-03 3.27266355e+02] [-1.99655845e-02 9.99800634e-01 2.58335429e-04 -2.01260551e+01] [ 4.26678709e-03 -1.73178702e-04 9.99990882e-01 -4.49998968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.390371743 meters 0.03161725135801771 Centerline is valid? [True, True] Translation: X:327.30, Y:-20.14, Z:-4.50 [[ 9.99889809e-01 1.43053302e-02 -3.96584739e-03 3.27295496e+02] [-1.43044886e-02 9.99897657e-01 2.40507220e-04 -2.01351432e+01] [ 3.96888204e-03 -1.83751300e-04 9.99992107e-01 -4.50052099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42037174300003 meters 0.03414796052131868 Centerline is valid? [True, True] Translation: X:327.32, Y:-20.15, Z:-4.50 [[ 9.99960277e-01 7.93169506e-03 -4.06613636e-03 3.27324351e+02] [-7.93075803e-03 9.99968521e-01 2.46518015e-04 -2.01458671e+01] [ 4.06796366e-03 -2.14260679e-04 9.99991703e-01 -4.50175358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.450371743 meters 0.03689687479733719 Centerline is valid? [True, True] Translation: X:327.35, Y:-20.16, Z:-4.50 [[ 9.99992858e-01 1.80782661e-03 -3.31899053e-03 3.27353505e+02] [-1.80716814e-03 9.99998347e-01 2.01382440e-04 -2.01560917e+01] [ 3.31934911e-03 -1.95383028e-04 9.99994472e-01 -4.50190336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.480371743 meters 0.035619164459040814 Centerline is valid? [True, True] Translation: X:327.38, Y:-20.16, Z:-4.50 [[ 9.99993074e-01 -1.21081056e-03 -3.51950057e-03 3.27383563e+02] [ 1.21156862e-03 9.99999243e-01 2.13265362e-04 -2.01570808e+01] [ 3.51923968e-03 -2.17528002e-04 9.99993784e-01 -4.50097281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.510371743 meters 0.03879924791221766 Centerline is valid? [True, True] Translation: X:327.41, Y:-20.17, Z:-4.50 [[ 9.99987535e-01 -3.92474649e-03 -3.08632913e-03 3.27411855e+02] [ 3.92534108e-03 9.99992278e-01 1.86621031e-04 -2.01660611e+01] [ 3.08557286e-03 -1.98733599e-04 9.99995220e-01 -4.50243007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.540371743 meters 0.03879924791221766 Centerline is valid? [True, True] Translation: X:327.44, Y:-20.17, Z:-4.50 [[ 9.99987535e-01 -3.92475362e-03 -3.08629840e-03 3.27441864e+02] [ 3.92534978e-03 9.99992278e-01 1.87127790e-04 -2.01678807e+01] [ 3.08554014e-03 -1.99240259e-04 9.99995220e-01 -4.50285251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.570371743 meters 0.04026176737656747 Centerline is valid? [True, True] Translation: X:327.47, Y:-20.18, Z:-4.50 [[ 9.99952956e-01 -9.28759602e-03 -2.79765290e-03 3.27472273e+02] [ 9.28810691e-03 9.99956850e-01 1.69678914e-04 -2.01755128e+01] [ 2.79595627e-03 -1.95655831e-04 9.99996072e-01 -4.50315166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.600371743 meters 0.03979813706518086 Centerline is valid? [True, True] Translation: X:327.50, Y:-20.18, Z:-4.50 [[ 9.99926122e-01 -1.18291489e-02 -2.79658792e-03 3.27502969e+02] [ 1.18296701e-02 9.99930013e-01 1.69876951e-04 -2.01782412e+01] [ 2.79438269e-03 -2.02947113e-04 9.99996075e-01 -4.50329873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.630371743 meters 0.0415240802623575 Centerline is valid? [True, True] Translation: X:327.53, Y:-20.19, Z:-4.50 [[ 9.99869899e-01 -1.58861189e-02 -2.79581660e-03 3.27533254e+02] [ 1.58866550e-02 9.99873785e-01 1.69627986e-04 -2.01854480e+01] [ 2.79276900e-03 -2.14022091e-04 9.99996077e-01 -4.50381083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.660371743 meters 0.04584060940986645 Centerline is valid? [True, True] Translation: X:327.56, Y:-20.19, Z:-4.51 [[ 9.99837855e-01 -1.76908131e-02 -3.36149285e-03 3.27562706e+02] [ 1.76915980e-02 9.99843471e-01 2.03895576e-04 -2.01946297e+01] [ 3.35735960e-03 -2.63332695e-04 9.99994329e-01 -4.50590146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.690371743 meters 0.04294327262749195 Centerline is valid? [True, True] Translation: X:327.59, Y:-20.19, Z:-4.51 [[ 9.99811914e-01 -1.91031734e-02 -3.34749168e-03 3.27594934e+02] [ 1.91039638e-02 9.99817482e-01 2.04296535e-04 -2.01936631e+01] [ 3.34297799e-03 -2.68208469e-04 9.99994376e-01 -4.50518353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.720371743 meters 0.04431797090867077 Centerline is valid? [True, True] Translation: X:327.63, Y:-20.20, Z:-4.51 [[ 9.99759453e-01 -2.15165447e-02 -4.25144536e-03 3.27625625e+02] [ 2.15178373e-02 9.99768431e-01 2.58512628e-04 -2.01981253e+01] [ 4.24489856e-03 -3.49932353e-04 9.99990929e-01 -4.50630610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.750371743 meters 0.049155049424227264 Centerline is valid? [True, True] Translation: X:327.66, Y:-20.21, Z:-4.51 [[ 9.99747472e-01 -2.20638956e-02 -4.26346456e-03 3.27656511e+02] [ 2.20652035e-02 9.99756500e-01 2.59977348e-04 -2.02074772e+01] [ 4.25669029e-03 -3.53985910e-04 9.99990878e-01 -4.50806593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.780371743 meters 0.044563895844007946 Centerline is valid? [True, True] Translation: X:327.69, Y:-20.20, Z:-4.51 [[ 9.99749325e-01 -2.19869152e-02 -4.22634301e-03 3.27689537e+02] [ 2.19882022e-02 9.99758197e-01 2.58283263e-04 -2.02028471e+01] [ 4.21964222e-03 -3.51148202e-04 9.99991036e-01 -4.50618375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.810371743 meters 0.04573658917361496 Centerline is valid? [True, True] Translation: X:327.72, Y:-20.21, Z:-4.51 [[ 9.99757721e-01 -2.16243612e-02 -4.10926062e-03 3.27720424e+02] [ 2.16255748e-02 9.99766108e-01 2.51119258e-04 -2.02059100e+01] [ 4.10286920e-03 -3.39923540e-04 9.99991525e-01 -4.50658444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.840371743 meters 0.04385559280467352 Centerline is valid? [True, True] Translation: X:327.75, Y:-20.20, Z:-4.51 [[ 9.99782933e-01 -2.06299937e-02 -2.91383775e-03 3.27752549e+02] [ 2.06306008e-02 9.99787151e-01 1.78450156e-04 -2.02046269e+01] [ 2.90953612e-03 -2.38525644e-04 9.99995739e-01 -4.50534781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.870371743 meters 0.04422837907547483 Centerline is valid? [True, True] Translation: X:327.78, Y:-20.21, Z:-4.51 [[ 9.99798378e-01 -1.98538376e-02 -3.00484190e-03 3.27784844e+02] [ 1.98544811e-02 9.99802863e-01 1.84462584e-04 -2.02067278e+01] [ 3.00058724e-03 -2.44084969e-04 9.99995468e-01 -4.50570814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.900371743 meters 0.04422880288980981 Centerline is valid? [True, True] Translation: X:327.82, Y:-20.21, Z:-4.51 [[ 9.99825462e-01 -1.83940255e-02 -3.27188214e-03 3.27816589e+02] [ 1.83947800e-02 9.99830782e-01 2.00684423e-04 -2.02081890e+01] [ 3.26763708e-03 -2.60834948e-04 9.99994627e-01 -4.50677508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.930371743 meters 0.044873611377301656 Centerline is valid? [True, True] Translation: X:327.85, Y:-20.21, Z:-4.51 [[ 9.99846502e-01 -1.70830932e-02 -3.89099491e-03 3.27847095e+02] [ 1.70841482e-02 9.99854027e-01 2.38081521e-04 -2.02098350e+01] [ 3.88635976e-03 -3.04519310e-04 9.99992402e-01 -4.50824377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.960371743 meters 0.044873611377301656 Centerline is valid? [True, True] Translation: X:327.88, Y:-20.21, Z:-4.51 [[ 9.99847697e-01 -1.70130366e-02 -3.89093325e-03 3.27878828e+02] [ 1.70140951e-02 9.99855221e-01 2.39089589e-04 -2.02118384e+01] [ 3.88630229e-03 -3.05253883e-04 9.99992402e-01 -4.50869025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.990371743 meters 0.04346898772113993 Centerline is valid? [True, True] Translation: X:327.91, Y:-20.21, Z:-4.51 [[ 9.99861806e-01 -1.58766055e-02 -4.92977062e-03 3.27910939e+02] [ 1.58782913e-02 9.99873886e-01 3.03022318e-04 -2.02102332e+01] [ 4.92433794e-03 -3.81256777e-04 9.99987803e-01 -4.50913834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.020371743 meters 0.04256674240459915 Centerline is valid? [True, True] Translation: X:327.94, Y:-20.21, Z:-4.51 [[ 9.99866400e-01 -1.54417127e-02 -5.36052513e-03 3.27942908e+02] [ 1.54437014e-02 9.99880685e-01 3.29802831e-04 -2.02105002e+01] [ 5.35479282e-03 -4.12545119e-04 9.99985578e-01 -4.50981233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.050371743 meters 0.04336769361296065 Centerline is valid? [True, True] Translation: X:327.97, Y:-20.21, Z:-4.51 [[ 9.99885003e-01 -1.43890363e-02 -4.78921698e-03 3.27973039e+02] [ 1.43906090e-02 9.99896407e-01 2.94089705e-04 -2.02133769e+01] [ 4.78448918e-03 -3.62975635e-04 9.99988488e-01 -4.51077153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.080371743 meters 0.04540843030112853 Centerline is valid? [True, True] Translation: X:328.00, Y:-20.22, Z:-4.51 [[ 9.99899091e-01 -1.37207968e-02 -3.68075936e-03 3.28004219e+02] [ 1.37217292e-02 9.99905827e-01 2.28188080e-04 -2.02175406e+01] [ 3.67728181e-03 -2.78671437e-04 9.99993200e-01 -4.51031065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11037174300003 meters 0.04037164313912627 Centerline is valid? [True, True] Translation: X:328.04, Y:-20.21, Z:-4.51 [[ 9.99898445e-01 -1.38898355e-02 -3.18947202e-03 3.28037143e+02] [ 1.38905353e-02 9.99903502e-01 1.97369711e-04 -2.02110723e+01] [ 3.18642281e-03 -2.41653141e-04 9.99994894e-01 -4.50757025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.140371743 meters 0.04046391733124663 Centerline is valid? [True, True] Translation: X:328.07, Y:-20.21, Z:-4.51 [[ 9.99902403e-01 -1.37364350e-02 -2.54842411e-03 3.28069118e+02] [ 1.37368823e-02 9.99905632e-01 1.58088297e-04 -2.02124563e+01] [ 2.54601205e-03 -1.93080270e-04 9.99996740e-01 -4.50731179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17037174300003 meters 0.04042456637619024 Centerline is valid? [True, True] Translation: X:328.10, Y:-20.21, Z:-4.51 [[ 9.99902623e-01 -1.37421108e-02 -2.42866421e-03 3.28100821e+02] [ 1.37425194e-02 9.99905556e-01 1.51630929e-04 -2.02138355e+01] [ 2.42635111e-03 -1.84992129e-04 9.99997039e-01 -4.50784061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.200371743 meters 0.04220787014575444 Centerline is valid? [True, True] Translation: X:328.13, Y:-20.22, Z:-4.51 [[ 9.99898687e-01 -1.39930925e-02 -2.60939976e-03 3.28131916e+02] [ 1.39935627e-02 9.99902072e-01 1.62036167e-04 -2.02184108e+01] [ 2.60687684e-03 -1.98534550e-04 9.99996582e-01 -4.50877779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.230371743 meters 0.04303416938763779 Centerline is valid? [True, True] Translation: X:328.16, Y:-20.22, Z:-4.51 [[ 9.99894080e-01 -1.43088861e-02 -2.66168334e-03 3.28163566e+02] [ 1.43093776e-02 9.99897602e-01 1.65691809e-04 -2.02216877e+01] [ 2.65903993e-03 -2.03761290e-04 9.99996444e-01 -4.50997693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.260371743 meters 0.04167113653592373 Centerline is valid? [True, True] Translation: X:328.20, Y:-20.22, Z:-4.51 [[ 9.99875667e-01 -1.55476685e-02 -2.63084891e-03 3.28196036e+02] [ 1.55481535e-02 9.99879107e-01 1.63994504e-04 -2.02209903e+01] [ 2.62798113e-03 -2.04878957e-04 9.99996526e-01 -4.51014016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.290371743 meters 0.04156431382792827 Centerline is valid? [True, True] Translation: X:328.23, Y:-20.22, Z:-4.51 [[ 9.99867762e-01 -1.60506511e-02 -2.61437686e-03 3.28228381e+02] [ 1.60511322e-02 9.99871159e-01 1.63168895e-04 -2.02224982e+01] [ 2.61142105e-03 -2.05111027e-04 9.99996569e-01 -4.51041433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.320371743 meters 0.04236421757513864 Centerline is valid? [True, True] Translation: X:328.26, Y:-20.22, Z:-4.51 [[ 9.99842801e-01 -1.74522863e-02 -3.12905411e-03 3.28259194e+02] [ 1.74529796e-02 9.99847666e-01 1.94381048e-04 -2.02245020e+01] [ 3.12518506e-03 -2.48961808e-04 9.99995086e-01 -4.51091936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.350371743 meters 0.04311957314034812 Centerline is valid? [True, True] Translation: X:328.29, Y:-20.23, Z:-4.51 [[ 9.99833898e-01 -1.79788688e-02 -2.98942032e-03 3.28291220e+02] [ 1.79795069e-02 9.99838338e-01 1.86690634e-04 -2.02269326e+01] [ 2.98558056e-03 -2.40407927e-04 9.99995514e-01 -4.51144317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380371743 meters 0.04375042870434898 Centerline is valid? [True, True] Translation: X:328.32, Y:-20.23, Z:-4.51 [[ 9.99826158e-01 -1.83187968e-02 -3.47487520e-03 3.28323172e+02] [ 1.83196612e-02 9.99832157e-01 2.17088931e-04 -2.02288859e+01] [ 3.47031516e-03 -2.80709728e-04 9.99993939e-01 -4.51241140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.410371743 meters 0.042403602053748796 Centerline is valid? [True, True] Translation: X:328.36, Y:-20.23, Z:-4.51 [[ 9.99819437e-01 -1.87279958e-02 -3.21789998e-03 3.28355579e+02] [ 1.87287402e-02 9.99824581e-01 2.01357387e-04 -2.02273831e+01] [ 3.21356448e-03 -2.61588242e-04 9.99994802e-01 -4.51175241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440371743 meters 0.04271289244456577 Centerline is valid? [True, True] Translation: X:328.39, Y:-20.23, Z:-4.51 [[ 9.99825542e-01 -1.84615818e-02 -2.83834627e-03 3.28387945e+02] [ 1.84621608e-02 9.99829544e-01 1.77930657e-04 -2.02284377e+01] [ 2.83457757e-03 -2.30301621e-04 9.99995956e-01 -4.51175995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.470371743 meters 0.042079745927287505 Centerline is valid? [True, True] Translation: X:328.42, Y:-20.23, Z:-4.51 [[ 9.99855694e-01 -1.68898044e-02 -1.82348538e-03 3.28419907e+02] [ 1.68900412e-02 9.99857347e-01 1.14520709e-04 -2.02268620e+01] [ 1.82129102e-03 -1.45302926e-04 9.99998331e-01 -4.51023914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500371743 meters 0.04281376462176842 Centerline is valid? [True, True] Translation: X:328.45, Y:-20.23, Z:-4.51 [[ 9.99878243e-01 -1.55709357e-02 -1.02229810e-03 3.28450653e+02] [ 1.55710096e-02 9.99878762e-01 6.43196763e-05 -2.02285994e+01] [ 1.02117264e-03 -8.02300585e-05 9.99999475e-01 -4.50996543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.530371743 meters 0.04115843409649402 Centerline is valid? [True, True] Translation: X:328.48, Y:-20.23, Z:-4.51 [[ 9.99901342e-01 -1.40356117e-02 -5.55072815e-04 3.28482749e+02] [ 1.40356337e-02 9.99901495e-01 3.56994777e-05 -2.02267445e+01] [ 5.54517074e-04 -4.34867544e-05 9.99999845e-01 -4.50939089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560371743 meters 0.040016466081324246 Centerline is valid? [True, True] Translation: X:328.51, Y:-20.22, Z:-4.51 [[ 9.99941780e-01 -1.07825219e-02 -4.17568185e-04 3.28513335e+02] [ 1.07825337e-02 9.99941866e-01 2.60482862e-05 -2.02234053e+01] [ 4.17263043e-04 -3.05492127e-05 9.99999912e-01 -4.50869258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.590371743 meters 0.03944343432339336 Centerline is valid? [True, True] Translation: X:328.55, Y:-20.22, Z:-4.51 [[ 9.99961225e-01 -8.79397587e-03 -4.62509837e-04 3.28545188e+02] [ 8.79399054e-03 9.99961332e-01 2.96844335e-05 -2.02227609e+01] [ 4.62230908e-04 -3.37505896e-05 9.99999893e-01 -4.50924872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620371743 meters 0.037985038338763974 Centerline is valid? [True, True] Translation: X:328.58, Y:-20.22, Z:-4.51 [[ 9.99989772e-01 -4.34862123e-03 -1.24316119e-03 3.28575640e+02] [ 4.34872126e-03 9.99990541e-01 7.77727279e-05 -2.02189712e+01] [ 1.24281123e-03 -8.31780940e-05 9.99999224e-01 -4.51023178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.650371743 meters 0.03708671742321611 Centerline is valid? [True, True] Translation: X:328.61, Y:-20.22, Z:-4.51 [[ 9.99997223e-01 -1.97490991e-03 -1.28610874e-03 3.28606858e+02] [ 1.97501535e-03 9.99998046e-01 8.07130442e-05 -2.02179647e+01] [ 1.28594682e-03 -8.32529045e-05 9.99999170e-01 -4.51080941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680371743 meters 0.03636381531124896 Centerline is valid? [True, True] Translation: X:328.64, Y:-20.22, Z:-4.51 [[ 9.99999184e-01 7.28478784e-04 -1.04964760e-03 3.28637360e+02] [-7.28410254e-04 9.99999733e-01 6.56687370e-05 -2.02173858e+01] [ 1.04969515e-03 -6.49041093e-05 9.99999447e-01 -4.51115287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.710371743 meters 0.03489712270598727 Centerline is valid? [True, True] Translation: X:328.67, Y:-20.21, Z:-4.51 [[ 9.99984375e-01 5.47347507e-03 -1.13598226e-03 3.28666745e+02] [-5.47339822e-03 9.99985018e-01 7.07520713e-05 -2.02141650e+01] [ 1.13635250e-03 -6.45332826e-05 9.99999352e-01 -4.51105729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740371743 meters 0.03447655423819318 Centerline is valid? [True, True] Translation: X:328.70, Y:-20.21, Z:-4.51 [[ 9.99968497e-01 7.91145563e-03 -6.44075099e-04 3.28696711e+02] [-7.91143177e-03 9.99968703e-01 3.95807678e-05 -2.02137189e+01] [ 6.44368083e-04 -3.44839647e-05 9.99999792e-01 -4.51139261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.770371743 meters 0.03214265828928419 Centerline is valid? [True, True] Translation: X:328.73, Y:-20.21, Z:-4.51 [[ 9.99932689e-01 1.15907065e-02 -5.22083501e-04 3.28727045e+02] [-1.15906913e-02 9.99932825e-01 3.20701786e-05 -2.02087358e+01] [ 5.22420146e-04 -2.60167112e-05 9.99999863e-01 -4.51050396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800371743 meters 0.033501198925207226 Centerline is valid? [True, True] Translation: X:328.75, Y:-20.21, Z:-4.51 [[ 9.99909365e-01 1.34472232e-02 -6.58217952e-04 3.28754991e+02] [-1.34471997e-02 9.99909582e-01 4.00672608e-05 -2.02119339e+01] [ 6.58697230e-04 -3.12124411e-05 9.99999783e-01 -4.51191595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.830371743 meters 0.03250036101981949 Centerline is valid? [True, True] Translation: X:328.78, Y:-20.21, Z:-4.51 [[ 9.99891605e-01 1.47089670e-02 -6.52143129e-04 3.28783846e+02] [-1.47089443e-02 9.99891817e-01 3.96607930e-05 -2.02105125e+01] [ 6.52655947e-04 -3.00641570e-05 9.99999787e-01 -4.51212992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86037174300003 meters 0.030727247968682234 Centerline is valid? [True, True] Translation: X:328.81, Y:-20.21, Z:-4.51 [[ 9.99845485e-01 1.75673827e-02 -6.27221528e-04 3.28814228e+02] [-1.75673618e-02 9.99845681e-01 3.88258517e-05 -2.02080388e+01] [ 6.27806804e-04 -2.78012250e-05 9.99999803e-01 -4.51246398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.890371743 meters 0.033003334191589365 Centerline is valid? [True, True] Translation: X:328.84, Y:-20.21, Z:-4.51 [[ 9.99818561e-01 1.90416152e-02 -5.11578241e-04 3.28842057e+02] [-1.90416019e-02 9.99818692e-01 3.08491813e-05 -2.02140399e+01] [ 5.12072905e-04 -2.11023148e-05 9.99999869e-01 -4.51422749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92037174300003 meters 0.030709683174719532 Centerline is valid? [True, True] Translation: X:328.87, Y:-20.21, Z:-4.51 [[ 9.99781435e-01 2.08913230e-02 -7.96394844e-04 3.28870915e+02] [-2.08912909e-02 9.99781752e-01 4.85305110e-05 -2.02103355e+01] [ 7.97234898e-04 -3.18821875e-05 9.99999682e-01 -4.51306468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.950371743 meters 0.030709683174719532 Centerline is valid? [True, True] Translation: X:328.90, Y:-20.21, Z:-4.51 [[ 9.99783593e-01 2.07877903e-02 -7.96429959e-04 3.28898341e+02] [-2.07877587e-02 9.99783910e-01 4.79642823e-05 -2.02119460e+01] [ 7.97254930e-04 -3.13979087e-05 9.99999682e-01 -4.51345097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.980371743 meters 0.030691934667685054 Centerline is valid? [True, True] Translation: X:328.93, Y:-20.21, Z:-4.51 [[ 9.99767925e-01 2.15408905e-02 -2.92435057e-04 3.28927325e+02] [-2.15408864e-02 9.99767968e-01 1.71619471e-05 -2.02137169e+01] [ 2.92736886e-04 -1.08586539e-05 9.99999957e-01 -4.51385358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.010371743 meters 0.03059635928167094 Centerline is valid? [True, True] Translation: X:328.96, Y:-20.22, Z:-4.51 [[ 9.99756535e-01 2.20598828e-02 -4.81693706e-04 3.28956489e+02] [-2.20598714e-02 9.99756651e-01 2.88630513e-05 -2.02153189e+01] [ 4.82213202e-04 -1.82299230e-05 9.99999884e-01 -4.51402443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.040371743 meters 0.03064477008382724 Centerline is valid? [True, True] Translation: X:328.98, Y:-20.22, Z:-4.51 [[ 9.99736403e-01 2.29558219e-02 3.94392420e-04 3.28984037e+02] [-2.29558136e-02 9.99736480e-01 -2.55783820e-05 -2.02176416e+01] [-3.94875662e-04 1.65180408e-05 9.99999922e-01 -4.51455139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.070371743 meters 0.029183621483142085 Centerline is valid? [True, True] Translation: X:329.01, Y:-20.22, Z:-4.51 [[ 9.99729773e-01 2.32313412e-02 8.27935671e-04 3.29012968e+02] [-2.32313060e-02 9.99730115e-01 -5.21183442e-05 -2.02182549e+01] [-8.28923003e-04 3.28702336e-05 9.99999656e-01 -4.51433082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.100371743 meters 0.028350456164219377 Centerline is valid? [True, True] Translation: X:329.04, Y:-20.22, Z:-4.51 [[ 9.99735260e-01 2.30030669e-02 5.19236638e-04 3.29041506e+02] [-2.30030528e-02 9.99735394e-01 -3.30476800e-05 -2.02186976e+01] [-5.19859443e-04 2.10949032e-05 9.99999865e-01 -4.51393974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.130371743 meters 0.030670274689866304 Centerline is valid? [True, True] Translation: X:329.07, Y:-20.23, Z:-4.52 [[ 9.99773077e-01 2.12984207e-02 4.15310434e-04 3.29069120e+02] [-2.12984114e-02 9.99773163e-01 -2.68421343e-05 -2.02271909e+01] [-4.15787921e-04 1.79905907e-05 9.99999913e-01 -4.51627162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.160371743 meters 0.029765796933655275 Centerline is valid? [True, True] Translation: X:329.10, Y:-20.23, Z:-4.52 [[ 9.99803205e-01 1.98372036e-02 1.89919642e-04 3.29098326e+02] [-1.98372015e-02 9.99803223e-01 -1.26797492e-05 -2.02276557e+01] [-1.90133802e-04 8.90977966e-06 9.99999982e-01 -4.51627904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.190371743 meters 0.031921776546957534 Centerline is valid? [True, True] Translation: X:329.13, Y:-20.23, Z:-4.52 [[ 9.99834414e-01 1.81973629e-02 -1.09075502e-06 3.29125964e+02] [-1.81973629e-02 9.99834414e-01 -1.58362449e-06 -2.02347552e+01] [ 1.06175632e-06 1.60321115e-06 1.00000000e+00 -4.51782198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.220371743 meters 0.031227018822868293 Centerline is valid? [True, True] Translation: X:329.16, Y:-20.24, Z:-4.52 [[ 9.99896829e-01 1.43638188e-02 1.06418373e-04 3.29156331e+02] [-1.43638182e-02 9.99896835e-01 -6.53511289e-06 -2.02376254e+01] [-1.06501264e-04 5.00586451e-06 9.99999994e-01 -4.51715729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.250371743 meters 0.033018590750890975 Centerline is valid? [True, True] Translation: X:329.18, Y:-20.24, Z:-4.52 [[ 9.99928262e-01 1.19631011e-02 5.95978148e-04 3.29184343e+02] [-1.19630808e-02 9.99928439e-01 -3.75467420e-05 -2.02435600e+01] [-5.96384675e-04 3.04143137e-05 9.99999822e-01 -4.51753683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.280371743 meters 0.03405723005634264 Centerline is valid? [True, True] Translation: X:329.21, Y:-20.25, Z:-4.52 [[ 9.99975506e-01 6.71746861e-03 1.96521451e-03 3.29213996e+02] [-6.71724449e-03 9.99977432e-01 -1.20624729e-04 -2.02490561e+01] [-1.96598045e-03 1.07420948e-04 9.99998062e-01 -4.51660235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.310371743 meters 0.034943981140513336 Centerline is valid? [True, True] Translation: X:329.24, Y:-20.25, Z:-4.52 [[ 9.99990188e-01 3.86609592e-03 2.16261207e-03 3.29243784e+02] [-3.86581763e-03 9.99992519e-01 -1.32848087e-04 -2.02534250e+01] [-2.16310949e-03 1.24486519e-04 9.99997653e-01 -4.51706648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.340371743 meters 0.037921682501587645 Centerline is valid? [True, True] Translation: X:329.27, Y:-20.26, Z:-4.52 [[ 9.99994972e-01 -2.13771903e-03 2.34204311e-03 3.29272295e+02] [ 2.13805996e-03 9.99997704e-01 -1.43078415e-04 -2.02623150e+01] [-2.34173187e-03 1.48085124e-04 9.99997247e-01 -4.51833141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.370371743 meters 0.03703689412835479 Centerline is valid? [True, True] Translation: X:329.30, Y:-20.26, Z:-4.52 [[ 9.99984842e-01 -5.17065580e-03 1.89223578e-03 3.29303786e+02] [ 5.17088390e-03 9.99986624e-01 -1.15669414e-04 -2.02637625e+01] [-1.89161239e-03 1.25452192e-04 9.99998203e-01 -4.51864128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.400371743 meters 0.03810668190277552 Centerline is valid? [True, True] Translation: X:329.33, Y:-20.27, Z:-4.52 [[ 9.99965065e-01 -8.28019417e-03 1.14306021e-03 3.29334768e+02] [ 8.28027951e-03 9.99965715e-01 -6.99470620e-05 -2.02676555e+01] [-1.14244185e-03 7.94094764e-05 9.99999344e-01 -4.51919131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.430371743 meters 0.04303489425874135 Centerline is valid? [True, True] Translation: X:329.36, Y:-20.28, Z:-4.52 [[ 9.99910026e-01 -1.34136051e-02 -1.25202375e-04 3.29364058e+02] [ 1.34136064e-02 9.99910034e-01 8.84150464e-06 -2.02780992e+01] [ 1.25072514e-04 -1.05201245e-05 9.99999992e-01 -4.52139110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.460371743 meters 0.04057130741194283 Centerline is valid? [True, True] Translation: X:329.40, Y:-20.28, Z:-4.52 [[ 9.99880915e-01 -1.54236832e-02 -5.16303589e-04 3.29395535e+02] [ 1.54237019e-02 9.99881047e-01 3.22779544e-05 -2.02769193e+01] [ 5.15744328e-04 -4.02374231e-05 9.99999866e-01 -4.52115307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.490371743 meters 0.04559700153475106 Centerline is valid? [True, True] Translation: X:329.42, Y:-20.29, Z:-4.52 [[ 9.99826621e-01 -1.86198887e-02 1.69153411e-04 3.29424920e+02] [ 1.86198907e-02 9.99826635e-01 -1.05888704e-05 -2.02870344e+01] [-1.68926923e-04 1.37366525e-05 9.99999986e-01 -4.52261127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.520371743 meters 0.04374393701005411 Centerline is valid? [True, True] Translation: X:329.46, Y:-20.29, Z:-4.52 [[ 9.99804809e-01 -1.97396624e-02 8.30867739e-04 3.29457468e+02] [ 1.97397109e-02 9.99805152e-01 -5.01653316e-05 -2.02858912e+01] [-8.29715600e-04 6.65566287e-05 9.99999654e-01 -4.52194463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.550371743 meters 0.043082630427765604 Centerline is valid? [True, True] Translation: X:329.49, Y:-20.29, Z:-4.52 [[ 9.99793948e-01 -2.01964739e-02 2.04037884e-03 3.29489964e+02] [ 2.01967704e-02 9.99796017e-01 -1.24800043e-04 -2.02870478e+01] [-2.03744212e-03 1.65983390e-04 9.99997911e-01 -4.52147973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.580371743 meters 0.04466764003305138 Centerline is valid? [True, True] Translation: X:329.52, Y:-20.29, Z:-4.52 [[ 9.99775953e-01 -2.10504522e-02 2.21864130e-03 3.29521092e+02] [ 2.10508058e-02 9.99778398e-01 -1.36170426e-04 -2.02904241e+01] [-2.21528319e-03 1.82844105e-04 9.99997530e-01 -4.52196358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61037174300003 meters 0.04445017433629336 Centerline is valid? [True, True] Translation: X:329.55, Y:-20.29, Z:-4.52 [[ 9.99769783e-01 -2.13327426e-02 2.30127122e-03 3.29553235e+02] [ 2.13331237e-02 9.99772413e-01 -1.41180101e-04 -2.02900974e+01] [-2.29773572e-03 1.90240903e-04 9.99997342e-01 -4.52225613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.640371743 meters 0.04619780231985667 Centerline is valid? [True, True] Translation: X:329.58, Y:-20.29, Z:-4.52 [[ 9.99788302e-01 -2.04838140e-02 1.94027660e-03 3.29584712e+02] [ 2.04840833e-02 9.99790172e-01 -1.19021187e-04 -2.02925049e+01] [-1.93743146e-03 1.58740778e-04 9.99998111e-01 -4.52341232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67037174300003 meters 0.04583537582161126 Centerline is valid? [True, True] Translation: X:329.62, Y:-20.29, Z:-4.52 [[ 9.99802889e-01 -1.97805965e-02 1.70639130e-03 3.29617095e+02] [ 1.97808038e-02 9.99804335e-01 -1.04686026e-04 -2.02927175e+01] [-1.70398667e-03 1.38419183e-04 9.99998539e-01 -4.52419264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.700371743 meters 0.049779138374723454 Centerline is valid? [True, True] Translation: X:329.65, Y:-20.30, Z:-4.53 [[ 9.99821019e-01 -1.88335092e-02 1.79719250e-03 3.29647721e+02] [ 1.88337383e-02 9.99822623e-01 -1.10660418e-04 -2.02991678e+01] [-1.79478959e-03 1.44488465e-04 9.99998379e-01 -4.52529561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.730371743 meters 0.04641110837021654 Centerline is valid? [True, True] Translation: X:329.68, Y:-20.29, Z:-4.52 [[ 9.99844627e-01 -1.74955360e-02 2.15130337e-03 3.29680043e+02] [ 1.74958618e-02 9.99846927e-01 -1.32725810e-04 -2.02948079e+01] [-2.14865195e-03 1.70344094e-04 9.99997677e-01 -4.52490760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.760371743 meters 0.046120555006135606 Centerline is valid? [True, True] Translation: X:329.71, Y:-20.29, Z:-4.53 [[ 9.99885668e-01 -1.50679150e-02 1.26805349e-03 3.29709789e+02] [ 1.50680271e-02 9.99886468e-01 -7.88849222e-05 -2.02924784e+01] [-1.26672089e-03 9.79829674e-05 9.99999193e-01 -4.52591488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.790371743 meters 0.04559035522794561 Centerline is valid? [True, True] Translation: X:329.74, Y:-20.29, Z:-4.53 [[ 9.99909972e-01 -1.33901488e-02 8.67442697e-04 3.29741303e+02] [ 1.33902001e-02 9.99910346e-01 -5.33452813e-05 -2.02922052e+01] [-8.66650626e-04 6.49557100e-05 9.99999622e-01 -4.52653152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.820371743 meters 0.042866890206943044 Centerline is valid? [True, True] Translation: X:329.77, Y:-20.29, Z:-4.53 [[ 9.99944754e-01 -1.05094498e-02 -1.98741047e-04 3.29772657e+02] [ 1.05094525e-02 9.99944774e-01 1.26489594e-05 -2.02865815e+01] [ 1.98597138e-04 -1.47369202e-05 9.99999980e-01 -4.52757458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.850371743 meters 0.042668193341858195 Centerline is valid? [True, True] Translation: X:329.80, Y:-20.29, Z:-4.53 [[ 9.99962004e-01 -8.71594632e-03 -1.51659133e-04 3.29803657e+02] [ 8.71594792e-03 9.99962015e-01 9.90886410e-06 -2.02864129e+01] [ 1.51567006e-04 -1.12303407e-05 9.99999988e-01 -4.52823929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880371743 meters 0.040154899361114826 Centerline is valid? [True, True] Translation: X:329.84, Y:-20.28, Z:-4.53 [[ 9.99970992e-01 -7.61206827e-03 -2.67278123e-04 3.29836362e+02] [ 7.61207325e-03 9.99971028e-01 1.76125866e-05 -2.02823260e+01] [ 2.67136311e-04 -1.96466163e-05 9.99999964e-01 -4.52805608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.910371743 meters 0.042509748539629355 Centerline is valid? [True, True] Translation: X:329.87, Y:-20.28, Z:-4.53 [[ 9.99984123e-01 -5.59816828e-03 6.44200554e-04 3.29866453e+02] [ 5.59819509e-03 9.99984329e-01 -3.98202053e-05 -2.02836974e+01] [-6.43967539e-04 4.34259335e-05 9.99999792e-01 -4.52785675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940371743 meters 0.04225173895273017 Centerline is valid? [True, True] Translation: X:329.90, Y:-20.28, Z:-4.53 [[ 9.99984293e-01 -5.49133438e-03 1.12225216e-03 3.29899278e+02] [ 5.49141492e-03 9.99984920e-01 -6.87042205e-05 -2.02828103e+01] [-1.12185795e-03 7.48658936e-05 9.99999368e-01 -4.52735189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.970371743 meters 0.043602565857646575 Centerline is valid? [True, True] Translation: X:329.93, Y:-20.28, Z:-4.53 [[ 9.99980425e-01 -5.99157077e-03 1.80302503e-03 3.29930103e+02] [ 5.99178035e-03 9.99982043e-01 -1.10856191e-04 -2.02827340e+01] [-1.80232845e-03 1.21657351e-04 9.99998368e-01 -4.52755422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000371743 meters 0.04410519436329511 Centerline is valid? [True, True] Translation: X:329.96, Y:-20.28, Z:-4.53 [[ 9.99977528e-01 -6.42308014e-03 1.92054914e-03 3.29962167e+02] [ 6.42332055e-03 9.99979363e-01 -1.19037038e-04 -2.02845228e+01] [-1.91974492e-03 1.31370666e-04 9.99998149e-01 -4.52775929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.030371743 meters 0.04522037294366506 Centerline is valid? [True, True] Translation: X:329.99, Y:-20.29, Z:-4.53 [[ 9.99970161e-01 -7.49600992e-03 1.86746550e-03 3.29994332e+02] [ 7.49623929e-03 9.99971896e-01 -1.15851228e-04 -2.02864977e+01] [-1.86654460e-03 1.29846739e-04 9.99998250e-01 -4.52869867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060371743 meters 0.04791124770596954 Centerline is valid? [True, True] Translation: X:330.02, Y:-20.29, Z:-4.53 [[ 9.99946525e-01 -1.01843816e-02 1.79590509e-03 3.30023803e+02] [ 1.01845996e-02 9.99948129e-01 -1.12308727e-04 -2.02886375e+01] [-1.79466814e-03 1.30593296e-04 9.99998381e-01 -4.52931741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.090371743 meters 0.04266942533935683 Centerline is valid? [True, True] Translation: X:330.06, Y:-20.28, Z:-4.53 [[ 9.99934415e-01 -1.13632776e-02 1.42882985e-03 3.30055915e+02] [ 1.13634159e-02 9.99935430e-01 -8.86906650e-05 -2.02809196e+01] [-1.42772978e-03 1.04921236e-04 9.99998975e-01 -4.52846700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120371743 meters 0.044995796261615505 Centerline is valid? [True, True] Translation: X:330.09, Y:-20.28, Z:-4.53 [[ 9.99916448e-01 -1.28915131e-02 9.51977042e-04 3.30086241e+02] [ 1.28915754e-02 9.99916898e-01 -5.93561364e-05 -2.02831757e+01] [-9.51132741e-04 7.16236609e-05 9.99999545e-01 -4.53059094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.150371743 meters 0.043019630811215175 Centerline is valid? [True, True] Translation: X:330.12, Y:-20.28, Z:-4.53 [[ 9.99913161e-01 -1.31737748e-02 3.48237169e-04 3.30118203e+02] [ 1.31737829e-02 9.99913222e-01 -2.10748243e-05 -2.02809131e+01] [-3.47929315e-04 2.56605950e-05 9.99999939e-01 -4.53127653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180371743 meters 0.061028580976910954 Centerline is valid? [True, True] Translation: X:330.15, Y:-20.31, Z:-4.54 [[ 9.99942427e-01 -1.03552340e-02 2.81279270e-03 3.30146127e+02] [ 1.03557707e-02 9.99946362e-01 -1.76303247e-04 -2.03055654e+01] [-2.81081616e-03 2.05421733e-04 9.99996029e-01 -4.53514624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.210371743 meters 0.04086254627207781 Centerline is valid? [True, True] Translation: X:330.18, Y:-20.28, Z:-4.53 [[ 9.99929433e-01 -1.18791117e-02 -1.29315907e-04 3.30179107e+02] [ 1.18791128e-02 9.99929441e-01 8.35778459e-06 -2.02755127e+01] [ 1.29207499e-04 -9.89335304e-06 9.99999992e-01 -4.53178129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240371743 meters 0.04202808561402726 Centerline is valid? [True, True] Translation: X:330.21, Y:-20.28, Z:-4.53 [[ 9.99944068e-01 -1.05731183e-02 2.63615293e-04 3.30209324e+02] [ 1.05731229e-02 9.99944103e-01 -1.62752432e-05 -2.02765153e+01] [-2.63428478e-04 1.90615698e-05 9.99999965e-01 -4.53189290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.270371743 meters 0.044229071656309335 Centerline is valid? [True, True] Translation: X:330.24, Y:-20.28, Z:-4.53 [[ 9.99963224e-01 -8.55015906e-03 6.67985480e-04 3.30239677e+02] [ 8.55018861e-03 9.99963446e-01 -4.14043002e-05 -2.02802336e+01] [-6.67607049e-04 4.71141794e-05 9.99999776e-01 -4.53267672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300371743 meters 0.038959804655338104 Centerline is valid? [True, True] Translation: X:330.27, Y:-20.27, Z:-4.53 [[ 9.99992007e-01 -3.89413731e-03 9.06590963e-04 3.30270482e+02] [ 3.89419047e-03 9.99992416e-01 -5.68718245e-05 -2.02700404e+01] [-9.06362621e-04 6.04018079e-05 9.99999587e-01 -4.53148273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.330371743 meters 0.037069346205881856 Centerline is valid? [True, True] Translation: X:330.30, Y:-20.27, Z:-4.53 [[ 9.99998018e-01 1.56099016e-03 1.23613039e-03 3.30300746e+02] [-1.56089549e-03 9.99998779e-01 -7.75504618e-05 -2.02652550e+01] [-1.23624993e-03 7.56208377e-05 9.99999233e-01 -4.53071884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36037174300003 meters 0.03639284105872088 Centerline is valid? [True, True] Translation: X:330.33, Y:-20.26, Z:-4.53 [[ 9.99989672e-01 4.40169874e-03 1.13152000e-03 3.30330841e+02] [-4.40162124e-03 9.99990310e-01 -7.09734886e-05 -2.02637510e+01] [-1.13182144e-03 6.59922332e-05 9.99999357e-01 -4.53085513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.390371743 meters 0.035217825005755196 Centerline is valid? [True, True] Translation: X:330.36, Y:-20.26, Z:-4.53 [[ 9.99972228e-01 7.34592647e-03 1.25758204e-03 3.30360918e+02] [-7.34583278e-03 9.99973016e-01 -7.90988280e-05 -2.02617873e+01] [-1.25812916e-03 6.98586439e-05 9.99999206e-01 -4.53116815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42037174300003 meters 0.03168106225759228 Centerline is valid? [True, True] Translation: X:330.39, Y:-20.26, Z:-4.53 [[ 9.99946682e-01 1.02793235e-02 9.84224236e-04 3.30391040e+02] [-1.02792673e-02 9.99947165e-01 -6.21806372e-05 -2.02560522e+01] [-9.84811410e-04 5.20602179e-05 9.99999514e-01 -4.53050614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.450371743 meters 0.03063702750692355 Centerline is valid? [True, True] Translation: X:330.42, Y:-20.25, Z:-4.53 [[ 9.99867443e-01 1.62800921e-02 2.36528088e-04 3.30420437e+02] [-1.62800890e-02 9.99867470e-01 -1.51134378e-05 -2.02519572e+01] [-2.36742790e-04 1.12607361e-05 9.99999972e-01 -4.53225146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.480371743 meters 0.02870146889880693 Centerline is valid? [True, True] Translation: X:330.45, Y:-20.25, Z:-4.53 [[ 9.99756221e-01 2.20788189e-02 -1.55187631e-04 3.30451618e+02] [-2.20788176e-02 9.99756233e-01 9.67001423e-06 -2.02480112e+01] [ 1.55363303e-04 -6.24129747e-06 9.99999988e-01 -4.53243971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.510371743 meters 0.028417452754280807 Centerline is valid? [True, True] Translation: X:330.48, Y:-20.25, Z:-4.53 [[ 9.99708295e-01 2.41515516e-02 1.66220490e-04 3.30480385e+02] [-2.41515500e-02 9.99708309e-01 -1.13659312e-05 -2.02470993e+01] [-1.66446510e-04 7.34813325e-06 9.99999986e-01 -4.53279477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.540371743 meters 0.026146680282499966 Centerline is valid? [True, True] Translation: X:330.51, Y:-20.24, Z:-4.53 [[ 9.99660707e-01 2.60398261e-02 6.31615845e-04 3.30509330e+02] [-2.60398057e-02 9.99660906e-01 -4.04949311e-05 -2.02428952e+01] [-6.32456149e-04 2.40340375e-05 9.99999800e-01 -4.53132799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.570371743 meters 0.02653610140478091 Centerline is valid? [True, True] Translation: X:330.54, Y:-20.24, Z:-4.53 [[ 9.99629432e-01 2.72075312e-02 8.65360348e-04 3.30536799e+02] [-2.72074930e-02 9.99629806e-01 -5.58281050e-05 -2.02441409e+01] [-8.66558942e-04 3.22631312e-05 9.99999624e-01 -4.53199014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.600371743 meters 0.027712655801002215 Centerline is valid? [True, True] Translation: X:330.56, Y:-20.25, Z:-4.53 [[ 9.99627044e-01 2.72476319e-02 1.82767770e-03 3.30564173e+02] [-2.72474660e-02 9.99628712e-01 -1.15599722e-04 -2.02478606e+01] [-1.83014892e-03 6.57570220e-05 9.99998323e-01 -4.53302945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.630371743 meters 0.02739034108680719 Centerline is valid? [True, True] Translation: X:330.59, Y:-20.25, Z:-4.53 [[ 9.99683958e-01 2.49388685e-02 3.16826276e-03 3.30592784e+02] [-2.49383662e-02 9.99688971e-01 -1.97953723e-04 -2.02499542e+01] [-3.17221408e-03 1.18879864e-04 9.99994961e-01 -4.53262607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.660371743 meters 0.026948322271134292 Centerline is valid? [True, True] Translation: X:330.62, Y:-20.25, Z:-4.53 [[ 9.99715406e-01 2.35393524e-02 3.87381000e-03 3.30621563e+02] [-2.35385928e-02 9.99722900e-01 -2.41565884e-04 -2.02515688e+01] [-3.87842287e-03 1.50313099e-04 9.99992468e-01 -4.53248973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.690371743 meters 0.02830385878207007 Centerline is valid? [True, True] Translation: X:330.65, Y:-20.26, Z:-4.53 [[ 9.99739937e-01 2.23914919e-02 4.32188709e-03 3.30649122e+02] [-2.23905368e-02 9.99749264e-01 -2.69250426e-04 -2.02565951e+01] [-4.32683235e-03 1.72411033e-04 9.99990624e-01 -4.53304004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.720371743 meters 0.029178895270750325 Centerline is valid? [True, True] Translation: X:330.68, Y:-20.26, Z:-4.53 [[ 9.99771599e-01 2.09069298e-02 4.43281853e-03 3.30676358e+02] [-2.09059125e-02 9.99781410e-01 -2.75712585e-04 -2.02605143e+01] [-4.43761386e-03 1.82977496e-04 9.99990137e-01 -4.53329600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.750371743 meters 0.029477525251778797 Centerline is valid? [True, True] Translation: X:330.70, Y:-20.26, Z:-4.53 [[ 9.99799963e-01 1.95260049e-02 4.33232567e-03 3.30704906e+02] [-1.95250225e-02 9.99809332e-01 -2.68957130e-04 -2.02644193e+01] [-4.33675129e-03 1.84314573e-04 9.99990579e-01 -4.53407338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.780371743 meters 0.028874282679078087 Centerline is valid? [True, True] Translation: X:330.73, Y:-20.27, Z:-4.53 [[ 9.99809753e-01 1.90819171e-02 4.04198559e-03 3.30733592e+02] [-1.90810591e-02 9.99817909e-01 -2.50729995e-04 -2.02655373e+01] [-4.04603399e-03 1.73556928e-04 9.99991800e-01 -4.53451808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.810371743 meters 0.02961561562181527 Centerline is valid? [True, True] Translation: X:330.76, Y:-20.27, Z:-4.54 [[ 9.99822102e-01 1.85463482e-02 3.43463863e-03 3.30761441e+02] [-1.85457240e-02 9.99827990e-01 -2.13517831e-04 -2.02709864e+01] [-3.43800781e-03 1.49781987e-04 9.99994079e-01 -4.53606959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.840371743 meters 0.02961561562181527 Centerline is valid? [True, True] Translation: X:330.79, Y:-20.27, Z:-4.54 [[ 9.99824026e-01 1.84423365e-02 3.43467686e-03 3.30788863e+02] [-1.84417137e-02 9.99829914e-01 -2.12898740e-04 -2.02725828e+01] [-3.43801902e-03 1.49519948e-04 9.99994079e-01 -4.53645622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.870371743 meters 0.029915803171695243 Centerline is valid? [True, True] Translation: X:330.82, Y:-20.28, Z:-4.54 [[ 9.99825408e-01 1.84326541e-02 3.06435816e-03 3.30817017e+02] [-1.84321589e-02 9.99830095e-01 -1.89773754e-04 -2.02756443e+01] [-3.06733555e-03 1.33257885e-04 9.99995287e-01 -4.53727161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.900371743 meters 0.02874539702985229 Centerline is valid? [True, True] Translation: X:330.85, Y:-20.28, Z:-4.54 [[ 9.99804251e-01 1.95756201e-02 2.87318915e-03 3.30845891e+02] [-1.95751911e-02 9.99808372e-01 -1.77353617e-04 -2.02766607e+01] [-2.87611037e-03 1.21075673e-04 9.99995857e-01 -4.53754684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.930371743 meters 0.028567169625920867 Centerline is valid? [True, True] Translation: X:330.87, Y:-20.28, Z:-4.54 [[ 9.99741272e-01 2.26255225e-02 2.33964424e-03 3.30874541e+02] [-2.26252469e-02 9.99744006e-01 -1.44228166e-04 -2.02790435e+01] [-2.34230854e-03 9.12558214e-05 9.99997253e-01 -4.53873749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.960371743 meters 0.028065154391371645 Centerline is valid? [True, True] Translation: X:330.90, Y:-20.28, Z:-4.54 [[ 9.99685798e-01 2.49500481e-02 2.40835347e-03 3.30903053e+02] [-2.49497626e-02 9.99688695e-01 -1.48505900e-04 -2.02805219e+01] [-2.41130897e-03 8.83713914e-05 9.99997089e-01 -4.53883166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.990371743 meters 0.026803151457381644 Centerline is valid? [True, True] Translation: X:330.93, Y:-20.28, Z:-4.54 [[ 9.99610208e-01 2.77960759e-02 2.60961960e-03 3.30931867e+02] [-2.77957511e-02 9.99613611e-01 -1.60659872e-04 -2.02813523e+01] [-2.61307698e-03 8.80609113e-05 9.99996582e-01 -4.53872383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.020371743 meters 0.026037282963904763 Centerline is valid? [True, True] Translation: X:330.96, Y:-20.28, Z:-4.54 [[ 9.99450302e-01 3.29339245e-02 3.80149568e-03 3.30961092e+02] [-3.29332764e-02 9.99457525e-01 -2.32984327e-04 -2.02823090e+01] [-3.80710656e-03 1.07660548e-04 9.99992747e-01 -4.53826417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.050371743 meters 0.025071899658821836 Centerline is valid? [True, True] Translation: X:330.99, Y:-20.28, Z:-4.54 [[ 9.99377303e-01 3.49973428e-02 4.49349083e-03 3.30990398e+02] [-3.49964510e-02 9.99387398e-01 -2.76958525e-04 -2.02832951e+01] [-4.50043092e-03 1.19529833e-04 9.99989866e-01 -4.53769880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.080371743 meters 0.02417862076499841 Centerline is valid? [True, True] Translation: X:331.02, Y:-20.29, Z:-4.54 [[ 9.99234527e-01 3.86773944e-02 5.86677398e-03 3.31018804e+02] [-3.86759583e-02 9.99251741e-01 -3.58076152e-04 -2.02858431e+01] [-5.87623357e-03 1.30898949e-04 9.99982726e-01 -4.53754734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11037174300003 meters 0.02361448730543389 Centerline is valid? [True, True] Translation: X:331.05, Y:-20.29, Z:-4.54 [[ 9.99210835e-01 3.93285802e-02 5.56507344e-03 3.31047414e+02] [-3.93272913e-02 9.99226325e-01 -3.40883759e-04 -2.02868677e+01] [-5.57417436e-03 1.21755480e-04 9.99984457e-01 -4.53749822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.140371743 meters 0.024126535843704996 Centerline is valid? [True, True] Translation: X:331.07, Y:-20.29, Z:-4.54 [[ 9.99180099e-01 4.01509772e-02 5.19900696e-03 3.31074634e+02] [-4.01498765e-02 9.99193619e-01 -3.15938894e-04 -2.02920937e+01] [-5.20749984e-03 1.06940367e-04 9.99986435e-01 -4.53907027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17037174300003 meters 0.024981109639588665 Centerline is valid? [True, True] Translation: X:331.10, Y:-20.30, Z:-4.54 [[ 9.99142372e-01 4.12526053e-02 3.56984959e-03 3.31101876e+02] [-4.12520933e-02 9.99148747e-01 -2.16957135e-04 -2.03004070e+01] [-3.57576079e-03 6.95072975e-05 9.99993605e-01 -4.54216711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.200371743 meters 0.02431068810614633 Centerline is valid? [True, True] Translation: X:331.13, Y:-20.30, Z:-4.54 [[ 9.99150396e-01 4.10770837e-02 3.34057244e-03 3.31131023e+02] [-4.10766357e-02 9.99155978e-01 -2.02644035e-04 -2.03023322e+01] [-3.34607695e-03 6.52523906e-05 9.99994400e-01 -4.54198109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.230371743 meters 0.02402042696665858 Centerline is valid? [True, True] Translation: X:331.16, Y:-20.31, Z:-4.54 [[ 9.99187571e-01 4.02024083e-02 2.82208343e-03 3.31159902e+02] [-4.02020793e-02 9.99191555e-01 -1.73207449e-04 -2.03059081e+01] [-2.82676529e-03 5.96131081e-05 9.99996003e-01 -4.54184519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.260371743 meters 0.024857930696416026 Centerline is valid? [True, True] Translation: X:331.19, Y:-20.32, Z:-4.54 [[ 9.99257850e-01 3.84306058e-02 2.61493393e-03 3.31187327e+02] [-3.84303233e-02 9.99261270e-01 -1.58235400e-04 -2.03164640e+01] [-2.61908328e-03 5.76252094e-05 9.99996569e-01 -4.54289151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.290371743 meters 0.02534346762338598 Centerline is valid? [True, True] Translation: X:331.22, Y:-20.32, Z:-4.54 [[ 9.99292853e-01 3.75198893e-02 2.46001683e-03 3.31215589e+02] [-3.75196374e-02 9.99295879e-01 -1.48495311e-04 -2.03214049e+01] [-2.46385621e-03 5.60913634e-05 9.99996963e-01 -4.54348033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.320371743 meters 0.025435768092574244 Centerline is valid? [True, True] Translation: X:331.24, Y:-20.33, Z:-4.54 [[ 9.99314279e-01 3.69710783e-02 2.02752877e-03 3.31244049e+02] [-3.69709016e-02 9.99316335e-01 -1.24593855e-04 -2.03293719e+01] [-2.03074899e-03 4.95488518e-05 9.99997937e-01 -4.54299902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.350371743 meters 0.025636598245353134 Centerline is valid? [True, True] Translation: X:331.27, Y:-20.33, Z:-4.54 [[ 9.99318409e-01 3.68684409e-02 1.85327983e-03 3.31272174e+02] [-3.68682966e-02 9.99320127e-01 -1.11964209e-04 -2.03344878e+01] [-1.85614778e-03 4.35606245e-05 9.99998276e-01 -4.54311053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380371743 meters 0.025841433173219845 Centerline is valid? [True, True] Translation: X:331.30, Y:-20.34, Z:-4.54 [[ 9.99304247e-01 3.72085590e-02 2.55849607e-03 3.31301102e+02] [-3.72082883e-02 9.99307520e-01 -1.53312728e-04 -2.03398953e+01] [-2.56242891e-03 5.80088005e-05 9.99996715e-01 -4.54292444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.410371743 meters 0.026222727137254445 Centerline is valid? [True, True] Translation: X:331.33, Y:-20.35, Z:-4.54 [[ 9.99332539e-01 3.62936296e-02 4.15326505e-03 3.31328511e+02] [-3.62929109e-02 9.99341164e-01 -2.48312620e-04 -2.03494096e+01] [-4.15954090e-03 9.74128026e-05 9.99991344e-01 -4.54161365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440371743 meters 0.026737012180625512 Centerline is valid? [True, True] Translation: X:331.36, Y:-20.36, Z:-4.54 [[ 9.99364796e-01 3.52341340e-02 5.34414550e-03 3.31357429e+02] [-3.52329360e-02 9.99379077e-01 -3.18183573e-04 -2.03557415e+01] [-5.35203812e-03 1.29691525e-04 9.99985669e-01 -4.54123190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.470371743 meters 0.02742283257517822 Centerline is valid? [True, True] Translation: X:331.38, Y:-20.37, Z:-4.54 [[ 9.99437554e-01 3.29051142e-02 6.46754580e-03 3.31384623e+02] [-3.29033144e-02 9.99458465e-01 -3.84522425e-04 -2.03681207e+01] [-6.47669615e-03 1.71502459e-04 9.99979011e-01 -4.54169468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500371743 meters 0.027353871228378398 Centerline is valid? [True, True] Translation: X:331.41, Y:-20.37, Z:-4.54 [[ 9.99492006e-01 3.12010003e-02 6.49834457e-03 3.31412587e+02] [-3.11991488e-02 9.99513113e-01 -3.86122803e-04 -2.03729776e+01] [-6.50722803e-03 1.83183835e-04 9.99978811e-01 -4.54205280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.530371743 meters 0.028614129879567227 Centerline is valid? [True, True] Translation: X:331.44, Y:-20.39, Z:-4.54 [[ 9.99571465e-01 2.87096885e-02 5.71310102e-03 3.31439553e+02] [-2.87082221e-02 9.99587777e-01 -3.38539879e-04 -2.03859561e+01] [-5.72046532e-03 1.74381830e-04 9.99983623e-01 -4.54394799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560371743 meters 0.028751605200459194 Centerline is valid? [True, True] Translation: X:331.47, Y:-20.39, Z:-4.54 [[ 9.99598444e-01 2.78379988e-02 5.29121831e-03 3.31467986e+02] [-2.78367317e-02 9.99612434e-01 -3.12980439e-04 -2.03927152e+01] [-5.29788036e-03 1.65564535e-04 9.99985952e-01 -4.54450053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.590371743 meters 0.028640777254185325 Centerline is valid? [True, True] Translation: X:331.50, Y:-20.40, Z:-4.54 [[ 9.99632488e-01 2.66212947e-02 5.11811840e-03 3.31496313e+02] [-2.66200949e-02 9.99645577e-01 -3.02421064e-04 -2.03980224e+01] [-5.12435526e-03 1.66065124e-04 9.99986857e-01 -4.54494675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620371743 meters 0.029526308030776827 Centerline is valid? [True, True] Translation: X:331.52, Y:-20.41, Z:-4.55 [[ 9.99691567e-01 2.44233035e-02 4.50253819e-03 3.31522987e+02] [-2.44223521e-02 9.99701694e-01 -2.66178541e-04 -2.04097255e+01] [-4.50769602e-03 1.56133870e-04 9.99989828e-01 -4.54644444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.650371743 meters 0.029703369491902623 Centerline is valid? [True, True] Translation: X:331.55, Y:-20.42, Z:-4.55 [[ 9.99708624e-01 2.36491598e-02 4.83578873e-03 3.31551890e+02] [-2.36480579e-02 9.99720305e-01 -2.84926117e-04 -2.04159613e+01] [-4.84117445e-03 1.70486084e-04 9.99988267e-01 -4.54731977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680371743 meters 0.030727045524718184 Centerline is valid? [True, True] Translation: X:331.58, Y:-20.43, Z:-4.55 [[ 9.99762986e-01 2.14474971e-02 3.73866613e-03 3.31580101e+02] [-2.14468239e-02 9.99769966e-01 -2.20058214e-04 -2.04278703e+01] [-3.74252580e-03 1.39823543e-04 9.99992987e-01 -4.54911746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.710371743 meters 0.030324068681408245 Centerline is valid? [True, True] Translation: X:331.61, Y:-20.43, Z:-4.55 [[ 9.99779263e-01 2.07414225e-02 3.34955384e-03 3.31608466e+02] [-2.07408779e-02 9.99784865e-01 -1.97245574e-04 -2.04333570e+01] [-3.35292439e-03 1.27729347e-04 9.99994371e-01 -4.54959270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740371743 meters 0.031174789255932256 Centerline is valid? [True, True] Translation: X:331.64, Y:-20.44, Z:-4.55 [[ 9.99811780e-01 1.91959285e-02 2.81456373e-03 3.31635623e+02] [-1.91955375e-02 9.99815735e-01 -1.65891283e-04 -2.04400844e+01] [-2.81722954e-03 1.11832995e-04 9.99996025e-01 -4.55035776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.770371743 meters 0.03275245263246082 Centerline is valid? [True, True] Translation: X:331.66, Y:-20.45, Z:-4.55 [[ 9.99846938e-01 1.71252926e-02 3.58105871e-03 3.31662983e+02] [-1.71246482e-02 9.99853340e-01 -2.10528747e-04 -2.04516749e+01] [-3.58413888e-03 1.49172153e-04 9.99993566e-01 -4.55062812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800371743 meters 0.03152333527409174 Centerline is valid? [True, True] Translation: X:331.69, Y:-20.45, Z:-4.55 [[ 9.99863294e-01 1.58730519e-02 4.63035591e-03 3.31691826e+02] [-1.58719663e-02 9.99873996e-01 -2.71107961e-04 -2.04537609e+01] [-4.63407577e-03 1.97578046e-04 9.99989243e-01 -4.54910773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.830371743 meters 0.03470187421264029 Centerline is valid? [True, True] Translation: X:331.72, Y:-20.47, Z:-4.55 [[ 9.99892871e-01 1.32813010e-02 6.15248878e-03 3.31719952e+02] [-1.32793410e-02 9.99911761e-01 -3.59322798e-04 -2.04684415e+01] [-6.15671817e-03 2.77583307e-04 9.99981009e-01 -4.54915792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86037174300003 meters 0.03583143449856366 Centerline is valid? [True, True] Translation: X:331.75, Y:-20.47, Z:-4.55 [[ 9.99911072e-01 1.17097636e-02 6.38204197e-03 3.31747736e+02] [-1.17076243e-02 9.99931394e-01 -3.72470402e-04 -2.04748975e+01] [-6.38596566e-03 2.97718729e-04 9.99979565e-01 -4.54988286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.890371743 meters 0.03703575970518989 Centerline is valid? [True, True] Translation: X:331.78, Y:-20.48, Z:-4.55 [[ 9.99935843e-01 9.36473767e-03 6.37264957e-03 3.31776410e+02] [-9.36256064e-03 9.99956101e-01 -3.71368446e-04 -2.04810563e+01] [-6.37584758e-03 3.11680303e-04 9.99979626e-01 -4.55014748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92037174300003 meters 0.03456923326242299 Centerline is valid? [True, True] Translation: X:331.81, Y:-20.48, Z:-4.55 [[ 9.99969260e-01 4.78789200e-03 6.20920682e-03 3.31806415e+02] [-4.78574057e-03 9.99988483e-01 -3.61301905e-04 -2.04827570e+01] [-6.21086518e-03 3.31575146e-04 9.99980657e-01 -4.55014569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.950371743 meters 0.03694720270410694 Centerline is valid? [True, True] Translation: X:331.84, Y:-20.49, Z:-4.55 [[ 9.99975917e-01 2.10967416e-03 6.61178199e-03 3.31836374e+02] [-2.10718072e-03 9.99997706e-01 -3.84065225e-04 -2.04914211e+01] [-6.61257707e-03 3.70123756e-04 9.99978068e-01 -4.55131402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.980371743 meters 0.03619084032680455 Centerline is valid? [True, True] Translation: X:331.87, Y:-20.50, Z:-4.55 [[ 9.99972079e-01 -4.19186879e-03 6.18618401e-03 3.31867291e+02] [ 4.19417445e-03 9.99991140e-01 -3.59785143e-04 -2.04961489e+01] [-6.18462103e-03 3.85721032e-04 9.99980801e-01 -4.55209156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.010371743 meters 0.037313936144838404 Centerline is valid? [True, True] Translation: X:331.90, Y:-20.50, Z:-4.55 [[ 9.99951923e-01 -7.63951160e-03 6.14737704e-03 3.31898490e+02] [ 7.64185448e-03 9.99970737e-01 -3.57719993e-04 -2.05012495e+01] [-6.14446435e-03 4.04680156e-04 9.99981041e-01 -4.55313065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.040371743 meters 0.039722314495265414 Centerline is valid? [True, True] Translation: X:331.93, Y:-20.51, Z:-4.55 [[ 9.99924340e-01 -1.07532064e-02 5.97349335e-03 3.31927981e+02] [ 1.07554738e-02 9.99942098e-01 -3.47574452e-04 -2.05082743e+01] [-5.96940993e-03 4.11795906e-04 9.99982098e-01 -4.55400350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.070371743 meters 0.04153878605728878 Centerline is valid? [True, True] Translation: X:331.96, Y:-20.51, Z:-4.55 [[ 9.99887803e-01 -1.40457405e-02 5.20565911e-03 3.31958361e+02] [ 1.40475108e-02 9.99901283e-01 -3.03649663e-04 -2.05128563e+01] [-5.20088024e-03 3.76742147e-04 9.99986404e-01 -4.55444123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.100371743 meters 0.0428661927754299 Centerline is valid? [True, True] Translation: X:331.99, Y:-20.52, Z:-4.55 [[ 9.99797672e-01 -1.95232899e-02 4.84307835e-03 3.31989175e+02] [ 1.95248846e-02 9.99809331e-01 -2.82217890e-04 -2.05164721e+01] [-4.83664510e-03 3.76721336e-04 9.99988232e-01 -4.55473186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.130371743 meters 0.044156382923176855 Centerline is valid? [True, True] Translation: X:332.02, Y:-20.52, Z:-4.56 [[ 9.99751465e-01 -2.18804903e-02 4.27217161e-03 3.32020536e+02] [ 2.18817531e-02 9.99760535e-01 -2.49065731e-04 -2.05197074e+01] [-4.26569889e-03 3.42486434e-04 9.99990843e-01 -4.55534052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.160371743 meters 0.04594556043549817 Centerline is valid? [True, True] Translation: X:332.05, Y:-20.52, Z:-4.56 [[ 9.99719536e-01 -2.32910544e-02 4.28679871e-03 3.32050920e+02] [ 2.32923395e-02 9.99728665e-01 -2.50082708e-04 -2.05235393e+01] [-4.27981086e-03 3.49862139e-04 9.99990780e-01 -4.55599890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.190371743 meters 0.04638099433195862 Centerline is valid? [True, True] Translation: X:332.08, Y:-20.52, Z:-4.56 [[ 9.99688829e-01 -2.46115559e-02 4.06396777e-03 3.32082995e+02] [ 2.46127207e-02 9.99697033e-01 -2.36846665e-04 -2.05225437e+01] [-4.05690736e-03 3.36798269e-04 9.99991714e-01 -4.55559029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.220371743 meters 0.04670548986926255 Centerline is valid? [True, True] Translation: X:332.12, Y:-20.52, Z:-4.56 [[ 9.99676004e-01 -2.50690093e-02 4.40807567e-03 3.32115627e+02] [ 2.50703859e-02 9.99685655e-01 -2.57289781e-04 -2.05218758e+01] [-4.40024002e-03 3.67718578e-04 9.99990251e-01 -4.55551832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.250371743 meters 0.04386332927285784 Centerline is valid? [True, True] Translation: X:332.15, Y:-20.51, Z:-4.55 [[ 9.99688529e-01 -2.41885369e-02 6.14493711e-03 3.32149001e+02] [ 2.41911996e-02 9.99707286e-01 -3.59343212e-04 -2.05140560e+01] [-6.13444642e-03 5.07884687e-04 9.99981055e-01 -4.55301564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.280371743 meters 0.04463244798762519 Centerline is valid? [True, True] Translation: X:332.18, Y:-20.51, Z:-4.55 [[ 9.99679784e-01 -2.43949415e-02 6.72428774e-03 3.32181148e+02] [ 2.43981404e-02 9.99702243e-01 -3.94093334e-04 -2.05135262e+01] [-6.71267166e-03 5.58027255e-04 9.99977314e-01 -4.55268640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.310371743 meters 0.04554737668778015 Centerline is valid? [True, True] Translation: X:332.21, Y:-20.51, Z:-4.55 [[ 9.99674107e-01 -2.42973206e-02 7.83075260e-03 3.32212370e+02] [ 2.43016626e-02 9.99704565e-01 -4.59792060e-04 -2.05138097e+01] [-7.81726741e-03 6.49942524e-04 9.99969233e-01 -4.55240522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.340371743 meters 0.045791146009933 Centerline is valid? [True, True] Translation: X:332.24, Y:-20.51, Z:-4.55 [[ 9.99662298e-01 -2.45700241e-02 8.46194070e-03 3.32244178e+02] [ 2.45751084e-02 9.99697863e-01 -4.97373839e-04 -2.05125153e+01] [-8.44716355e-03 7.05158984e-04 9.99964073e-01 -4.55247232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.370371743 meters 0.05230261301380193 Centerline is valid? [True, True] Translation: X:332.28, Y:-20.52, Z:-4.55 [[ 9.99643668e-01 -2.49718120e-02 9.43112956e-03 3.32275428e+02] [ 2.49781511e-02 9.99687843e-01 -5.54939612e-04 -2.05163527e+01] [-9.41432772e-03 7.90314048e-04 9.99955372e-01 -4.55201732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.400371743 meters 0.043383325419214816 Centerline is valid? [True, True] Translation: X:332.31, Y:-20.50, Z:-4.55 [[ 9.99641680e-01 -2.50979708e-02 9.30614170e-03 3.32308604e+02] [ 2.51041520e-02 9.99684691e-01 -5.47977766e-04 -2.05007324e+01] [-9.28945426e-03 7.81404211e-04 9.99956547e-01 -4.55125674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.430371743 meters 0.044234099580551155 Centerline is valid? [True, True] Translation: X:332.34, Y:-20.50, Z:-4.55 [[ 9.99671722e-01 -2.42635615e-02 8.22965842e-03 3.32340583e+02] [ 2.42683714e-02 9.99705362e-01 -4.85082986e-04 -2.04955800e+01] [-8.21546381e-03 6.84644151e-04 9.99966018e-01 -4.55209588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.460371743 meters 0.04421181204746633 Centerline is valid? [True, True] Translation: X:332.37, Y:-20.49, Z:-4.55 [[ 9.99693304e-01 -2.36446207e-02 7.36412238e-03 3.32372766e+02] [ 2.36484586e-02 9.99720242e-01 -4.34499317e-04 -2.04933812e+01] [-7.35178864e-03 6.08516201e-04 9.99972790e-01 -4.55369930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.490371743 meters 0.044002340964261026 Centerline is valid? [True, True] Translation: X:332.41, Y:-20.49, Z:-4.56 [[ 9.99741734e-01 -2.20528482e-02 5.48972140e-03 3.32405010e+02] [ 2.20549577e-02 9.99756707e-01 -3.24010287e-04 -2.04871207e+01] [-5.48124044e-03 4.45002179e-04 9.99984879e-01 -4.55529489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.520371743 meters 0.04361463160015595 Centerline is valid? [True, True] Translation: X:332.44, Y:-20.48, Z:-4.56 [[ 9.99766458e-01 -2.10855298e-02 4.73611829e-03 3.32437840e+02] [ 2.10870895e-02 9.99777604e-01 -2.79624015e-04 -2.04840819e+01] [-4.72916898e-03 3.79429662e-04 9.99988745e-01 -4.55626095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.550371743 meters 0.042521701890873745 Centerline is valid? [True, True] Translation: X:332.47, Y:-20.48, Z:-4.56 [[ 9.99789966e-01 -1.99758868e-02 4.58129808e-03 3.32470431e+02] [ 1.99773371e-02 9.99800396e-01 -2.71019766e-04 -2.04803307e+01] [-4.57496977e-03 3.62484979e-04 9.99989469e-01 -4.55692458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.580371743 meters 0.04136190090386078 Centerline is valid? [True, True] Translation: X:332.50, Y:-20.47, Z:-4.56 [[ 9.99838979e-01 -1.75873002e-02 3.56420805e-03 3.32502214e+02] [ 1.75881651e-02 9.99845294e-01 -2.11454000e-04 -2.04720773e+01] [-3.55993774e-03 2.74107831e-04 9.99993626e-01 -4.55714804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61037174300003 meters 0.04153153083678005 Centerline is valid? [True, True] Translation: X:332.53, Y:-20.47, Z:-4.56 [[ 9.99859576e-01 -1.63220261e-02 3.79733923e-03 3.32533872e+02] [ 1.63229984e-02 9.99866746e-01 -2.25184662e-04 -2.04698453e+01] [-3.79315775e-03 2.87137002e-04 9.99992765e-01 -4.55838451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.640371743 meters 0.04010690865439026 Centerline is valid? [True, True] Translation: X:332.57, Y:-20.46, Z:-4.56 [[ 9.99897203e-01 -1.38394959e-02 3.74863227e-03 3.32565046e+02] [ 1.38404272e-02 9.99904192e-01 -2.22613196e-04 -2.04617057e+01] [-3.74519227e-03 2.74472984e-04 9.99992949e-01 -4.55859092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67037174300003 meters 0.03980663642061475 Centerline is valid? [True, True] Translation: X:332.60, Y:-20.46, Z:-4.56 [[ 9.99910936e-01 -1.26744416e-02 4.18067135e-03 3.32596803e+02] [ 1.26755895e-02 9.99919631e-01 -2.48196881e-04 -2.04594260e+01] [-4.17718960e-03 3.01167250e-04 9.99991230e-01 -4.55781396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.700371743 meters 0.03920181401484262 Centerline is valid? [True, True] Translation: X:332.63, Y:-20.46, Z:-4.56 [[ 9.99920319e-01 -1.15403764e-02 5.11618529e-03 3.32629551e+02] [ 1.15420799e-02 9.99933342e-01 -3.03561744e-04 -2.04566501e+01] [-5.11234104e-03 3.62588976e-04 9.99986866e-01 -4.55761315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.730371743 meters 0.03920181401484262 Centerline is valid? [True, True] Translation: X:332.66, Y:-20.46, Z:-4.56 [[ 9.99921560e-01 -1.14323154e-02 5.11616833e-03 3.32662120e+02] [ 1.14340189e-02 9.99934583e-01 -3.03847229e-04 -2.04586818e+01] [-5.11235997e-03 3.62321761e-04 9.99986866e-01 -4.55807095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.760371743 meters 0.038201406182776725 Centerline is valid? [True, True] Translation: X:332.69, Y:-20.45, Z:-4.56 [[ 9.99917473e-01 -9.94511348e-03 8.13273103e-03 3.32694622e+02] [ 9.94938632e-03 9.99950386e-01 -4.85097197e-04 -2.04521560e+01] [-8.12750319e-03 5.65972847e-04 9.99966811e-01 -4.55580793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.790371743 meters 0.03875170715555991 Centerline is valid? [True, True] Translation: X:332.73, Y:-20.45, Z:-4.56 [[ 9.99907748e-01 -9.41346546e-03 9.79189400e-03 3.32726987e+02] [ 9.41964027e-03 9.99955463e-01 -5.84674765e-04 -2.04521338e+01] [-9.78595408e-03 6.76856947e-04 9.99951887e-01 -4.55535429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.820371743 meters 0.03856801331925264 Centerline is valid? [True, True] Translation: X:332.76, Y:-20.45, Z:-4.55 [[ 9.99895004e-01 -9.52886101e-03 1.09170044e-02 3.32759913e+02] [ 9.53655307e-03 9.99954313e-01 -6.52752734e-04 -2.04473690e+01] [-1.09102856e-02 7.56794789e-04 9.99940195e-01 -4.55497569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.850371743 meters 0.040943615160785596 Centerline is valid? [True, True] Translation: X:332.79, Y:-20.45, Z:-4.56 [[ 9.99892743e-01 -9.46753226e-03 1.11744383e-02 3.32791821e+02] [ 9.47559626e-03 9.99954882e-01 -6.68922890e-04 -2.04506506e+01] [-1.11676011e-02 7.74735609e-04 9.99937340e-01 -4.55551847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880371743 meters 0.03906497826366609 Centerline is valid? [True, True] Translation: X:332.82, Y:-20.45, Z:-4.56 [[ 9.99887101e-01 -9.70997796e-03 1.14674556e-02 3.32824584e+02] [ 9.71849896e-03 9.99952538e-01 -6.87566203e-04 -2.04466382e+01] [-1.14602351e-02 7.98935033e-04 9.99934010e-01 -4.55658908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.910371743 meters 0.040760269013170244 Centerline is valid? [True, True] Translation: X:332.86, Y:-20.45, Z:-4.56 [[ 9.99890557e-01 -1.05751066e-02 1.03460835e-02 3.32855843e+02] [ 1.05820959e-02 9.99943815e-01 -6.21037568e-04 -2.04450646e+01] [-1.03389346e-02 7.30452848e-04 9.99946285e-01 -4.55843379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940371743 meters 0.04042480524819907 Centerline is valid? [True, True] Translation: X:332.89, Y:-20.44, Z:-4.56 [[ 9.99899039e-01 -1.07599524e-02 9.28086552e-03 3.32887954e+02] [ 1.07655875e-02 9.99941894e-01 -5.57431915e-04 -2.04432369e+01] [-9.27432830e-03 6.57289606e-04 9.99956776e-01 -4.55974069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.970371743 meters 0.03695183671578219 Centerline is valid? [True, True] Translation: X:332.92, Y:-20.44, Z:-4.56 [[ 9.99903866e-01 -1.09509897e-02 8.50493053e-03 3.32920676e+02] [ 1.09557331e-02 9.99939853e-01 -5.11324763e-04 -2.04369056e+01] [-8.49881948e-03 6.04453356e-04 9.99963702e-01 -4.56088081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000371743 meters 0.04036570031865876 Centerline is valid? [True, True] Translation: X:332.95, Y:-20.44, Z:-4.56 [[ 9.99922985e-01 -1.04582980e-02 6.68195541e-03 3.32951513e+02] [ 1.04612132e-02 9.99945199e-01 -4.01478023e-04 -2.04381344e+01] [-6.67739046e-03 4.71348464e-04 9.99977595e-01 -4.56454079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.030371743 meters 0.04096419600373782 Centerline is valid? [True, True] Translation: X:332.98, Y:-20.44, Z:-4.57 [[ 9.99934401e-01 -1.00648056e-02 5.46753043e-03 3.32983544e+02] [ 1.00667573e-02 9.99949275e-01 -3.29559218e-04 -2.04381181e+01] [-5.46393614e-03 3.84577901e-04 9.99984999e-01 -4.56648427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060371743 meters 0.04175954422451522 Centerline is valid? [True, True] Translation: X:333.01, Y:-20.44, Z:-4.57 [[ 9.99944167e-01 -9.29442609e-03 5.02759713e-03 3.33014693e+02] [ 9.29606883e-03 9.99956745e-01 -3.03472658e-04 -2.04351860e+01] [-5.02455906e-03 3.50192604e-04 9.99987316e-01 -4.56769821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.090371743 meters 0.04203830291700573 Centerline is valid? [True, True] Translation: X:333.05, Y:-20.43, Z:-4.57 [[ 9.99950565e-01 -8.39759365e-03 5.32436517e-03 3.33046875e+02] [ 8.39942430e-03 9.99964673e-01 -3.21556582e-04 -2.04348421e+01] [-5.32147677e-03 3.66262288e-04 9.99985774e-01 -4.56810574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120371743 meters 0.04223093911770736 Centerline is valid? [True, True] Translation: X:333.08, Y:-20.43, Z:-4.57 [[ 9.99949462e-01 -8.05641308e-03 6.01394824e-03 3.33079433e+02] [ 8.05874577e-03 9.99967462e-01 -3.63746918e-04 -2.04341810e+01] [-6.01082206e-03 4.12193415e-04 9.99981850e-01 -4.56757238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.150371743 meters 0.03942864115554118 Centerline is valid? [True, True] Translation: X:333.11, Y:-20.43, Z:-4.56 [[ 9.99936135e-01 -6.55556004e-03 9.20599364e-03 3.33111233e+02] [ 6.56097510e-03 9.99978321e-01 -5.58132412e-04 -2.04270329e+01] [-9.20213519e-03 6.18497062e-04 9.99957468e-01 -4.56482601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180371743 meters 0.03731316781533586 Centerline is valid? [True, True] Translation: X:333.14, Y:-20.42, Z:-4.56 [[ 9.99939661e-01 -4.07784969e-03 1.02002341e-02 3.33141989e+02] [ 4.08437492e-03 9.99991467e-01 -6.18964444e-04 -2.04239220e+01] [-1.01976230e-02 6.60588677e-04 9.99947785e-01 -4.56440605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.210371743 meters 0.03779686936129129 Centerline is valid? [True, True] Translation: X:333.17, Y:-20.42, Z:-4.56 [[ 9.99923658e-01 -4.21766822e-04 1.23491094e-02 3.33172281e+02] [ 4.31053521e-04 9.99999626e-01 -7.49361695e-04 -2.04224549e+01] [-1.23487887e-02 7.54627614e-04 9.99923466e-01 -4.56304506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240371743 meters 0.03645398947161239 Centerline is valid? [True, True] Translation: X:333.20, Y:-20.42, Z:-4.56 [[ 9.99920039e-01 1.79038997e-03 1.25183680e-02 3.33203923e+02] [-1.78102039e-03 9.99998126e-01 -7.59575365e-04 -2.04213567e+01] [-1.25197044e-02 7.37219160e-04 9.99921354e-01 -4.56310387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.270371743 meters 0.034426276662238166 Centerline is valid? [True, True] Translation: X:333.24, Y:-20.42, Z:-4.56 [[ 9.99910399e-01 3.06743519e-03 1.30301610e-02 3.33236082e+02] [-3.05738602e-03 9.99995013e-01 -7.91073268e-04 -2.04187595e+01] [-1.30325225e-02 7.51164155e-04 9.99914791e-01 -4.56357368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300371743 meters 0.033209214653263125 Centerline is valid? [True, True] Translation: X:333.27, Y:-20.42, Z:-4.57 [[ 9.99912590e-01 4.92979097e-03 1.22682021e-02 3.33267796e+02] [-4.92101165e-03 9.99987614e-01 -7.45700023e-04 -2.04172075e+01] [-1.22717262e-02 6.85262876e-04 9.99924465e-01 -4.56503026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.330371743 meters 0.03212747009867059 Centerline is valid? [True, True] Translation: X:333.30, Y:-20.42, Z:-4.57 [[ 9.99920376e-01 5.67007846e-03 1.12734620e-02 3.33299046e+02] [-5.66270794e-03 9.99983732e-01 -6.85607072e-04 -2.04174621e+01] [-1.12771661e-02 6.21714159e-04 9.99936217e-01 -4.56650336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36037174300003 meters 0.03428742009097133 Centerline is valid? [True, True] Translation: X:333.33, Y:-20.42, Z:-4.57 [[ 9.99931880e-01 6.37622562e-03 9.77647477e-03 3.33328946e+02] [-6.37071272e-03 9.99979530e-01 -5.94933125e-04 -2.04224091e+01] [-9.78006807e-03 5.32609486e-04 9.99952032e-01 -4.56895452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.390371743 meters 0.03437245866810485 Centerline is valid? [True, True] Translation: X:333.36, Y:-20.42, Z:-4.57 [[ 9.99949206e-01 7.10656472e-03 7.14711435e-03 3.33359801e+02] [-7.10363577e-03 9.99974674e-01 -4.35112293e-04 -2.04238200e+01] [-7.15002549e-03 3.84319695e-04 9.99974364e-01 -4.57301896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42037174300003 meters 0.03275828185083846 Centerline is valid? [True, True] Translation: X:333.39, Y:-20.42, Z:-4.57 [[ 9.99955499e-01 7.04464997e-03 6.27473087e-03 3.33389685e+02] [-7.04238945e-03 9.99975129e-01 -3.82280606e-04 -2.04224295e+01] [-6.27726784e-03 3.38074496e-04 9.99980241e-01 -4.57400502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.450371743 meters 0.032455323054104444 Centerline is valid? [True, True] Translation: X:333.42, Y:-20.42, Z:-4.58 [[ 9.99973179e-01 6.51977761e-03 3.33674916e-03 3.33418729e+02] [-6.51913468e-03 9.99978730e-01 -2.03521314e-04 -2.04233301e+01] [-3.33800510e-03 1.81763138e-04 9.99994412e-01 -4.57642465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.480371743 meters 0.03290990339545626 Centerline is valid? [True, True] Translation: X:333.45, Y:-20.43, Z:-4.58 [[ 9.99982108e-01 5.67144472e-03 1.90225432e-03 3.33447277e+02] [-5.67123335e-03 9.99983912e-01 -1.16488154e-04 -2.04254599e+01] [-1.90288437e-03 1.05697942e-04 9.99998184e-01 -4.57795986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.510371743 meters 0.03462878367916167 Centerline is valid? [True, True] Translation: X:333.47, Y:-20.43, Z:-4.58 [[ 9.99985423e-01 5.20883575e-03 1.42199349e-03 3.33474853e+02] [-5.20871661e-03 9.99986431e-01 -8.74734299e-05 -2.04295918e+01] [-1.42242983e-03 8.00653937e-05 9.99998985e-01 -4.57931965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.540371743 meters 0.03420952439506859 Centerline is valid? [True, True] Translation: X:333.50, Y:-20.43, Z:-4.58 [[ 9.99986467e-01 4.93941378e-03 1.63340973e-03 3.33503562e+02] [-4.93925711e-03 9.99987797e-01 -9.99314468e-05 -2.04302368e+01] [-1.63388340e-03 9.18622638e-05 9.99998661e-01 -4.57944715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.570371743 meters 0.03532822193787326 Centerline is valid? [True, True] Translation: X:333.53, Y:-20.43, Z:-4.58 [[ 9.99979789e-01 5.85035592e-03 2.48883625e-03 3.33531620e+02] [-5.84999676e-03 9.99982877e-01 -1.51563291e-04 -2.04333904e+01] [-2.48968033e-03 1.37000544e-04 9.99996891e-01 -4.57838475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.600371743 meters 0.03392283250066651 Centerline is valid? [True, True] Translation: X:333.56, Y:-20.43, Z:-4.58 [[ 9.99968630e-01 7.05280526e-03 3.60525496e-03 3.33560207e+02] [-7.05206198e-03 9.99975110e-01 -2.18834964e-04 -2.04329355e+01] [-3.60670863e-03 1.93403618e-04 9.99993477e-01 -4.57754861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.630371743 meters 0.030989487555624622 Centerline is valid? [True, True] Translation: X:333.59, Y:-20.43, Z:-4.58 [[ 9.99933544e-01 9.92222793e-03 5.86998419e-03 3.33590233e+02] [-9.92031454e-03 9.99950729e-01 -3.54989633e-04 -2.04295659e+01] [-5.87321726e-03 2.96733952e-04 9.99982708e-01 -4.57617651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.660371743 meters 0.03216074134978575 Centerline is valid? [True, True] Translation: X:333.62, Y:-20.43, Z:-4.58 [[ 9.99919750e-01 1.09754960e-02 6.32716099e-03 3.33618383e+02] [-1.09732939e-02 9.99939718e-01 -3.82641432e-04 -2.04334687e+01] [-6.33097926e-03 3.13180928e-04 9.99979910e-01 -4.57693183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.690371743 meters 0.03182396869742838 Centerline is valid? [True, True] Translation: X:333.65, Y:-20.43, Z:-4.58 [[ 9.99904172e-01 1.18112467e-02 7.22086617e-03 3.33647639e+02] [-1.18084061e-02 9.99930183e-01 -4.35903745e-04 -2.04346897e+01] [-7.22551060e-03 3.50595053e-04 9.99973834e-01 -4.57720895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.720371743 meters 0.03112846929407272 Centerline is valid? [True, True] Translation: X:333.68, Y:-20.44, Z:-4.58 [[ 9.99902190e-01 1.15092220e-02 7.94662458e-03 3.33676430e+02] [-1.15057751e-02 9.99933692e-01 -4.79337945e-04 -2.04359412e+01] [-7.95161446e-03 3.87858985e-04 9.99968310e-01 -4.57769562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.750371743 meters 0.031152272392904485 Centerline is valid? [True, True] Translation: X:333.71, Y:-20.44, Z:-4.58 [[ 9.99913818e-01 1.04435251e-02 7.95540288e-03 3.33705406e+02] [-1.04400414e-02 9.99945386e-01 -4.79306376e-04 -2.04387862e+01] [-7.95997406e-03 3.96210333e-04 9.99968240e-01 -4.57858202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.780371743 meters 0.03455710518992945 Centerline is valid? [True, True] Translation: X:333.73, Y:-20.45, Z:-4.58 [[ 9.99954766e-01 6.95628787e-03 6.48662204e-03 3.33733721e+02] [-6.95390217e-03 9.99975745e-01 -3.90269926e-04 -2.04486219e+01] [-6.48917954e-03 3.45144937e-04 9.99978885e-01 -4.58139142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.810371743 meters 0.03134806386818503 Centerline is valid? [True, True] Translation: X:333.76, Y:-20.45, Z:-4.58 [[ 9.99967601e-01 6.54368099e-03 4.68807223e-03 3.33763227e+02] [-6.54243042e-03 9.99978558e-01 -2.82042701e-04 -2.04461543e+01] [-4.68981731e-03 2.51362176e-04 9.99988971e-01 -4.58351274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.840371743 meters 0.03357640287946307 Centerline is valid? [True, True] Translation: X:333.79, Y:-20.45, Z:-4.59 [[ 9.99972896e-01 6.75055491e-03 2.93902480e-03 3.33791838e+02] [-6.75006348e-03 9.99977202e-01 -1.77098307e-04 -2.04543393e+01] [-2.94015330e-03 1.57254903e-04 9.99995665e-01 -4.58748822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.870371743 meters 0.03292575346466984 Centerline is valid? [True, True] Translation: X:333.82, Y:-20.46, Z:-4.59 [[ 9.99973575e-01 7.14417459e-03 1.34574289e-03 3.33820773e+02] [-7.14407117e-03 9.99974477e-01 -8.16409501e-05 -2.04594976e+01] [-1.34629180e-03 7.20247097e-05 9.99999091e-01 -4.58941020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.900371743 meters 0.03209709959081151 Centerline is valid? [True, True] Translation: X:333.85, Y:-20.46, Z:-4.59 [[ 9.99976143e-01 6.66596619e-03 1.81085151e-03 3.33849611e+02] [-6.66577899e-03 9.99977777e-01 -1.09395875e-04 -2.04611099e+01] [-1.81154050e-03 9.73225289e-05 9.99998354e-01 -4.58891432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.930371743 meters 0.031648866859922735 Centerline is valid? [True, True] Translation: X:333.88, Y:-20.46, Z:-4.59 [[ 9.99977193e-01 6.65111318e-03 1.17341965e-03 3.33878050e+02] [-6.65103424e-03 9.99977879e-01 -7.11663159e-05 -2.04631655e+01] [-1.17386703e-03 6.33602385e-05 9.99999309e-01 -4.58910969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.960371743 meters 0.03285909431037044 Centerline is valid? [True, True] Translation: X:333.91, Y:-20.47, Z:-4.59 [[ 9.99968750e-01 7.86253647e-03 -8.23910692e-04 3.33905248e+02] [-7.86249965e-03 9.99969089e-01 4.79244479e-05 -2.04706096e+01] [ 8.24262031e-04 -4.14449528e-05 9.99999659e-01 -4.59218930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.990371743 meters 0.031401317845495394 Centerline is valid? [True, True] Translation: X:333.93, Y:-20.47, Z:-4.59 [[ 9.99964391e-01 8.31034413e-03 -1.46765129e-03 3.33934020e+02] [-8.31022609e-03 9.99965466e-01 8.65088624e-05 -2.04719225e+01] [ 1.46831952e-03 -7.43092679e-05 9.99998919e-01 -4.59278333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.020371743 meters 0.03145252202252743 Centerline is valid? [True, True] Translation: X:333.96, Y:-20.48, Z:-4.59 [[ 9.99958767e-01 9.05531133e-03 -6.82150189e-04 3.33962428e+02] [-9.05528639e-03 9.99958999e-01 3.96352835e-05 -2.04760165e+01] [ 6.82481129e-04 -3.34565839e-05 9.99999767e-01 -4.59380549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.050371743 meters 0.030528402964000202 Centerline is valid? [True, True] Translation: X:333.99, Y:-20.48, Z:-4.59 [[ 9.99958760e-01 9.00458085e-03 1.18169856e-03 3.33990911e+02] [-9.00450287e-03 9.99959456e-01 -7.12950892e-05 -2.04782146e+01] [-1.18229263e-03 6.06515410e-05 9.99999299e-01 -4.59214578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.080371743 meters 0.032913363258793626 Centerline is valid? [True, True] Translation: X:334.02, Y:-20.49, Z:-4.59 [[ 9.99944021e-01 1.03085818e-02 2.38500207e-03 3.34018315e+02] [-1.03082703e-02 9.99946858e-01 -1.42897740e-04 -2.04859332e+01] [-2.38634840e-03 1.18304495e-04 9.99997146e-01 -4.59214432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11037174300003 meters 0.03170025392711196 Centerline is valid? [True, True] Translation: X:334.05, Y:-20.49, Z:-4.59 [[ 9.99930791e-01 1.13236639e-02 3.19176650e-03 3.34047151e+02] [-1.13231140e-02 9.99935873e-01 -1.90310618e-04 -2.04870465e+01] [-3.19371684e-03 1.54156711e-04 9.99994888e-01 -4.59229416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.140371743 meters 0.03272136649246632 Centerline is valid? [True, True] Translation: X:334.07, Y:-20.49, Z:-4.59 [[ 9.99925074e-01 1.18706313e-02 2.98899498e-03 3.34074402e+02] [-1.18701513e-02 9.99929531e-01 -1.78258427e-04 -2.04917212e+01] [-2.99090039e-03 1.42765248e-04 9.99995517e-01 -4.59356728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17037174300003 meters 0.030915196415289215 Centerline is valid? [True, True] Translation: X:334.10, Y:-20.49, Z:-4.59 [[ 9.99913997e-01 1.27406339e-02 3.11050563e-03 3.34103352e+02] [-1.27401198e-02 9.99918824e-01 -1.85019207e-04 -2.04919798e+01] [-3.11261039e-03 1.45375081e-04 9.99995145e-01 -4.59367246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.200371743 meters 0.029338580304913188 Centerline is valid? [True, True] Translation: X:334.13, Y:-20.49, Z:-4.59 [[ 9.99897068e-01 1.41577083e-02 2.32668813e-03 3.34132445e+02] [-1.41574242e-02 9.99899769e-01 -1.38506754e-04 -2.04926104e+01] [-2.32841586e-03 1.05552587e-04 9.99997284e-01 -4.59352548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.230371743 meters 0.03040791839031606 Centerline is valid? [True, True] Translation: X:334.16, Y:-20.50, Z:-4.59 [[ 9.99880488e-01 1.53111725e-02 2.13972156e-03 3.34159857e+02] [-1.53109346e-02 9.99882773e-01 -1.27505707e-04 -2.04975699e+01] [-2.14142299e-03 9.47293316e-05 9.99997703e-01 -4.59476729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.260371743 meters 0.02907371927037216 Centerline is valid? [True, True] Translation: X:334.19, Y:-20.50, Z:-4.60 [[ 9.99866028e-01 1.63664618e-02 -2.54572871e-04 3.34189000e+02] [-1.63664588e-02 9.99866060e-01 1.40062009e-05 -2.04983154e+01] [ 2.54768006e-04 -9.83786805e-06 9.99999967e-01 -4.59645549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.290371743 meters 0.03034253907118348 Centerline is valid? [True, True] Translation: X:334.22, Y:-20.50, Z:-4.60 [[ 9.99853097e-01 1.71193305e-02 -8.44613985e-04 3.34216352e+02] [-1.71192957e-02 9.99853453e-01 4.84652456e-05 -2.05035399e+01] [ 8.45319902e-04 -3.39989293e-05 9.99999642e-01 -4.59909349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.320371743 meters 0.02890215052415435 Centerline is valid? [True, True] Translation: X:334.25, Y:-20.50, Z:-4.60 [[ 9.99843286e-01 1.76254071e-02 -1.65774539e-03 3.34245545e+02] [-1.76252714e-02 9.99844658e-01 9.64325181e-05 -2.05042619e+01] [ 1.65918754e-03 -6.71991933e-05 9.99998621e-01 -4.59970923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.350371743 meters 0.028809186139848873 Centerline is valid? [True, True] Translation: X:334.27, Y:-20.51, Z:-4.60 [[ 9.99839124e-01 1.77774866e-02 -2.38488744e-03 3.34273432e+02] [-1.77772069e-02 9.99841963e-01 1.38404636e-04 -2.05085447e+01] [ 2.38697103e-03 -9.59857321e-05 9.99997147e-01 -4.60119031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380371743 meters 0.028860079480552688 Centerline is valid? [True, True] Translation: X:334.30, Y:-20.51, Z:-4.60 [[ 9.99843162e-01 1.75280491e-02 -2.53345987e-03 3.34302224e+02] [-1.75277317e-02 9.99846367e-01 1.47445306e-04 -2.05122784e+01] [ 2.53565507e-03 -1.03016377e-04 9.99996780e-01 -4.60156568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.410371743 meters 0.02912169181269584 Centerline is valid? [True, True] Translation: X:334.33, Y:-20.52, Z:-4.60 [[ 9.99869754e-01 1.59906540e-02 -2.18517424e-03 3.34331172e+02] [-1.59904148e-02 9.99872137e-01 1.26871939e-04 -2.05174918e+01] [ 2.18692360e-03 -9.19135715e-05 9.99997604e-01 -4.60232030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440371743 meters 0.029513037849623384 Centerline is valid? [True, True] Translation: X:334.36, Y:-20.52, Z:-4.60 [[ 9.99883931e-01 1.50517609e-02 -2.35998056e-03 3.34359778e+02] [-1.50514796e-02 9.99886711e-01 1.36934764e-04 -2.05214859e+01] [ 2.36177431e-03 -1.01397671e-04 9.99997206e-01 -4.60296532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.470371743 meters 0.030455044841647825 Centerline is valid? [True, True] Translation: X:334.39, Y:-20.53, Z:-4.60 [[ 9.99900240e-01 1.39291629e-02 -2.34282295e-03 3.34387652e+02] [-1.39288836e-02 9.99902979e-01 1.35483396e-04 -2.05264154e+01] [ 2.34448281e-03 -1.02836971e-04 9.99997246e-01 -4.60369091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500371743 meters 0.03110620773003982 Centerline is valid? [True, True] Translation: X:334.42, Y:-20.53, Z:-4.60 [[ 9.99931686e-01 1.15206473e-02 -1.97417084e-03 3.34416498e+02] [-1.15204439e-02 9.99933631e-01 1.14360000e-04 -2.05323177e+01] [ 1.97535732e-03 -9.16088632e-05 9.99998045e-01 -4.60407350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.530371743 meters 0.031661452722167624 Centerline is valid? [True, True] Translation: X:334.45, Y:-20.54, Z:-4.60 [[ 9.99947454e-01 1.01095645e-02 -1.69867222e-03 3.34445317e+02] [-1.01094127e-02 9.99948894e-01 9.79260829e-05 -2.05368768e+01] [ 1.69957539e-03 -8.07483588e-05 9.99998552e-01 -4.60458360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560371743 meters 0.03244764031642088 Centerline is valid? [True, True] Translation: X:334.47, Y:-20.54, Z:-4.61 [[ 9.99964533e-01 8.24578724e-03 -1.71473677e-03 3.34474750e+02] [-8.24562905e-03 9.99965999e-01 9.93018130e-05 -2.05415340e+01] [ 1.71549729e-03 -8.51592077e-05 9.99998525e-01 -4.60513053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.590371743 meters 0.033625715615859655 Centerline is valid? [True, True] Translation: X:334.50, Y:-20.55, Z:-4.61 [[ 9.99983949e-01 5.42833508e-03 -1.62294550e-03 3.34502609e+02] [-5.42819070e-03 9.99985263e-01 9.33530675e-05 -2.05487793e+01] [ 1.62342833e-03 -8.45419114e-05 9.99998679e-01 -4.60580917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620371743 meters 0.03345980207386206 Centerline is valid? [True, True] Translation: X:334.53, Y:-20.55, Z:-4.61 [[ 9.99990584e-01 3.97598473e-03 -1.73883408e-03 3.34531971e+02] [-3.97581595e-03 9.99992091e-01 1.00515232e-04 -2.05513367e+01] [ 1.73921997e-03 -9.36010008e-05 9.99998483e-01 -4.60633549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.650371743 meters 0.03345980207386206 Centerline is valid? [True, True] Translation: X:334.56, Y:-20.55, Z:-4.61 [[ 9.99990865e-01 3.90457062e-03 -1.73887035e-03 3.34560268e+02] [-3.90440280e-03 9.99992373e-01 9.98902056e-05 -2.05529199e+01] [ 1.73924712e-03 -9.31000428e-05 9.99998483e-01 -4.60673376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680371743 meters 0.033720120257468164 Centerline is valid? [True, True] Translation: X:334.59, Y:-20.56, Z:-4.61 [[ 9.99996760e-01 1.90796315e-03 -1.68499310e-03 3.34589180e+02] [-1.90780254e-03 9.99998175e-01 9.69207115e-05 -2.05592485e+01] [ 1.68517495e-03 -9.37057634e-05 9.99998576e-01 -4.60743110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.710371743 meters 0.03440143701246172 Centerline is valid? [True, True] Translation: X:334.62, Y:-20.56, Z:-4.61 [[ 9.99997947e-01 7.97034411e-04 -1.86293155e-03 3.34618814e+02] [-7.96835670e-04 9.99999677e-01 1.07421508e-04 -2.05631692e+01] [ 1.86301657e-03 -1.05936837e-04 9.99998259e-01 -4.60830263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740371743 meters 0.03555218892026304 Centerline is valid? [True, True] Translation: X:334.65, Y:-20.57, Z:-4.61 [[ 9.99997537e-01 2.89594956e-04 -2.20035141e-03 3.34647982e+02] [-2.89315804e-04 9.99999950e-01 1.27184173e-04 -2.05689800e+01] [ 2.20038813e-03 -1.26547264e-04 9.99997571e-01 -4.60939211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.770371743 meters 0.035889704944249055 Centerline is valid? [True, True] Translation: X:334.68, Y:-20.57, Z:-4.61 [[ 9.99994619e-01 -1.50104551e-03 -2.91695596e-03 3.34677599e+02] [ 1.50154378e-03 9.99998858e-01 1.68635116e-04 -2.05746152e+01] [ 2.91669950e-03 -1.73014145e-04 9.99995731e-01 -4.61011649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800371743 meters 0.03557890415270414 Centerline is valid? [True, True] Translation: X:334.71, Y:-20.58, Z:-4.61 [[ 9.99992382e-01 -2.21104537e-03 -3.21662956e-03 3.34708261e+02] [ 2.21165582e-03 9.99997537e-01 1.86235071e-04 -2.05782219e+01] [ 3.21620987e-03 -1.93347730e-04 9.99994809e-01 -4.61079351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.830371743 meters 0.03686373814655529 Centerline is valid? [True, True] Translation: X:334.74, Y:-20.58, Z:-4.61 [[ 9.99988929e-01 -2.74170118e-03 -3.82422878e-03 3.34737345e+02] [ 2.74256669e-03 9.99996215e-01 2.21097089e-04 -2.05841516e+01] [ 3.82360812e-03 -2.31582844e-04 9.99992663e-01 -4.61223917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86037174300003 meters 0.03757087713786289 Centerline is valid? [True, True] Translation: X:334.77, Y:-20.59, Z:-4.61 [[ 9.99978589e-01 -4.55808206e-03 -4.69530327e-03 3.34767381e+02] [ 4.55940815e-03 9.99989569e-01 2.71763410e-04 -2.05907862e+01] [ 4.69401557e-03 -2.93165395e-04 9.99988940e-01 -4.61366396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.890371743 meters 0.03667613766124578 Centerline is valid? [True, True] Translation: X:334.80, Y:-20.59, Z:-4.61 [[ 9.99973974e-01 -5.36630557e-03 -4.82220392e-03 3.34797771e+02] [ 5.36771367e-03 9.99985555e-01 2.79108400e-04 -2.05926650e+01] [ 4.82063648e-03 -3.04985346e-04 9.99988334e-01 -4.61381064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92037174300003 meters 0.03827685171573614 Centerline is valid? [True, True] Translation: X:334.83, Y:-20.60, Z:-4.61 [[ 9.99969653e-01 -6.12366087e-03 -4.81603038e-03 3.34827593e+02] [ 6.12507573e-03 9.99981203e-01 2.79086331e-04 -2.06007174e+01] [ 4.81423082e-03 -3.08576413e-04 9.99988364e-01 -4.61489431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.950371743 meters 0.04002033700312795 Centerline is valid? [True, True] Translation: X:334.86, Y:-20.61, Z:-4.62 [[ 9.99973018e-01 -5.95064059e-03 -4.30725001e-03 3.34857496e+02] [ 5.95177111e-03 9.99982257e-01 2.49700470e-04 -2.06073703e+01] [ 4.30568771e-03 -2.75329499e-04 9.99990693e-01 -4.61659298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.980371743 meters 0.04059373037782017 Centerline is valid? [True, True] Translation: X:334.89, Y:-20.61, Z:-4.62 [[ 9.99970161e-01 -6.42995991e-03 -4.28174580e-03 3.34888596e+02] [ 6.43108311e-03 9.99979289e-01 2.48605219e-04 -2.06118796e+01] [ 4.28005860e-03 -2.76134064e-04 9.99990802e-01 -4.61745360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.010371743 meters 0.042049023002947446 Centerline is valid? [True, True] Translation: X:334.92, Y:-20.62, Z:-4.62 [[ 9.99963936e-01 -6.72880972e-03 -5.18176640e-03 3.34918610e+02] [ 6.73045742e-03 9.99977305e-01 3.00607407e-04 -2.06189461e+01] [ 5.17962607e-03 -3.35472224e-04 9.99986529e-01 -4.61884195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.040371743 meters 0.04236278442351103 Centerline is valid? [True, True] Translation: X:334.95, Y:-20.62, Z:-4.62 [[ 9.99958357e-01 -7.33747521e-03 -5.42643950e-03 3.34950095e+02] [ 7.33929332e-03 9.99973017e-01 3.15210249e-04 -2.06224533e+01] [ 5.42398023e-03 -3.55023354e-04 9.99985227e-01 -4.61981592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.070371743 meters 0.038002728032230516 Centerline is valid? [True, True] Translation: X:334.98, Y:-20.62, Z:-4.62 [[ 9.99955885e-01 -7.73345033e-03 -5.33129566e-03 3.34981935e+02] [ 7.73521205e-03 9.99970035e-01 3.09909391e-04 -2.06207136e+01] [ 5.32873923e-03 -3.51134422e-04 9.99985741e-01 -4.61842935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.100371743 meters 0.04183581890581891 Centerline is valid? [True, True] Translation: X:335.01, Y:-20.63, Z:-4.62 [[ 9.99950117e-01 -7.95539187e-03 -6.03954913e-03 3.35012585e+02] [ 7.95765987e-03 9.99968276e-01 3.51585947e-04 -2.06296460e+01] [ 6.03656052e-03 -3.99629086e-04 9.99981700e-01 -4.62076083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.130371743 meters 0.043917813634069575 Centerline is valid? [True, True] Translation: X:335.04, Y:-20.64, Z:-4.62 [[ 9.99943497e-01 -8.33535528e-03 -6.59737685e-03 3.35042894e+02] [ 8.33806672e-03 9.99965164e-01 3.83588298e-04 -2.06359533e+01] [ 6.59394968e-03 -4.38575993e-04 9.99978164e-01 -4.62290650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.160371743 meters 0.04405456069954501 Centerline is valid? [True, True] Translation: X:335.07, Y:-20.64, Z:-4.62 [[ 9.99921399e-01 -9.71186183e-03 -7.92935084e-03 3.35073323e+02] [ 9.71582479e-03 9.99952694e-01 4.61415986e-04 -2.06408830e+01] [ 7.92449453e-03 -5.38419902e-04 9.99968456e-01 -4.62454927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.190371743 meters 0.04452238951833662 Centerline is valid? [True, True] Translation: X:335.10, Y:-20.65, Z:-4.63 [[ 9.99917396e-01 -9.82574302e-03 -8.28592987e-03 3.35104422e+02] [ 9.83007683e-03 9.99951567e-01 4.82467428e-04 -2.06450752e+01] [ 8.28078796e-03 -5.63878901e-04 9.99965555e-01 -4.62545620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.220371743 meters 0.042129595538503 Centerline is valid? [True, True] Translation: X:335.14, Y:-20.65, Z:-4.62 [[ 9.99911949e-01 -1.06595934e-02 -7.90360718e-03 3.35135548e+02] [ 1.06635649e-02 9.99943037e-01 4.60516701e-04 -2.06459064e+01] [ 7.89824804e-03 -5.44756780e-04 9.99968660e-01 -4.62399858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.250371743 meters 0.045835972122670855 Centerline is valid? [True, True] Translation: X:335.17, Y:-20.65, Z:-4.63 [[ 9.99915820e-01 -1.05271909e-02 -7.58495363e-03 3.35166495e+02] [ 1.05308497e-02 9.99944451e-01 4.42602103e-04 -2.06547467e+01] [ 7.57987294e-03 -5.22440851e-04 9.99971136e-01 -4.62587641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.280371743 meters 0.040008372421946374 Centerline is valid? [True, True] Translation: X:335.20, Y:-20.65, Z:-4.62 [[ 9.99918751e-01 -1.00412057e-02 -7.85271265e-03 3.35197878e+02] [ 1.00451127e-02 9.99949442e-01 4.58253055e-04 -2.06486318e+01] [ 7.84771422e-03 -5.37097206e-04 9.99969062e-01 -4.62360632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.310371743 meters 0.03962004885730297 Centerline is valid? [True, True] Translation: X:335.23, Y:-20.65, Z:-4.62 [[ 9.99936028e-01 -8.87546952e-03 -7.01180921e-03 3.35229187e+02] [ 8.87855818e-03 9.99960501e-01 4.09487523e-04 -2.06535165e+01] [ 7.00789785e-03 -4.71716083e-04 9.99975333e-01 -4.62408163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.340371743 meters 0.03865095605546554 Centerline is valid? [True, True] Translation: X:335.26, Y:-20.66, Z:-4.62 [[ 9.99946477e-01 -7.94930210e-03 -6.62206092e-03 3.35260691e+02] [ 7.95203847e-03 9.99968307e-01 3.86992325e-04 -2.06551765e+01] [ 6.61877473e-03 -4.39630495e-04 9.99977999e-01 -4.62404391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.370371743 meters 0.03784789024906702 Centerline is valid? [True, True] Translation: X:335.29, Y:-20.66, Z:-4.62 [[ 9.99956950e-01 -6.85855846e-03 -6.24971746e-03 3.35291900e+02] [ 6.86097617e-03 9.99976396e-01 3.65493155e-04 -2.06585530e+01] [ 6.24706319e-03 -4.08356583e-04 9.99980404e-01 -4.62370873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.400371743 meters 0.040848715456957084 Centerline is valid? [True, True] Translation: X:335.32, Y:-20.67, Z:-4.63 [[ 9.99964779e-01 -6.09577176e-03 -5.76913446e-03 3.35321864e+02] [ 6.09781863e-03 9.99981351e-01 3.37272240e-04 -2.06671359e+01] [ 5.76697094e-03 -3.72439497e-04 9.99983302e-01 -4.62570065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.430371743 meters 0.0370492045480057 Centerline is valid? [True, True] Translation: X:335.35, Y:-20.66, Z:-4.62 [[ 9.99966677e-01 -5.67563178e-03 -5.86783847e-03 3.35352185e+02] [ 5.67774059e-03 9.99983823e-01 3.42788243e-04 -2.06643274e+01] [ 5.86579801e-03 -3.76092885e-04 9.99982725e-01 -4.62426641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.460371743 meters 0.03877359484857907 Centerline is valid? [True, True] Translation: X:335.38, Y:-20.67, Z:-4.63 [[ 9.99961858e-01 -5.47590766e-03 -6.80421242e-03 3.35380769e+02] [ 5.47873607e-03 9.99984913e-01 3.97116227e-04 -2.06722482e+01] [ 6.80193519e-03 -4.34379564e-04 9.99976772e-01 -4.62695766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.490371743 meters 0.03676878474831839 Centerline is valid? [True, True] Translation: X:335.41, Y:-20.67, Z:-4.63 [[ 9.99957045e-01 -6.14027577e-03 -6.94297343e-03 3.35411281e+02] [ 6.14323846e-03 9.99981048e-01 4.05471171e-04 -2.06726794e+01] [ 6.94035214e-03 -4.48106095e-04 9.99975815e-01 -4.62666369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.520371743 meters 0.03807198048944159 Centerline is valid? [True, True] Translation: X:335.44, Y:-20.68, Z:-4.63 [[ 9.99952568e-01 -6.48359479e-03 -7.26799856e-03 3.35440565e+02] [ 6.48684760e-03 9.99978870e-01 4.24068732e-04 -2.06788232e+01] [ 7.26509550e-03 -4.71195017e-04 9.99973498e-01 -4.62868085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.550371743 meters 0.03969959637370684 Centerline is valid? [True, True] Translation: X:335.47, Y:-20.69, Z:-4.63 [[ 9.99917123e-01 -9.37551592e-03 -8.82311669e-03 3.35470212e+02] [ 9.38042159e-03 9.99955870e-01 5.14782147e-04 -2.06858827e+01] [ 8.81790098e-03 -5.97504038e-04 9.99960943e-01 -4.63108778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.580371743 meters 0.040689497884235835 Centerline is valid? [True, True] Translation: X:335.50, Y:-20.69, Z:-4.63 [[ 9.99893036e-01 -1.12372904e-02 -9.36160650e-03 3.35500833e+02] [ 1.12429003e-02 9.99936647e-01 5.46829210e-04 -2.06910161e+01] [ 9.35486853e-03 -6.52022328e-04 9.99956030e-01 -4.63181499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61037174300003 meters 0.043057744115183025 Centerline is valid? [True, True] Translation: X:335.53, Y:-20.70, Z:-4.63 [[ 9.99837837e-01 -1.51228111e-02 -9.77757565e-03 3.35530022e+02] [ 1.51291158e-02 9.99885385e-01 5.71156866e-04 -2.06992408e+01] [ 9.76781750e-03 -7.18990319e-04 9.99952035e-01 -4.63319415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.640371743 meters 0.04263339520585484 Centerline is valid? [True, True] Translation: X:335.56, Y:-20.70, Z:-4.63 [[ 9.99812839e-01 -1.66609998e-02 -9.83353164e-03 3.35561269e+02] [ 1.66674575e-02 9.99860923e-01 5.75103107e-04 -2.07021941e+01] [ 9.82258223e-03 -7.38895440e-04 9.99951484e-01 -4.63329370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67037174300003 meters 0.044534181322339585 Centerline is valid? [True, True] Translation: X:335.59, Y:-20.71, Z:-4.63 [[ 9.99792001e-01 -1.81543105e-02 -9.29386174e-03 3.35591553e+02] [ 1.81601423e-02 9.99834943e-01 5.43481567e-04 -2.07087730e+01] [ 9.28246119e-03 -7.12146376e-04 9.99956663e-01 -4.63432000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.700371743 meters 0.04498438433497594 Centerline is valid? [True, True] Translation: X:335.62, Y:-20.71, Z:-4.64 [[ 9.99757586e-01 -2.00716323e-02 -9.04974297e-03 3.35622489e+02] [ 2.00772450e-02 9.99798291e-01 5.29776459e-04 -2.07142774e+01] [ 9.03728409e-03 -7.11341941e-04 9.99958910e-01 -4.63509965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.730371743 meters 0.04602700513193419 Centerline is valid? [True, True] Translation: X:335.65, Y:-20.72, Z:-4.64 [[ 9.99742406e-01 -2.07375582e-02 -9.22365369e-03 3.35654884e+02] [ 2.07434272e-02 9.99784686e-01 5.41087117e-04 -2.07186516e+01] [ 9.21044688e-03 -7.32277925e-04 9.99957315e-01 -4.63548694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.760371743 meters 0.04674167763475409 Centerline is valid? [True, True] Translation: X:335.69, Y:-20.72, Z:-4.64 [[ 9.99733419e-01 -2.13355241e-02 -8.82532150e-03 3.35687079e+02] [ 2.13409262e-02 9.99772122e-01 5.18375816e-04 -2.07225095e+01] [ 8.81225059e-03 -7.06578161e-04 9.99960922e-01 -4.63599219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.790371743 meters 0.04297891244708795 Centerline is valid? [True, True] Translation: X:335.72, Y:-20.72, Z:-4.63 [[ 9.99700731e-01 -2.30884228e-02 -8.08539810e-03 3.35718566e+02] [ 2.30930131e-02 9.99733208e-01 4.74822321e-04 -2.07212862e+01] [ 8.07227808e-03 -6.61396426e-04 9.99967200e-01 -4.63377881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.820371743 meters 0.043580768772960805 Centerline is valid? [True, True] Translation: X:335.75, Y:-20.73, Z:-4.63 [[ 9.99667554e-01 -2.48633256e-02 -6.82622982e-03 3.35749653e+02] [ 2.48666409e-02 9.99690697e-01 4.01206072e-04 -2.07277876e+01] [ 6.81414313e-03 -5.70818098e-04 9.99976621e-01 -4.63384151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.850371743 meters 0.04373311489249817 Centerline is valid? [True, True] Translation: X:335.78, Y:-20.73, Z:-4.63 [[ 9.99652293e-01 -2.56656865e-02 -6.04696172e-03 3.35781690e+02] [ 2.56683087e-02 9.99670451e-01 3.56423741e-04 -2.07322117e+01] [ 6.03582109e-03 -5.11515090e-04 9.99981653e-01 -4.63384610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880371743 meters 0.04464489528921426 Centerline is valid? [True, True] Translation: X:335.81, Y:-20.74, Z:-4.63 [[ 9.99635559e-01 -2.64100990e-02 -5.59061867e-03 3.35813151e+02] [ 2.64123527e-02 9.99651079e-01 3.29650331e-04 -2.07367085e+01] [ 5.57996189e-03 -4.77191585e-04 9.99984318e-01 -4.63406738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.910371743 meters 0.04593545010009039 Centerline is valid? [True, True] Translation: X:335.84, Y:-20.74, Z:-4.63 [[ 9.99626338e-01 -2.67873102e-02 -5.44289973e-03 3.35844234e+02] [ 2.67894536e-02 9.99641047e-01 3.21251548e-04 -2.07418560e+01] [ 5.43234052e-03 -4.66943818e-04 9.99985136e-01 -4.63450325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940371743 meters 0.04478913552479288 Centerline is valid? [True, True] Translation: X:335.88, Y:-20.74, Z:-4.64 [[ 9.99651998e-01 -2.57654266e-02 -5.65905282e-03 3.35876994e+02] [ 2.57677329e-02 9.99667901e-01 3.35003996e-04 -2.07437469e+01] [ 5.64854193e-03 -4.80708375e-04 9.99983931e-01 -4.63535967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.970371743 meters 0.0451122272014273 Centerline is valid? [True, True] Translation: X:335.91, Y:-20.75, Z:-4.64 [[ 9.99674428e-01 -2.47753959e-02 -6.10066003e-03 3.35909428e+02] [ 2.47780606e-02 9.99692911e-01 3.61586242e-04 -2.07470397e+01] [ 6.08982815e-03 -5.12631043e-04 9.99981325e-01 -4.63678683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000371743 meters 0.04506518076293991 Centerline is valid? [True, True] Translation: X:335.94, Y:-20.75, Z:-4.64 [[ 9.99678231e-01 -2.42017726e-02 -7.59658623e-03 3.35941870e+02] [ 2.42058879e-02 9.99706893e-01 4.50236459e-04 -2.07501304e+01] [ 7.58346310e-03 -6.33973702e-04 9.99971044e-01 -4.63857484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.030371743 meters 0.044588046110839566 Centerline is valid? [True, True] Translation: X:335.97, Y:-20.75, Z:-4.64 [[ 9.99701638e-01 -2.31570055e-02 -7.77092615e-03 3.35973677e+02] [ 2.31612846e-02 9.99731635e-01 4.61107805e-04 -2.07522447e+01] [ 7.75816283e-03 -6.40954861e-04 9.99969700e-01 -4.63934896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060371743 meters 0.04556025556637993 Centerline is valid? [True, True] Translation: X:336.00, Y:-20.76, Z:-4.64 [[ 9.99718364e-01 -2.23847659e-02 -7.88134868e-03 3.36004498e+02] [ 2.23891449e-02 9.99749222e-01 4.67811454e-04 -2.07564917e+01] [ 7.86890037e-03 -6.44136359e-04 9.99968832e-01 -4.64054166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.090371743 meters 0.04712844905495261 Centerline is valid? [True, True] Translation: X:336.04, Y:-20.76, Z:-4.64 [[ 9.99711603e-01 -2.25748263e-02 -8.19070942e-03 3.36035266e+02] [ 2.25795654e-02 9.99744931e-01 4.86569556e-04 -2.07604349e+01] [ 8.17763599e-03 -6.71371890e-04 9.99966337e-01 -4.64184476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120371743 meters 0.04296102560631524 Centerline is valid? [True, True] Translation: X:336.07, Y:-20.76, Z:-4.64 [[ 9.99723235e-01 -2.22778166e-02 -7.55995887e-03 3.36067458e+02] [ 2.22818522e-02 9.99751627e-01 4.49989777e-04 -2.07568765e+01] [ 7.54805640e-03 -6.18315122e-04 9.99971322e-01 -4.63927787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.150371743 meters 0.04768446526865033 Centerline is valid? [True, True] Translation: X:336.10, Y:-20.77, Z:-4.64 [[ 9.99721375e-01 -2.23789598e-02 -7.50700613e-03 3.36098467e+02] [ 2.23829430e-02 9.99749371e-01 4.46991412e-04 -2.07653338e+01] [ 7.49512145e-03 -6.14895760e-04 9.99971722e-01 -4.64087579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180371743 meters 0.04454537288761996 Centerline is valid? [True, True] Translation: X:336.13, Y:-20.76, Z:-4.64 [[ 9.99714049e-01 -2.28181278e-02 -7.15220656e-03 3.36130362e+02] [ 2.28217576e-02 9.99739459e-01 4.26285826e-04 -2.07635238e+01] [ 7.14061608e-03 -5.89389853e-04 9.99974332e-01 -4.63998704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.210371743 meters 0.04374360667025357 Centerline is valid? [True, True] Translation: X:336.16, Y:-20.76, Z:-4.64 [[ 9.99719851e-01 -2.26742320e-02 -6.78962988e-03 3.36162153e+02] [ 2.26775052e-02 9.99742750e-01 4.05469236e-04 -2.07649936e+01] [ 6.77868955e-03 -5.59327511e-04 9.99976868e-01 -4.64009988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240371743 meters 0.07728187578476173 Centerline is valid? [True, True] Translation: X:336.19, Y:-20.81, Z:-4.65 [[ 9.99791167e-01 -1.96187102e-02 -5.72094890e-03 3.36188897e+02] [ 1.96209778e-02 9.99807432e-01 3.40510984e-04 -2.08146807e+01] [ 5.71316684e-03 -4.52690486e-04 9.99983577e-01 -4.65163020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.270371743 meters 0.04263568774630884 Centerline is valid? [True, True] Translation: X:336.22, Y:-20.77, Z:-4.64 [[ 9.99716991e-01 -2.28087540e-02 -6.76010389e-03 3.36222769e+02] [ 2.28119947e-02 9.99739692e-01 4.02662237e-04 -2.07690789e+01] [ 6.74915995e-03 -5.56759734e-04 9.99977069e-01 -4.64062819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300371743 meters 0.044398136129656186 Centerline is valid? [True, True] Translation: X:336.25, Y:-20.77, Z:-4.64 [[ 9.99708716e-01 -2.32022250e-02 -6.64383862e-03 3.36254032e+02] [ 2.32053711e-02 9.99730640e-01 3.96826442e-04 -2.07745392e+01] [ 6.63284178e-03 -5.50883593e-04 9.99977851e-01 -4.64144038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.330371743 meters 0.04513692992865379 Centerline is valid? [True, True] Translation: X:336.29, Y:-20.78, Z:-4.64 [[ 9.99722187e-01 -2.28698501e-02 -5.70246221e-03 3.36285564e+02] [ 2.28721667e-02 9.99738340e-01 3.41358080e-04 -2.07795425e+01] [ 5.69316330e-03 -4.71690912e-04 9.99983683e-01 -4.64071277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36037174300003 meters 0.046821891060861834 Centerline is valid? [True, True] Translation: X:336.32, Y:-20.79, Z:-4.64 [[ 9.99736473e-01 -2.23083777e-02 -5.41485175e-03 3.36317012e+02] [ 2.23104606e-02 9.99751038e-01 3.24568560e-04 -2.07855380e+01] [ 5.40626306e-03 -4.45290864e-04 9.99985287e-01 -4.64149634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.390371743 meters 0.0432698005875271 Centerline is valid? [True, True] Translation: X:336.35, Y:-20.79, Z:-4.64 [[ 9.99765872e-01 -2.11301258e-02 -4.66045087e-03 3.36348151e+02] [ 2.11316552e-02 9.99776663e-01 2.79172746e-04 -2.07854990e+01] [ 4.65351107e-03 -3.77590425e-04 9.99989101e-01 -4.64020919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42037174300003 meters 0.04364512247975506 Centerline is valid? [True, True] Translation: X:336.38, Y:-20.79, Z:-4.64 [[ 9.99784155e-01 -2.03237704e-02 -4.31144508e-03 3.36380258e+02] [ 2.03250756e-02 9.99793391e-01 2.59117062e-04 -2.07896727e+01] [ 4.30528805e-03 -3.46691580e-04 9.99990672e-01 -4.64071054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.450371743 meters 0.044390203184663905 Centerline is valid? [True, True] Translation: X:336.41, Y:-20.79, Z:-4.64 [[ 9.99802015e-01 -1.94754965e-02 -4.07880928e-03 3.36411570e+02] [ 1.94766577e-02 9.99810282e-01 2.45150654e-04 -2.07941234e+01] [ 4.07326102e-03 -3.24543690e-04 9.99991652e-01 -4.64136644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.480371743 meters 0.043236452262818005 Centerline is valid? [True, True] Translation: X:336.44, Y:-20.80, Z:-4.64 [[ 9.99828057e-01 -1.80140265e-02 -4.39889966e-03 3.36443176e+02] [ 1.80153638e-02 9.99837675e-01 2.64569581e-04 -2.07958893e+01] [ 4.39341965e-03 -3.43771868e-04 9.99990290e-01 -4.64147449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.510371743 meters 0.044065101338930705 Centerline is valid? [True, True] Translation: X:336.47, Y:-20.80, Z:-4.64 [[ 9.99854039e-01 -1.59925663e-02 -6.01153836e-03 3.36473481e+02] [ 1.59950256e-02 9.99872006e-01 3.61244673e-04 -2.08018140e+01] [ 6.00499169e-03 -4.57346656e-04 9.99981865e-01 -4.64353820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.540371743 meters 0.044065101338930705 Centerline is valid? [True, True] Translation: X:336.51, Y:-20.80, Z:-4.64 [[ 9.99855165e-01 -1.59220330e-02 -6.01148354e-03 3.36505207e+02] [ 1.59244965e-02 9.99873132e-01 3.62157366e-04 -2.08037815e+01] [ 6.00495459e-03 -4.57834762e-04 9.99981865e-01 -4.64398450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.570371743 meters 0.04443392600310888 Centerline is valid? [True, True] Translation: X:336.54, Y:-20.81, Z:-4.65 [[ 9.99862193e-01 -1.51323414e-02 -6.82693904e-03 3.36537000e+02] [ 1.51355027e-02 9.99885367e-01 4.11622599e-04 -2.08084472e+01] [ 6.81992764e-03 -5.14895028e-04 9.99976611e-01 -4.64529170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.600371743 meters 0.044924291739594696 Centerline is valid? [True, True] Translation: X:336.57, Y:-20.82, Z:-4.65 [[ 9.99856759e-01 -1.53160390e-02 -7.20274249e-03 3.36568763e+02] [ 1.53195658e-02 9.99882554e-01 4.34727542e-04 -2.08159508e+01] [ 7.19523826e-03 -5.45008159e-04 9.99973965e-01 -4.64604831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.630371743 meters 0.04362380354533084 Centerline is valid? [True, True] Translation: X:336.60, Y:-20.82, Z:-4.65 [[ 9.99855891e-01 -1.54151527e-02 -7.11127625e-03 3.36600892e+02] [ 1.54185968e-02 9.99881034e-01 4.29738197e-04 -2.08187229e+01] [ 7.10380577e-03 -5.39322169e-04 9.99974622e-01 -4.64552617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.660371743 meters 0.042498062273622024 Centerline is valid? [True, True] Translation: X:336.63, Y:-20.82, Z:-4.65 [[ 9.99854419e-01 -1.56666704e-02 -6.75990036e-03 3.36632587e+02] [ 1.56697919e-02 9.99877138e-01 4.09055435e-04 -2.08212150e+01] [ 6.75266129e-03 -5.14922117e-04 9.99977068e-01 -4.64522884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.690371743 meters 0.04329571957799496 Centerline is valid? [True, True] Translation: X:336.66, Y:-20.83, Z:-4.64 [[ 9.99868061e-01 -1.51695860e-02 -5.80900195e-03 3.36663151e+02] [ 1.51718839e-02 9.99884838e-01 3.51712309e-04 -2.08294607e+01] [ 5.80299764e-03 -4.39799408e-04 9.99983066e-01 -4.64477777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.720371743 meters 0.04423928715294243 Centerline is valid? [True, True] Translation: X:336.70, Y:-20.84, Z:-4.65 [[ 9.99860435e-01 -1.58346863e-02 -5.32658005e-03 3.36695267e+02] [ 1.58366314e-02 9.99874540e-01 3.23182279e-04 -2.08351868e+01] [ 5.32079429e-03 -4.07492259e-04 9.99985761e-01 -4.64534945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.750371743 meters 0.04140419361658077 Centerline is valid? [True, True] Translation: X:336.73, Y:-20.84, Z:-4.64 [[ 9.99853641e-01 -1.63054665e-02 -5.17967157e-03 3.36727753e+02] [ 1.63073144e-02 9.99866977e-01 3.14712149e-04 -2.08358289e+01] [ 5.17385103e-03 -3.99132621e-04 9.99986536e-01 -4.64451402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.780371743 meters 0.04370651700319401 Centerline is valid? [True, True] Translation: X:336.76, Y:-20.85, Z:-4.64 [[ 9.99810831e-01 -1.89978367e-02 -4.16942728e-03 3.36756860e+02] [ 1.89990591e-02 9.99819469e-01 2.53769751e-04 -2.08477899e+01] [ 4.16385350e-03 -3.32936941e-04 9.99991276e-01 -4.64462018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.810371743 meters 0.04511783869423081 Centerline is valid? [True, True] Translation: X:336.79, Y:-20.86, Z:-4.64 [[ 9.99785563e-01 -2.03259705e-02 -3.96018845e-03 3.36787761e+02] [ 2.03270838e-02 9.99793354e-01 2.41077020e-04 -2.08552066e+01] [ 3.95446997e-03 -3.21524407e-04 9.99992129e-01 -4.64462054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.840371743 meters 0.0464439484851753 Centerline is valid? [True, True] Translation: X:336.82, Y:-20.87, Z:-4.64 [[ 9.99770969e-01 -2.11027724e-02 -3.56124521e-03 3.36818249e+02] [ 2.11036785e-02 9.99777269e-01 2.17051019e-04 -2.08658423e+01] [ 3.55587164e-03 -2.92156681e-04 9.99993635e-01 -4.64440897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.870371743 meters 0.04579423753768981 Centerline is valid? [True, True] Translation: X:336.85, Y:-20.87, Z:-4.64 [[ 9.99784860e-01 -2.03242201e-02 -4.14241442e-03 3.36850375e+02] [ 2.03254412e-02 9.99793385e-01 2.52894997e-04 -2.08700316e+01] [ 4.13641864e-03 -3.37036990e-04 9.99991388e-01 -4.64481896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.900371743 meters 0.04674206666367769 Centerline is valid? [True, True] Translation: X:336.88, Y:-20.88, Z:-4.65 [[ 9.99812504e-01 -1.88075312e-02 -4.60800051e-03 3.36880203e+02] [ 1.88090227e-02 9.99823055e-01 2.80540403e-04 -2.08751456e+01] [ 4.60190887e-03 -3.67159789e-04 9.99989344e-01 -4.64539271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.930371743 meters 0.046258157948091384 Centerline is valid? [True, True] Translation: X:336.91, Y:-20.88, Z:-4.65 [[ 9.99865340e-01 -1.54843751e-02 -5.43466021e-03 3.36909406e+02] [ 1.54863983e-02 9.99880024e-01 3.30398006e-04 -2.08794597e+01] [ 5.42889217e-03 -4.14516828e-04 9.99985178e-01 -4.64617320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.960371743 meters 0.04058878899260998 Centerline is valid? [True, True] Translation: X:336.94, Y:-20.87, Z:-4.64 [[ 9.99881571e-01 -1.40294230e-02 -6.32606127e-03 3.36941369e+02] [ 1.40321411e-02 9.99901470e-01 3.85488765e-04 -2.08735071e+01] [ 6.32002978e-03 -4.74211296e-04 9.99979916e-01 -4.64478913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.990371743 meters 0.04521634614471278 Centerline is valid? [True, True] Translation: X:336.97, Y:-20.89, Z:-4.65 [[ 9.99924086e-01 -1.04207804e-02 -6.57492061e-03 3.36970436e+02] [ 1.04236340e-02 9.99945593e-01 3.99889179e-04 -2.08871594e+01] [ 6.57039573e-03 -4.68393388e-04 9.99978305e-01 -4.64786148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.020371743 meters 0.04073088898938803 Centerline is valid? [True, True] Translation: X:337.00, Y:-20.88, Z:-4.65 [[ 9.99935355e-01 -9.28898520e-03 -6.55755789e-03 3.37001400e+02] [ 9.29180050e-03 9.99956751e-01 3.98986617e-04 -2.08848652e+01] [ 6.55356810e-03 -4.59892345e-04 9.99978419e-01 -4.64608886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.050371743 meters 0.04089037841869958 Centerline is valid? [True, True] Translation: X:337.03, Y:-20.89, Z:-4.65 [[ 9.99941943e-01 -8.97595673e-03 -5.96176527e-03 3.37031668e+02] [ 8.97827816e-03 9.99959629e-01 3.62736341e-04 -2.08890646e+01] [ 5.95826868e-03 -4.16241669e-04 9.99982163e-01 -4.64597215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.080371743 meters 0.04084325659539165 Centerline is valid? [True, True] Translation: X:337.06, Y:-20.89, Z:-4.64 [[ 9.99954347e-01 -8.16907443e-03 -4.95685538e-03 3.37061769e+02] [ 8.17066935e-03 9.99966574e-01 3.01593824e-04 -2.08943551e+01] [ 4.95422595e-03 -3.42080881e-04 9.99987669e-01 -4.64454242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11037174300003 meters 0.04063921311222567 Centerline is valid? [True, True] Translation: X:337.09, Y:-20.90, Z:-4.64 [[ 9.99960531e-01 -7.54421949e-03 -4.69269738e-03 3.37091763e+02] [ 7.54564210e-03 9.99971490e-01 2.85521452e-04 -2.08979577e+01] [ 4.69040955e-03 -3.20919598e-04 9.99988948e-01 -4.64394918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.140371743 meters 0.04080086567651057 Centerline is valid? [True, True] Translation: X:337.12, Y:-20.90, Z:-4.64 [[ 9.99967268e-01 -6.59348736e-03 -4.68916435e-03 3.37122662e+02] [ 6.59489896e-03 9.99978213e-01 2.85636484e-04 -2.09018438e+01] [ 4.68717885e-03 -3.16551699e-04 9.99988965e-01 -4.64430460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17037174300003 meters 0.03989192190343858 Centerline is valid? [True, True] Translation: X:337.15, Y:-20.91, Z:-4.64 [[ 9.99967931e-01 -6.34665034e-03 -4.88428031e-03 3.37152920e+02] [ 6.34817767e-03 9.99979806e-01 2.97264254e-04 -2.09052218e+01] [ 4.88229504e-03 -3.28261000e-04 9.99988028e-01 -4.64348521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.200371743 meters 0.039853677515543695 Centerline is valid? [True, True] Translation: X:337.18, Y:-20.91, Z:-4.64 [[ 9.99966935e-01 -6.68533806e-03 -4.62980928e-03 3.37183618e+02] [ 6.68671401e-03 9.99977604e-01 2.81776784e-04 -2.09081888e+01] [ 4.62782182e-03 -3.12725678e-04 9.99989243e-01 -4.64351785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.230371743 meters 0.03985051391676583 Centerline is valid? [True, True] Translation: X:337.21, Y:-20.92, Z:-4.64 [[ 9.99965647e-01 -7.25223297e-03 -4.01374619e-03 3.37213550e+02] [ 7.25327165e-03 9.99973665e-01 2.44282308e-04 -2.09150184e+01] [ 4.01186890e-03 -2.73386707e-04 9.99991915e-01 -4.64204668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.260371743 meters 0.038081471469231694 Centerline is valid? [True, True] Translation: X:337.24, Y:-20.92, Z:-4.64 [[ 9.99968181e-01 -7.08205801e-03 -3.67178286e-03 3.37243991e+02] [ 7.08292609e-03 9.99974891e-01 2.23469933e-04 -2.09157300e+01] [ 3.67010804e-03 -2.49469789e-04 9.99993234e-01 -4.64087556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.290371743 meters 0.03864655289990494 Centerline is valid? [True, True] Translation: X:337.27, Y:-20.92, Z:-4.64 [[ 9.99969669e-01 -6.77417583e-03 -3.84344584e-03 3.37273960e+02] [ 6.77512471e-03 9.99977021e-01 2.33917586e-04 -2.09198075e+01] [ 3.84177292e-03 -2.59950316e-04 9.99992587e-01 -4.64181670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.320371743 meters 0.03904068960577052 Centerline is valid? [True, True] Translation: X:337.30, Y:-20.93, Z:-4.64 [[ 9.99969059e-01 -6.69581673e-03 -4.12873756e-03 3.37304669e+02] [ 6.69691105e-03 9.99977544e-01 2.51280846e-04 -2.09254985e+01] [ 4.12696231e-03 -2.78922860e-04 9.99991445e-01 -4.64136314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.350371743 meters 0.03846120320197393 Centerline is valid? [True, True] Translation: X:337.33, Y:-20.93, Z:-4.64 [[ 9.99973628e-01 -6.25965357e-03 -3.68233304e-03 3.37334849e+02] [ 6.26052110e-03 9.99980378e-01 2.24112032e-04 -2.09279521e+01] [ 3.68085792e-03 -2.47159445e-04 9.99993195e-01 -4.64092643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380371743 meters 0.03705039103911257 Centerline is valid? [True, True] Translation: X:337.37, Y:-20.93, Z:-4.64 [[ 9.99978958e-01 -5.39533868e-03 -3.60192351e-03 3.37365009e+02] [ 5.39616315e-03 9.99985417e-01 2.19218193e-04 -2.09287378e+01] [ 3.60068823e-03 -2.38650147e-04 9.99993489e-01 -4.64040239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.410371743 meters 0.037601187013711214 Centerline is valid? [True, True] Translation: X:337.39, Y:-20.93, Z:-4.64 [[ 9.99980947e-01 -4.95829522e-03 -3.67711415e-03 3.37394147e+02] [ 4.95915032e-03 9.99987678e-01 2.23467499e-04 -2.09330640e+01] [ 3.67596083e-03 -2.41698603e-04 9.99993214e-01 -4.64082653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440371743 meters 0.03877249056664684 Centerline is valid? [True, True] Translation: X:337.42, Y:-20.94, Z:-4.64 [[ 9.99988038e-01 -3.66109850e-03 -3.24359177e-03 3.37423902e+02] [ 3.66175781e-03 9.99993276e-01 1.97349682e-04 -2.09395995e+01] [ 3.24284744e-03 -2.09224568e-04 9.99994720e-01 -4.64129857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.470371743 meters 0.037136340317722734 Centerline is valid? [True, True] Translation: X:337.45, Y:-20.94, Z:-4.64 [[ 9.99988782e-01 -3.46685804e-03 -3.22750806e-03 3.37454307e+02] [ 3.46750982e-03 9.99993969e-01 1.96371102e-04 -2.09400774e+01] [ 3.22680781e-03 -2.07560315e-04 9.99994772e-01 -4.64036149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500371743 meters 0.03965747400471786 Centerline is valid? [True, True] Translation: X:337.48, Y:-20.95, Z:-4.64 [[ 9.99991018e-01 -3.38481532e-03 -2.55080147e-03 3.37482893e+02] [ 3.38522140e-03 9.99994258e-01 1.54896972e-04 -2.09482771e+01] [ 2.55026252e-03 -1.63530609e-04 9.99996735e-01 -4.64056076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.530371743 meters 0.03901823082321554 Centerline is valid? [True, True] Translation: X:337.51, Y:-20.95, Z:-4.64 [[ 9.99989801e-01 -3.82032645e-03 -2.40897512e-03 3.37513624e+02] [ 3.82069046e-03 9.99992690e-01 1.46525332e-04 -2.09501209e+01] [ 2.40839774e-03 -1.55727786e-04 9.99997088e-01 -4.64039653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560371743 meters 0.037618736188700284 Centerline is valid? [True, True] Translation: X:337.54, Y:-20.95, Z:-4.64 [[ 9.99983152e-01 -5.14471626e-03 -2.68851314e-03 3.37543703e+02] [ 5.14517360e-03 9.99986750e-01 1.63219491e-04 -2.09509329e+01] [ 2.68763780e-03 -1.77049608e-04 9.99996373e-01 -4.63987383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.590371743 meters 0.038136395807332926 Centerline is valid? [True, True] Translation: X:337.57, Y:-20.96, Z:-4.64 [[ 9.99975160e-01 -6.55850295e-03 -2.58177708e-03 3.37574477e+02] [ 6.55893082e-03 9.99978478e-01 1.57295472e-04 -2.09561585e+01] [ 2.58068989e-03 -1.74225262e-04 9.99996655e-01 -4.63910564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620371743 meters 0.04067097359318586 Centerline is valid? [True, True] Translation: X:337.60, Y:-20.96, Z:-4.64 [[ 9.99975933e-01 -6.49193921e-03 -2.44724187e-03 3.37604416e+02] [ 6.49232359e-03 9.99978914e-01 1.49154979e-04 -2.09640019e+01] [ 2.44622196e-03 -1.65039675e-04 9.99996994e-01 -4.63977084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.650371743 meters 0.0393868268567431 Centerline is valid? [True, True] Translation: X:337.64, Y:-20.97, Z:-4.64 [[ 9.99976305e-01 -6.69067125e-03 -1.61974734e-03 3.37635418e+02] [ 6.69084053e-03 9.99977611e-01 9.91184590e-05 -2.09650602e+01] [ 1.61904791e-03 -1.09953582e-04 9.99998683e-01 -4.63907354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680371743 meters 0.0376867590194925 Centerline is valid? [True, True] Translation: X:337.67, Y:-20.97, Z:-4.64 [[ 9.99975051e-01 -6.94870770e-03 -1.26968991e-03 3.37666558e+02] [ 6.94881214e-03 9.99975854e-01 7.78666386e-05 -2.09650831e+01] [ 1.26911818e-03 -8.66875325e-05 9.99999191e-01 -4.63767437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.710371743 meters 0.0416903232032546 Centerline is valid? [True, True] Translation: X:337.70, Y:-20.97, Z:-4.64 [[ 9.99978836e-01 -6.49816504e-03 -3.17558422e-04 3.37696197e+02] [ 6.49817182e-03 9.99978886e-01 2.03403823e-05 -2.09745271e+01] [ 3.17419542e-04 -2.24035010e-05 9.99999949e-01 -4.63789862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740371743 meters 0.03873677606025732 Centerline is valid? [True, True] Translation: X:337.73, Y:-20.97, Z:-4.64 [[ 9.99977496e-01 -6.68958642e-03 -5.06342501e-04 3.37727684e+02] [ 6.68960318e-03 9.99977624e-01 3.14145555e-05 -2.09715559e+01] [ 5.06121020e-04 -3.48010789e-05 9.99999871e-01 -4.63693945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.770371743 meters 0.03855539851611912 Centerline is valid? [True, True] Translation: X:337.76, Y:-20.98, Z:-4.64 [[ 9.99979826e-01 -6.23571091e-03 -1.21017531e-03 3.37758480e+02] [ 6.23580551e-03 9.99980554e-01 7.44090597e-05 -2.09750005e+01] [ 1.20968779e-03 -8.19539764e-05 9.99999265e-01 -4.63670630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800371743 meters 0.04031623524731174 Centerline is valid? [True, True] Translation: X:337.79, Y:-20.98, Z:-4.64 [[ 9.99975982e-01 -6.77525835e-03 -1.45983393e-03 3.37788139e+02] [ 6.77539608e-03 9.99977043e-01 8.94194691e-05 -2.09805671e+01] [ 1.45919458e-03 -9.93082745e-05 9.99998930e-01 -4.63757001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.830371743 meters 0.03977020007905917 Centerline is valid? [True, True] Translation: X:337.82, Y:-20.98, Z:-4.64 [[ 9.99978122e-01 -6.53241627e-03 -1.04074946e-03 3.37819429e+02] [ 6.53248651e-03 9.99978661e-01 6.41123882e-05 -2.09828483e+01] [ 1.04030844e-03 -7.09096673e-05 9.99999456e-01 -4.63785432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86037174300003 meters 0.038847074704418255 Centerline is valid? [True, True] Translation: X:337.85, Y:-20.98, Z:-4.64 [[ 9.99979170e-01 -6.39880704e-03 -8.45606753e-04 3.37850651e+02] [ 6.39885348e-03 9.99979526e-01 5.22235018e-05 -2.09845753e+01] [ 8.45255271e-04 -5.76333277e-05 9.99999641e-01 -4.63705712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.890371743 meters 0.03845919163066254 Centerline is valid? [True, True] Translation: X:337.88, Y:-20.99, Z:-4.64 [[ 9.99979611e-01 -6.38039536e-03 2.62308565e-04 3.37881571e+02] [ 6.38039966e-03 9.99979645e-01 -1.55323650e-05 -2.09861779e+01] [-2.62204124e-04 1.72056818e-05 9.99999965e-01 -4.63542345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.920371743 meters 0.03793447897076282 Centerline is valid? [True, True] Translation: X:337.91, Y:-20.99, Z:-4.63 [[ 9.99980179e-01 -6.26246759e-03 6.50991843e-04 3.37912523e+02] [ 6.26249452e-03 9.99980390e-01 -3.93364713e-05 -2.09873768e+01] [-6.50732734e-04 4.34125245e-05 9.99999787e-01 -4.63470506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.950371743 meters 0.041249144465884895 Centerline is valid? [True, True] Translation: X:337.94, Y:-21.00, Z:-4.64 [[ 9.99981448e-01 -6.03270147e-03 8.42802755e-04 3.37942955e+02] [ 6.03274669e-03 9.99981802e-01 -5.11152877e-05 -2.09950369e+01] [-8.42479054e-04 5.61987549e-05 9.99999644e-01 -4.63560997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.980371743 meters 0.039621575202688206 Centerline is valid? [True, True] Translation: X:337.97, Y:-20.99, Z:-4.63 [[ 9.99983323e-01 -5.70814230e-03 8.77620557e-04 3.37973999e+02] [ 5.70819125e-03 9.99983707e-01 -5.32873588e-05 -2.09938914e+01] [-8.77302086e-04 5.82960961e-05 9.99999613e-01 -4.63497698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.010371743 meters 0.03843025933422228 Centerline is valid? [True, True] Translation: X:338.01, Y:-20.99, Z:-4.63 [[ 9.99981919e-01 -5.98022144e-03 6.32029300e-04 3.38005179e+02] [ 5.98024680e-03 9.99982117e-01 -3.82475641e-05 -2.09937682e+01] [-6.31789269e-04 4.20265637e-05 9.99999800e-01 -4.63463302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.040371743 meters 0.03937565717505293 Centerline is valid? [True, True] Translation: X:338.04, Y:-21.00, Z:-4.64 [[ 9.99975309e-01 -7.02678304e-03 8.17076962e-05 3.38035667e+02] [ 7.02678343e-03 9.99975312e-01 -4.49654069e-06 -2.09971618e+01] [-8.16740830e-05 5.07057196e-06 9.99999997e-01 -4.63502201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.070371743 meters 0.040103022953878305 Centerline is valid? [True, True] Translation: X:338.07, Y:-21.00, Z:-4.64 [[ 9.99971060e-01 -7.60613490e-03 1.58840791e-04 3.38067126e+02] [ 7.60613647e-03 9.99971073e-01 -9.24543790e-06 -2.10002690e+01] [-1.58765874e-04 1.04533351e-05 9.99999987e-01 -4.63508478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.100371743 meters 0.041587776274404686 Centerline is valid? [True, True] Translation: X:338.10, Y:-21.00, Z:-4.64 [[ 9.99962475e-01 -8.64483269e-03 5.61650314e-04 3.38098054e+02] [ 8.64485301e-03 9.99962632e-01 -3.37603417e-05 -2.10042136e+01] [-5.61337474e-04 3.86144593e-05 9.99999842e-01 -4.63529207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.130371743 meters 0.04071505044986044 Centerline is valid? [True, True] Translation: X:338.13, Y:-21.00, Z:-4.63 [[ 9.99959295e-01 -8.98187591e-03 8.56718598e-04 3.38129798e+02] [ 8.98192369e-03 9.99959660e-01 -5.19352136e-05 -2.10041547e+01] [-8.56217563e-04 5.96280807e-05 9.99999632e-01 -4.63451441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.160371743 meters 0.042290739530263494 Centerline is valid? [True, True] Translation: X:338.16, Y:-21.01, Z:-4.63 [[ 9.99945997e-01 -1.02989040e-02 1.39121211e-03 3.38160509e+02] [ 1.02990323e-02 9.99946960e-01 -8.51256627e-05 -2.10066892e+01] [-1.39026162e-03 9.94492041e-05 9.99999029e-01 -4.63344333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.190371743 meters 0.04396300126577972 Centerline is valid? [True, True] Translation: X:338.19, Y:-21.01, Z:-4.63 [[ 9.99945467e-01 -1.02349563e-02 2.07582111e-03 3.38191292e+02] [ 1.02352421e-02 9.99947610e-01 -1.27133848e-04 -2.10107374e+01] [-2.07441115e-03 1.48373447e-04 9.99997837e-01 -4.63317108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.220371743 meters 0.043521446107912413 Centerline is valid? [True, True] Translation: X:338.22, Y:-21.01, Z:-4.63 [[ 9.99938661e-01 -1.08448295e-02 2.25018461e-03 3.38223268e+02] [ 1.08451669e-02 9.99941180e-01 -1.37790842e-04 -2.10110410e+01] [-2.24855793e-03 1.62186017e-04 9.99997459e-01 -4.63269984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.250371743 meters 0.045191117639207815 Centerline is valid? [True, True] Translation: X:338.25, Y:-21.01, Z:-4.63 [[ 9.99934141e-01 -1.12990923e-02 2.01103363e-03 3.38254488e+02] [ 1.12993632e-02 9.99936153e-01 -1.23401782e-04 -2.10133273e+01] [-2.00951090e-03 1.46117054e-04 9.99997970e-01 -4.63372796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.280371743 meters 0.04579700978265663 Centerline is valid? [True, True] Translation: X:338.29, Y:-21.02, Z:-4.63 [[ 9.99934862e-01 -1.13669435e-02 1.03213009e-03 3.38286961e+02] [ 1.13670143e-02 9.99935391e-01 -6.28136464e-05 -2.10151545e+01] [-1.03134941e-03 7.45417923e-05 9.99999465e-01 -4.63405587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.310371743 meters 0.04681442348734045 Centerline is valid? [True, True] Translation: X:338.32, Y:-21.02, Z:-4.63 [[ 9.99922012e-01 -1.24739766e-02 6.07675761e-04 3.38318780e+02] [ 1.24740011e-02 9.99922196e-01 -3.66314332e-05 -2.10174560e+01] [-6.07171542e-04 4.42087246e-05 9.99999815e-01 -4.63481526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.340371743 meters 0.048704175660960414 Centerline is valid? [True, True] Translation: X:338.35, Y:-21.02, Z:-4.63 [[ 9.99908145e-01 -1.35474629e-02 4.10638312e-04 3.38350039e+02] [ 1.35474739e-02 9.99908228e-01 -2.41579176e-05 -2.10198424e+01] [-4.10273349e-04 2.97188104e-05 9.99999915e-01 -4.63467285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.370371743 meters 0.043011512911184956 Centerline is valid? [True, True] Translation: X:338.38, Y:-21.01, Z:-4.63 [[ 9.99903592e-01 -1.38722733e-02 6.06288811e-04 3.38382397e+02] [ 1.38722980e-02 9.99903774e-01 -3.65956341e-05 -2.10118392e+01] [-6.05722806e-04 4.50027251e-05 9.99999816e-01 -4.63342949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.400371743 meters 0.04269026783856848 Centerline is valid? [True, True] Translation: X:338.42, Y:-21.01, Z:-4.63 [[ 9.99888330e-01 -1.49110849e-02 9.93674991e-04 3.38415021e+02] [ 1.49111525e-02 9.99888821e-01 -6.06915617e-05 -2.10117912e+01] [-9.92659538e-04 7.55016236e-05 9.99999504e-01 -4.63338552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.430371743 meters 0.041167637363048536 Centerline is valid? [True, True] Translation: X:338.45, Y:-21.01, Z:-4.63 [[ 9.99877505e-01 -1.55375132e-02 1.88674596e-03 3.38447704e+02] [ 1.55377601e-02 9.99879275e-01 -1.16275608e-04 -2.10083502e+01] [-1.88471155e-03 1.45577171e-04 9.99998213e-01 -4.63310574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.460371743 meters 0.041167637363048536 Centerline is valid? [True, True] Translation: X:338.48, Y:-21.01, Z:-4.63 [[ 9.99878658e-01 -1.54631661e-02 1.88673737e-03 3.38479421e+02] [ 1.54634131e-02 9.99880428e-01 -1.16414419e-04 -2.10103819e+01] [-1.88471163e-03 1.45575692e-04 9.99998213e-01 -4.63355190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.490371743 meters 0.041836872894684796 Centerline is valid? [True, True] Translation: X:338.51, Y:-21.01, Z:-4.63 [[ 9.99862148e-01 -1.65108843e-02 1.75391897e-03 3.38511860e+02] [ 1.65110995e-02 9.99863677e-01 -1.08281480e-04 -2.10111291e+01] [-1.75189204e-03 1.37225684e-04 9.99998456e-01 -4.63413164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.520371743 meters 0.04455609933056878 Centerline is valid? [True, True] Translation: X:338.54, Y:-21.01, Z:-4.63 [[ 9.99835376e-01 -1.80938499e-02 1.35389388e-03 3.38541676e+02] [ 1.80939806e-02 9.99836287e-01 -8.43884469e-05 -2.10120247e+01] [-1.35214532e-03 1.08871884e-04 9.99999080e-01 -4.63490630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.550371743 meters 0.04382905256044236 Centerline is valid? [True, True] Translation: X:338.57, Y:-21.01, Z:-4.63 [[ 9.99824395e-01 -1.86887050e-02 1.38282129e-03 3.38574337e+02] [ 1.86888407e-02 9.99825345e-01 -8.52666306e-05 -2.10113695e+01] [-1.38098625e-03 1.11094984e-04 9.99999040e-01 -4.63458598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.580371743 meters 0.045018109911298926 Centerline is valid? [True, True] Translation: X:338.61, Y:-21.01, Z:-4.64 [[ 9.99803677e-01 -1.97712887e-02 1.30528457e-03 3.38606072e+02] [ 1.97714102e-02 9.99804523e-01 -8.02205693e-05 -2.10124875e+01] [-1.30344335e-03 1.06012137e-04 9.99999145e-01 -4.63568824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61037174300003 meters 0.04600292247946277 Centerline is valid? [True, True] Translation: X:338.64, Y:-21.02, Z:-4.64 [[ 9.99781538e-01 -2.08489970e-02 1.48150017e-03 3.38637927e+02] [ 2.08491556e-02 9.99782629e-01 -9.16892828e-05 -2.10151095e+01] [-1.47926650e-03 1.22557280e-04 9.99998898e-01 -4.63577527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.640371743 meters 0.047692466009512595 Centerline is valid? [True, True] Translation: X:338.67, Y:-21.02, Z:-4.64 [[ 9.99736046e-01 -2.29186064e-02 1.60469003e-03 3.38667650e+02] [ 2.29187953e-02 9.99737325e-01 -9.94393899e-05 -2.10161315e+01] [-1.60198950e-03 1.36190705e-04 9.99998708e-01 -4.63651974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.670371743 meters 0.046579492095852756 Centerline is valid? [True, True] Translation: X:338.70, Y:-21.01, Z:-4.64 [[ 9.99696992e-01 -2.45467831e-02 1.83832324e-03 3.38699381e+02] [ 2.45470353e-02 9.99698670e-01 -1.14729647e-04 -2.10138479e+01] [-1.83495306e-03 1.59820269e-04 9.99998304e-01 -4.63645439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.700371743 meters 0.05002408853809685 Centerline is valid? [True, True] Translation: X:338.73, Y:-21.02, Z:-4.64 [[ 9.99648554e-01 -2.64392230e-02 1.93299619e-03 3.38729651e+02] [ 2.64395059e-02 9.99650408e-01 -1.20955833e-04 -2.10173023e+01] [-1.92912245e-03 1.72020788e-04 9.99998124e-01 -4.63670220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.730371743 meters 0.047725001803118165 Centerline is valid? [True, True] Translation: X:338.76, Y:-21.01, Z:-4.64 [[ 9.99621502e-01 -2.74816714e-02 1.26884221e-03 3.38762094e+02] [ 2.74817931e-02 9.99622301e-01 -7.86353610e-05 -2.10132214e+01] [-1.26620194e-03 1.13475657e-04 9.99999192e-01 -4.63674681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.760371743 meters 0.04440099035290325 Centerline is valid? [True, True] Translation: X:338.79, Y:-21.01, Z:-4.64 [[ 9.99610678e-01 -2.78834675e-02 1.00207000e-03 3.38794740e+02] [ 2.78835435e-02 9.99611177e-01 -6.19293756e-05 -2.10081310e+01] [-9.99953571e-04 8.98465277e-05 9.99999496e-01 -4.63631324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.790371743 meters 0.04690626984583297 Centerline is valid? [True, True] Translation: X:338.83, Y:-21.01, Z:-4.64 [[ 9.99595630e-01 -2.84301159e-02 5.51506909e-04 3.38825390e+02] [ 2.84301383e-02 9.99595781e-01 -3.29093965e-05 -2.10084306e+01] [-5.50348362e-04 4.85755066e-05 9.99999847e-01 -4.63753985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.820371743 meters 0.04601133998887727 Centerline is valid? [True, True] Translation: X:338.86, Y:-21.01, Z:-4.64 [[ 9.99617843e-01 -2.76435423e-02 -4.43939953e-05 3.38857699e+02] [ 2.76435425e-02 9.99617844e-01 3.84160954e-06 -2.10068799e+01] [ 4.42708338e-05 -5.06734873e-06 9.99999999e-01 -4.63760355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.850371743 meters 0.044880261284657656 Centerline is valid? [True, True] Translation: X:338.89, Y:-21.00, Z:-4.64 [[ 9.99638531e-01 -2.68800759e-02 -5.18166970e-04 3.38890066e+02] [ 2.68800970e-02 9.99638664e-01 3.37681642e-05 -2.10036453e+01] [ 5.17072047e-04 -4.76843365e-05 9.99999865e-01 -4.63805017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880371743 meters 0.045224607983014205 Centerline is valid? [True, True] Translation: X:338.92, Y:-21.00, Z:-4.64 [[ 9.99691277e-01 -2.48395505e-02 -5.89095746e-04 3.38920138e+02] [ 2.48395767e-02 9.99691449e-01 3.71915235e-05 -2.10034383e+01] [ 5.87990159e-04 -5.18129306e-05 9.99999826e-01 -4.63815896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.910371743 meters 0.045453712916768516 Centerline is valid? [True, True] Translation: X:338.95, Y:-21.00, Z:-4.64 [[ 9.99767534e-01 -2.15238659e-02 -1.26526553e-03 3.38949783e+02] [ 2.15239838e-02 9.99768329e-01 7.96531014e-05 -2.09976557e+01] [ 1.26325796e-03 -1.06868139e-04 9.99999196e-01 -4.63886739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940371743 meters 0.04411737413386068 Centerline is valid? [True, True] Translation: X:338.98, Y:-20.99, Z:-4.64 [[ 9.99809510e-01 -1.94545946e-02 -1.56935603e-03 3.38980462e+02] [ 1.94547739e-02 9.99810733e-01 9.90551948e-05 -2.09946414e+01] [ 1.56713192e-03 -1.29567792e-04 9.99998764e-01 -4.63874266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.970371743 meters 0.04308174809779567 Centerline is valid? [True, True] Translation: X:339.01, Y:-20.99, Z:-4.64 [[ 9.99880387e-01 -1.54217463e-02 -1.17568370e-03 3.39011739e+02] [ 1.54218443e-02 9.99881074e-01 7.42964474e-05 -2.09887011e+01] [ 1.17439810e-03 -9.24187715e-05 9.99999306e-01 -4.63885507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000371743 meters 0.04421951859950451 Centerline is valid? [True, True] Translation: X:339.04, Y:-20.99, Z:-4.64 [[ 9.99903295e-01 -1.38658098e-02 -1.06773054e-03 3.39042227e+02] [ 1.38658912e-02 9.99903862e-01 6.88865015e-05 -2.09900459e+01] [ 1.06667272e-03 -8.36848752e-05 9.99999428e-01 -4.63932125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.030371743 meters 0.043248852088223114 Centerline is valid? [True, True] Translation: X:339.07, Y:-20.99, Z:-4.64 [[ 9.99915286e-01 -1.29894266e-02 -8.34609441e-04 3.39074901e+02] [ 1.29894761e-02 9.99915632e-01 5.38416326e-05 -2.09876670e+01] [ 8.33839654e-04 -6.46782108e-05 9.99999650e-01 -4.63943325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060371743 meters 0.041078804206639265 Centerline is valid? [True, True] Translation: X:339.11, Y:-20.98, Z:-4.64 [[ 9.99945963e-01 -1.03361073e-02 -1.11177863e-03 3.39105910e+02] [ 1.03361919e-02 9.99946578e-01 7.03702967e-05 -2.09816198e+01] [ 1.11099188e-03 -8.18580513e-05 9.99999379e-01 -4.63953297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.090371743 meters 0.03945705828342333 Centerline is valid? [True, True] Translation: X:339.14, Y:-20.98, Z:-4.64 [[ 9.99961274e-01 -8.71000452e-03 -1.25927905e-03 3.39137457e+02] [ 8.71011248e-03 9.99962063e-01 8.02764822e-05 -2.09794009e+01] [ 1.25853207e-03 -9.12418356e-05 9.99999204e-01 -4.63919092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120371743 meters 0.038435186218594174 Centerline is valid? [True, True] Translation: X:339.17, Y:-20.98, Z:-4.64 [[ 9.99982251e-01 -5.51269489e-03 -2.26019549e-03 3.39168369e+02] [ 5.51303313e-03 9.99984793e-01 1.43445745e-04 -2.09756383e+01] [ 2.25937034e-03 -1.55903731e-04 9.99997435e-01 -4.63960167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.150371743 meters 0.03853448105631742 Centerline is valid? [True, True] Translation: X:339.20, Y:-20.98, Z:-4.64 [[ 9.99985701e-01 -4.62084405e-03 -2.69182557e-03 3.39199992e+02] [ 4.62132141e-03 9.99989307e-01 1.71143724e-04 -2.09760671e+01] [ 2.69100595e-03 -1.83581068e-04 9.99996362e-01 -4.63983487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180371743 meters 0.03889070497008806 Centerline is valid? [True, True] Translation: X:339.23, Y:-20.98, Z:-4.64 [[ 9.99990284e-01 -3.48121361e-03 -2.70424141e-03 3.39229814e+02] [ 3.48168984e-03 9.99993924e-01 1.71416024e-04 -2.09772863e+01] [ 2.70362825e-03 -1.80829689e-04 9.99996329e-01 -4.64028347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.210371743 meters 0.03779998047218742 Centerline is valid? [True, True] Translation: X:339.26, Y:-20.98, Z:-4.64 [[ 9.99993710e-01 -2.45967622e-03 -2.55518765e-03 3.39260330e+02] [ 2.46009808e-03 9.99996961e-01 1.61967828e-04 -2.09759858e+01] [ 2.55478150e-03 -1.68252822e-04 9.99996722e-01 -4.64026910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240371743 meters 0.039554915031133626 Centerline is valid? [True, True] Translation: X:339.29, Y:-20.98, Z:-4.64 [[ 9.99998455e-01 2.87423798e-04 -1.73408353e-03 3.39289793e+02] [-2.87232254e-04 9.99999953e-01 1.10706200e-04 -2.09790942e+01] [ 1.73411527e-03 -1.10207944e-04 9.99998490e-01 -4.64139508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.270371743 meters 0.03803753371625387 Centerline is valid? [True, True] Translation: X:339.32, Y:-20.98, Z:-4.64 [[ 9.99996796e-01 1.75772563e-03 -1.82160440e-03 3.39320128e+02] [-1.75751855e-03 9.99998449e-01 1.15273303e-04 -2.09768034e+01] [ 1.82180420e-03 -1.12071430e-04 9.99998334e-01 -4.64098319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300371743 meters 0.03847244499132235 Centerline is valid? [True, True] Translation: X:339.35, Y:-20.98, Z:-4.64 [[ 9.99993325e-01 3.27664128e-03 -1.61664723e-03 3.39348912e+02] [-3.27648115e-03 9.99994627e-01 1.01690066e-04 -2.09780418e+01] [ 1.61697174e-03 -9.63924729e-05 9.99998688e-01 -4.64182362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.330371743 meters 0.037208820802305725 Centerline is valid? [True, True] Translation: X:339.38, Y:-20.98, Z:-4.64 [[ 9.99972104e-01 7.15081978e-03 -2.15822395e-03 3.39379391e+02] [-7.15054183e-03 9.99974425e-01 1.36472796e-04 -2.09762378e+01] [ 2.15914465e-03 -1.21036518e-04 9.99997662e-01 -4.64233574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36037174300003 meters 0.03708986760898611 Centerline is valid? [True, True] Translation: X:339.41, Y:-20.98, Z:-4.64 [[ 9.99958466e-01 8.80023365e-03 -2.37121784e-03 3.39407898e+02] [-8.79990486e-03 9.99961269e-01 1.49057643e-04 -2.09769233e+01] [ 2.37243774e-03 -1.28184961e-04 9.99997178e-01 -4.64329124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.390371743 meters 0.03477428480537146 Centerline is valid? [True, True] Translation: X:339.44, Y:-20.97, Z:-4.64 [[ 9.99914713e-01 1.29544941e-02 -1.65753745e-03 3.39438057e+02] [-1.29543384e-02 9.99916084e-01 1.04615573e-04 -2.09745971e+01] [ 1.65875360e-03 -8.31343493e-05 9.99998621e-01 -4.64345734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.420371743 meters 0.03432392525296204 Centerline is valid? [True, True] Translation: X:339.47, Y:-20.98, Z:-4.64 [[ 9.99883821e-01 1.51371410e-02 -1.79189683e-03 3.39467487e+02] [-1.51369636e-02 9.99885423e-01 1.12510667e-04 -2.09756757e+01] [ 1.79339460e-03 -8.53737190e-05 9.99998388e-01 -4.64457193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.450371743 meters 0.0358345316693192 Centerline is valid? [True, True] Translation: X:339.50, Y:-20.98, Z:-4.65 [[ 9.99859175e-01 1.66701979e-02 -1.93275299e-03 3.39495138e+02] [-1.66699956e-02 9.99861039e-01 1.20755659e-04 -2.09798537e+01] [ 1.93449743e-03 -8.85196695e-05 9.99998125e-01 -4.64630930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.480371743 meters 0.03345747854803828 Centerline is valid? [True, True] Translation: X:339.53, Y:-20.98, Z:-4.65 [[ 9.99793596e-01 2.01702014e-02 -2.43481092e-03 3.39525032e+02] [-2.01698883e-02 9.99796555e-01 1.53102438e-04 -2.09768434e+01] [ 2.43740367e-03 -1.03960973e-04 9.99997024e-01 -4.64584130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.510371743 meters 0.03209222606112195 Centerline is valid? [True, True] Translation: X:339.55, Y:-20.98, Z:-4.65 [[ 9.99754828e-01 2.20650163e-02 -1.84927612e-03 3.39554179e+02] [-2.20648403e-02 9.99756535e-01 1.15518494e-04 -2.09767394e+01] [ 1.85137480e-03 -7.46861900e-05 9.99998283e-01 -4.64504510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.540371743 meters 0.033092039632053497 Centerline is valid? [True, True] Translation: X:339.58, Y:-20.98, Z:-4.65 [[ 9.99728510e-01 2.32578262e-02 -1.40698054e-03 3.39581983e+02] [-2.32577264e-02 9.99729499e-01 8.72826385e-05 -2.09814788e+01] [ 1.40862995e-03 -5.45357738e-05 9.99999006e-01 -4.64672257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.570371743 meters 0.032540447103055134 Centerline is valid? [True, True] Translation: X:339.61, Y:-20.99, Z:-4.65 [[ 9.99669205e-01 2.57192419e-02 -2.57476882e-05 3.39610256e+02] [-2.57192419e-02 9.99669206e-01 8.97546670e-07 -2.09852978e+01] [ 2.57622549e-05 -2.35038732e-07 1.00000000e+00 -4.64675703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.600371743 meters 0.03094278196587794 Centerline is valid? [True, True] Translation: X:339.64, Y:-20.98, Z:-4.65 [[ 9.99626775e-01 2.73129263e-02 5.61194472e-04 3.39638885e+02] [-2.73129103e-02 9.99626932e-01 -3.62346584e-05 -2.09849281e+01] [-5.61974783e-04 2.08932805e-05 9.99999842e-01 -4.64627590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.630371743 meters 0.030701238483138632 Centerline is valid? [True, True] Translation: X:339.67, Y:-20.99, Z:-4.65 [[ 9.99592014e-01 2.85583516e-02 4.76103620e-04 3.39668074e+02] [-2.85583403e-02 9.99592127e-01 -3.06200219e-05 -2.09864431e+01] [-4.76783888e-04 1.70108002e-05 9.99999886e-01 -4.64685265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.660371743 meters 0.029456080266173284 Centerline is valid? [True, True] Translation: X:339.70, Y:-20.99, Z:-4.65 [[ 9.99488839e-01 3.19659065e-02 4.91648127e-04 3.39697055e+02] [-3.19658947e-02 9.99488960e-01 -3.18300100e-05 -2.09874650e+01] [-4.92414351e-04 1.60977675e-05 9.99999879e-01 -4.64680794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.690371743 meters 0.029301321660581147 Centerline is valid? [True, True] Translation: X:339.72, Y:-20.99, Z:-4.65 [[ 9.99429633e-01 3.37613438e-02 7.61298715e-04 3.39724920e+02] [-3.37613163e-02 9.99429923e-01 -4.89039260e-05 -2.09917139e+01] [-7.62515779e-04 2.31735861e-05 9.99999709e-01 -4.64846499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.720371743 meters 0.02894391962484577 Centerline is valid? [True, True] Translation: X:339.75, Y:-20.99, Z:-4.65 [[ 9.99365993e-01 3.55986074e-02 5.92542408e-04 3.39753779e+02] [-3.55985911e-02 9.99366169e-01 -3.80402358e-05 -2.09929995e+01] [-5.93521016e-04 1.69224431e-05 9.99999824e-01 -4.64872468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.750371743 meters 0.028644398947416713 Centerline is valid? [True, True] Translation: X:339.78, Y:-21.00, Z:-4.65 [[ 9.99271527e-01 3.81562618e-02 7.18237187e-04 3.39781254e+02] [-3.81562386e-02 9.99271785e-01 -4.60739130e-05 -2.09977984e+01] [-7.19472164e-04 1.86351199e-05 9.99999741e-01 -4.65000247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.780371743 meters 0.027948577047346847 Centerline is valid? [True, True] Translation: X:339.81, Y:-21.00, Z:-4.65 [[ 9.99233942e-01 3.91202750e-02 1.06445775e-03 3.39810384e+02] [-3.91202254e-02 9.99234509e-01 -6.73778223e-05 -2.10006892e+01] [-1.06627876e-03 2.56843799e-05 9.99999431e-01 -4.64946775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.810371743 meters 0.02822348519388493 Centerline is valid? [True, True] Translation: X:339.84, Y:-21.01, Z:-4.65 [[ 9.99199969e-01 3.99349442e-02 2.15012118e-03 3.39838442e+02] [-3.99347463e-02 9.99202281e-01 -1.34911605e-04 -2.10053395e+01] [-2.15379368e-03 4.89391274e-05 9.99997679e-01 -4.65047015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.840371743 meters 0.027904771548947774 Centerline is valid? [True, True] Translation: X:339.87, Y:-21.01, Z:-4.65 [[ 9.99183965e-01 4.02874511e-02 2.88541250e-03 3.39866762e+02] [-4.02870977e-02 9.99188129e-01 -1.80523266e-04 -2.10099510e+01] [-2.89034274e-03 6.41310578e-05 9.99995821e-01 -4.64996138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.870371743 meters 0.027671711679086664 Centerline is valid? [True, True] Translation: X:339.90, Y:-21.01, Z:-4.65 [[ 9.99174790e-01 4.05039006e-02 3.02876148e-03 3.39895415e+02] [-4.05035130e-02 9.99179378e-01 -1.89221178e-04 -2.10141914e+01] [-3.03394021e-03 6.63895502e-05 9.99995395e-01 -4.65035830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.900371743 meters 0.02813083555123059 Centerline is valid? [True, True] Translation: X:339.92, Y:-21.02, Z:-4.65 [[ 9.99203686e-01 3.98436867e-02 2.11509577e-03 3.39923066e+02] [-3.98434954e-02 9.99205924e-01 -1.32501953e-04 -2.10224718e+01] [-2.11869559e-03 4.81236316e-05 9.99997754e-01 -4.65320564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.930371743 meters 0.02809302544838282 Centerline is valid? [True, True] Translation: X:339.95, Y:-21.03, Z:-4.65 [[ 9.99208060e-01 3.97527718e-02 1.72365200e-03 3.39952027e+02] [-3.97526449e-02 9.99209545e-01 -1.07833287e-04 -2.10278271e+01] [-1.72657620e-03 3.92281632e-05 9.99998509e-01 -4.65435807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.960371743 meters 0.028444960474336107 Centerline is valid? [True, True] Translation: X:339.98, Y:-21.03, Z:-4.66 [[ 9.99221379e-01 3.94279538e-02 1.43952649e-03 3.39979369e+02] [-3.94278646e-02 9.99222415e-01 -9.03382808e-05 -2.10329504e+01] [-1.44196899e-03 3.35104860e-05 9.99998960e-01 -4.65541906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.990371743 meters 0.028417866993259065 Centerline is valid? [True, True] Translation: X:340.01, Y:-21.04, Z:-4.66 [[ 9.99241785e-01 3.88971942e-02 1.69244846e-03 3.40006517e+02] [-3.88970708e-02 9.99243217e-01 -1.05829416e-04 -2.10421089e+01] [-1.69528411e-03 3.99178872e-05 9.99998562e-01 -4.65593605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.020371743 meters 0.028545486882131148 Centerline is valid? [True, True] Translation: X:340.03, Y:-21.05, Z:-4.66 [[ 9.99256808e-01 3.84803812e-02 2.25643472e-03 3.40033785e+02] [-3.84801616e-02 9.99259354e-01 -1.40700690e-04 -2.10462956e+01] [-2.26017772e-03 5.37681499e-05 9.99997444e-01 -4.65584951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.050371743 meters 0.028431507918727443 Centerline is valid? [True, True] Translation: X:340.06, Y:-21.05, Z:-4.66 [[ 9.99266883e-01 3.81886427e-02 2.70622497e-03 3.40061865e+02] [-3.81883272e-02 9.99270546e-01 -1.68156353e-04 -2.10511882e+01] [-2.71067257e-03 6.46868699e-05 9.99996324e-01 -4.65563017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.080371743 meters 0.02876553860094961 Centerline is valid? [True, True] Translation: X:340.09, Y:-21.06, Z:-4.66 [[ 9.99268024e-01 3.80896580e-02 3.54892914e-03 3.40090249e+02] [-3.80891192e-02 9.99274322e-01 -2.19293722e-04 -2.10599093e+01] [-3.55470658e-03 8.39576194e-05 9.99993678e-01 -4.65539338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11037174300003 meters 0.028956149262023747 Centerline is valid? [True, True] Translation: X:340.12, Y:-21.07, Z:-4.66 [[ 9.99269407e-01 3.80445228e-02 3.64242060e-03 3.40117041e+02] [-3.80439541e-02 9.99276041e-01 -2.25328710e-04 -2.10655968e+01] [-3.64835617e-03 8.65920042e-05 9.99993341e-01 -4.65617127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.140371743 meters 0.0282240874078129 Centerline is valid? [True, True] Translation: X:340.15, Y:-21.07, Z:-4.66 [[ 9.99232224e-01 3.90707538e-02 2.90490385e-03 3.40145984e+02] [-3.90703987e-02 9.99236444e-01 -1.78918257e-04 -2.10727469e+01] [-2.90967627e-03 6.52851359e-05 9.99995765e-01 -4.65678843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.170371743 meters 0.02873631103319497 Centerline is valid? [True, True] Translation: X:340.17, Y:-21.08, Z:-4.66 [[ 9.99213250e-01 3.95978119e-02 2.21243686e-03 3.40174664e+02] [-3.95976066e-02 9.99215698e-01 -1.36537438e-04 -2.10774960e+01] [-2.21610823e-03 4.88228125e-05 9.99997543e-01 -4.65794642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.200371743 meters 0.02883394334108132 Centerline is valid? [True, True] Translation: X:340.20, Y:-21.08, Z:-4.66 [[ 9.99191311e-01 4.01712160e-02 1.73155168e-03 3.40202881e+02] [-4.01710909e-02 9.99192810e-01 -1.06948806e-04 -2.10824499e+01] [-1.73445025e-03 3.73039976e-05 9.99998495e-01 -4.65874269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.230371743 meters 0.02842900143371748 Centerline is valid? [True, True] Translation: X:340.23, Y:-21.09, Z:-4.66 [[ 9.99142191e-01 4.13747125e-02 1.73621260e-03 3.40231423e+02] [-4.13745888e-02 9.99143699e-01 -1.07106402e-04 -2.10875214e+01] [-1.73915738e-03 3.51794429e-05 9.99998487e-01 -4.65895188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.260371743 meters 0.02808826617674323 Centerline is valid? [True, True] Translation: X:340.26, Y:-21.09, Z:-4.66 [[ 9.99090541e-01 4.25472137e-02 2.79725328e-03 3.40259561e+02] [-4.25468994e-02 9.99094456e-01 -1.71782749e-04 -2.10942200e+01] [-2.80202913e-03 5.26120651e-05 9.99996073e-01 -4.65761126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.290371743 meters 0.02813182295582862 Centerline is valid? [True, True] Translation: X:340.29, Y:-21.10, Z:-4.66 [[ 9.99085827e-01 4.26256829e-02 3.24979488e-03 3.40288481e+02] [-4.26252604e-02 9.99091111e-01 -1.99178777e-04 -2.10990165e+01] [-3.25533131e-03 6.04733403e-05 9.99994700e-01 -4.65735524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.320371743 meters 0.028313386962322603 Centerline is valid? [True, True] Translation: X:340.32, Y:-21.11, Z:-4.66 [[ 9.99104310e-01 4.19810059e-02 5.30785253e-03 3.40316042e+02] [-4.19798746e-02 9.99118404e-01 -3.24426914e-04 -2.11091605e+01] [-5.31679292e-03 1.01313344e-04 9.99985861e-01 -4.65671644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.350371743 meters 0.028313386962322603 Centerline is valid? [True, True] Translation: X:340.34, Y:-21.11, Z:-4.66 [[ 9.99108845e-01 4.18729344e-02 5.30787273e-03 3.40343470e+02] [-4.18718033e-02 9.99122939e-01 -3.24095983e-04 -2.11107434e+01] [-5.31678825e-03 1.01556960e-04 9.99985861e-01 -4.65710259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380371743 meters 0.02876725593843526 Centerline is valid? [True, True] Translation: X:340.37, Y:-21.12, Z:-4.66 [[ 9.99140405e-01 4.10389164e-02 5.85305234e-03 3.40371822e+02] [-4.10375331e-02 9.99157542e-01 -3.56293071e-04 -2.11168468e+01] [-5.86274327e-03 1.15791974e-04 9.99982807e-01 -4.65730930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.410371743 meters 0.029297163852152388 Centerline is valid? [True, True] Translation: X:340.40, Y:-21.13, Z:-4.66 [[ 9.99207581e-01 3.92204648e-02 6.77971992e-03 3.40399016e+02] [-3.92185705e-02 9.99230571e-01 -4.12180109e-04 -2.11273370e+01] [-6.79066930e-03 1.45962566e-04 9.99976932e-01 -4.65773518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440371743 meters 0.02938858166495845 Centerline is valid? [True, True] Translation: X:340.43, Y:-21.13, Z:-4.66 [[ 9.99243316e-01 3.82126807e-02 7.25159529e-03 3.40427656e+02] [-3.82104932e-02 9.99269616e-01 -4.40018324e-04 -2.11322861e+01] [-7.26311312e-03 1.62598337e-04 9.99973610e-01 -4.65813198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.470371743 meters 0.02939215305430685 Centerline is valid? [True, True] Translation: X:340.46, Y:-21.14, Z:-4.66 [[ 9.99291237e-01 3.69786252e-02 7.04313035e-03 3.40456434e+02] [-3.69765344e-02 9.99316043e-01 -4.26892306e-04 -2.11376059e+01] [-7.05409904e-03 1.66159189e-04 9.99975106e-01 -4.65859024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500371743 meters 0.029352495968958805 Centerline is valid? [True, True] Translation: X:340.49, Y:-21.14, Z:-4.66 [[ 9.99325790e-01 3.60897972e-02 6.74480499e-03 3.40485335e+02] [-3.60878625e-02 9.99348538e-01 -4.08363939e-04 -2.11433629e+01] [-6.75514877e-03 1.64683021e-04 9.99977170e-01 -4.65920180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.530371743 meters 0.029810222724485604 Centerline is valid? [True, True] Translation: X:340.51, Y:-21.15, Z:-4.66 [[ 9.99388541e-01 3.44487705e-02 5.98546115e-03 3.40513525e+02] [-3.44472194e-02 9.99406453e-01 -3.62074853e-04 -2.11525886e+01] [-5.99438153e-03 1.55670966e-04 9.99982021e-01 -4.66038442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560371743 meters 0.029597164407142804 Centerline is valid? [True, True] Translation: X:340.54, Y:-21.16, Z:-4.66 [[ 9.99409353e-01 3.38769191e-02 5.77052431e-03 3.40541579e+02] [-3.38754691e-02 9.99426001e-01 -3.48849060e-04 -2.11576195e+01] [-5.77902997e-03 1.53163795e-04 9.99983290e-01 -4.66012587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.590371743 meters 0.02971609640983573 Centerline is valid? [True, True] Translation: X:340.57, Y:-21.17, Z:-4.66 [[ 9.99433768e-01 3.29617683e-02 6.75760968e-03 3.40568372e+02] [-3.29597660e-02 9.99456596e-01 -4.07494583e-04 -2.11669499e+01] [-6.76736931e-03 1.84534614e-04 9.99977084e-01 -4.65973946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620371743 meters 0.02968197315966585 Centerline is valid? [True, True] Translation: X:340.60, Y:-21.17, Z:-4.66 [[ 9.99446202e-01 3.24664930e-02 7.29490273e-03 3.40596053e+02] [-3.24641489e-02 9.99472804e-01 -4.39543137e-04 -2.11717804e+01] [-7.30532731e-03 2.02476911e-04 9.99973295e-01 -4.65936124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.650371743 meters 0.02954390402429383 Centerline is valid? [True, True] Translation: X:340.62, Y:-21.18, Z:-4.66 [[ 9.99453426e-01 3.21712119e-02 7.60679856e-03 3.40624838e+02] [-3.21686608e-02 9.99482350e-01 -4.57513917e-04 -2.11750288e+01] [-7.61757968e-03 2.12563328e-04 9.99970963e-01 -4.65902935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680371743 meters 0.03018755824651463 Centerline is valid? [True, True] Translation: X:340.65, Y:-21.18, Z:-4.66 [[ 9.99440585e-01 3.25906922e-02 7.50760391e-03 3.40652797e+02] [-3.25882230e-02 9.99468761e-01 -4.51023214e-04 -2.11812931e+01] [-7.51831474e-03 2.06111435e-04 9.99971716e-01 -4.65984832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.710371743 meters 0.029045158034923118 Centerline is valid? [True, True] Translation: X:340.68, Y:-21.19, Z:-4.66 [[ 9.99446111e-01 3.25557929e-02 6.89870627e-03 3.40680926e+02] [-3.25537100e-02 9.99469902e-01 -4.14034596e-04 -2.11856175e+01] [-6.90852851e-03 1.89226784e-04 9.99976118e-01 -4.65957307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740371743 meters 0.028800573746930274 Centerline is valid? [True, True] Translation: X:340.71, Y:-21.19, Z:-4.66 [[ 9.99427192e-01 3.32063597e-02 6.52878259e-03 3.40710075e+02] [-3.32045116e-02 9.99448502e-01 -3.91296083e-04 -2.11891551e+01] [-6.53817549e-03 1.74286908e-04 9.99978611e-01 -4.65983961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.770371743 meters 0.028587540979241877 Centerline is valid? [True, True] Translation: X:340.74, Y:-21.19, Z:-4.66 [[ 9.99350138e-01 3.55610337e-02 5.89192049e-03 3.40739206e+02] [-3.55595708e-02 9.99367496e-01 -3.52885912e-04 -2.11937592e+01] [-5.90074281e-03 1.43142421e-04 9.99982580e-01 -4.66094376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800371743 meters 0.02811390903151355 Centerline is valid? [True, True] Translation: X:340.77, Y:-21.20, Z:-4.66 [[ 9.99289181e-01 3.72187080e-02 5.99175542e-03 3.40766662e+02] [-3.72172252e-02 9.99307135e-01 -3.58814223e-04 -2.11963068e+01] [-6.00095854e-03 1.35562660e-04 9.99981985e-01 -4.66105136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.830371743 meters 0.02691789839191626 Centerline is valid? [True, True] Translation: X:340.80, Y:-21.20, Z:-4.66 [[ 9.99204049e-01 3.94232530e-02 6.08901337e-03 3.40795266e+02] [-3.94217666e-02 9.99222594e-01 -3.63987078e-04 -2.11959350e+01] [-6.09862929e-03 1.23657698e-04 9.99981396e-01 -4.65987237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86037174300003 meters 0.026813546716380202 Centerline is valid? [True, True] Translation: X:340.82, Y:-21.20, Z:-4.66 [[ 9.98960183e-01 4.49779632e-02 7.45223576e-03 3.40823101e+02] [-4.49758961e-02 9.98987973e-01 -4.44815485e-04 -2.11987351e+01] [-7.46470079e-03 1.09181977e-04 9.99972133e-01 -4.65923799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.890371743 meters 0.02643206808699176 Centerline is valid? [True, True] Translation: X:340.85, Y:-21.20, Z:-4.66 [[ 9.98784083e-01 4.86682239e-02 7.85870142e-03 3.40851570e+02] [-4.86660466e-02 9.98814996e-01 -4.68163854e-04 -2.11997647e+01] [-7.87217353e-03 8.51426761e-05 9.99969010e-01 -4.65906682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.920371743 meters 0.025609061333282772 Centerline is valid? [True, True] Translation: X:340.88, Y:-21.20, Z:-4.66 [[ 9.98366136e-01 5.65363239e-02 8.28873097e-03 3.40880138e+02] [-5.65341779e-02 9.98400543e-01 -4.93171084e-04 -2.11995558e+01] [-8.30335558e-03 2.37687188e-05 9.99965526e-01 -4.65883638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.950371743 meters 0.025583010329439958 Centerline is valid? [True, True] Translation: X:340.91, Y:-21.20, Z:-4.66 [[ 9.98144783e-01 6.03265880e-02 8.22764920e-03 3.40907420e+02] [-6.03246046e-02 9.98178693e-01 -4.89253848e-04 -2.12006592e+01] [-8.24217914e-03 -7.98350850e-06 9.99966033e-01 -4.65967733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.980371743 meters 0.02535774190408064 Centerline is valid? [True, True] Translation: X:340.94, Y:-21.20, Z:-4.66 [[ 9.97912244e-01 6.40890703e-02 7.98405039e-03 3.40935096e+02] [-6.40873325e-02 9.97944182e-01 -4.73571342e-04 -2.12013139e+01] [-7.99798737e-03 -3.90938518e-05 9.99968015e-01 -4.66053718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.010371743 meters 0.025767385439331034 Centerline is valid? [True, True] Translation: X:340.96, Y:-21.20, Z:-4.66 [[ 9.97343715e-01 7.24088496e-02 7.90395220e-03 3.40963486e+02] [-7.24074128e-02 9.97375028e-01 -4.68158279e-04 -2.12018521e+01] [-7.91710336e-03 -1.05390013e-04 9.99968654e-01 -4.65992187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.040371743 meters 0.0266917915330531 Centerline is valid? [True, True] Translation: X:340.99, Y:-21.20, Z:-4.66 [[ 9.97083157e-01 7.58946414e-02 8.07356502e-03 3.40991420e+02] [-7.58932626e-02 9.97115833e-01 -4.77457028e-04 -2.11998780e+01] [-8.08651594e-03 -1.36664829e-04 9.99967294e-01 -4.66113417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.070371743 meters 0.026467552181700882 Centerline is valid? [True, True] Translation: X:341.02, Y:-21.21, Z:-4.66 [[ 9.96540233e-01 8.26533369e-02 8.71718934e-03 3.41020352e+02] [-8.26519959e-02 9.96578338e-01 -5.14591034e-04 -2.12050586e+01] [-8.72989473e-03 -2.07682429e-04 9.99961872e-01 -4.65865789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.100371743 meters 0.026794186574237874 Centerline is valid? [True, True] Translation: X:341.05, Y:-21.21, Z:-4.66 [[ 9.96303884e-01 8.53791317e-02 9.43262635e-03 3.41049054e+02] [-8.53776914e-02 9.96348504e-01 -5.56001463e-04 -2.12073133e+01] [-9.44565407e-03 -2.51389445e-04 9.99955357e-01 -4.65807329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.130371743 meters 0.026732414277460384 Centerline is valid? [True, True] Translation: X:341.08, Y:-21.21, Z:-4.66 [[ 9.96028209e-01 8.85071508e-02 9.71033821e-03 3.41078590e+02] [-8.85057812e-02 9.96075499e-01 -5.71520856e-04 -2.12114766e+01] [-9.72281366e-03 -2.90170174e-04 9.99952690e-01 -4.65735700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.160371743 meters 0.02701015674695382 Centerline is valid? [True, True] Translation: X:341.11, Y:-21.21, Z:-4.66 [[ 9.95861499e-01 9.03270652e-02 1.00447238e-02 3.41105723e+02] [-9.03256916e-02 9.95912104e-01 -5.91253733e-04 -2.12141079e+01] [-1.00570682e-02 -3.18489794e-04 9.99949376e-01 -4.65716963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.190371743 meters 0.02830051490772912 Centerline is valid? [True, True] Translation: X:341.13, Y:-21.22, Z:-4.66 [[ 9.95527862e-01 9.39185902e-02 1.01771985e-02 3.41133644e+02] [-9.39173850e-02 9.95579815e-01 -5.97338751e-04 -2.12179115e+01] [-1.01883146e-02 -3.61148498e-04 9.99948033e-01 -4.65714859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.220371743 meters 0.02898145590263052 Centerline is valid? [True, True] Translation: X:341.16, Y:-21.22, Z:-4.66 [[ 9.95414124e-01 9.51905311e-02 9.45958796e-03 3.41161223e+02] [-9.51895534e-02 9.95459010e-01 -5.54568285e-04 -2.12213638e+01] [-9.46942172e-03 -3.48428849e-04 9.99955103e-01 -4.65782998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.250371743 meters 0.027686467843253498 Centerline is valid? [True, True] Translation: X:341.19, Y:-21.23, Z:-4.66 [[ 9.95264833e-01 9.67754561e-02 9.07872426e-03 3.41189794e+02] [-9.67746285e-02 9.95306178e-01 -5.31450787e-04 -2.12311272e+01] [-9.08754174e-03 -3.49655888e-04 9.99958646e-01 -4.65717777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.280371743 meters 0.02789030804913137 Centerline is valid? [True, True] Translation: X:341.22, Y:-21.24, Z:-4.66 [[ 9.95269894e-01 9.67610096e-02 8.66863496e-03 3.41218767e+02] [-9.67602592e-02 9.95307588e-01 -5.06898153e-04 -2.12361943e+01] [-8.67700613e-03 -3.34278895e-04 9.99962298e-01 -4.65764892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.310371743 meters 0.028555377252259675 Centerline is valid? [True, True] Translation: X:341.25, Y:-21.24, Z:-4.66 [[ 9.95296588e-01 9.65334718e-02 8.12346695e-03 3.41245196e+02] [-9.65328069e-02 9.95329690e-01 -4.74824233e-04 -2.12402323e+01] [-8.13136428e-03 -3.11590128e-04 9.99966891e-01 -4.65772056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.340371743 meters 0.026785454996661424 Centerline is valid? [True, True] Translation: X:341.27, Y:-21.25, Z:-4.66 [[ 9.95523307e-01 9.41759598e-02 8.01459909e-03 3.41273058e+02] [-9.41752460e-02 9.95555526e-01 -4.67241616e-04 -2.12525177e+01] [-8.02298134e-03 -2.89626922e-04 9.99967773e-01 -4.65657497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.370371743 meters 0.026035097779404357 Centerline is valid? [True, True] Translation: X:341.30, Y:-21.26, Z:-4.66 [[ 9.95679206e-01 9.24661305e-02 8.54012714e-03 3.41301507e+02] [-9.24652627e-02 9.95715787e-01 -4.97249238e-04 -2.12597683e+01] [-8.54951812e-03 -2.94564373e-04 9.99963409e-01 -4.65609290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.400371743 meters 0.024445795468600977 Centerline is valid? [True, True] Translation: X:341.33, Y:-21.27, Z:-4.65 [[ 9.96103838e-01 8.77222792e-02 9.05235946e-03 3.41329840e+02] [-8.77211158e-02 9.96144934e-01 -5.26251089e-04 -2.12729196e+01] [-9.06362596e-03 -2.69882344e-04 9.99958888e-01 -4.65469511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.430371743 meters 0.02211922599214767 Centerline is valid? [True, True] Translation: X:341.36, Y:-21.28, Z:-4.65 [[ 9.96380936e-01 8.45205243e-02 9.01725386e-03 3.41357805e+02] [-8.45192399e-02 9.96421710e-01 -5.24098915e-04 -2.12839764e+01] [-9.02928462e-03 -2.39929275e-04 9.99959206e-01 -4.65419881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.460371743 meters 0.022483356838529426 Centerline is valid? [True, True] Translation: X:341.39, Y:-21.29, Z:-4.65 [[ 9.96612103e-01 8.17520526e-02 8.99544029e-03 3.41385301e+02] [-8.17506666e-02 9.96652676e-01 -5.22290993e-04 -2.12881715e+01] [-9.00802799e-03 -2.14861715e-04 9.99959404e-01 -4.65483179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.490371743 meters 0.01977547044842915 Centerline is valid? [True, True] Translation: X:341.41, Y:-21.30, Z:-4.66 [[ 9.97123763e-01 7.53868493e-02 7.81173966e-03 3.41414611e+02] [-7.53856161e-02 9.97154353e-01 -4.52613129e-04 -2.13036843e+01] [-7.82363129e-03 -1.37581501e-04 9.99969385e-01 -4.65554453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.520371743 meters 0.01942334563102006 Centerline is valid? [True, True] Translation: X:341.44, Y:-21.31, Z:-4.66 [[ 9.97394899e-01 7.18138387e-02 6.79614684e-03 3.41442000e+02] [-7.18128196e-02 9.97418049e-01 -3.94168870e-04 -2.13100692e+01] [-6.80690630e-03 -9.49084469e-05 9.99976828e-01 -4.65700246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.550371743 meters 0.017293546184075345 Centerline is valid? [True, True] Translation: X:341.47, Y:-21.33, Z:-4.66 [[ 9.97863991e-01 6.50740097e-02 5.72964753e-03 3.41469971e+02] [-6.50731765e-02 9.97880440e-01 -3.31922815e-04 -2.13261046e+01] [-5.73910275e-03 -4.16325398e-05 9.99983530e-01 -4.65563495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.580371743 meters 0.017100768281099795 Centerline is valid? [True, True] Translation: X:341.50, Y:-21.33, Z:-4.66 [[ 9.98065132e-01 6.19167050e-02 5.68457348e-03 3.41498052e+02] [-6.19158368e-02 9.98081320e-01 -3.28755778e-04 -2.13327992e+01] [-5.69402208e-03 -2.38454449e-05 9.99983789e-01 -4.65602451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61037174300003 meters 0.016700651270026328 Centerline is valid? [True, True] Translation: X:341.53, Y:-21.34, Z:-4.66 [[ 9.98256557e-01 5.87291541e-02 5.89349481e-03 3.41527512e+02] [-5.87281683e-02 9.98273954e-01 -3.40342114e-04 -2.13394645e+01] [-5.90331037e-03 -6.36540800e-06 9.99982575e-01 -4.65614531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.640371743 meters 0.016225076923908878 Centerline is valid? [True, True] Translation: X:341.56, Y:-21.35, Z:-4.66 [[ 9.98585544e-01 5.28421382e-02 5.88390675e-03 3.41556653e+02] [-5.28410546e-02 9.98602878e-01 -3.39579348e-04 -2.13494508e+01] [-5.89363032e-03 2.81871901e-05 9.99982632e-01 -4.65526292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.670371743 meters 0.016330547697841577 Centerline is valid? [True, True] Translation: X:341.59, Y:-21.35, Z:-4.66 [[ 9.98684175e-01 5.09215409e-02 6.07573124e-03 3.41585665e+02] [-5.09203537e-02 9.98702656e-01 -3.50031316e-04 -2.13549243e+01] [-6.08567306e-03 4.01923523e-05 9.99981481e-01 -4.65564231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.700371743 meters 0.01611363720957253 Centerline is valid? [True, True] Translation: X:341.62, Y:-21.36, Z:-4.65 [[ 9.98901873e-01 4.64458525e-02 6.15072614e-03 3.41615708e+02] [-4.64445497e-02 9.98920807e-01 -3.54545755e-04 -2.13621131e+01] [-6.16055549e-03 6.84887127e-05 9.99981021e-01 -4.65470847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.730371743 meters 0.016198580885104227 Centerline is valid? [True, True] Translation: X:341.65, Y:-21.37, Z:-4.65 [[ 9.99002168e-01 4.42635230e-02 5.95059612e-03 3.41645340e+02] [-4.42622632e-02 9.99019887e-01 -3.43303188e-04 -2.13653724e+01] [-5.95995968e-03 7.95737775e-05 9.99982236e-01 -4.65469166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.760371743 meters 0.016356214071043863 Centerline is valid? [True, True] Translation: X:341.68, Y:-21.37, Z:-4.65 [[ 9.99079035e-01 4.24641529e-02 6.15450946e-03 3.41675038e+02] [-4.24627726e-02 9.99097987e-01 -3.54825946e-04 -2.13688298e+01] [-6.16402540e-03 9.31616279e-05 9.99980998e-01 -4.65479102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.790371743 meters 0.01681051564903166 Centerline is valid? [True, True] Translation: X:341.71, Y:-21.37, Z:-4.66 [[ 9.99162556e-01 4.04983138e-02 5.83729073e-03 3.41705513e+02] [-4.04970414e-02 9.99179602e-01 -3.36053870e-04 -2.13723193e+01] [-5.84611144e-03 9.93794395e-05 9.99982906e-01 -4.65517586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.820371743 meters 0.017005800033437584 Centerline is valid? [True, True] Translation: X:341.74, Y:-21.38, Z:-4.65 [[ 9.99288848e-01 3.71380077e-02 6.52425626e-03 3.41735379e+02] [-3.71363457e-02 9.99310137e-01 -3.75738934e-04 -2.13774680e+01] [-6.53370961e-03 1.33184691e-04 9.99978646e-01 -4.65486267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.850371743 meters 0.017637979942625434 Centerline is valid? [True, True] Translation: X:341.77, Y:-21.38, Z:-4.66 [[ 9.99356609e-01 3.52735843e-02 6.49168434e-03 3.41765604e+02] [-3.52719021e-02 9.99377683e-01 -3.73473637e-04 -2.13812910e+01] [-6.50081821e-03 1.44259293e-04 9.99978859e-01 -4.65562506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880371743 meters 0.02190030561939281 Centerline is valid? [True, True] Translation: X:341.80, Y:-21.38, Z:-4.66 [[ 9.99436542e-01 3.31698754e-02 5.13398199e-03 3.41795782e+02] [-3.31687945e-02 9.99449720e-01 -2.95563435e-04 -2.13839569e+01] [-5.14096067e-03 1.25108904e-04 9.99986777e-01 -4.65762788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.910371743 meters 0.019000379838497568 Centerline is valid? [True, True] Translation: X:341.83, Y:-21.39, Z:-4.66 [[ 9.99500032e-01 3.10825213e-02 5.79327208e-03 3.41825900e+02] [-3.10811108e-02 9.99516810e-01 -3.33370330e-04 -2.13873126e+01] [-5.80083482e-03 1.53142324e-04 9.99983163e-01 -4.65705178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940371743 meters 0.01895187995134357 Centerline is valid? [True, True] Translation: X:341.86, Y:-21.39, Z:-4.66 [[ 9.99548759e-01 2.94294706e-02 6.01540561e-03 3.41856520e+02] [-2.94279184e-02 9.99566845e-01 -3.46415555e-04 -2.13893703e+01] [-6.02299484e-03 1.69238373e-04 9.99981847e-01 -4.65653231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.970371743 meters 0.018953672311048823 Centerline is valid? [True, True] Translation: X:341.89, Y:-21.39, Z:-4.66 [[ 9.99599186e-01 2.76165441e-02 6.22846817e-03 3.41887342e+02] [-2.76148456e-02 9.99618573e-01 -3.58542000e-04 -2.13904576e+01] [-6.23599416e-03 1.86400104e-04 9.99980539e-01 -4.65667308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000371743 meters 0.020232852170422998 Centerline is valid? [True, True] Translation: X:341.92, Y:-21.39, Z:-4.66 [[ 9.99688929e-01 2.40246024e-02 6.69804400e-03 3.41918705e+02] [-2.40225576e-02 9.99711342e-01 -3.85582553e-04 -2.13938174e+01] [-6.70537402e-03 2.24558462e-04 9.99977494e-01 -4.65644648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.030371743 meters 0.02043582673552273 Centerline is valid? [True, True] Translation: X:341.95, Y:-21.40, Z:-4.66 [[ 9.99734057e-01 2.20611076e-02 6.71738150e-03 3.41950207e+02] [-2.20590050e-02 9.99756596e-01 -3.86939921e-04 -2.13953275e+01] [-6.72428278e-03 2.38658265e-04 9.99977363e-01 -4.65694852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060371743 meters 0.021945640722034428 Centerline is valid? [True, True] Translation: X:341.98, Y:-21.40, Z:-4.66 [[ 9.99811713e-01 1.81623633e-02 6.83132133e-03 3.41980335e+02] [-1.81600968e-02 9.99835014e-01 -3.93665533e-04 -2.13983837e+01] [-6.83734416e-03 2.69533955e-04 9.99976589e-01 -4.65767059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.090371743 meters 0.023882432746450424 Centerline is valid? [True, True] Translation: X:342.01, Y:-21.40, Z:-4.66 [[ 9.99845523e-01 1.61636150e-02 6.90421114e-03 3.42011300e+02] [-1.61612537e-02 9.99869319e-01 -3.97663695e-04 -2.14023964e+01] [-6.90973657e-03 2.86021557e-04 9.99976087e-01 -4.65828715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120371743 meters 0.022993994608253618 Centerline is valid? [True, True] Translation: X:342.04, Y:-21.40, Z:-4.66 [[ 9.99872724e-01 1.45312643e-02 6.58619547e-03 3.42042944e+02] [-1.45290705e-02 9.99894375e-01 -3.80808515e-04 -2.14007632e+01] [-6.59103343e-03 2.85068749e-04 9.99978238e-01 -4.65858540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.150371743 meters 0.024328065243232378 Centerline is valid? [True, True] Translation: X:342.07, Y:-21.40, Z:-4.66 [[ 9.99921711e-01 1.06881056e-02 6.50661059e-03 3.42074076e+02] [-1.06858809e-02 9.99942833e-01 -3.76580365e-04 -2.13996508e+01] [-6.51026357e-03 3.07022016e-04 9.99978761e-01 -4.65973163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180371743 meters 0.0272563731766741 Centerline is valid? [True, True] Translation: X:342.11, Y:-21.40, Z:-4.66 [[ 9.99938099e-01 9.80479051e-03 5.25974322e-03 3.42105806e+02] [-9.80333463e-03 9.99951900e-01 -3.02508298e-04 -2.14001398e+01] [-5.26245626e-03 2.50926550e-04 9.99986122e-01 -4.66177068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.210371743 meters 0.025551594146496114 Centerline is valid? [True, True] Translation: X:342.14, Y:-21.40, Z:-4.66 [[ 9.99962786e-01 6.59275477e-03 5.56441615e-03 3.42137537e+02] [-6.59105753e-03 9.99978226e-01 -3.23300476e-04 -2.13984994e+01] [-5.56642643e-03 2.86613057e-04 9.99984466e-01 -4.66100692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240371743 meters 0.028272558080854153 Centerline is valid? [True, True] Translation: X:342.17, Y:-21.40, Z:-4.66 [[ 9.99964648e-01 5.94300892e-03 5.94841909e-03 3.42168065e+02] [-5.94106435e-03 9.99982292e-01 -3.44523374e-04 -2.14017418e+01] [-5.95036126e-03 3.09171254e-04 9.99982249e-01 -4.66228977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.270371743 meters 0.028272558080854153 Centerline is valid? [True, True] Translation: X:342.20, Y:-21.40, Z:-4.66 [[ 9.99964435e-01 5.97890329e-03 5.94826953e-03 3.42198888e+02] [-5.97694415e-03 9.99982078e-01 -3.47084404e-04 -2.14035719e+01] [-5.95023811e-03 3.11519585e-04 9.99982249e-01 -4.66272333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300371743 meters 0.027180607083486852 Centerline is valid? [True, True] Translation: X:342.23, Y:-21.40, Z:-4.66 [[ 9.99967848e-01 5.32838267e-03 5.99267751e-03 3.42230266e+02] [-5.32638124e-03 9.99985754e-01 -3.49889235e-04 -2.14011830e+01] [-5.99445648e-03 3.17958701e-04 9.99981983e-01 -4.66259720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.330371743 meters 0.02776352411030542 Centerline is valid? [True, True] Translation: X:342.26, Y:-21.40, Z:-4.66 [[ 9.99970785e-01 4.03153772e-03 6.49427733e-03 3.42261777e+02] [-4.02915812e-03 9.99991811e-01 -3.79456395e-04 -2.13973513e+01] [-6.49575394e-03 3.53278839e-04 9.99978840e-01 -4.66272582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36037174300003 meters 0.02833897114576691 Centerline is valid? [True, True] Translation: X:342.29, Y:-21.40, Z:-4.66 [[ 9.99969380e-01 4.10371512e-03 6.66324081e-03 3.42293626e+02] [-4.10122075e-03 9.99991515e-01 -3.87968418e-04 -2.13962511e+01] [-6.66477639e-03 3.60629117e-04 9.99977725e-01 -4.66312303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.390371743 meters 0.02745757284624056 Centerline is valid? [True, True] Translation: X:342.33, Y:-21.39, Z:-4.66 [[ 9.99967213e-01 4.38567871e-03 6.80728076e-03 3.42325802e+02] [-4.38306970e-03 9.99990315e-01 -3.98138670e-04 -2.13891533e+01] [-6.80896094e-03 3.68288830e-04 9.99976751e-01 -4.66380605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.420371743 meters 0.028686366138188202 Centerline is valid? [True, True] Translation: X:342.36, Y:-21.39, Z:-4.67 [[ 9.99967658e-01 4.95361931e-03 6.33603155e-03 3.42356651e+02] [-4.95136045e-03 9.99987673e-01 -3.72147489e-04 -2.13892298e+01] [-6.33779692e-03 3.40763477e-04 9.99979858e-01 -4.66501001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.450371743 meters 0.029550293003203984 Centerline is valid? [True, True] Translation: X:342.39, Y:-21.39, Z:-4.67 [[ 9.99969095e-01 5.24978795e-03 5.85216585e-03 3.42388014e+02] [-5.24785900e-03 9.99986170e-01 -3.44920528e-04 -2.13890023e+01] [-5.85389568e-03 3.14198528e-04 9.99982816e-01 -4.66648477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.480371743 meters 0.029080726819786545 Centerline is valid? [True, True] Translation: X:342.42, Y:-21.39, Z:-4.67 [[ 9.99971841e-01 5.52069191e-03 5.08329088e-03 3.42420006e+02] [-5.51922698e-03 9.99984723e-01 -3.02169537e-04 -2.13863833e+01] [-5.08488141e-03 2.74105192e-04 9.99987034e-01 -4.66732813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.510371743 meters 0.029816983381113205 Centerline is valid? [True, True] Translation: X:342.45, Y:-21.38, Z:-4.67 [[ 9.99969948e-01 6.19481879e-03 4.66126841e-03 3.42452202e+02] [-6.19359449e-03 9.99980781e-01 -2.77042661e-04 -2.13809257e+01] [-4.66289505e-03 2.48164329e-04 9.99989098e-01 -4.66898209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.540371743 meters 0.03010173315631829 Centerline is valid? [True, True] Translation: X:342.48, Y:-21.38, Z:-4.67 [[ 9.99965445e-01 6.71032432e-03 4.90724302e-03 3.42483592e+02] [-6.70897125e-03 9.99977452e-01 -2.92139674e-04 -2.13787942e+01] [-4.90909272e-03 2.59207027e-04 9.99987917e-01 -4.66973723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.570371743 meters 0.031663818173302355 Centerline is valid? [True, True] Translation: X:342.51, Y:-21.37, Z:-4.67 [[ 9.99961459e-01 6.90730588e-03 5.41946729e-03 3.42514563e+02] [-6.90565625e-03 9.99976104e-01 -3.23044731e-04 -2.13749803e+01] [-5.42156916e-03 2.85607302e-04 9.99985262e-01 -4.67029685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.600371743 meters 0.030870661512252384 Centerline is valid? [True, True] Translation: X:342.55, Y:-21.37, Z:-4.67 [[ 9.99957473e-01 7.28259234e-03 5.65824785e-03 3.42545959e+02] [-7.28080033e-03 9.99973438e-01 -3.37241506e-04 -2.13718771e+01] [-5.66055355e-03 2.96030592e-04 9.99983935e-01 -4.67050830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.630371743 meters 0.031009023309014533 Centerline is valid? [True, True] Translation: X:342.58, Y:-21.37, Z:-4.67 [[ 9.99959403e-01 7.43639230e-03 5.08842965e-03 3.42577617e+02] [-7.43494437e-03 9.99972314e-01 -3.03410793e-04 -2.13693236e+01] [-5.09054506e-03 2.65566285e-04 9.99987008e-01 -4.67153196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.660371743 meters 0.03226351271885397 Centerline is valid? [True, True] Translation: X:342.61, Y:-21.37, Z:-4.67 [[ 9.99953793e-01 8.45042940e-03 4.58282190e-03 3.42607890e+02] [-8.44926422e-03 9.99964267e-01 -2.73551254e-04 -2.13658274e+01] [-4.58496977e-03 2.34817141e-04 9.99989461e-01 -4.67395065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.690371743 meters 0.030554982363157245 Centerline is valid? [True, True] Translation: X:342.64, Y:-21.36, Z:-4.67 [[ 9.99953608e-01 8.84192203e-03 3.82128545e-03 3.42638949e+02] [-8.84111396e-03 9.99960891e-01 -2.28305191e-04 -2.13600876e+01] [-3.82315466e-03 1.94510179e-04 9.99992673e-01 -4.67464238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.720371743 meters 0.030497794891450054 Centerline is valid? [True, True] Translation: X:342.67, Y:-21.36, Z:-4.68 [[ 9.99948063e-01 9.60616039e-03 3.40479050e-03 3.42669715e+02] [-9.60552329e-03 9.99953845e-01 -2.03421429e-04 -2.13580972e+01] [-3.40658745e-03 1.70706069e-04 9.99994183e-01 -4.67511477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.750371743 meters 0.03089705507219639 Centerline is valid? [True, True] Translation: X:342.70, Y:-21.35, Z:-4.68 [[ 9.99926452e-01 1.14823686e-02 3.90456547e-03 3.42700511e+02] [-1.14815450e-02 9.99934058e-01 -2.33280810e-04 -2.13526868e+01] [-3.90698661e-03 1.88433209e-04 9.99992350e-01 -4.67574498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.780371743 meters 0.031299200914262026 Centerline is valid? [True, True] Translation: X:342.73, Y:-21.35, Z:-4.68 [[ 9.99910039e-01 1.27440080e-02 4.18373347e-03 3.42730440e+02] [-1.27430726e-02 9.99918772e-01 -2.50140899e-04 -2.13523450e+01] [-4.18658144e-03 1.96804777e-04 9.99991217e-01 -4.67602543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.810371743 meters 0.03475454415783531 Centerline is valid? [True, True] Translation: X:342.76, Y:-21.35, Z:-4.68 [[ 9.99868820e-01 1.55346956e-02 4.58429383e-03 3.42760029e+02] [-1.55336024e-02 9.99879309e-01 -2.73978650e-04 -2.13536270e+01] [-4.58799672e-03 2.02732112e-04 9.99989455e-01 -4.67743467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.840371743 meters 0.03428200112124485 Centerline is valid? [True, True] Translation: X:342.79, Y:-21.35, Z:-4.68 [[ 9.99841757e-01 1.69883358e-02 5.27796927e-03 3.42790312e+02] [-1.69869077e-02 9.99855662e-01 -3.15290958e-04 -2.13516967e+01] [-5.28256373e-03 2.25584689e-04 9.99986022e-01 -4.67729543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.870371743 meters 0.03103543795069669 Centerline is valid? [True, True] Translation: X:342.82, Y:-21.34, Z:-4.68 [[ 9.99801340e-01 1.90996487e-02 5.69942328e-03 3.42820984e+02] [-1.90980183e-02 9.99817558e-01 -3.40362239e-04 -2.13441724e+01] [-5.70488427e-03 2.31446932e-04 9.99983700e-01 -4.67654131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.900371743 meters 0.030925281185353468 Centerline is valid? [True, True] Translation: X:342.85, Y:-21.34, Z:-4.68 [[ 9.99721503e-01 2.27955502e-02 6.10564776e-03 3.42849723e+02] [-2.27937469e-02 9.99740122e-01 -3.64776804e-04 -2.13399568e+01] [-6.11237633e-03 2.25504625e-04 9.99981294e-01 -4.67726653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.930371743 meters 0.03074474861154421 Centerline is valid? [True, True] Translation: X:342.88, Y:-21.34, Z:-4.68 [[ 9.99685056e-01 2.44413099e-02 5.69313360e-03 3.42879907e+02] [-2.44397719e-02 9.99701247e-01 -3.39571694e-04 -2.13387220e+01] [-5.69973234e-03 2.00325861e-04 9.99983736e-01 -4.67821270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.960371743 meters 0.03042219306573432 Centerline is valid? [True, True] Translation: X:342.91, Y:-21.34, Z:-4.68 [[ 9.99630137e-01 2.66782493e-02 5.27829882e-03 3.42909674e+02] [-2.66769580e-02 9.99644057e-01 -3.14907346e-04 -2.13374685e+01] [-5.28482122e-03 1.73981917e-04 9.99986020e-01 -4.67934617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.990371743 meters 0.029327630175620775 Centerline is valid? [True, True] Translation: X:342.94, Y:-21.33, Z:-4.68 [[ 9.99536390e-01 3.00618050e-02 4.82624134e-03 3.42939015e+02] [-3.00607638e-02 9.99548032e-01 -2.88154903e-04 -2.13319755e+01] [-4.83272249e-03 1.42940811e-04 9.99988312e-01 -4.68067869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.020371743 meters 0.030327582698150543 Centerline is valid? [True, True] Translation: X:342.97, Y:-21.33, Z:-4.68 [[ 9.99501211e-01 3.12808456e-02 4.34022270e-03 3.42966507e+02] [-3.12800152e-02 9.99510627e-01 -2.59091225e-04 -2.13341069e+01] [-4.34620331e-03 1.23199761e-04 9.99990548e-01 -4.68259580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.050371743 meters 0.02966372172144918 Centerline is valid? [True, True] Translation: X:343.00, Y:-21.33, Z:-4.68 [[ 9.99383423e-01 3.46877432e-02 5.43455323e-03 3.42995527e+02] [-3.46864971e-02 9.99398190e-01 -3.23409648e-04 -2.13314157e+01] [-5.44250102e-03 1.34704626e-04 9.99985180e-01 -4.68246712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.080371743 meters 0.028827056319719744 Centerline is valid? [True, True] Translation: X:343.02, Y:-21.33, Z:-4.68 [[ 9.99338005e-01 3.59435383e-02 5.62260141e-03 3.43024186e+02] [-3.59422265e-02 9.99353814e-01 -3.34217688e-04 -2.13286084e+01] [-5.63098113e-03 1.31907624e-04 9.99984137e-01 -4.68147751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11037174300003 meters 0.028976498535488934 Centerline is valid? [True, True] Translation: X:343.05, Y:-21.33, Z:-4.68 [[ 9.99273802e-01 3.76393353e-02 5.92868850e-03 3.43052061e+02] [-3.76379086e-02 9.99291381e-01 -3.52067693e-04 -2.13295568e+01] [-5.93773891e-03 1.28668587e-04 9.99982363e-01 -4.68194982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.140371743 meters 0.028416320099657968 Centerline is valid? [True, True] Translation: X:343.08, Y:-21.33, Z:-4.68 [[ 9.99117213e-01 4.14936715e-02 6.56272165e-03 3.43081255e+02] [-4.14920122e-02 9.99138760e-01 -3.88850802e-04 -2.13272050e+01] [-6.57320442e-03 1.16207003e-04 9.99978390e-01 -4.68221599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.170371743 meters 0.028579950233566142 Centerline is valid? [True, True] Translation: X:343.11, Y:-21.33, Z:-4.68 [[ 9.99062573e-01 4.27753361e-02 6.65182315e-03 3.43110398e+02] [-4.27736630e-02 9.99084711e-01 -3.93645192e-04 -2.13280207e+01] [-6.66257311e-03 1.08753337e-04 9.99977799e-01 -4.68254428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.200371743 meters 0.027738521464545043 Centerline is valid? [True, True] Translation: X:343.14, Y:-21.33, Z:-4.68 [[ 9.98960030e-01 4.51476640e-02 6.36764778e-03 3.43138979e+02] [-4.51461815e-02 9.98980320e-01 -3.76428258e-04 -2.13276403e+01] [-6.37814968e-03 8.85618008e-05 9.99979655e-01 -4.68285853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.230371743 meters 0.027687317063141585 Centerline is valid? [True, True] Translation: X:343.17, Y:-21.33, Z:-4.68 [[ 9.98935055e-01 4.57121187e-02 6.25772294e-03 3.43168170e+02] [-4.57107008e-02 9.98954651e-01 -3.69495264e-04 -2.13292010e+01] [-6.26807184e-03 8.30568707e-05 9.99980352e-01 -4.68367075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.260371743 meters 0.02762339113527236 Centerline is valid? [True, True] Translation: X:343.20, Y:-21.33, Z:-4.68 [[ 9.98906576e-01 4.63641201e-02 6.00176303e-03 3.43195994e+02] [-4.63628291e-02 9.98924603e-01 -3.54125860e-04 -2.13316698e+01] [-6.01172749e-03 7.54799368e-05 9.99981927e-01 -4.68466363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.290371743 meters 0.0277068289880598 Centerline is valid? [True, True] Translation: X:343.22, Y:-21.33, Z:-4.68 [[ 9.98906960e-01 4.63957907e-02 5.68468695e-03 3.43223669e+02] [-4.63946348e-02 9.98923133e-01 -3.35107322e-04 -2.13338454e+01] [-5.69411286e-03 7.10020615e-05 9.99983786e-01 -4.68484176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.320371743 meters 0.02715122826258585 Centerline is valid? [True, True] Translation: X:343.25, Y:-21.34, Z:-4.69 [[ 9.98908626e-01 4.62921888e-02 6.21208478e-03 3.43251902e+02] [-4.62908132e-02 9.98927939e-01 -3.65118874e-04 -2.13363245e+01] [-6.22232720e-03 7.71579360e-05 9.99980638e-01 -4.68528066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.350371743 meters 0.027190840377127122 Centerline is valid? [True, True] Translation: X:343.28, Y:-21.34, Z:-4.68 [[ 9.98938520e-01 4.55598124e-02 6.79236185e-03 3.43280284e+02] [-4.55581547e-02 9.98961609e-01 -3.98654536e-04 -2.13406196e+01] [-6.80347135e-03 8.87838999e-05 9.99976852e-01 -4.68488800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380371743 meters 0.027185578096867946 Centerline is valid? [True, True] Translation: X:343.31, Y:-21.34, Z:-4.68 [[ 9.98943559e-01 4.54214039e-02 6.97576303e-03 3.43308710e+02] [-4.54196558e-02 9.98967911e-01 -4.08886156e-04 -2.13435914e+01] [-6.98713561e-03 9.16174361e-05 9.99975585e-01 -4.68450071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.410371743 meters 0.027200253684585927 Centerline is valid? [True, True] Translation: X:343.34, Y:-21.35, Z:-4.69 [[ 9.98969183e-01 4.48907772e-02 6.73713517e-03 3.43335816e+02] [-4.48891360e-02 9.98991897e-01 -3.94698266e-04 -2.13480307e+01] [-6.74806175e-03 9.18672274e-05 9.99977227e-01 -4.68502379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440371743 meters 0.02717579553242647 Centerline is valid? [True, True] Translation: X:343.36, Y:-21.35, Z:-4.68 [[ 9.99018556e-01 4.37067619e-02 7.18635325e-03 3.43363887e+02] [-4.37048713e-02 9.99044397e-01 -4.19981866e-04 -2.13529898e+01] [-7.19784200e-03 1.05491033e-04 9.99974090e-01 -4.68481716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.470371743 meters 0.026625995199916055 Centerline is valid? [True, True] Translation: X:343.39, Y:-21.36, Z:-4.69 [[ 9.99055445e-01 4.28236985e-02 7.37209629e-03 3.43392208e+02] [-4.28216908e-02 9.99082638e-01 -4.30032302e-04 -2.13563322e+01] [-7.38374899e-03 1.13940485e-04 9.99972733e-01 -4.68514506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500371743 meters 0.026735371451030037 Centerline is valid? [True, True] Translation: X:343.42, Y:-21.36, Z:-4.69 [[ 9.99101919e-01 4.16775549e-02 7.63781149e-03 3.43419381e+02] [-4.16753701e-02 9.99131105e-01 -4.45046418e-04 -2.13635768e+01] [-7.64972348e-03 1.26338109e-04 9.99970732e-01 -4.68508017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.530371743 meters 0.026635180565110494 Centerline is valid? [True, True] Translation: X:343.45, Y:-21.37, Z:-4.68 [[ 9.99124848e-01 4.11000650e-02 7.76675082e-03 3.43447245e+02] [-4.10977942e-02 9.99155027e-01 -4.51825283e-04 -2.13685532e+01] [-7.77875817e-03 1.32233541e-04 9.99969736e-01 -4.68498495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560371743 meters 0.025917247507613702 Centerline is valid? [True, True] Translation: X:343.48, Y:-21.37, Z:-4.68 [[ 9.99144442e-01 4.06289678e-02 7.72470222e-03 3.43475888e+02] [-4.06267136e-02 9.99174294e-01 -4.48580165e-04 -2.13716138e+01] [-7.73654923e-03 1.34367114e-04 9.99970063e-01 -4.68484517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.590371743 meters 0.025946769126838135 Centerline is valid? [True, True] Translation: X:343.50, Y:-21.38, Z:-4.68 [[ 9.99143548e-01 4.06803291e-02 7.56849624e-03 3.43503841e+02] [-4.06781694e-02 9.99172204e-01 -4.39137557e-04 -2.13783258e+01] [-7.58009533e-03 1.30888885e-04 9.99971262e-01 -4.68469964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620371743 meters 0.025182728962262094 Centerline is valid? [True, True] Translation: X:343.53, Y:-21.38, Z:-4.68 [[ 9.99096679e-01 4.19279309e-02 6.91908587e-03 3.43531580e+02] [-4.19261600e-02 9.99120632e-01 -4.00852412e-04 -2.13849536e+01] [-6.92980835e-03 1.10399612e-04 9.99975982e-01 -4.68475100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.650371743 meters 0.024517936368129396 Centerline is valid? [True, True] Translation: X:343.56, Y:-21.39, Z:-4.68 [[ 9.99071139e-01 4.25727880e-02 6.66454490e-03 3.43560239e+02] [-4.25711638e-02 9.99093363e-01 -3.85439751e-04 -2.13880589e+01] [-6.67491182e-03 1.01364299e-04 9.99977717e-01 -4.68439891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680371743 meters 0.02366324346945462 Centerline is valid? [True, True] Translation: X:343.59, Y:-21.39, Z:-4.68 [[ 9.99035126e-01 4.33942788e-02 6.76414299e-03 3.43588797e+02] [-4.33926279e-02 9.99058020e-01 -3.90695256e-04 -2.13917799e+01] [-6.77472524e-03 9.68043448e-05 9.99977047e-01 -4.68411962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.710371743 meters 0.02281674156609437 Centerline is valid? [True, True] Translation: X:343.62, Y:-21.40, Z:-4.68 [[ 9.98913945e-01 4.60984612e-02 6.77218092e-03 3.43617608e+02] [-4.60968719e-02 9.98936898e-01 -3.90679499e-04 -2.13965193e+01] [-6.78299113e-03 7.80788429e-05 9.99976992e-01 -4.68334469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740371743 meters 0.022538248272968242 Centerline is valid? [True, True] Translation: X:343.65, Y:-21.40, Z:-4.68 [[ 9.98856239e-01 4.73135187e-02 6.90247828e-03 3.43646639e+02] [-4.73119003e-02 9.98880086e-01 -3.97659891e-04 -2.13998666e+01] [-6.91356279e-03 7.06356993e-05 9.99976099e-01 -4.68319799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.770371743 meters 0.022010312990952154 Centerline is valid? [True, True] Translation: X:343.67, Y:-21.41, Z:-4.68 [[ 9.98695350e-01 5.05629207e-02 7.14067491e-03 3.43673795e+02] [-5.05612748e-02 9.98720876e-01 -4.10942418e-04 -2.14052552e+01] [-7.15231955e-03 4.93646553e-05 9.99974421e-01 -4.68362216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800371743 meters 0.021610793932114666 Centerline is valid? [True, True] Translation: X:343.70, Y:-21.41, Z:-4.68 [[ 9.98617264e-01 5.20668430e-02 7.25281822e-03 3.43702670e+02] [-5.20651906e-02 9.98643601e-01 -4.16583255e-04 -2.14079346e+01] [-7.26467068e-03 3.83878678e-05 9.99973611e-01 -4.68283555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.830371743 meters 0.021453084138247862 Centerline is valid? [True, True] Translation: X:343.73, Y:-21.41, Z:-4.68 [[ 9.98538117e-01 5.35170930e-02 7.58621554e-03 3.43731478e+02] [-5.35153315e-02 9.98566933e-01 -4.35145010e-04 -2.14110166e+01] [-7.59863169e-03 2.85300388e-05 9.99971130e-01 -4.68296482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86037174300003 meters 0.021160979560451203 Centerline is valid? [True, True] Translation: X:343.76, Y:-21.42, Z:-4.68 [[ 9.98422409e-01 5.57235643e-02 6.89771654e-03 3.43760340e+02] [-5.57221636e-02 9.98446235e-01 -3.95242943e-04 -2.14161892e+01] [-6.90902346e-03 1.02637221e-05 9.99976132e-01 -4.68329326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.890371743 meters 0.020523028349611845 Centerline is valid? [True, True] Translation: X:343.79, Y:-21.42, Z:-4.68 [[ 9.98369950e-01 5.67068074e-02 6.46382977e-03 3.43787558e+02] [-5.67055997e-02 9.98390874e-01 -3.70108261e-04 -2.14200118e+01] [-6.47441631e-03 2.96962241e-06 9.99979041e-01 -4.68385151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.920371743 meters 0.019905127225553418 Centerline is valid? [True, True] Translation: X:343.82, Y:-21.43, Z:-4.68 [[ 9.98334858e-01 5.73677731e-02 6.03730355e-03 3.43815502e+02] [-5.73667345e-02 9.98353113e-01 -3.45206872e-04 -2.14266936e+01] [-6.04716454e-03 -1.70833652e-06 9.99981716e-01 -4.68376145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.950371743 meters 0.01979912753145659 Centerline is valid? [True, True] Translation: X:343.84, Y:-21.43, Z:-4.68 [[ 9.98352430e-01 5.70278118e-02 6.34464254e-03 3.43843621e+02] [-5.70266627e-02 9.98372590e-01 -3.62015131e-04 -2.14312932e+01] [-6.35496213e-03 -3.95104439e-07 9.99979807e-01 -4.68365099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.980371743 meters 0.01917170319876291 Centerline is valid? [True, True] Translation: X:343.87, Y:-21.44, Z:-4.68 [[ 9.98437416e-01 5.54300932e-02 7.08733191e-03 3.43870527e+02] [-5.54286227e-02 9.98462570e-01 -4.03892913e-04 -2.14400500e+01] [-7.09882346e-03 1.04207500e-05 9.99974803e-01 -4.68294917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.010371743 meters 0.019078668323810846 Centerline is valid? [True, True] Translation: X:343.90, Y:-21.45, Z:-4.68 [[ 9.98531988e-01 5.36523539e-02 7.43594823e-03 3.43898618e+02] [-5.36506920e-02 9.98559675e-01 -4.22941142e-04 -2.14454698e+01] [-7.44792984e-03 2.33764911e-05 9.99972264e-01 -4.68254361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.040371743 meters 0.018765585357195105 Centerline is valid? [True, True] Translation: X:343.93, Y:-21.45, Z:-4.68 [[ 9.98610843e-01 5.21647659e-02 7.43113068e-03 3.43927123e+02] [-5.21630688e-02 9.98638491e-01 -4.22136694e-04 -2.14511941e+01] [-7.44303379e-03 3.39196986e-05 9.99972300e-01 -4.68223451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.070371743 meters 0.018434413072259064 Centerline is valid? [True, True] Translation: X:343.95, Y:-21.46, Z:-4.68 [[ 9.98781625e-01 4.87848940e-02 7.43640254e-03 3.43954918e+02] [-4.87831063e-02 9.98809306e-01 -4.21705544e-04 -2.14616266e+01] [-7.44812093e-03 5.84209329e-05 9.99972261e-01 -4.68235791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.100371743 meters 0.01816946978124933 Centerline is valid? [True, True] Translation: X:343.98, Y:-21.47, Z:-4.68 [[ 9.98868319e-01 4.69342335e-02 7.69797077e-03 3.43984247e+02] [-4.69322658e-02 9.98897979e-01 -4.36157677e-04 -2.14678020e+01] [-7.70995817e-03 7.43808751e-05 9.99970275e-01 -4.68238785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.130371743 meters 0.018196189074817133 Centerline is valid? [True, True] Translation: X:344.01, Y:-21.48, Z:-4.68 [[ 9.99002955e-01 4.40023878e-02 7.54230141e-03 3.44013004e+02] [-4.40004181e-02 9.99031421e-01 -4.26970568e-04 -2.14788436e+01] [-7.55378382e-03 9.46804436e-05 9.99971465e-01 -4.68256130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.160371743 meters 0.018196189074817133 Centerline is valid? [True, True] Translation: X:344.04, Y:-21.48, Z:-4.68 [[ 9.99004428e-01 4.39689215e-02 7.54230283e-03 3.44042122e+02] [-4.39669511e-02 9.99032895e-01 -4.26945508e-04 -2.14804589e+01] [-7.55378096e-03 9.49083937e-05 9.99971465e-01 -4.68297090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.190371743 meters 0.018351535699057554 Centerline is valid? [True, True] Translation: X:344.07, Y:-21.49, Z:-4.68 [[ 9.99048819e-01 4.29564276e-02 7.49682966e-03 3.44071563e+02] [-4.29544542e-02 9.99076941e-01 -4.24121288e-04 -2.14860842e+01] [-7.50812839e-03 1.01695645e-04 9.99971808e-01 -4.68321675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.220371743 meters 0.017198286402742655 Centerline is valid? [True, True] Translation: X:344.10, Y:-21.49, Z:-4.68 [[ 9.99096113e-01 4.18022603e-02 7.71537935e-03 3.44101140e+02] [-4.18001377e-02 9.99125897e-01 -4.36228665e-04 -2.14894003e+01] [-7.72687066e-03 1.13330444e-04 9.99970141e-01 -4.68156058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.250371743 meters 0.01772123350516638 Centerline is valid? [True, True] Translation: X:344.13, Y:-21.50, Z:-4.68 [[ 9.99143441e-01 4.04322523e-02 8.81004672e-03 3.44130539e+02] [-4.04294371e-02 9.99182272e-01 -4.97482802e-04 -2.14982070e+01] [-8.82295685e-03 1.40871449e-04 9.99961067e-01 -4.68215129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.280371743 meters 0.017057815022559757 Centerline is valid? [True, True] Translation: X:344.16, Y:-21.50, Z:-4.68 [[ 9.99180225e-01 3.95601616e-02 8.59488384e-03 3.44161265e+02] [-3.95574485e-02 9.99217180e-01 -4.85502821e-04 -2.15022620e+01] [-8.60736216e-03 1.45113143e-04 9.99962945e-01 -4.68110026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.310371743 meters 0.016954931594307176 Centerline is valid? [True, True] Translation: X:344.19, Y:-21.51, Z:-4.68 [[ 9.99279968e-01 3.70003754e-02 8.39750324e-03 3.44191671e+02] [-3.69976960e-02 9.99315238e-01 -4.74250136e-04 -2.15096821e+01] [-8.40930038e-03 1.63220389e-04 9.99964628e-01 -4.68135503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.340371743 meters 0.017217354822947232 Centerline is valid? [True, True] Translation: X:344.22, Y:-21.52, Z:-4.68 [[ 9.99329521e-01 3.57041592e-02 8.10689190e-03 3.44221950e+02] [-3.57016183e-02 9.99362389e-01 -4.57978738e-04 -2.15150059e+01] [-8.11807461e-03 1.68242512e-04 9.99967034e-01 -4.68183005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.370371743 meters 0.01755854848254491 Centerline is valid? [True, True] Translation: X:344.25, Y:-21.52, Z:-4.68 [[ 9.99389406e-01 3.41018816e-02 7.60772091e-03 3.44252593e+02] [-3.40995994e-02 9.99418347e-01 -4.29529639e-04 -2.15202550e+01] [-7.61794362e-03 1.69847135e-04 9.99970969e-01 -4.68251531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.400371743 meters 0.020006352774546148 Centerline is valid? [True, True] Translation: X:344.28, Y:-21.53, Z:-4.68 [[ 9.99512743e-01 3.01305024e-02 8.15037275e-03 3.44282393e+02] [-3.01277435e-02 9.99545950e-01 -4.61100899e-04 -2.15339576e+01] [-8.16056528e-03 2.15323885e-04 9.99966679e-01 -4.68277041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.430371743 meters 0.019442725774475526 Centerline is valid? [True, True] Translation: X:344.31, Y:-21.54, Z:-4.68 [[ 9.99644020e-01 2.52479280e-02 8.62412429e-03 3.44313305e+02] [-2.52446544e-02 9.99681184e-01 -4.88245105e-04 -2.15402771e+01] [-8.63370195e-03 2.70358262e-04 9.99962692e-01 -4.68138288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.460371743 meters 0.020435949036154796 Centerline is valid? [True, True] Translation: X:344.35, Y:-21.55, Z:-4.68 [[ 9.99700378e-01 2.29478939e-02 8.51752608e-03 3.44345092e+02] [-2.29446165e-02 9.99736621e-01 -4.82311275e-04 -2.15461521e+01] [-8.52635077e-03 2.86735395e-04 9.99963609e-01 -4.68176412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.490371743 meters 0.021444177199748508 Centerline is valid? [True, True] Translation: X:344.38, Y:-21.55, Z:-4.68 [[ 9.99751079e-01 2.05681434e-02 8.64479046e-03 3.44376752e+02] [-2.05646731e-02 9.99788405e-01 -4.90148602e-04 -2.15521603e+01] [-8.65304271e-03 3.12249304e-04 9.99962513e-01 -4.68202692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.520371743 meters 0.021632519833898075 Centerline is valid? [True, True] Translation: X:344.41, Y:-21.56, Z:-4.68 [[ 9.99837413e-01 1.58399286e-02 8.61650551e-03 3.44407113e+02] [-1.58362979e-02 9.99874478e-01 -4.89429221e-04 -2.15580058e+01] [-8.62317647e-03 3.52896098e-04 9.99962757e-01 -4.68223510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.550371743 meters 0.024703103947788987 Centerline is valid? [True, True] Translation: X:344.44, Y:-21.57, Z:-4.68 [[ 9.99871114e-01 1.36625961e-02 8.43139741e-03 3.44437596e+02] [-1.36590464e-02 9.99906596e-01 -4.78448403e-04 -2.15666759e+01] [-8.43714673e-03 3.63221889e-04 9.99964341e-01 -4.68299214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.580371743 meters 0.024943447505286504 Centerline is valid? [True, True] Translation: X:344.47, Y:-21.57, Z:-4.68 [[ 9.99914954e-01 9.65758495e-03 8.76449053e-03 3.44468062e+02] [-9.65358018e-03 9.99953279e-01 -4.99122316e-04 -2.15728174e+01] [-8.76890136e-03 4.14471155e-04 9.99961467e-01 -4.68279599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61037174300003 meters 0.023749085744990826 Centerline is valid? [True, True] Translation: X:344.50, Y:-21.57, Z:-4.68 [[ 9.99926717e-01 7.91122707e-03 9.16372583e-03 3.44499673e+02] [-7.90678424e-03 9.99968605e-01 -5.20955448e-04 -2.15744566e+01] [-9.16755953e-03 4.48461667e-04 9.99957876e-01 -4.68273728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.640371743 meters 0.02734533148176048 Centerline is valid? [True, True] Translation: X:344.53, Y:-21.58, Z:-4.68 [[ 9.99937531e-01 6.56854796e-03 9.04366037e-03 3.44530253e+02] [-6.56414670e-03 9.99978323e-01 -5.16265221e-04 -2.15834053e+01] [-9.04685544e-03 4.56869057e-04 9.99958972e-01 -4.68329439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.670371743 meters 0.02566116861781575 Centerline is valid? [True, True] Translation: X:344.56, Y:-21.58, Z:-4.68 [[ 9.99955389e-01 2.82613501e-03 9.01289194e-03 3.44561645e+02] [-2.82158383e-03 9.99995885e-01 -5.17639644e-04 -2.15848189e+01] [-9.01431778e-03 4.92185922e-04 9.99959249e-01 -4.68334982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.700371743 meters 0.02636737289715788 Centerline is valid? [True, True] Translation: X:344.59, Y:-21.59, Z:-4.68 [[ 9.99957461e-01 1.31257046e-03 9.12979422e-03 3.44593430e+02] [-1.30783608e-03 9.99999007e-01 -5.24515368e-04 -2.15887755e+01] [-9.13047362e-03 5.12552782e-04 9.99958185e-01 -4.68368145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.730371743 meters 0.026161984512083746 Centerline is valid? [True, True] Translation: X:344.62, Y:-21.59, Z:-4.68 [[ 9.99959658e-01 -1.56523730e-03 8.84486987e-03 3.44624486e+02] [ 1.56979966e-03 9.99998638e-01 -5.08900940e-04 -2.15917053e+01] [-8.84406127e-03 5.22765084e-04 9.99960754e-01 -4.68365455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.760371743 meters 0.029143637095374944 Centerline is valid? [True, True] Translation: X:344.65, Y:-21.60, Z:-4.68 [[ 9.99955193e-01 -2.32160446e-03 9.17726965e-03 3.44654844e+02] [ 2.32654844e-03 9.99997154e-01 -5.28081348e-04 -2.15981649e+01] [-9.17601753e-03 5.49409049e-04 9.99957749e-01 -4.68407211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.790371743 meters 0.026318288418890192 Centerline is valid? [True, True] Translation: X:344.69, Y:-21.60, Z:-4.68 [[ 9.99952631e-01 -3.02435198e-03 9.25143232e-03 3.44686969e+02] [ 3.02941991e-03 9.99995269e-01 -5.33835132e-04 -2.15959033e+01] [-9.24977404e-03 5.61836318e-04 9.99957062e-01 -4.68396735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.820371743 meters 0.028063465769026085 Centerline is valid? [True, True] Translation: X:344.72, Y:-21.60, Z:-4.68 [[ 9.99949474e-01 -4.01841385e-03 9.21420788e-03 3.44717994e+02] [ 4.02348210e-03 9.99991764e-01 -5.31575844e-04 -2.15993592e+01] [-9.21199591e-03 5.68622186e-04 9.99957407e-01 -4.68478043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.850371743 meters 0.028408657324168557 Centerline is valid? [True, True] Translation: X:344.75, Y:-21.60, Z:-4.69 [[ 9.99953640e-01 -4.18548921e-03 8.67179877e-03 3.44750463e+02] [ 4.19000882e-03 9.99991095e-01 -5.03081652e-04 -2.16011415e+01] [-8.66961591e-03 5.39393242e-04 9.99962273e-01 -4.68540618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880371743 meters 0.029313585210261978 Centerline is valid? [True, True] Translation: X:344.78, Y:-21.60, Z:-4.69 [[ 9.99952364e-01 -5.31892237e-03 8.18411481e-03 3.44782492e+02] [ 5.32299023e-03 9.99985720e-01 -4.75341383e-04 -2.16029756e+01] [-8.18146963e-03 5.18882703e-04 9.99966397e-01 -4.68597299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.910371743 meters 0.029495763652118687 Centerline is valid? [True, True] Translation: X:344.82, Y:-21.60, Z:-4.69 [[ 9.99948901e-01 -5.99789838e-03 8.13756311e-03 3.44815050e+02] [ 6.00194729e-03 9.99981876e-01 -4.73228989e-04 -2.16044970e+01] [-8.13457724e-03 5.22046033e-04 9.99966778e-01 -4.68634289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940371743 meters 0.03343278944272409 Centerline is valid? [True, True] Translation: X:344.85, Y:-21.61, Z:-4.69 [[ 9.99955641e-01 -6.20084227e-03 7.08981654e-03 3.44846467e+02] [ 6.20392442e-03 9.99980670e-01 -4.12819259e-04 -2.16074055e+01] [-7.08711967e-03 4.56785632e-04 9.99974782e-01 -4.69122236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.970371743 meters 0.03259991284783244 Centerline is valid? [True, True] Translation: X:344.88, Y:-21.61, Z:-4.69 [[ 9.99934122e-01 -8.12519308e-03 8.10754569e-03 3.44876126e+02] [ 8.12928946e-03 9.99966845e-01 -4.72427434e-04 -2.16093312e+01] [-8.10343833e-03 5.38304898e-04 9.99967022e-01 -4.68745082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000371743 meters 0.03225488910869902 Centerline is valid? [True, True] Translation: X:344.91, Y:-21.61, Z:-4.69 [[ 9.99909777e-01 -1.03430648e-02 8.57085915e-03 3.44907801e+02] [ 1.03477337e-02 9.99946335e-01 -5.00566282e-04 -2.16078817e+01] [-8.56522181e-03 5.89210087e-04 9.99963144e-01 -4.68764027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.030371743 meters 0.03514281840698819 Centerline is valid? [True, True] Translation: X:344.94, Y:-21.61, Z:-4.69 [[ 9.99902201e-01 -1.10545688e-02 8.56654516e-03 3.44938875e+02] [ 1.10592607e-02 9.99938719e-01 -5.00526901e-04 -2.16125076e+01] [-8.56048709e-03 5.95217606e-04 9.99963181e-01 -4.68768331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060371743 meters 0.029908995059239423 Centerline is valid? [True, True] Translation: X:344.97, Y:-21.61, Z:-4.69 [[ 9.99890716e-01 -1.19556245e-02 8.69592542e-03 3.44971901e+02] [ 1.19604964e-02 9.99928341e-01 -5.08460702e-04 -2.16053473e+01] [-8.68922332e-03 6.12412721e-04 9.99962060e-01 -4.68784323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.090371743 meters 0.03374968125427877 Centerline is valid? [True, True] Translation: X:345.00, Y:-21.61, Z:-4.69 [[ 9.99870946e-01 -1.33499000e-02 8.93706822e-03 3.45002574e+02] [ 1.33551050e-02 9.99910680e-01 -5.22983278e-04 -2.16086367e+01] [-8.92928819e-03 6.42271270e-04 9.99959927e-01 -4.68834666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120371743 meters 0.0334038325444711 Centerline is valid? [True, True] Translation: X:345.03, Y:-21.61, Z:-4.69 [[ 9.99858746e-01 -1.42973792e-02 8.83584685e-03 3.45034836e+02] [ 1.43025165e-02 9.99897579e-01 -5.18493859e-04 -2.16075433e+01] [-8.82752877e-03 6.44795465e-04 9.99960829e-01 -4.68915981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.150371743 meters 0.03501781332309302 Centerline is valid? [True, True] Translation: X:345.07, Y:-21.61, Z:-4.69 [[ 9.99840956e-01 -1.56048393e-02 8.63429157e-03 3.45065588e+02] [ 1.56098003e-02 9.99878031e-01 -5.07477208e-04 -2.16065957e+01] [-8.62531936e-03 6.42176064e-04 9.99962595e-01 -4.68953554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180371743 meters 0.03799129635581494 Centerline is valid? [True, True] Translation: X:345.10, Y:-21.61, Z:-4.69 [[ 9.99831524e-01 -1.64338084e-02 8.17639249e-03 3.45096496e+02] [ 1.64382861e-02 9.99864767e-01 -4.80732821e-04 -2.16099331e+01] [-8.16738650e-03 6.15057708e-04 9.99966457e-01 -4.69035051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.210371743 meters 0.03660063577073858 Centerline is valid? [True, True] Translation: X:345.13, Y:-21.61, Z:-4.69 [[ 9.99818767e-01 -1.70279574e-02 8.51362586e-03 3.45129297e+02] [ 1.70328369e-02 9.99854805e-01 -5.00957825e-04 -2.16070443e+01] [-8.50385944e-03 6.45878235e-04 9.99963633e-01 -4.69103442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240371743 meters 0.03433985430797974 Centerline is valid? [True, True] Translation: X:345.16, Y:-21.60, Z:-4.69 [[ 9.99804463e-01 -1.79431111e-02 8.31144110e-03 3.45161626e+02] [ 1.79477965e-02 9.99838806e-01 -4.89476318e-04 -2.15991957e+01] [-8.30131862e-03 6.38552660e-04 9.99965340e-01 -4.69188736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.270371743 meters 0.03578957407251008 Centerline is valid? [True, True] Translation: X:345.19, Y:-21.60, Z:-4.69 [[ 9.99787738e-01 -1.88653217e-02 8.28124373e-03 3.45193476e+02] [ 1.88700135e-02 9.99821826e-01 -4.88783001e-04 -2.15956849e+01] [-8.27054718e-03 6.44946432e-04 9.99965590e-01 -4.69285720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300371743 meters 0.03529120837001052 Centerline is valid? [True, True] Translation: X:345.23, Y:-21.59, Z:-4.69 [[ 9.99785216e-01 -1.89240445e-02 8.44998803e-03 3.45226050e+02] [ 1.89289348e-02 9.99820707e-01 -4.99121863e-04 -2.15936076e+01] [-8.43902760e-03 6.58963932e-04 9.99964174e-01 -4.69301618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.330371743 meters 0.035988252615432925 Centerline is valid? [True, True] Translation: X:345.26, Y:-21.59, Z:-4.69 [[ 9.99780426e-01 -1.90573948e-02 8.71289413e-03 3.45258038e+02] [ 1.90626051e-02 9.99818159e-01 -5.15333086e-04 -2.15928196e+01] [-8.70148886e-03 6.81310392e-04 9.99961909e-01 -4.69374316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36037174300003 meters 0.03722117527379246 Centerline is valid? [True, True] Translation: X:345.29, Y:-21.59, Z:-4.69 [[ 9.99792669e-01 -1.83190431e-02 8.89000260e-03 3.45289293e+02] [ 1.83244416e-02 9.99831955e-01 -5.26177360e-04 -2.15898089e+01] [-8.87886961e-03 6.88972600e-04 9.99960345e-01 -4.69394410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.390371743 meters 0.03781063741280877 Centerline is valid? [True, True] Translation: X:345.32, Y:-21.59, Z:-4.69 [[ 9.99792371e-01 -1.82509342e-02 9.06194498e-03 3.45321312e+02] [ 1.82565549e-02 9.99833191e-01 -5.37913399e-04 -2.15880048e+01] [-9.05061594e-03 7.03241609e-04 9.99958795e-01 -4.69496334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.420371743 meters 0.034327536153855996 Centerline is valid? [True, True] Translation: X:345.35, Y:-21.58, Z:-4.70 [[ 9.99811985e-01 -1.74840189e-02 8.38475130e-03 3.45354321e+02] [ 1.74888084e-02 9.99846935e-01 -4.98234234e-04 -2.15769422e+01] [-8.37475675e-03 6.44779868e-04 9.99964723e-01 -4.69501006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.450371743 meters 0.03506932696769345 Centerline is valid? [True, True] Translation: X:345.39, Y:-21.58, Z:-4.70 [[ 9.99819377e-01 -1.71334811e-02 8.22539249e-03 3.45386859e+02] [ 1.71380835e-02 9.99853013e-01 -4.89369349e-04 -2.15756816e+01] [-8.21579886e-03 6.30248421e-04 9.99966051e-01 -4.69601954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.480371743 meters 0.03600216705610223 Centerline is valid? [True, True] Translation: X:345.42, Y:-21.57, Z:-4.70 [[ 9.99830891e-01 -1.64944041e-02 8.13165259e-03 3.45418335e+02] [ 1.64988869e-02 9.99863767e-01 -4.84503708e-04 -2.15749735e+01] [-8.12255319e-03 6.18584991e-04 9.99966820e-01 -4.69732798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.510371743 meters 0.03581664644608344 Centerline is valid? [True, True] Translation: X:345.45, Y:-21.57, Z:-4.70 [[ 9.99864614e-01 -1.44322555e-02 7.90341878e-03 3.45450450e+02] [ 1.44364294e-02 9.99895678e-01 -4.71325907e-04 -2.15684373e+01] [-7.89579199e-03 5.85359244e-04 9.99968656e-01 -4.69832228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.540371743 meters 0.03552491999255669 Centerline is valid? [True, True] Translation: X:345.48, Y:-21.57, Z:-4.70 [[ 9.99877618e-01 -1.33425938e-02 8.16851351e-03 3.45481888e+02] [ 1.33470211e-02 9.99910806e-01 -4.87723813e-04 -2.15651675e+01] [-8.16127742e-03 5.96689447e-04 9.99966518e-01 -4.69896433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.570371743 meters 0.0365645663625246 Centerline is valid? [True, True] Translation: X:345.51, Y:-21.56, Z:-4.70 [[ 9.99920532e-01 -1.01427133e-02 7.48701564e-03 3.45512451e+02] [ 1.01463471e-02 9.99948424e-01 -4.47511814e-04 -2.15588780e+01] [-7.48209051e-03 5.23442110e-04 9.99971872e-01 -4.70026541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.600371743 meters 0.03502512590242301 Centerline is valid? [True, True] Translation: X:345.54, Y:-21.55, Z:-4.70 [[ 9.99940655e-01 -8.29221799e-03 7.06579524e-03 3.45543847e+02] [ 8.29540655e-03 9.99965503e-01 -4.22077641e-04 -2.15534790e+01] [-7.06205153e-03 4.80666237e-04 9.99974948e-01 -4.70108722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.630371743 meters 0.03683212468857731 Centerline is valid? [True, True] Translation: X:345.57, Y:-21.55, Z:-4.70 [[ 9.99955761e-01 -6.33700344e-03 6.95117049e-03 3.45574145e+02] [ 6.34004498e-03 9.99979815e-01 -4.15610072e-04 -2.15527706e+01] [-6.94839646e-03 4.59662419e-04 9.99975754e-01 -4.70251415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.660371743 meters 0.03619372182664185 Centerline is valid? [True, True] Translation: X:345.61, Y:-21.54, Z:-4.70 [[ 9.99970769e-01 -2.57423254e-03 7.19966694e-03 3.45605777e+02] [ 2.57739948e-03 9.99996586e-01 -4.30629237e-04 -2.15438303e+01] [-7.19853382e-03 4.49173067e-04 9.99973989e-01 -4.70398686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.690371743 meters 0.03363116356864863 Centerline is valid? [True, True] Translation: X:345.64, Y:-21.53, Z:-4.71 [[ 9.99973870e-01 1.22096899e-03 7.12527172e-03 3.45637457e+02] [-1.21796252e-03 9.99999167e-01 -4.26269000e-04 -2.15312472e+01] [-7.12578625e-03 4.17579548e-04 9.99974524e-01 -4.70518344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.720371743 meters 0.032784978609855034 Centerline is valid? [True, True] Translation: X:345.67, Y:-21.53, Z:-4.71 [[ 9.99972455e-01 2.89933755e-03 6.83248834e-03 3.45668804e+02] [-2.89661227e-03 9.99995721e-01 -4.08731451e-04 -2.15268121e+01] [-6.83364416e-03 3.88929123e-04 9.99976575e-01 -4.70623804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.750371743 meters 0.03492291411297764 Centerline is valid? [True, True] Translation: X:345.70, Y:-21.53, Z:-4.71 [[ 9.99966852e-01 4.44997837e-03 6.81855001e-03 3.45699362e+02] [-4.44729748e-03 9.99990027e-01 -4.08288982e-04 -2.15271023e+01] [-6.82029889e-03 3.77951327e-04 9.99976670e-01 -4.70800110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.780371743 meters 0.0349952732383462 Centerline is valid? [True, True] Translation: X:345.73, Y:-21.52, Z:-4.71 [[ 9.99963762e-01 5.87950424e-03 6.15671705e-03 3.45730944e+02] [-5.87734584e-03 9.99982660e-01 -3.68610947e-04 -2.15240439e+01] [-6.15877755e-03 3.32412434e-04 9.99980979e-01 -4.70935498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.810371743 meters 0.03522250385107437 Centerline is valid? [True, True] Translation: X:345.76, Y:-21.52, Z:-4.71 [[ 9.99946927e-01 8.56704410e-03 5.72261398e-03 3.45762396e+02] [-8.56522226e-03 9.99963259e-01 -3.42790766e-04 -2.15177815e+01] [-5.72534043e-03 2.93757113e-04 9.99983567e-01 -4.71098057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.840371743 meters 0.034467560367657205 Centerline is valid? [True, True] Translation: X:345.79, Y:-21.51, Z:-4.71 [[ 9.99916664e-01 1.08989850e-02 6.91929131e-03 3.45793951e+02] [-1.08963740e-02 9.99940547e-01 -4.14935984e-04 -2.15090590e+01] [-6.92340231e-03 3.39506219e-04 9.99975975e-01 -4.71191692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.870371743 meters 0.03502755962142766 Centerline is valid? [True, True] Translation: X:345.82, Y:-21.51, Z:-4.71 [[ 9.99903275e-01 1.19767366e-02 7.07093122e-03 3.45824133e+02] [-1.19740357e-02 9.99928219e-01 -4.24193572e-04 -2.15075708e+01] [-7.07550411e-03 3.39484960e-04 9.99974911e-01 -4.71296125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.900371743 meters 0.03509943088062022 Centerline is valid? [True, True] Translation: X:345.85, Y:-21.51, Z:-4.71 [[ 9.99893620e-01 1.26978228e-02 7.17739168e-03 3.45854925e+02] [-1.26950566e-02 9.99919322e-01 -4.30834197e-04 -2.15060000e+01] [-7.18228328e-03 3.39670972e-04 9.99974149e-01 -4.71419013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.930371743 meters 0.035263839450579613 Centerline is valid? [True, True] Translation: X:345.88, Y:-21.50, Z:-4.72 [[ 9.99883775e-01 1.33669816e-02 7.33209100e-03 3.45884979e+02] [-1.33641128e-02 9.99910599e-01 -4.40120266e-04 -2.15048901e+01] [-7.33731858e-03 3.42082222e-04 9.99973023e-01 -4.71577677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.960371743 meters 0.03396036672003986 Centerline is valid? [True, True] Translation: X:345.92, Y:-21.50, Z:-4.72 [[ 9.99878338e-01 1.41416824e-02 6.58197095e-03 3.45915600e+02] [-1.41393874e-02 9.99899956e-01 -3.95093133e-04 -2.14964351e+01] [-6.58689974e-03 3.01980029e-04 9.99978261e-01 -4.71787055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.990371743 meters 0.035032353125188785 Centerline is valid? [True, True] Translation: X:345.94, Y:-21.49, Z:-4.72 [[ 9.99872388e-01 1.46455793e-02 6.38075192e-03 3.45944895e+02] [-1.46434309e-02 9.99892706e-01 -3.83291249e-04 -2.14940848e+01] [-6.38568082e-03 2.89806237e-04 9.99979569e-01 -4.72016983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.020371743 meters 0.03660903415870094 Centerline is valid? [True, True] Translation: X:345.97, Y:-21.50, Z:-4.72 [[ 9.99861588e-01 1.54231384e-02 6.23956678e-03 3.45974362e+02] [-1.54211013e-02 9.99881018e-01 -3.74450414e-04 -2.14961523e+01] [-6.24459959e-03 2.78177594e-04 9.99980464e-01 -4.72128718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.050371743 meters 0.03463104516782427 Centerline is valid? [True, True] Translation: X:346.00, Y:-21.49, Z:-4.72 [[ 9.99854461e-01 1.56719300e-02 6.74150248e-03 3.46004308e+02] [-1.56695578e-02 9.99877143e-01 -4.04567010e-04 -2.14907494e+01] [-6.74701458e-03 2.98871767e-04 9.99977194e-01 -4.72125125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.080371743 meters 0.03463104516782427 Centerline is valid? [True, True] Translation: X:346.03, Y:-21.49, Z:-4.72 [[ 9.99855019e-01 1.56362551e-02 6.74151687e-03 3.46033443e+02] [-1.56338837e-02 9.99877702e-01 -4.04326948e-04 -2.14924651e+01] [-6.74701455e-03 2.98872238e-04 9.99977194e-01 -4.72166124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11037174300003 meters 0.03350348961966599 Centerline is valid? [True, True] Translation: X:346.06, Y:-21.49, Z:-4.72 [[ 9.99849417e-01 1.55642622e-02 7.67449083e-03 3.46063768e+02] [-1.55611894e-02 9.99878812e-01 -4.59946197e-04 -2.14864245e+01] [-7.68071949e-03 3.40452732e-04 9.99970445e-01 -4.72172624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.140371743 meters 0.03481235464714387 Centerline is valid? [True, True] Translation: X:346.09, Y:-21.49, Z:-4.72 [[ 9.99847240e-01 1.56234780e-02 7.83601313e-03 3.46093607e+02] [-1.56202795e-02 9.99877886e-01 -4.69209764e-04 -2.14889441e+01] [-7.84238694e-03 3.46737372e-04 9.99969188e-01 -4.72295639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.170371743 meters 0.03436108506314398 Centerline is valid? [True, True] Translation: X:346.12, Y:-21.49, Z:-4.72 [[ 9.99856228e-01 1.52962180e-02 7.31777069e-03 3.46123011e+02] [-1.52934199e-02 9.99882953e-01 -4.38179827e-04 -2.14863595e+01] [-7.32361666e-03 3.26203089e-04 9.99973129e-01 -4.72384480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.200371743 meters 0.03421643235357347 Centerline is valid? [True, True] Translation: X:346.15, Y:-21.49, Z:-4.72 [[ 9.99873185e-01 1.45772713e-02 6.41226287e-03 3.46152477e+02] [-1.45751092e-02 9.99893704e-01 -3.83793521e-04 -2.14858560e+01] [-6.41717593e-03 2.90285419e-04 9.99979368e-01 -4.72471509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.230371743 meters 0.03444709648465121 Centerline is valid? [True, True] Translation: X:346.18, Y:-21.49, Z:-4.73 [[ 9.99881339e-01 1.40696786e-02 6.27317772e-03 3.46181787e+02] [-1.40676006e-02 9.99900976e-01 -3.75249758e-04 -2.14865746e+01] [-6.27783617e-03 2.86956671e-04 9.99980253e-01 -4.72607525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.260371743 meters 0.03609293692962628 Centerline is valid? [True, True] Translation: X:346.21, Y:-21.49, Z:-4.73 [[ 9.99896480e-01 1.33785777e-02 5.29550251e-03 3.46210794e+02] [-1.33770888e-02 9.99910473e-01 -3.16494573e-04 -2.14899194e+01] [-5.29926267e-03 2.45623402e-04 9.99985929e-01 -4.72811500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.290371743 meters 0.03508099062842188 Centerline is valid? [True, True] Translation: X:346.24, Y:-21.49, Z:-4.73 [[ 9.99909835e-01 1.25658245e-02 4.73524861e-03 3.46240119e+02] [-1.25646236e-02 9.99921022e-01 -2.83285813e-04 -2.14869510e+01] [-4.73843435e-03 2.23763654e-04 9.99988749e-01 -4.72867529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.320371743 meters 0.03559024071980985 Centerline is valid? [True, True] Translation: X:346.27, Y:-21.49, Z:-4.73 [[ 9.99912298e-01 1.24728922e-02 4.45244332e-03 3.46268332e+02] [-1.24718304e-02 9.99922188e-01 -2.66167349e-04 -2.14893028e+01] [-4.45541674e-03 2.10613887e-04 9.99990052e-01 -4.72965796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.350371743 meters 0.0347823984717827 Centerline is valid? [True, True] Translation: X:346.30, Y:-21.49, Z:-4.73 [[ 9.99909234e-01 1.25909655e-02 4.79483103e-03 3.46298111e+02] [-1.25897378e-02 9.99920705e-01 -2.86155858e-04 -2.14888156e+01] [-4.79805380e-03 2.25764220e-04 9.99988464e-01 -4.72958851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380371743 meters 0.03380688707610321 Centerline is valid? [True, True] Translation: X:346.33, Y:-21.49, Z:-4.73 [[ 9.99884778e-01 1.42611406e-02 5.20110032e-03 3.46328041e+02] [-1.42597197e-02 9.99898277e-01 -3.10176174e-04 -2.14875853e+01] [-5.20499472e-03 2.35974202e-04 9.99986426e-01 -4.72931996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.410371743 meters 0.03262912673669608 Centerline is valid? [True, True] Translation: X:346.36, Y:-21.49, Z:-4.73 [[ 9.99876341e-01 1.48723020e-02 5.11042712e-03 3.46357494e+02] [-1.48709390e-02 9.99889375e-01 -3.04601475e-04 -2.14861741e+01] [-5.11439191e-03 2.28566958e-04 9.99986895e-01 -4.72860071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440371743 meters 0.03255676050805305 Centerline is valid? [True, True] Translation: X:346.39, Y:-21.49, Z:-4.73 [[ 9.99829952e-01 1.77214999e-02 5.10059854e-03 3.46385968e+02] [-1.77201793e-02 9.99842939e-01 -3.03988786e-04 -2.14855660e+01] [-5.10518457e-03 2.13553573e-04 9.99986946e-01 -4.72938283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.470371743 meters 0.03241691613133156 Centerline is valid? [True, True] Translation: X:346.41, Y:-21.49, Z:-4.73 [[ 9.99788400e-01 1.99103705e-02 5.17041747e-03 3.46414896e+02] [-1.99090443e-02 9.99801748e-01 -3.07848580e-04 -2.14862324e+01] [-5.17552180e-03 2.04845369e-04 9.99986586e-01 -4.72998417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500371743 meters 0.03174495624441597 Centerline is valid? [True, True] Translation: X:346.44, Y:-21.49, Z:-4.73 [[ 9.99749988e-01 2.19401521e-02 4.31177398e-03 3.46444095e+02] [-2.19392483e-02 9.99759273e-01 -2.56794229e-04 -2.14855884e+01] [-4.31637012e-03 1.62132948e-04 9.99990671e-01 -4.73032493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.530371743 meters 0.03142055275653053 Centerline is valid? [True, True] Translation: X:346.47, Y:-21.49, Z:-4.73 [[ 9.99613617e-01 2.74726280e-02 4.22749591e-03 3.46472864e+02] [-2.74718106e-02 9.99622547e-01 -2.51304966e-04 -2.14851830e+01] [-4.23280423e-03 1.35070899e-04 9.99991033e-01 -4.73147187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560371743 meters 0.030878114801713985 Centerline is valid? [True, True] Translation: X:346.50, Y:-21.49, Z:-4.73 [[ 9.99522363e-01 3.05907878e-02 4.38734334e-03 3.46500794e+02] [-3.05899372e-02 9.99531984e-01 -2.60868276e-04 -2.14854636e+01] [-4.39327016e-03 1.26535119e-04 9.99990342e-01 -4.73152745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.590371743 meters 0.029848756754973792 Centerline is valid? [True, True] Translation: X:346.53, Y:-21.48, Z:-4.73 [[ 9.99347171e-01 3.58390365e-02 4.56028080e-03 3.46530634e+02] [-3.58381764e-02 9.99357570e-01 -2.70202310e-04 -2.14837996e+01] [-4.56703493e-03 1.06593767e-04 9.99989565e-01 -4.73115561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620371743 meters 0.02889653027210031 Centerline is valid? [True, True] Translation: X:346.56, Y:-21.48, Z:-4.73 [[ 9.99269612e-01 3.79483163e-02 4.49078599e-03 3.46559792e+02] [-3.79475026e-02 9.99279699e-01 -2.66295248e-04 -2.14829279e+01] [-4.49765673e-03 9.56866366e-05 9.99989881e-01 -4.73004041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.650371743 meters 0.029228229273744022 Centerline is valid? [True, True] Translation: X:346.59, Y:-21.49, Z:-4.73 [[ 9.99215795e-01 3.93199979e-02 4.66191611e-03 3.46587843e+02] [-3.93191369e-02 9.99226666e-01 -2.76226925e-04 -2.14853980e+01] [-4.66917213e-03 9.27077892e-05 9.99989095e-01 -4.73072653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680371743 meters 0.028913989954022275 Centerline is valid? [True, True] Translation: X:346.62, Y:-21.49, Z:-4.73 [[ 9.99127710e-01 4.13996799e-02 5.46679028e-03 3.46617056e+02] [-4.13985328e-02 9.99142661e-01 -3.22880407e-04 -2.14876192e+01] [-5.47547053e-03 9.62816653e-05 9.99985005e-01 -4.73062455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.710371743 meters 0.028656120620059945 Centerline is valid? [True, True] Translation: X:346.65, Y:-21.49, Z:-4.73 [[ 9.99084923e-01 4.24142549e-02 5.50892351e-03 3.46646275e+02] [-4.24131060e-02 9.99100106e-01 -3.25248498e-04 -2.14887373e+01] [-5.51776124e-03 9.13003130e-05 9.99984773e-01 -4.72979722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740371743 meters 0.028141515662877346 Centerline is valid? [True, True] Translation: X:346.68, Y:-21.49, Z:-4.73 [[ 9.99036309e-01 4.35468501e-02 5.48862177e-03 3.46675066e+02] [-4.35457290e-02 9.99051382e-01 -3.23649605e-04 -2.14928761e+01] [-5.49750909e-03 8.43316708e-05 9.99984885e-01 -4.73023944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.770371743 meters 0.028262403229089753 Centerline is valid? [True, True] Translation: X:346.70, Y:-21.50, Z:-4.73 [[ 9.99002310e-01 4.43170500e-02 5.51207913e-03 3.46703928e+02] [-4.43159333e-02 9.99017514e-01 -3.24621936e-04 -2.14956817e+01] [-5.52104987e-03 8.00251337e-05 9.99984756e-01 -4.73032383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800371743 meters 0.028536686222453082 Centerline is valid? [True, True] Translation: X:346.73, Y:-21.50, Z:-4.73 [[ 9.98983849e-01 4.47148179e-02 5.64395656e-03 3.46732409e+02] [-4.47136559e-02 9.98999789e-01 -3.31959395e-04 -2.14981916e+01] [-5.65315491e-03 7.92601426e-05 9.99984018e-01 -4.73033173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.830371743 meters 0.028332353551977822 Centerline is valid? [True, True] Translation: X:346.76, Y:-21.50, Z:-4.73 [[ 9.98940728e-01 4.56347914e-02 5.90658836e-03 3.46760591e+02] [-4.56335377e-02 9.98958187e-01 -3.46919342e-04 -2.15031194e+01] [-5.91626639e-03 7.70133376e-05 9.99982496e-01 -4.72972314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86037174300003 meters 0.02840337331407603 Centerline is valid? [True, True] Translation: X:346.79, Y:-21.51, Z:-4.73 [[ 9.98943484e-01 4.55670968e-02 5.96291113e-03 3.46787737e+02] [-4.55658197e-02 9.98961277e-01 -3.49921789e-04 -2.15071379e+01] [-5.97266224e-03 7.78471574e-05 9.99982160e-01 -4.73058182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.890371743 meters 0.028546426416555283 Centerline is valid? [True, True] Translation: X:346.82, Y:-21.51, Z:-4.73 [[ 9.98944338e-01 4.55853562e-02 5.67313968e-03 3.46815832e+02] [-4.55842022e-02 9.98960445e-01 -3.32610251e-04 -2.15132502e+01] [-5.68240429e-03 7.36535801e-05 9.99983852e-01 -4.73025127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.920371743 meters 0.028371897741140618 Centerline is valid? [True, True] Translation: X:346.84, Y:-21.52, Z:-4.73 [[ 9.98924956e-01 4.60075511e-02 5.67775844e-03 3.46843900e+02] [-4.60064058e-02 9.98941089e-01 -3.32224651e-04 -2.15174802e+01] [-5.68703105e-03 7.06542363e-05 9.99983826e-01 -4.73056803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.950371743 meters 0.02815754282007618 Centerline is valid? [True, True] Translation: X:346.87, Y:-21.52, Z:-4.73 [[ 9.98922559e-01 4.61084600e-02 5.26608453e-03 3.46871429e+02] [-4.61074783e-02 9.98936437e-01 -3.07744022e-04 -2.15228354e+01] [-5.27467333e-03 6.46065679e-05 9.99986087e-01 -4.73037409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.980371743 meters 0.028495647140624764 Centerline is valid? [True, True] Translation: X:346.90, Y:-21.53, Z:-4.73 [[ 9.98885626e-01 4.68564366e-02 5.65513580e-03 3.46898620e+02] [-4.68553209e-02 9.98901632e-01 -3.29696756e-04 -2.15273375e+01] [-5.66437279e-03 6.43561478e-05 9.99983955e-01 -4.73077409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.010371743 meters 0.028029150854717716 Centerline is valid? [True, True] Translation: X:346.93, Y:-21.53, Z:-4.73 [[ 9.98857398e-01 4.74595396e-02 5.61164182e-03 3.46926973e+02] [-4.74584553e-02 9.98873159e-01 -3.26315565e-04 -2.15307780e+01] [-5.62080518e-03 5.96228643e-05 9.99984201e-01 -4.72975213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.040371743 meters 0.027680244634698113 Centerline is valid? [True, True] Translation: X:346.95, Y:-21.54, Z:-4.73 [[ 9.98792738e-01 4.88327111e-02 5.33226616e-03 3.46954588e+02] [-4.88317519e-02 9.98806970e-01 -3.10005104e-04 -2.15380352e+01] [-5.34104300e-03 4.92469486e-05 9.99985735e-01 -4.72942349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.070371743 meters 0.02714874742827043 Centerline is valid? [True, True] Translation: X:346.98, Y:-21.54, Z:-4.73 [[ 9.98738623e-01 4.99173101e-02 5.42451681e-03 3.46983301e+02] [-4.99163381e-02 9.98753353e-01 -3.14499421e-04 -2.15431329e+01] [-5.43345331e-03 4.33307032e-05 9.99985238e-01 -4.72918699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.100371743 meters 0.027121536296325802 Centerline is valid? [True, True] Translation: X:347.01, Y:-21.55, Z:-4.73 [[ 9.98660564e-01 5.13770454e-02 6.12187858e-03 3.47011446e+02] [-5.13758382e-02 9.98679327e-01 -3.54384865e-04 -2.15506447e+01] [-6.13200083e-03 3.93935455e-05 9.99981198e-01 -4.72796414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.130371743 meters 0.02651303440161265 Centerline is valid? [True, True] Translation: X:347.04, Y:-21.56, Z:-4.73 [[ 9.98606133e-01 5.23448210e-02 6.76838121e-03 3.47038839e+02] [-5.23433709e-02 9.98629069e-01 -3.91329525e-04 -2.15551284e+01] [-6.77958630e-03 3.65041757e-05 9.99977018e-01 -4.72764897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.160371743 meters 0.026242482862092246 Centerline is valid? [True, True] Translation: X:347.07, Y:-21.56, Z:-4.73 [[ 9.98538517e-01 5.34575573e-02 7.94476084e-03 3.47066213e+02] [-5.34556023e-02 9.98570122e-01 -4.58380810e-04 -2.15627193e+01] [-7.95790472e-03 3.30189184e-05 9.99968335e-01 -4.72590964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.190371743 meters 0.02565507180760736 Centerline is valid? [True, True] Translation: X:347.09, Y:-21.57, Z:-4.73 [[ 9.98516274e-01 5.37792944e-02 8.54622686e-03 3.47094526e+02] [-5.37770521e-02 9.98552846e-01 -4.92125405e-04 -2.15675816e+01] [-8.56032531e-03 3.18043387e-05 9.99963359e-01 -4.72553716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.220371743 meters 0.025296662616036737 Centerline is valid? [True, True] Translation: X:347.12, Y:-21.57, Z:-4.73 [[ 9.98524490e-01 5.36711827e-02 8.26112942e-03 3.47123415e+02] [-5.36690884e-02 9.98558663e-01 -4.75158392e-04 -2.15724530e+01] [-8.27472466e-03 3.10900061e-05 9.99965763e-01 -4.72556244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.250371743 meters 0.025059693037353333 Centerline is valid? [True, True] Translation: X:347.15, Y:-21.58, Z:-4.73 [[ 9.98591702e-01 5.24569728e-02 7.92955361e-03 3.47151684e+02] [-5.24550090e-02 9.98623184e-01 -4.55571893e-04 -2.15814745e+01] [-7.94253400e-03 3.89855063e-05 9.99968457e-01 -4.72530093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.280371743 meters 0.024850902779067485 Centerline is valid? [True, True] Translation: X:347.18, Y:-21.59, Z:-4.73 [[ 9.98657816e-01 5.12462500e-02 7.50924706e-03 3.47180565e+02] [-5.12444580e-02 9.98686047e-01 -4.30975424e-04 -2.15863443e+01] [-7.52146614e-03 4.55896799e-05 9.99971712e-01 -4.72501776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.310371743 meters 0.02425122823408269 Centerline is valid? [True, True] Translation: X:347.21, Y:-21.60, Z:-4.73 [[ 9.98801808e-01 4.82917120e-02 7.92839014e-03 3.47209308e+02] [-4.82896264e-02 9.98833272e-01 -4.54395493e-04 -2.15958888e+01] [-7.94108340e-03 7.09920421e-05 9.99968467e-01 -4.72514412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.340371743 meters 0.024438754197263067 Centerline is valid? [True, True] Translation: X:347.24, Y:-21.60, Z:-4.73 [[ 9.98921203e-01 4.58390221e-02 7.43057745e-03 3.47236413e+02] [-4.58371243e-02 9.98948836e-01 -4.25589008e-04 -2.16013527e+01] [-7.44227528e-03 8.45335813e-05 9.99972302e-01 -4.72526942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.370371743 meters 0.02401813826502405 Centerline is valid? [True, True] Translation: X:347.27, Y:-21.61, Z:-4.73 [[ 9.99163858e-01 4.03447289e-02 6.62484877e-03 3.47265074e+02] [-4.03431056e-02 9.99185814e-01 -3.78536323e-04 -2.16109835e+01] [-6.63472685e-03 1.10952839e-04 9.99977984e-01 -4.72505290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.400371743 meters 0.024032563813271873 Centerline is valid? [True, True] Translation: X:347.29, Y:-21.62, Z:-4.72 [[ 9.99295749e-01 3.69014174e-02 6.80377383e-03 3.47293951e+02] [-3.68996280e-02 9.99318901e-01 -3.88396575e-04 -2.16164956e+01] [-6.81347218e-03 1.37066323e-04 9.99976779e-01 -4.72488864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.430371743 meters 0.02453787024292406 Centerline is valid? [True, True] Translation: X:347.32, Y:-21.63, Z:-4.72 [[ 9.99531487e-01 2.97505757e-02 7.19096379e-03 3.47323523e+02] [-2.97483962e-02 9.99557334e-01 -4.09887347e-04 -2.16278857e+01] [-7.19997499e-03 1.95775670e-04 9.99974061e-01 -4.72450263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.460371743 meters 0.024884286660630285 Centerline is valid? [True, True] Translation: X:347.35, Y:-21.63, Z:-4.72 [[ 9.99627012e-01 2.62750997e-02 7.44684276e-03 3.47353094e+02] [-2.62726661e-02 9.99654724e-01 -4.24447482e-04 -2.16341803e+01] [-7.45542395e-03 2.28640755e-04 9.99972182e-01 -4.72425620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.490371743 meters 0.02499779644631858 Centerline is valid? [True, True] Translation: X:347.38, Y:-21.64, Z:-4.72 [[ 9.99714709e-01 2.26765021e-02 7.50185185e-03 3.47383235e+02] [-2.26739350e-02 9.99742822e-01 -4.27072659e-04 -2.16390772e+01] [-7.50960706e-03 2.56854317e-04 9.99971770e-01 -4.72410311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.520371743 meters 0.02699724429143921 Centerline is valid? [True, True] Translation: X:347.41, Y:-21.65, Z:-4.72 [[ 9.99837139e-01 1.65047329e-02 7.30001207e-03 3.47412489e+02] [-1.65021406e-02 9.99863744e-01 -4.15203848e-04 -2.16486962e+01] [-7.30587023e-03 2.94670402e-04 9.99973268e-01 -4.72391568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.550371743 meters 0.027573133279108243 Centerline is valid? [True, True] Translation: X:347.44, Y:-21.65, Z:-4.72 [[ 9.99871697e-01 1.40560717e-02 7.68219302e-03 3.47443110e+02] [-1.40531253e-02 9.99901154e-01 -4.37393778e-04 -2.16536443e+01] [-7.68758170e-03 3.29378838e-04 9.99970396e-01 -4.72446964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.580371743 meters 0.0437521525065597 Centerline is valid? [True, True] Translation: X:347.47, Y:-21.68, Z:-4.73 [[ 9.99853262e-01 1.37286362e-02 1.02459677e-02 3.47472646e+02] [-1.37233752e-02 9.99905660e-01 -5.83606168e-04 -2.16840228e+01] [-1.02530132e-02 4.42911272e-04 9.99947338e-01 -4.72579042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61037174300003 meters 0.02850325825119715 Centerline is valid? [True, True] Translation: X:347.50, Y:-21.66, Z:-4.72 [[ 9.99919234e-01 9.68190665e-03 8.23324365e-03 3.47504979e+02] [-9.67835209e-03 9.99953053e-01 -4.71465942e-04 -2.16632252e+01] [-8.23742181e-03 3.91743633e-04 9.99965995e-01 -4.72374451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.640371743 meters 0.030408114302528266 Centerline is valid? [True, True] Translation: X:347.54, Y:-21.66, Z:-4.72 [[ 9.99920185e-01 1.03579727e-02 7.23435628e-03 3.47536311e+02] [-1.03552462e-02 9.99946297e-01 -4.14239019e-04 -2.16646678e+01] [-7.23825845e-03 3.39292416e-04 9.99973746e-01 -4.72372824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.670371743 meters 0.02764994881176302 Centerline is valid? [True, True] Translation: X:347.57, Y:-21.67, Z:-4.72 [[ 9.99920297e-01 9.80795946e-03 7.95005719e-03 3.47567486e+02] [-9.80464672e-03 9.99951830e-01 -4.55562114e-04 -2.16655359e+01] [-7.95414237e-03 3.77578302e-04 9.99968294e-01 -4.72438300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.700371743 meters 0.02819053354690228 Centerline is valid? [True, True] Translation: X:347.60, Y:-21.67, Z:-4.73 [[ 9.99907015e-01 1.14050308e-02 7.47574489e-03 3.47598302e+02] [-1.14021541e-02 9.99934902e-01 -4.27314263e-04 -2.16670520e+01] [-7.48013177e-03 3.42034933e-04 9.99971965e-01 -4.72530454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.730371743 meters 0.02824515094402502 Centerline is valid? [True, True] Translation: X:347.63, Y:-21.67, Z:-4.73 [[ 9.99893024e-01 1.25767746e-02 7.46755269e-03 3.47628913e+02] [-1.25739168e-02 9.99920853e-01 -4.29519530e-04 -2.16688315e+01] [-7.47236362e-03 3.35577195e-04 9.99972025e-01 -4.72581926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.760371743 meters 0.02832233347030667 Centerline is valid? [True, True] Translation: X:347.66, Y:-21.67, Z:-4.73 [[ 9.99879388e-01 1.35360575e-02 7.61479244e-03 3.47659846e+02] [-1.35331037e-02 9.99908327e-01 -4.39292042e-04 -2.16699081e+01] [-7.62004065e-03 3.36187282e-04 9.99970911e-01 -4.72673422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.790371743 meters 0.02781814724724232 Centerline is valid? [True, True] Translation: X:347.69, Y:-21.67, Z:-4.73 [[ 9.99861285e-01 1.47426198e-02 7.75017842e-03 3.47690893e+02] [-1.47395947e-02 9.99891266e-01 -4.47306775e-04 -2.16709086e+01] [-7.75593019e-03 3.33010239e-04 9.99969867e-01 -4.72744662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.820371743 meters 0.028075093071020678 Centerline is valid? [True, True] Translation: X:347.72, Y:-21.67, Z:-4.73 [[ 9.99821329e-01 1.74595308e-02 7.24390462e-03 3.47721358e+02] [-1.74569636e-02 9.99847528e-01 -4.17474187e-04 -2.16705021e+01] [-7.25008904e-03 2.90943017e-04 9.99973675e-01 -4.72952951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.850371743 meters 0.02590867700514421 Centerline is valid? [True, True] Translation: X:347.75, Y:-21.67, Z:-4.73 [[ 9.99790058e-01 1.96207130e-02 5.90483347e-03 3.47752224e+02] [-1.96190377e-02 9.99807470e-01 -3.41507856e-04 -2.16657215e+01] [-5.91039724e-03 2.25589008e-04 9.99982508e-01 -4.73100972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880371743 meters 0.02781873201703158 Centerline is valid? [True, True] Translation: X:347.78, Y:-21.67, Z:-4.73 [[ 9.99773846e-01 2.06313676e-02 5.15780643e-03 3.47781281e+02] [-2.06301020e-02 9.99787132e-01 -2.98463922e-04 -2.16698562e+01] [-5.16286622e-03 1.91990351e-04 9.99986654e-01 -4.73324419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.910371743 meters 0.025803741441599005 Centerline is valid? [True, True] Translation: X:347.81, Y:-21.67, Z:-4.73 [[ 9.99758484e-01 2.15390407e-02 4.36393981e-03 3.47810959e+02] [-2.15381428e-02 9.99767995e-01 -2.52660657e-04 -2.16661392e+01] [-4.36836942e-03 1.58608477e-04 9.99990446e-01 -4.73320604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940371743 meters 0.026188222256394764 Centerline is valid? [True, True] Translation: X:347.84, Y:-21.66, Z:-4.73 [[ 9.99721184e-01 2.32900872e-02 3.88924593e-03 3.47839742e+02] [-2.32893868e-02 9.99728740e-01 -2.25270021e-04 -2.16643530e+01] [-3.89343749e-03 1.34629059e-04 9.99992411e-01 -4.73423508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.970371743 meters 0.026188222256394764 Centerline is valid? [True, True] Translation: X:347.87, Y:-21.67, Z:-4.73 [[ 9.99722846e-01 2.32186209e-02 3.88924760e-03 3.47868035e+02] [-2.32179201e-02 9.99730402e-01 -2.25241481e-04 -2.16659261e+01] [-3.89342887e-03 1.34878815e-04 9.99992411e-01 -4.73463316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000371743 meters 0.025146056813160483 Centerline is valid? [True, True] Translation: X:347.90, Y:-21.66, Z:-4.73 [[ 9.99704265e-01 2.40263492e-02 3.75718595e-03 3.47896821e+02] [-2.40257017e-02 9.99711318e-01 -2.17376146e-04 -2.16644681e+01] [-3.76132407e-03 1.27042831e-04 9.99992918e-01 -4.73446813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.030371743 meters 0.025603430751473286 Centerline is valid? [True, True] Translation: X:347.93, Y:-21.66, Z:-4.73 [[ 9.99696178e-01 2.41547213e-02 4.90930092e-03 3.47925902e+02] [-2.41536208e-02 9.99708219e-01 -2.83351277e-04 -2.16637073e+01] [-4.91471275e-03 1.64687796e-04 9.99987909e-01 -4.73499190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060371743 meters 0.02524601996427108 Centerline is valid? [True, True] Translation: X:347.95, Y:-21.66, Z:-4.73 [[ 9.99703380e-01 2.37588535e-02 5.35434844e-03 3.47954715e+02] [-2.37575413e-02 9.99717702e-01 -3.08563095e-04 -2.16634998e+01] [-5.36016802e-03 1.81265415e-04 9.99985618e-01 -4.73491366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.090371743 meters 0.026317634621603223 Centerline is valid? [True, True] Translation: X:347.98, Y:-21.67, Z:-4.74 [[ 9.99720332e-01 2.28654570e-02 6.03564611e-03 3.47983540e+02] [-2.28637776e-02 9.99738529e-01 -3.47096253e-04 -2.16651889e+01] [-6.04200448e-03 2.09001511e-04 9.99981725e-01 -4.73561331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120371743 meters 0.027045798116713825 Centerline is valid? [True, True] Translation: X:348.01, Y:-21.66, Z:-4.74 [[ 9.99775493e-01 2.01409815e-02 6.58057001e-03 3.48013613e+02] [-2.01389310e-02 9.99797120e-01 -3.77728474e-04 -2.16644251e+01] [-6.58684276e-03 2.45118026e-04 9.99978276e-01 -4.73583155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.150371743 meters 0.028071447827255253 Centerline is valid? [True, True] Translation: X:348.04, Y:-21.66, Z:-4.74 [[ 9.99831587e-01 1.73751420e-02 5.90787656e-03 3.48043664e+02] [-1.73734415e-02 9.99849013e-01 -3.39034149e-04 -2.16636596e+01] [-5.91287531e-03 2.36336903e-04 9.99982491e-01 -4.73725645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180371743 meters 0.028486131677852296 Centerline is valid? [True, True] Translation: X:348.07, Y:-21.66, Z:-4.74 [[ 9.99861519e-01 1.57674935e-02 5.32247355e-03 3.48074187e+02] [-1.57660918e-02 9.99875661e-01 -3.05209252e-04 -2.16640348e+01] [-5.32662415e-03 2.21252380e-04 9.99985789e-01 -4.73878864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.210371743 meters 0.02904969276025794 Centerline is valid? [True, True] Translation: X:348.10, Y:-21.67, Z:-4.74 [[ 9.99885616e-01 1.43761907e-02 4.69899923e-03 3.48104857e+02] [-1.43750828e-02 9.99896637e-01 -2.69457054e-04 -2.16650245e+01] [-4.70238729e-03 2.01877729e-04 9.99988923e-01 -4.73977793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240371743 meters 0.031246822297327708 Centerline is valid? [True, True] Translation: X:348.13, Y:-21.67, Z:-4.74 [[ 9.99935395e-01 1.06335618e-02 4.01662095e-03 3.48134481e+02] [-1.06327214e-02 9.99943444e-01 -2.30508801e-04 -2.16656486e+01] [-4.01884492e-03 1.87786297e-04 9.99991907e-01 -4.74135487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.270371743 meters 0.031762336494875414 Centerline is valid? [True, True] Translation: X:348.16, Y:-21.67, Z:-4.74 [[ 9.99950503e-01 9.04380582e-03 4.14746612e-03 3.48164524e+02] [-9.04289657e-03 9.99959084e-01 -2.37932319e-04 -2.16660539e+01] [-4.14944823e-03 2.00415435e-04 9.99991371e-01 -4.74202317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300371743 meters 0.032059356518591015 Centerline is valid? [True, True] Translation: X:348.20, Y:-21.66, Z:-4.74 [[ 9.99972598e-01 5.95418465e-03 4.39894129e-03 3.48195547e+02] [-5.95313314e-03 9.99982248e-01 -2.52091713e-04 -2.16618397e+01] [-4.40036420e-03 2.25897322e-04 9.99990293e-01 -4.74201831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.330371743 meters 0.032129959588112836 Centerline is valid? [True, True] Translation: X:348.23, Y:-21.66, Z:-4.74 [[ 9.99977819e-01 4.53026527e-03 4.88234719e-03 3.48225920e+02] [-4.52895303e-03 9.99989705e-01 -2.79794429e-04 -2.16606668e+01] [-4.88356447e-03 2.57676302e-04 9.99988042e-01 -4.74229131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36037174300003 meters 0.03283311127626798 Centerline is valid? [True, True] Translation: X:348.26, Y:-21.66, Z:-4.74 [[ 9.99985061e-01 1.60073988e-03 5.22645379e-03 3.48257644e+02] [-1.59919799e-03 9.99998677e-01 -2.99182751e-04 -2.16564294e+01] [-5.22692579e-03 2.90820148e-04 9.99986297e-01 -4.74322397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.390371743 meters 0.03464576910906303 Centerline is valid? [True, True] Translation: X:348.29, Y:-21.66, Z:-4.74 [[ 9.99981612e-01 8.47219173e-04 6.00486955e-03 3.48288412e+02] [-8.45173336e-04 9.99999584e-01 -3.43225656e-04 -2.16580402e+01] [-6.00515784e-03 3.38144189e-04 9.99981912e-01 -4.74451747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.420371743 meters 0.034192297259468284 Centerline is valid? [True, True] Translation: X:348.32, Y:-21.66, Z:-4.75 [[ 9.99982870e-01 -3.71055582e-04 5.84133699e-03 3.48320294e+02] [ 3.73021599e-04 9.99999874e-01 -3.35483744e-04 -2.16555102e+01] [-5.84121178e-03 3.37656943e-04 9.99982883e-01 -4.74507260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.450371743 meters 0.0353879555558926 Centerline is valid? [True, True] Translation: X:348.35, Y:-21.65, Z:-4.75 [[ 9.99983220e-01 -2.39545018e-03 5.27456252e-03 3.48351327e+02] [ 2.39708109e-03 9.99997081e-01 -3.02903655e-04 -2.16517030e+01] [-5.27382153e-03 3.15542127e-04 9.99986044e-01 -4.74690090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.480371743 meters 0.03709809644010748 Centerline is valid? [True, True] Translation: X:348.38, Y:-21.65, Z:-4.75 [[ 9.99980613e-01 -3.98617636e-03 4.78377354e-03 3.48382135e+02] [ 3.98753787e-03 9.99992012e-01 -2.75106291e-04 -2.16477838e+01] [-4.78263871e-03 2.94176436e-04 9.99988520e-01 -4.74861557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.510371743 meters 0.03768796118392428 Centerline is valid? [True, True] Translation: X:348.41, Y:-21.65, Z:-4.75 [[ 9.99976291e-01 -4.87346461e-03 4.86480942e-03 3.48414168e+02] [ 4.87488240e-03 9.99988079e-01 -2.79622847e-04 -2.16464751e+01] [-4.86338869e-03 3.03331592e-04 9.99988128e-01 -4.74986670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.540371743 meters 0.03722966935603223 Centerline is valid? [True, True] Translation: X:348.45, Y:-21.64, Z:-4.75 [[ 9.99972602e-01 -5.59854638e-03 4.84262844e-03 3.48446499e+02] [ 5.59996142e-03 9.99984281e-01 -2.78693404e-04 -2.16432829e+01] [-4.84099205e-03 3.05804301e-04 9.99988236e-01 -4.75037852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.570371743 meters 0.03975929677567914 Centerline is valid? [True, True] Translation: X:348.48, Y:-21.64, Z:-4.75 [[ 9.99967916e-01 -6.48436662e-03 4.70322698e-03 3.48477767e+02] [ 6.48571347e-03 9.99978931e-01 -2.71171170e-04 -2.16404639e+01] [-4.70136952e-03 3.01666252e-04 9.99988903e-01 -4.75221404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.600371743 meters 0.03854949125078099 Centerline is valid? [True, True] Translation: X:348.51, Y:-21.64, Z:-4.75 [[ 9.99966088e-01 -6.58664259e-03 4.94368009e-03 3.48510763e+02] [ 6.58813266e-03 9.99978257e-01 -2.85183871e-04 -2.16354842e+01] [-4.94169420e-03 3.17743820e-04 9.99987739e-01 -4.75319514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.630371743 meters 0.04030825192565253 Centerline is valid? [True, True] Translation: X:348.54, Y:-21.63, Z:-4.76 [[ 9.99975314e-01 -5.57295374e-03 4.27950599e-03 3.48542470e+02] [ 5.57406262e-03 9.99984434e-01 -2.47231124e-04 -2.16306864e+01] [-4.27806157e-03 2.71079256e-04 9.99990812e-01 -4.75531458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.660371743 meters 0.039419997502878036 Centerline is valid? [True, True] Translation: X:348.57, Y:-21.63, Z:-4.76 [[ 9.99980443e-01 -4.50950345e-03 4.33326629e-03 3.48574457e+02] [ 4.51063232e-03 9.99989796e-01 -2.50773860e-04 -2.16265177e+01] [-4.33209120e-03 2.70314727e-04 9.99990580e-01 -4.75622909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.690371743 meters 0.03840700920339296 Centerline is valid? [True, True] Translation: X:348.61, Y:-21.62, Z:-4.76 [[ 9.99986999e-01 -3.45000854e-03 3.75488301e-03 3.48607510e+02] [ 3.45084649e-03 9.99994022e-01 -2.16707507e-04 -2.16219118e+01] [-3.75411292e-03 2.29662214e-04 9.99992927e-01 -4.75728733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.720371743 meters 0.03843379573056655 Centerline is valid? [True, True] Translation: X:348.64, Y:-21.61, Z:-4.76 [[ 9.99994893e-01 -6.12369862e-04 3.13674521e-03 3.48638398e+02] [ 6.12940884e-04 9.99999796e-01 -1.81084889e-04 -2.16145075e+01] [-3.13663368e-03 1.83006603e-04 9.99995064e-01 -4.75901399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.750371743 meters 0.03947324510881517 Centerline is valid? [True, True] Translation: X:348.67, Y:-21.61, Z:-4.76 [[ 9.99996420e-01 7.94310624e-04 2.55529593e-03 3.48669624e+02] [-7.93934274e-04 9.99999674e-01 -1.48293091e-04 -2.16089093e+01] [-2.55541289e-03 1.46263823e-04 9.99996724e-01 -4.76007567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.780371743 meters 0.039570245821999805 Centerline is valid? [True, True] Translation: X:348.70, Y:-21.61, Z:-4.76 [[ 9.99996516e-01 9.95962863e-04 2.44446036e-03 3.48701310e+02] [-9.95618873e-04 9.99999494e-01 -1.41935058e-04 -2.16072738e+01] [-2.44460048e-03 1.39500813e-04 9.99997002e-01 -4.75988223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.810371743 meters 0.03610226645196032 Centerline is valid? [True, True] Translation: X:348.73, Y:-21.60, Z:-4.76 [[ 9.99996009e-01 1.13641104e-03 2.58666291e-03 3.48732452e+02] [-1.13602501e-03 9.99999343e-01 -1.50700155e-04 -2.15985101e+01] [-2.58683247e-03 1.47761040e-04 9.99996643e-01 -4.75883837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.840371743 meters 0.038057722267375575 Centerline is valid? [True, True] Translation: X:348.76, Y:-21.60, Z:-4.76 [[ 9.99995035e-01 9.58651854e-04 3.00195163e-03 3.48762989e+02] [-9.58131726e-04 9.99999526e-01 -1.74696522e-04 -2.15961945e+01] [-3.00211768e-03 1.71819390e-04 9.99995479e-01 -4.75886898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.870371743 meters 0.03660977154732845 Centerline is valid? [True, True] Translation: X:348.79, Y:-21.59, Z:-4.76 [[ 9.99996179e-01 1.00267637e-03 2.57614625e-03 3.48794215e+02] [-1.00229398e-03 9.99999487e-01 -1.49720597e-04 -2.15908797e+01] [-2.57629505e-03 1.47137969e-04 9.99996671e-01 -4.75839611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.900371743 meters 0.036215375700326076 Centerline is valid? [True, True] Translation: X:348.82, Y:-21.58, Z:-4.76 [[ 9.99993717e-01 1.46084290e-03 3.23000258e-03 3.48824931e+02] [-1.46024210e-03 9.99998916e-01 -1.88356284e-04 -2.15846651e+01] [-3.23027424e-03 1.83638515e-04 9.99994766e-01 -4.75858373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.930371743 meters 0.03602808998944219 Centerline is valid? [True, True] Translation: X:348.86, Y:-21.58, Z:-4.76 [[ 9.99992444e-01 2.25193889e-03 3.16874100e-03 3.48856587e+02] [-2.25136587e-03 9.99997449e-01 -1.84392000e-04 -2.15828088e+01] [-3.16914815e-03 1.77256611e-04 9.99994963e-01 -4.75902442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.960371743 meters 0.03738387862942724 Centerline is valid? [True, True] Translation: X:348.89, Y:-21.58, Z:-4.76 [[ 9.99991200e-01 3.31461270e-03 2.57149532e-03 3.48886883e+02] [-3.31423830e-03 9.99994497e-01 -1.49843673e-04 -2.15825085e+01] [-2.57197784e-03 1.41319806e-04 9.99996682e-01 -4.76011723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.990371743 meters 0.034636782953105676 Centerline is valid? [True, True] Translation: X:348.92, Y:-21.57, Z:-4.76 [[ 9.99985475e-01 5.13579652e-03 1.63481957e-03 3.48917841e+02] [-5.13564736e-03 9.99986808e-01 -9.54221375e-05 -2.15722617e+01] [-1.63528808e-03 8.70248947e-05 9.99998659e-01 -4.75900775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.020371743 meters 0.03595930978612666 Centerline is valid? [True, True] Translation: X:348.95, Y:-21.57, Z:-4.76 [[ 9.99982359e-01 5.78842581e-03 1.33274620e-03 3.48947083e+02] [-5.78832695e-03 9.99983244e-01 -7.80211939e-05 -2.15728752e+01] [-1.33317549e-03 7.03054467e-05 9.99999109e-01 -4.76010901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.050371743 meters 0.03496499485189069 Centerline is valid? [True, True] Translation: X:348.98, Y:-21.57, Z:-4.76 [[ 9.99977306e-01 6.61469380e-03 1.27833006e-03 3.48977248e+02] [-6.61460325e-03 9.99978120e-01 -7.50488894e-05 -2.15668526e+01] [-1.27879851e-03 6.65915401e-05 9.99999180e-01 -4.75876869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.080371743 meters 0.03362726411716597 Centerline is valid? [True, True] Translation: X:349.01, Y:-21.56, Z:-4.76 [[ 9.99979047e-01 6.23712165e-03 1.73326234e-03 3.49007437e+02] [-6.23695501e-03 9.99980545e-01 -1.01531337e-04 -2.15628498e+01] [-1.73386188e-03 9.07189305e-05 9.99998493e-01 -4.75771013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11037174300003 meters 0.035913553051519956 Centerline is valid? [True, True] Translation: X:349.04, Y:-21.57, Z:-4.76 [[ 9.99986717e-01 4.47647466e-03 2.55467741e-03 3.49036061e+02] [-4.47610726e-03 9.99989971e-01 -1.49514053e-04 -2.15655979e+01] [-2.55532108e-03 1.38077057e-04 9.99996726e-01 -4.75763057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.140371743 meters 0.035026074246916124 Centerline is valid? [True, True] Translation: X:349.07, Y:-21.56, Z:-4.76 [[ 9.99990930e-01 3.14865306e-03 2.86818532e-03 3.49066227e+02] [-3.14818642e-03 9.99995030e-01 -1.67194746e-04 -2.15637236e+01] [-2.86869750e-03 1.58163648e-04 9.99995873e-01 -4.75745081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.170371743 meters 0.035027282087029835 Centerline is valid? [True, True] Translation: X:349.10, Y:-21.56, Z:-4.76 [[ 9.99995895e-01 9.92486589e-04 2.68804704e-03 3.49096637e+02] [-9.92069605e-04 9.99999496e-01 -1.56454320e-04 -2.15630127e+01] [-2.68820096e-03 1.53786948e-04 9.99996375e-01 -4.75803593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.200371743 meters 0.03687587250802493 Centerline is valid? [True, True] Translation: X:349.13, Y:-21.57, Z:-4.76 [[ 9.99993341e-01 -2.59492294e-03 2.56592862e-03 3.49126668e+02] [ 2.59531467e-03 9.99996621e-01 -1.49346574e-04 -2.15657500e+01] [-2.56553240e-03 1.56004972e-04 9.99996697e-01 -4.75923498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.230371743 meters 0.03804611810395331 Centerline is valid? [True, True] Translation: X:349.16, Y:-21.57, Z:-4.76 [[ 9.99985822e-01 -4.80794415e-03 2.28913371e-03 3.49157956e+02] [ 4.80826073e-03 9.99988431e-01 -1.32812442e-04 -2.15674834e+01] [-2.28846868e-03 1.43817310e-04 9.99997371e-01 -4.76047534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.260371743 meters 0.04015438992779561 Centerline is valid? [True, True] Translation: X:349.19, Y:-21.57, Z:-4.76 [[ 9.99955835e-01 -9.35465133e-03 9.04363233e-04 3.49188290e+02] [ 9.35470276e-03 9.99956242e-01 -5.26496074e-05 -2.15689810e+01] [-9.03831142e-04 6.11073314e-05 9.99999590e-01 -4.76201085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.290371743 meters 0.040327955499578294 Centerline is valid? [True, True] Translation: X:349.22, Y:-21.57, Z:-4.76 [[ 9.99929306e-01 -1.18710004e-02 6.80588858e-04 3.49219535e+02] [ 1.18710300e-02 9.99929536e-01 -3.93968431e-05 -2.15690513e+01] [-6.80073222e-04 4.74733487e-05 9.99999768e-01 -4.76203986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.320371743 meters 0.0441806161452704 Centerline is valid? [True, True] Translation: X:349.25, Y:-21.57, Z:-4.76 [[ 9.99884377e-01 -1.51813347e-02 8.71304619e-04 3.49249061e+02] [ 1.51813842e-02 9.99884755e-01 -5.02943413e-05 -2.15722625e+01] [-8.70440671e-04 6.35161364e-05 9.99999619e-01 -4.76198399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.350371743 meters 0.04205915628232443 Centerline is valid? [True, True] Translation: X:349.28, Y:-21.57, Z:-4.76 [[ 9.99858907e-01 -1.67150021e-02 1.66576725e-03 3.49281272e+02] [ 1.67151859e-02 9.99860287e-01 -9.64291926e-05 -2.15680495e+01] [-1.66392271e-03 1.24259196e-04 9.99998608e-01 -4.76133080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380371743 meters 0.043081572002976326 Centerline is valid? [True, True] Translation: X:349.31, Y:-21.57, Z:-4.76 [[ 9.99823563e-01 -1.87174727e-02 1.58077022e-03 3.49312848e+02] [ 1.87176411e-02 9.99824805e-01 -9.17874583e-05 -2.15663798e+01] [-1.57877525e-03 1.21359553e-04 9.99998746e-01 -4.76124885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.410371743 meters 0.04323970391818796 Centerline is valid? [True, True] Translation: X:349.34, Y:-21.57, Z:-4.76 [[ 9.99821531e-01 -1.88464306e-02 1.31050576e-03 3.49344768e+02] [ 1.88465457e-02 9.99822385e-01 -7.55959084e-05 -2.15665325e+01] [-1.30884828e-03 1.00280924e-04 9.99999138e-01 -4.76186209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440371743 meters 0.04363971189974407 Centerline is valid? [True, True] Translation: X:349.38, Y:-21.57, Z:-4.76 [[ 9.99822221e-01 -1.88473803e-02 5.49791601e-04 3.49376650e+02] [ 1.88474003e-02 9.99822372e-01 -3.11681436e-05 -2.15653612e+01] [-5.49106504e-04 4.15247450e-05 9.99999848e-01 -4.76293967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.470371743 meters 0.04395323062158819 Centerline is valid? [True, True] Translation: X:349.41, Y:-21.56, Z:-4.76 [[ 9.99856308e-01 -1.69516265e-02 -7.63788569e-05 3.49407664e+02] [ 1.69516270e-02 9.99856311e-01 4.97683293e-06 -2.15612213e+01] [ 7.62835164e-05 -6.27086368e-06 9.99999997e-01 -4.76439708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500371743 meters 0.043281533715698726 Centerline is valid? [True, True] Translation: X:349.44, Y:-21.56, Z:-4.76 [[ 9.99875653e-01 -1.57671378e-02 2.75715253e-04 3.49439603e+02] [ 1.57671427e-02 9.99875691e-01 -1.54113624e-05 -2.15584305e+01] [-2.75437987e-04 1.97566878e-05 9.99999962e-01 -4.76378945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.530371743 meters 0.04157361897334495 Centerline is valid? [True, True] Translation: X:349.47, Y:-21.55, Z:-4.76 [[ 9.99918350e-01 -1.27080868e-02 1.34110331e-03 3.49471021e+02] [ 1.27082033e-02 9.99919244e-01 -7.83888942e-05 -2.15506397e+01] [-1.33999883e-03 9.54255071e-05 9.99999098e-01 -4.76238074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560371743 meters 0.039046648868439664 Centerline is valid? [True, True] Translation: X:349.50, Y:-21.54, Z:-4.76 [[ 9.99933191e-01 -1.14756379e-02 1.38714472e-03 3.49503478e+02] [ 1.14757604e-02 9.99934148e-01 -8.04076137e-05 -2.15441803e+01] [-1.38613064e-03 9.63207821e-05 9.99999035e-01 -4.76179326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.590371743 meters 0.039978207577958225 Centerline is valid? [True, True] Translation: X:349.53, Y:-21.54, Z:-4.76 [[ 9.99957204e-01 -9.22803213e-03 6.57780563e-04 3.49534327e+02] [ 9.22805920e-03 9.99957420e-01 -3.81279941e-05 -2.15409096e+01] [-6.57400709e-04 4.41964004e-05 9.99999783e-01 -4.76261794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620371743 meters 0.03787567059351774 Centerline is valid? [True, True] Translation: X:349.57, Y:-21.54, Z:-4.76 [[ 9.99965154e-01 -8.33682076e-03 4.34595055e-04 3.49567100e+02] [ 8.33683221e-03 9.99965248e-01 -2.45282488e-05 -2.15356551e+01] [-4.34375465e-04 2.81505402e-05 9.99999905e-01 -4.76241116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.650371743 meters 0.04258461857618123 Centerline is valid? [True, True] Translation: X:349.60, Y:-21.54, Z:-4.76 [[ 9.99976063e-01 -6.85424161e-03 9.44802890e-04 3.49597576e+02] [ 6.85429671e-03 9.99976508e-01 -5.50941865e-05 -2.15398334e+01] [-9.44403065e-04 6.15688271e-05 9.99999552e-01 -4.76421917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680371743 meters 0.03643866245067682 Centerline is valid? [True, True] Translation: X:349.63, Y:-21.53, Z:-4.76 [[ 9.99980017e-01 -6.24307541e-03 9.94842989e-04 3.49630402e+02] [ 6.24313578e-03 9.99980510e-01 -5.75853667e-05 -2.15277665e+01] [-9.94464090e-04 6.37951558e-05 9.99999503e-01 -4.76240392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.710371743 meters 0.03703536251639881 Centerline is valid? [True, True] Translation: X:349.66, Y:-21.52, Z:-4.76 [[ 9.99991596e-01 -3.96660591e-03 1.03680775e-03 3.49661333e+02] [ 3.96667089e-03 9.99992131e-01 -6.06219651e-05 -2.15245436e+01] [-1.03655913e-03 6.47341308e-05 9.99999461e-01 -4.76336840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740371743 meters 0.03620754050308286 Centerline is valid? [True, True] Translation: X:349.69, Y:-21.52, Z:-4.76 [[ 9.99996175e-01 -2.55761826e-03 1.05318068e-03 3.49692799e+02] [ 2.55768458e-03 9.99996727e-01 -6.16307342e-05 -2.15222616e+01] [-1.05301961e-03 6.43242024e-05 9.99999444e-01 -4.76352469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.770371743 meters 0.03438270303944838 Centerline is valid? [True, True] Translation: X:349.72, Y:-21.52, Z:-4.76 [[ 9.99999129e-01 -1.07360493e-03 7.68313329e-04 3.49724595e+02] [ 1.07363970e-03 9.99999423e-01 -4.48378843e-05 -2.15176277e+01] [-7.68264748e-04 4.56627370e-05 9.99999704e-01 -4.76309591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800371743 meters 0.0344027451039868 Centerline is valid? [True, True] Translation: X:349.75, Y:-21.51, Z:-4.76 [[ 9.99998190e-01 1.38490152e-03 1.30489084e-03 3.49754696e+02] [-1.38480215e-03 9.99999038e-01 -7.70472910e-05 -2.15134487e+01] [-1.30499629e-03 7.52401358e-05 9.99999146e-01 -4.76316263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.830371743 meters 0.03606340482407111 Centerline is valid? [True, True] Translation: X:349.78, Y:-21.52, Z:-4.76 [[ 9.99993854e-01 3.20703907e-03 1.41693870e-03 3.49784442e+02] [-3.20692373e-03 9.99994854e-01 -8.36631580e-05 -2.15155694e+01] [-1.41719972e-03 7.91186295e-05 9.99998993e-01 -4.76403807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86037174300003 meters 0.03433088654505605 Centerline is valid? [True, True] Translation: X:349.81, Y:-21.51, Z:-4.76 [[ 9.99976952e-01 6.41404132e-03 2.22633395e-03 3.49814961e+02] [-6.41376335e-03 9.99979423e-01 -1.31972213e-04 -2.15086946e+01] [-2.22713461e-03 1.17689992e-04 9.99997513e-01 -4.76356944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.890371743 meters 0.03433088654505605 Centerline is valid? [True, True] Translation: X:349.84, Y:-21.51, Z:-4.76 [[ 9.99977405e-01 6.34294730e-03 2.22632074e-03 3.49843257e+02] [-6.34266866e-03 9.99979876e-01 -1.32196602e-04 -2.15103030e+01] [-2.22711445e-03 1.18072800e-04 9.99997513e-01 -4.76396772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.920371743 meters 0.03393968697770362 Centerline is valid? [True, True] Translation: X:349.87, Y:-21.51, Z:-4.76 [[ 9.99967142e-01 7.70007617e-03 2.53455475e-03 3.49872357e+02] [-7.69972020e-03 9.99970345e-01 -1.50176583e-04 -2.15093586e+01] [-2.53563596e-03 1.30656286e-04 9.99996777e-01 -4.76392345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.950371743 meters 0.03340663270593742 Centerline is valid? [True, True] Translation: X:349.90, Y:-21.51, Z:-4.76 [[ 9.99957169e-01 8.57872689e-03 3.47348486e-03 3.49901472e+02] [-8.57806573e-03 9.99963187e-01 -2.05199031e-04 -2.15051124e+01] [-3.47511734e-03 1.75394460e-04 9.99993946e-01 -4.76386612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.980371743 meters 0.032979272579991205 Centerline is valid? [True, True] Translation: X:349.93, Y:-21.50, Z:-4.76 [[ 9.99952314e-01 9.03366859e-03 3.70986590e-03 3.49930471e+02] [-9.03291873e-03 9.99959178e-01 -2.18830860e-04 -2.15047429e+01] [-3.71169130e-03 1.85309508e-04 9.99993094e-01 -4.76358980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.010371743 meters 0.03213860970099568 Centerline is valid? [True, True] Translation: X:349.96, Y:-21.50, Z:-4.76 [[ 9.99950242e-01 8.80373206e-03 4.69121171e-03 3.49959445e+02] [-8.80253326e-03 9.99961219e-01 -2.76128892e-04 -2.15033128e+01] [-4.69346075e-03 2.34820605e-04 9.99988958e-01 -4.76357988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.040371743 meters 0.033405555443064 Centerline is valid? [True, True] Translation: X:349.99, Y:-21.50, Z:-4.77 [[ 9.99972067e-01 5.85523112e-03 4.64564372e-03 3.49988160e+02] [-5.85402610e-03 9.99982828e-01 -2.72940996e-04 -2.15049499e+01] [-4.64716208e-03 2.45737652e-04 9.99989172e-01 -4.76513555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.070371743 meters 0.0346211327407431 Centerline is valid? [True, True] Translation: X:350.02, Y:-21.51, Z:-4.77 [[ 9.99983381e-01 3.80302871e-03 4.33290929e-03 3.50017037e+02] [-3.80196579e-03 9.99992740e-01 -2.53524478e-04 -2.15084281e+01] [-4.33384200e-03 2.37046692e-04 9.99990581e-01 -4.76664468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.100371743 meters 0.036352547537365 Centerline is valid? [True, True] Translation: X:350.05, Y:-21.51, Z:-4.77 [[ 9.99992240e-01 -1.12757635e-03 3.77474627e-03 3.50047310e+02] [ 1.12841961e-03 9.99999339e-01 -2.21273468e-04 -2.15117378e+01] [-3.77449427e-03 2.25531249e-04 9.99992851e-01 -4.76849449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.130371743 meters 0.03669906494103562 Centerline is valid? [True, True] Translation: X:350.08, Y:-21.51, Z:-4.77 [[ 9.99988497e-01 -3.58554247e-03 3.18578414e-03 3.50078502e+02] [ 3.58615433e-03 9.99993552e-01 -1.86370773e-04 -2.15133631e+01] [-3.18509536e-03 1.97793343e-04 9.99994908e-01 -4.76869975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.160371743 meters 0.03820282051517925 Centerline is valid? [True, True] Translation: X:350.11, Y:-21.52, Z:-4.77 [[ 9.99961131e-01 -8.30843530e-03 2.95066341e-03 3.50108998e+02] [ 8.30898193e-03 9.99965465e-01 -1.73047300e-04 -2.15156974e+01] [-2.94912375e-03 1.97557583e-04 9.99995632e-01 -4.76930129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.190371743 meters 0.04003011495219477 Centerline is valid? [True, True] Translation: X:350.14, Y:-21.52, Z:-4.77 [[ 9.99943426e-01 -1.03647269e-02 2.39121271e-03 3.50138595e+02] [ 1.03650918e-02 9.99946271e-01 -1.40274570e-04 -2.15194408e+01] [-2.38963032e-03 1.65051774e-04 9.99997131e-01 -4.77031239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.220371743 meters 0.03951374467138069 Centerline is valid? [True, True] Translation: X:350.17, Y:-21.52, Z:-4.77 [[ 9.99903486e-01 -1.37036349e-02 2.28691354e-03 3.50169270e+02] [ 1.37039772e-02 9.99906087e-01 -1.34062236e-04 -2.15179723e+01] [-2.28486163e-03 1.65389108e-04 9.99997376e-01 -4.77103986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.250371743 meters 0.04114276760385216 Centerline is valid? [True, True] Translation: X:350.20, Y:-21.52, Z:-4.77 [[ 9.99894320e-01 -1.42868709e-02 2.68949738e-03 3.50200242e+02] [ 1.42873451e-02 9.99897918e-01 -1.57178898e-04 -2.15211786e+01] [-2.68697724e-03 1.95588065e-04 9.99996371e-01 -4.77191354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.280371743 meters 0.04276047499132542 Centerline is valid? [True, True] Translation: X:350.23, Y:-21.52, Z:-4.77 [[ 9.99873116e-01 -1.55171387e-02 3.60137392e-03 3.50230969e+02] [ 1.55179959e-02 9.99879567e-01 -2.10195475e-04 -2.15223996e+01] [-3.59767856e-03 2.66054910e-04 9.99993493e-01 -4.77210698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.310371743 meters 0.040558732869372185 Centerline is valid? [True, True] Translation: X:350.26, Y:-21.52, Z:-4.77 [[ 9.99863293e-01 -1.59196670e-02 4.46753297e-03 3.50263863e+02] [ 1.59209967e-02 9.99873219e-01 -2.62217102e-04 -2.15189290e+01] [-4.46279216e-03 3.33308833e-04 9.99989986e-01 -4.77149829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.340371743 meters 0.04229402088223638 Centerline is valid? [True, True] Translation: X:350.29, Y:-21.52, Z:-4.77 [[ 9.99849514e-01 -1.65930008e-02 5.06188657e-03 3.50294649e+02] [ 1.65947197e-02 9.99862254e-01 -2.97770471e-04 -2.15216316e+01] [-5.05624841e-03 3.81726250e-04 9.99987144e-01 -4.77186528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.370371743 meters 0.045951516322432835 Centerline is valid? [True, True] Translation: X:350.33, Y:-21.52, Z:-4.77 [[ 9.99834633e-01 -1.75394055e-02 4.80382160e-03 3.50325247e+02] [ 1.75409663e-02 9.99846105e-01 -2.82981425e-04 -2.15245735e+01] [-4.79811899e-03 3.67198302e-04 9.99988422e-01 -4.77292024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.400371743 meters 0.04675349186242107 Centerline is valid? [True, True] Translation: X:350.36, Y:-21.52, Z:-4.77 [[ 9.99826643e-01 -1.81357164e-02 4.21664353e-03 3.50357163e+02] [ 1.81369233e-02 9.99835482e-01 -2.48158894e-04 -2.15247937e+01] [-4.21144928e-03 3.24592815e-04 9.99991079e-01 -4.77362721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.430371743 meters 0.04193382729971431 Centerline is valid? [True, True] Translation: X:350.39, Y:-21.51, Z:-4.77 [[ 9.99804314e-01 -1.93557821e-02 4.08492384e-03 3.50389580e+02] [ 1.93569265e-02 9.99812608e-01 -2.40797502e-04 -2.15134927e+01] [-4.07949754e-03 3.19821952e-04 9.99991628e-01 -4.77345040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.460371743 meters 0.04568966228390603 Centerline is valid? [True, True] Translation: X:350.42, Y:-21.52, Z:-4.77 [[ 9.99795989e-01 -1.98494808e-02 3.73873963e-03 3.50420096e+02] [ 1.98504441e-02 9.99802936e-01 -2.20717128e-04 -2.15178630e+01] [-3.73362174e-03 2.94887741e-04 9.99992987e-01 -4.77424805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.490371743 meters 0.04326106325535639 Centerline is valid? [True, True] Translation: X:350.45, Y:-21.51, Z:-4.77 [[ 9.99785916e-01 -2.03418726e-02 3.78561625e-03 3.50452591e+02] [ 2.03428628e-02 9.99793038e-01 -2.23260548e-04 -2.15129324e+01] [-3.78029124e-03 3.00223024e-04 9.99992810e-01 -4.77420236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.520371743 meters 0.04379971227454322 Centerline is valid? [True, True] Translation: X:350.49, Y:-21.51, Z:-4.77 [[ 9.99767543e-01 -2.11715525e-02 4.07748023e-03 3.50485352e+02] [ 2.11727097e-02 9.99775804e-01 -2.40845751e-04 -2.15084979e+01] [-4.07146699e-03 3.27121070e-04 9.99991658e-01 -4.77460931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.550371743 meters 0.04575162274017918 Centerline is valid? [True, True] Translation: X:350.52, Y:-21.51, Z:-4.78 [[ 9.99764723e-01 -2.11485026e-02 4.82073778e-03 3.50517338e+02] [ 2.11501216e-02 9.99776271e-01 -2.85110671e-04 -2.15096091e+01] [-4.81362958e-03 3.87002781e-04 9.99988340e-01 -4.77510957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.580371743 meters 0.0435200386120133 Centerline is valid? [True, True] Translation: X:350.55, Y:-21.50, Z:-4.77 [[ 9.99761710e-01 -2.10757614e-02 5.68649465e-03 3.50550420e+02] [ 2.10780180e-02 9.99777777e-01 -3.37196946e-04 -2.14998509e+01] [-5.67812430e-03 4.56976632e-04 9.99983775e-01 -4.77367457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61037174300003 meters 0.043283961610544874 Centerline is valid? [True, True] Translation: X:350.58, Y:-21.50, Z:-4.77 [[ 9.99762753e-01 -2.08466869e-02 6.31292768e-03 3.50582527e+02] [ 2.08494671e-02 9.99782556e-01 -3.74904557e-04 -2.14972092e+01] [-6.30373945e-03 5.06436790e-04 9.99980003e-01 -4.77350289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.640371743 meters 0.04231401289963076 Centerline is valid? [True, True] Translation: X:350.62, Y:-21.49, Z:-4.77 [[ 9.99774003e-01 -1.97981480e-02 7.74443811e-03 3.50615734e+02] [ 1.98023038e-02 9.99803809e-01 -4.60301342e-04 -2.14898947e+01] [-7.73380561e-03 6.13555031e-04 9.99969905e-01 -4.77252399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.670371743 meters 0.043323303034008595 Centerline is valid? [True, True] Translation: X:350.65, Y:-21.49, Z:-4.77 [[ 9.99781518e-01 -1.90576204e-02 8.58622115e-03 3.50646928e+02] [ 1.90627173e-02 9.99818159e-01 -5.12156874e-04 -2.14896495e+01] [-8.57489933e-03 6.75721683e-04 9.99963007e-01 -4.77283647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.700371743 meters 0.044399147584185936 Centerline is valid? [True, True] Translation: X:350.68, Y:-21.49, Z:-4.77 [[ 9.99799523e-01 -1.80176664e-02 8.73370425e-03 3.50679038e+02] [ 1.80229039e-02 9.99837438e-01 -5.21351981e-04 -2.14856101e+01] [-8.72289094e-03 6.78654175e-04 9.99961725e-01 -4.77312397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.730371743 meters 0.04271791145711044 Centerline is valid? [True, True] Translation: X:350.71, Y:-21.48, Z:-4.77 [[ 9.99819157e-01 -1.68502409e-02 8.81609781e-03 3.50712049e+02] [ 1.68555375e-02 9.99857797e-01 -5.26816922e-04 -2.14813122e+01] [-8.80596713e-03 6.75321717e-04 9.99960999e-01 -4.77350206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.760371743 meters 0.04355611043592745 Centerline is valid? [True, True] Translation: X:350.74, Y:-21.48, Z:-4.77 [[ 9.99840997e-01 -1.55734562e-02 8.68604566e-03 3.50742405e+02] [ 1.55785596e-02 9.99878512e-01 -5.20188247e-04 -2.14808909e+01] [-8.67688928e-03 6.55421616e-04 9.99962140e-01 -4.77376721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.790371743 meters 0.0431120275492691 Centerline is valid? [True, True] Translation: X:350.77, Y:-21.47, Z:-4.77 [[ 9.99906760e-01 -1.13823759e-02 7.54408796e-03 3.50772697e+02] [ 1.13861095e-02 9.99935074e-01 -4.52131097e-04 -2.14739608e+01] [-7.53845183e-03 5.37986752e-04 9.99971441e-01 -4.77478605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.820371743 meters 0.04013631715125602 Centerline is valid? [True, True] Translation: X:350.80, Y:-21.47, Z:-4.78 [[ 9.99937456e-01 -8.75050018e-03 6.96513022e-03 3.50804121e+02] [ 8.75361667e-03 9.99961599e-01 -4.17081481e-04 -2.14675553e+01] [-6.96121308e-03 4.78025475e-04 9.99975656e-01 -4.77513848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.850371743 meters 0.037222418895260505 Centerline is valid? [True, True] Translation: X:350.84, Y:-21.46, Z:-4.78 [[ 9.99983156e-01 -1.36710083e-03 5.64086842e-03 3.50835462e+02] [ 1.36902832e-03 9.99999006e-01 -3.37853107e-04 -2.14573018e+01] [-5.64040093e-03 3.45569925e-04 9.99984033e-01 -4.77687188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880371743 meters 0.03401595477835495 Centerline is valid? [True, True] Translation: X:350.87, Y:-21.45, Z:-4.78 [[ 9.99982087e-01 2.59128805e-03 5.39548968e-03 3.50866390e+02] [-2.58958089e-03 9.99996595e-01 -3.23368205e-04 -2.14504627e+01] [-5.39630925e-03 3.09390355e-04 9.99985392e-01 -4.77719137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.910371743 meters 0.031669059610785 Centerline is valid? [True, True] Translation: X:350.90, Y:-21.44, Z:-4.78 [[ 9.99929577e-01 1.07504804e-02 5.02679583e-03 3.50896882e+02] [-1.07491012e-02 9.99942181e-01 -3.01297859e-04 -2.14417029e+01] [-5.02974429e-03 2.47243103e-04 9.99987320e-01 -4.77777245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940371743 meters 0.02997421789064863 Centerline is valid? [True, True] Translation: X:350.93, Y:-21.44, Z:-4.78 [[ 9.99877465e-01 1.48828481e-02 4.85353533e-03 3.50926824e+02] [-1.48816095e-02 9.99889220e-01 -2.91198655e-04 -2.14374028e+01] [-4.85733153e-03 2.18934555e-04 9.99988179e-01 -4.77733772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.970371743 meters 0.027048695834123906 Centerline is valid? [True, True] Translation: X:350.96, Y:-21.43, Z:-4.78 [[ 9.99715192e-01 2.32828143e-02 5.23891971e-03 3.50957947e+02] [-2.32814889e-02 9.99728900e-01 -3.13851451e-04 -2.14273313e+01] [-5.24480678e-03 1.91792212e-04 9.99986228e-01 -4.77651413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000371743 meters 0.025992016480592923 Centerline is valid? [True, True] Translation: X:350.99, Y:-21.42, Z:-4.78 [[ 9.99618584e-01 2.70284312e-02 5.67020290e-03 3.50986957e+02] [-2.70269369e-02 9.99634648e-01 -3.40005583e-04 -2.14244519e+01] [-5.67732110e-03 1.86627683e-04 9.99983866e-01 -4.77634464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.030371743 meters 0.024473496894585552 Centerline is valid? [True, True] Translation: X:351.02, Y:-21.42, Z:-4.78 [[ 9.99449946e-01 3.24888033e-02 6.65450735e-03 3.51017031e+02] [-3.24868701e-02 9.99472083e-01 -3.98423168e-04 -2.14193615e+01] [-6.66393862e-03 1.82019898e-04 9.99977779e-01 -4.77574320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060371743 meters 0.02300510873987855 Centerline is valid? [True, True] Translation: X:351.05, Y:-21.42, Z:-4.77 [[ 9.99390925e-01 3.42426141e-02 6.72473288e-03 3.51045832e+02] [-3.42406793e-02 9.99413535e-01 -4.02662890e-04 -2.14165486e+01] [-6.73457729e-03 1.72158216e-04 9.99977308e-01 -4.77488659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.090371743 meters 0.023222662316561636 Centerline is valid? [True, True] Translation: X:351.07, Y:-21.42, Z:-4.78 [[ 9.99350935e-01 3.52440011e-02 7.45442181e-03 3.51073537e+02] [-3.52416555e-02 9.99378721e-01 -4.45820810e-04 -2.14184956e+01] [-7.46550304e-03 1.82825278e-04 9.99972116e-01 -4.77536612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120371743 meters 0.02297220155622562 Centerline is valid? [True, True] Translation: X:351.10, Y:-21.42, Z:-4.78 [[ 9.99327836e-01 3.58496402e-02 7.66027043e-03 3.51102630e+02] [-3.58471875e-02 9.99357178e-01 -4.57296093e-04 -2.14187918e+01] [-7.67174014e-03 1.82389565e-04 9.99970555e-01 -4.77511633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.150371743 meters 0.023748991948148022 Centerline is valid? [True, True] Translation: X:351.13, Y:-21.42, Z:-4.78 [[ 9.99336697e-01 3.56561068e-02 7.40330264e-03 3.51130061e+02] [-3.56538133e-02 9.99364103e-01 -4.41587587e-04 -2.14227370e+01] [-7.41434020e-03 1.77338710e-04 9.99972498e-01 -4.77679857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180371743 meters 0.023133385849236424 Centerline is valid? [True, True] Translation: X:351.16, Y:-21.42, Z:-4.78 [[ 9.99393933e-01 3.42416608e-02 6.26699987e-03 3.51158470e+02] [-3.42399925e-02 9.99413570e-01 -3.73341629e-04 -2.14232156e+01] [-6.27610855e-03 1.58533330e-04 9.99980292e-01 -4.77727721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.210371743 meters 0.023195850667020117 Centerline is valid? [True, True] Translation: X:351.19, Y:-21.43, Z:-4.78 [[ 9.99429868e-01 3.32196896e-02 6.03247545e-03 3.51187074e+02] [-3.32181276e-02 9.99448061e-01 -3.58976305e-04 -2.14266620e+01] [-6.04107098e-03 1.58384102e-04 9.99981740e-01 -4.77834474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240371743 meters 0.024490761210147403 Centerline is valid? [True, True] Translation: X:351.22, Y:-21.43, Z:-4.78 [[ 9.99539932e-01 2.98562643e-02 5.34107333e-03 3.51215181e+02] [-2.98549941e-02 9.99554190e-01 -3.17411307e-04 -2.14330035e+01] [-5.34816894e-03 1.57807564e-04 9.99985686e-01 -4.77978163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.270371743 meters 0.025298974422587092 Centerline is valid? [True, True] Translation: X:351.24, Y:-21.44, Z:-4.78 [[ 9.99601229e-01 2.76775497e-02 5.59792989e-03 3.51243835e+02] [-2.76761213e-02 9.99616888e-01 -3.32486748e-04 -2.14375224e+01] [-5.60498768e-03 1.77425175e-04 9.99984276e-01 -4.78067133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300371743 meters 0.02578622504436841 Centerline is valid? [True, True] Translation: X:351.27, Y:-21.44, Z:-4.78 [[ 9.99655423e-01 2.57465929e-02 5.11355884e-03 3.51271966e+02] [-2.57453763e-02 9.99668487e-01 -3.03612692e-04 -2.14415443e+01] [-5.11968062e-03 1.71857577e-04 9.99986880e-01 -4.78117991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.330371743 meters 0.02730535556832175 Centerline is valid? [True, True] Translation: X:351.30, Y:-21.45, Z:-4.78 [[ 9.99747156e-01 2.19522745e-02 4.87050519e-03 3.51301154e+02] [-2.19511299e-02 9.99759003e-01 -2.88335079e-04 -2.14483524e+01] [-4.87566102e-03 1.81349083e-04 9.99988097e-01 -4.78224098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36037174300003 meters 0.026359509842787582 Centerline is valid? [True, True] Translation: X:351.33, Y:-21.45, Z:-4.78 [[ 9.99784312e-01 2.01891511e-02 4.87101886e-03 3.51329945e+02] [-2.01879845e-02 9.99796160e-01 -2.88538752e-04 -2.14496472e+01] [-4.87585130e-03 1.90140464e-04 9.99988095e-01 -4.78197313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.390371743 meters 0.02971273200146277 Centerline is valid? [True, True] Translation: X:351.36, Y:-21.46, Z:-4.78 [[ 9.99849866e-01 1.65983889e-02 4.97378454e-03 3.51358083e+02] [-1.65971310e-02 9.99862215e-01 -2.94070292e-04 -2.14600052e+01] [-4.97798032e-03 2.11475589e-04 9.99987587e-01 -4.78355648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.420371743 meters 0.0285693261395482 Centerline is valid? [True, True] Translation: X:351.39, Y:-21.46, Z:-4.78 [[ 9.99871289e-01 1.51528195e-02 5.27235654e-03 3.51386323e+02] [-1.51513861e-02 9.99885163e-01 -3.11711537e-04 -2.14611541e+01] [-5.27647438e-03 2.31787907e-04 9.99986052e-01 -4.78305267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.450371743 meters 0.030302763924996846 Centerline is valid? [True, True] Translation: X:351.41, Y:-21.47, Z:-4.78 [[ 9.99906078e-01 1.25571123e-02 5.49134249e-03 3.51414413e+02] [-1.25555230e-02 9.99921124e-01 -3.23802659e-04 -2.14684292e+01] [-5.49497538e-03 2.54825570e-04 9.99984870e-01 -4.78450681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.480371743 meters 0.04606634772771402 Centerline is valid? [True, True] Translation: X:351.44, Y:-21.50, Z:-4.79 [[ 9.99851969e-01 1.41975966e-02 9.71950983e-03 3.51441125e+02] [-1.41927048e-02 9.99899115e-01 -5.72092461e-04 -2.14972261e+01] [-9.72665161e-03 4.34061639e-04 9.99952601e-01 -4.78603869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.510371743 meters 0.03077566727009744 Centerline is valid? [True, True] Translation: X:351.47, Y:-21.48, Z:-4.79 [[ 9.99939139e-01 9.21836794e-03 6.06132168e-03 3.51472724e+02] [-9.21637762e-03 9.99957465e-01 -3.56214825e-04 -2.14759477e+01] [-6.06434758e-03 3.00329716e-04 9.99981567e-01 -4.78601924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.540371743 meters 0.03226508369978772 Centerline is valid? [True, True] Translation: X:351.50, Y:-21.48, Z:-4.79 [[ 9.99953057e-01 7.84736922e-03 5.68351362e-03 3.51501099e+02] [-7.84559519e-03 9.99969167e-01 -3.34365922e-04 -2.14812452e+01] [-5.68596227e-03 2.89759679e-04 9.99983793e-01 -4.78696738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.570371743 meters 0.032382465909194746 Centerline is valid? [True, True] Translation: X:351.53, Y:-21.48, Z:-4.79 [[ 9.99965919e-01 6.38459000e-03 5.23427458e-03 3.51530914e+02] [-6.38306728e-03 9.99979581e-01 -3.07567121e-04 -2.14835087e+01] [-5.23613139e-03 2.74145913e-04 9.99986254e-01 -4.78716027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.600371743 meters 0.03293133317728618 Centerline is valid? [True, True] Translation: X:351.56, Y:-21.49, Z:-4.79 [[ 9.99979905e-01 4.03049644e-03 4.89323630e-03 3.51560286e+02] [-4.02913826e-03 9.99991842e-01 -2.87389378e-04 -2.14883163e+01] [-4.89435470e-03 2.67668077e-04 9.99987987e-01 -4.78821830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.630371743 meters 0.03392840872065662 Centerline is valid? [True, True] Translation: X:351.59, Y:-21.49, Z:-4.79 [[ 9.99990999e-01 1.43359446e-03 3.99322783e-03 3.51590235e+02] [-1.43267023e-03 9.99998946e-01 -2.34300808e-04 -2.14929533e+01] [-3.99355951e-03 2.28577721e-04 9.99992000e-01 -4.78976789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.660371743 meters 0.03604045629187296 Centerline is valid? [True, True] Translation: X:351.62, Y:-21.50, Z:-4.79 [[ 9.99994000e-01 1.11086612e-05 3.46395498e-03 3.51620229e+02] [-1.04060943e-05 9.99999979e-01 -2.02840140e-04 -2.14981788e+01] [-3.46395716e-03 2.02802877e-04 9.99993980e-01 -4.79092006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.690371743 meters 0.03698229907175739 Centerline is valid? [True, True] Translation: X:351.65, Y:-21.50, Z:-4.79 [[ 9.99993175e-01 -7.51063841e-04 3.61747676e-03 3.51650117e+02] [ 7.51835322e-04 9.99999695e-01 -2.11909735e-04 -2.15019277e+01] [-3.61731650e-03 2.14628035e-04 9.99993434e-01 -4.79143010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.720371743 meters 0.0387583131451904 Centerline is valid? [True, True] Translation: X:351.68, Y:-21.51, Z:-4.79 [[ 9.99991414e-01 -1.94538808e-03 3.65896786e-03 3.51681355e+02] [ 1.94617774e-03 9.99998084e-01 -2.12267224e-04 -2.15065942e+01] [-3.65854790e-03 2.19386403e-04 9.99993283e-01 -4.79186512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.750371743 meters 0.04082461572766119 Centerline is valid? [True, True] Translation: X:351.71, Y:-21.51, Z:-4.79 [[ 9.99991081e-01 -2.71434117e-03 3.23566614e-03 3.51711998e+02] [ 2.71496989e-03 9.99996296e-01 -1.89934141e-04 -2.15111194e+01] [-3.23513861e-03 1.98717183e-04 9.99994747e-01 -4.79276882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.780371743 meters 0.04082461572766119 Centerline is valid? [True, True] Translation: X:351.74, Y:-21.51, Z:-4.79 [[ 9.99991263e-01 -2.64671842e-03 3.23566702e-03 3.51743701e+02] [ 2.64734674e-03 9.99996478e-01 -1.89919693e-04 -2.15130592e+01] [-3.23515296e-03 1.98483966e-04 9.99994747e-01 -4.79321457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.810371743 meters 0.04002888413965992 Centerline is valid? [True, True] Translation: X:351.78, Y:-21.51, Z:-4.79 [[ 9.99991723e-01 -2.34330801e-03 3.32601688e-03 3.51775932e+02] [ 2.34397106e-03 9.99997234e-01 -1.95467533e-04 -2.15125270e+01] [-3.32554964e-03 2.03262002e-04 9.99994450e-01 -4.79278622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.840371743 meters 0.036600876730134894 Centerline is valid? [True, True] Translation: X:351.81, Y:-21.51, Z:-4.79 [[ 9.99992472e-01 -1.53672608e-03 3.56305212e-03 3.51808345e+02] [ 1.53748292e-03 9.99998796e-01 -2.09684475e-04 -2.15089569e+01] [-3.56272560e-03 2.15161028e-04 9.99993630e-01 -4.79200961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.870371743 meters 0.0363816529994102 Centerline is valid? [True, True] Translation: X:351.84, Y:-21.51, Z:-4.79 [[ 9.99989773e-01 -1.16428709e-04 4.52111355e-03 3.51839731e+02] [ 1.17637020e-04 9.99999957e-01 -2.66994612e-04 -2.15086679e+01] [-4.52108227e-03 2.67523732e-04 9.99989744e-01 -4.79196842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.900371743 meters 0.03467798224294182 Centerline is valid? [True, True] Translation: X:351.87, Y:-21.51, Z:-4.79 [[ 9.99987957e-01 6.10550646e-04 4.86955265e-03 3.51871169e+02] [-6.09156495e-04 9.99999773e-01 -2.87777639e-04 -2.15068119e+01] [-4.86972725e-03 2.84807854e-04 9.99988102e-01 -4.79198989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.930371743 meters 0.03520994055172805 Centerline is valid? [True, True] Translation: X:351.90, Y:-21.51, Z:-4.79 [[ 9.99985120e-01 1.75176703e-03 5.16638254e-03 3.51901094e+02] [-1.75021351e-03 9.99998422e-01 -3.05204195e-04 -2.15087994e+01] [-5.16690904e-03 2.96157381e-04 9.99986608e-01 -4.79217755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.960371743 meters 0.03589073940002069 Centerline is valid? [True, True] Translation: X:351.93, Y:-21.51, Z:-4.79 [[ 9.99979454e-01 3.64121546e-03 5.27562254e-03 3.51931169e+02] [-3.63962031e-03 9.99993328e-01 -3.11932069e-04 -2.15104372e+01] [-5.27672316e-03 2.92724397e-04 9.99986035e-01 -4.79311048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.990371743 meters 0.033605726922920666 Centerline is valid? [True, True] Translation: X:351.96, Y:-21.51, Z:-4.79 [[ 9.99970184e-01 5.12147298e-03 5.77942272e-03 3.51961974e+02] [-5.11957540e-03 9.99986836e-01 -3.43080411e-04 -2.15078910e+01] [-5.78110372e-03 3.13481992e-04 9.99983240e-01 -4.79323401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.020371743 meters 0.03389929382903661 Centerline is valid? [True, True] Translation: X:351.99, Y:-21.51, Z:-4.79 [[ 9.99961622e-01 5.90217615e-03 6.47445179e-03 3.51991036e+02] [-5.89980931e-03 9.99982522e-01 -3.84604419e-04 -2.15105314e+01] [-6.47660863e-03 3.46391628e-04 9.99978967e-01 -4.79367120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.050371743 meters 0.03388441914168317 Centerline is valid? [True, True] Translation: X:352.02, Y:-21.51, Z:-4.79 [[ 9.99958925e-01 6.12688378e-03 6.67910673e-03 3.52020454e+02] [-6.12437163e-03 9.99981167e-01 -3.96509329e-04 -2.15115378e+01] [-6.68141031e-03 3.55587710e-04 9.99977616e-01 -4.79437580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.080371743 meters 0.03456435839817196 Centerline is valid? [True, True] Translation: X:352.05, Y:-21.51, Z:-4.80 [[ 9.99955040e-01 6.73195894e-03 6.67822986e-03 3.52048530e+02] [-6.72946163e-03 9.99977278e-01 -3.96347846e-04 -2.15148988e+01] [-6.68074631e-03 3.51389135e-04 9.99977622e-01 -4.79508275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11037174300003 meters 0.03451589450292892 Centerline is valid? [True, True] Translation: X:352.08, Y:-21.52, Z:-4.80 [[ 9.99959842e-01 6.19287471e-03 6.47786565e-03 3.52076909e+02] [-6.19051492e-03 9.99980765e-01 -3.84272915e-04 -2.15167549e+01] [-6.48012080e-03 3.44156159e-04 9.99978945e-01 -4.79584598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.140371743 meters 0.03511438653089572 Centerline is valid? [True, True] Translation: X:352.11, Y:-21.52, Z:-4.80 [[ 9.99969633e-01 5.35802009e-03 5.65910991e-03 3.52105845e+02] [-5.35620815e-03 9.99985599e-01 -3.35289843e-04 -2.15196593e+01] [-5.66082491e-03 3.04968290e-04 9.99983931e-01 -4.79808413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.170371743 meters 0.033726348125598035 Centerline is valid? [True, True] Translation: X:352.14, Y:-21.52, Z:-4.80 [[ 9.99974876e-01 5.01242457e-03 5.01223623e-03 3.52135459e+02] [-5.01100049e-03 9.99987401e-01 -2.96638806e-04 -2.15196546e+01] [-5.01365996e-03 2.71515036e-04 9.99987395e-01 -4.79874762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.200371743 meters 0.03317124804248701 Centerline is valid? [True, True] Translation: X:352.17, Y:-21.52, Z:-4.80 [[ 9.99979993e-01 4.63057836e-03 4.30948661e-03 3.52165166e+02] [-4.62952241e-03 9.99989251e-01 -2.54971241e-04 -2.15204414e+01] [-4.31062095e-03 2.35015275e-04 9.99990682e-01 -4.79969665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.230371743 meters 0.0349226834361099 Centerline is valid? [True, True] Translation: X:352.19, Y:-21.53, Z:-4.80 [[ 9.99985697e-01 4.56107613e-03 2.79313491e-03 3.52193672e+02] [-4.56063194e-03 9.99989587e-01 -1.65380073e-04 -2.15255236e+01] [-2.79386013e-03 1.52639248e-04 9.99996086e-01 -4.80178910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.260371743 meters 0.03340907794102448 Centerline is valid? [True, True] Translation: X:352.22, Y:-21.53, Z:-4.80 [[ 9.99987836e-01 4.31645865e-03 2.38646473e-03 3.52223862e+02] [-4.31613384e-03 9.99990675e-01 -1.41236373e-04 -2.15252308e+01] [-2.38705212e-03 1.30934354e-04 9.99997142e-01 -4.80197466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.290371743 meters 0.035636580701408495 Centerline is valid? [True, True] Translation: X:352.25, Y:-21.53, Z:-4.80 [[ 9.99992517e-01 3.43180018e-03 1.78582787e-03 3.52252323e+02] [-3.43161641e-03 9.99994106e-01 -1.05962214e-04 -2.15315563e+01] [-1.78618099e-03 9.98331447e-05 9.99998400e-01 -4.80403529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.320371743 meters 0.033005973764183766 Centerline is valid? [True, True] Translation: X:352.28, Y:-21.53, Z:-4.81 [[ 9.99996655e-01 2.42750516e-03 8.93293239e-04 3.52281904e+02] [-2.42745868e-03 9.99997052e-01 -5.31136136e-05 -2.15303711e+01] [-8.93419540e-04 5.09450035e-05 9.99999600e-01 -4.80517535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.350371743 meters 0.033996038276180654 Centerline is valid? [True, True] Translation: X:352.31, Y:-21.53, Z:-4.81 [[ 9.99997731e-01 2.10236041e-03 3.44970254e-04 3.52310962e+02] [-2.10235344e-03 9.99997790e-01 -2.05627949e-05 -2.15342124e+01] [-3.45012722e-04 1.98374988e-05 9.99999940e-01 -4.80663203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380371743 meters 0.03263338207313573 Centerline is valid? [True, True] Translation: X:352.34, Y:-21.54, Z:-4.81 [[ 9.99995815e-01 2.88975115e-03 1.42303598e-04 3.52340606e+02] [-2.88974991e-03 9.99995825e-01 -8.88594930e-06 -2.15351787e+01] [-1.42328682e-04 8.47469031e-06 9.99999990e-01 -4.80755369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.410371743 meters 0.034148811886655306 Centerline is valid? [True, True] Translation: X:352.37, Y:-21.54, Z:-4.81 [[ 9.99997871e-01 1.53986729e-03 1.37367356e-03 3.52369004e+02] [-1.53975678e-03 9.99998811e-01 -8.15005958e-05 -2.15401727e+01] [-1.37379743e-03 7.93852991e-05 9.99999053e-01 -4.80664955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440371743 meters 0.038173978407400465 Centerline is valid? [True, True] Translation: X:352.40, Y:-21.55, Z:-4.81 [[ 9.99997620e-01 5.52923902e-04 2.11029503e-03 3.52397699e+02] [-5.52662942e-04 9.99999840e-01 -1.24241626e-04 -2.15490069e+01] [-2.11036339e-03 1.23075048e-04 9.99997766e-01 -4.80738624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.470371743 meters 0.03752752644682267 Centerline is valid? [True, True] Translation: X:352.43, Y:-21.55, Z:-4.81 [[ 9.99993759e-01 -1.93797636e-03 2.95412829e-03 3.52427979e+02] [ 1.93849755e-03 9.99998106e-01 -1.73571765e-04 -2.15518731e+01] [-2.95378631e-03 1.79297252e-04 9.99995621e-01 -4.80625466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500371743 meters 0.0381059974419791 Centerline is valid? [True, True] Translation: X:352.46, Y:-21.56, Z:-4.81 [[ 9.99990518e-01 -3.05159047e-03 3.10675603e-03 3.52459509e+02] [ 3.05216450e-03 9.99995326e-01 -1.80045867e-04 -2.15557142e+01] [-3.10619208e-03 1.89526490e-04 9.99995158e-01 -4.80682388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.530371743 meters 0.03892252622519779 Centerline is valid? [True, True] Translation: X:352.49, Y:-21.56, Z:-4.81 [[ 9.99984466e-01 -4.29867702e-03 3.54800115e-03 3.52491707e+02] [ 4.29944389e-03 9.99990736e-01 -2.08543596e-04 -2.15605864e+01] [-3.54707182e-03 2.23794789e-04 9.99993684e-01 -4.80764078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560371743 meters 0.038248109179105365 Centerline is valid? [True, True] Translation: X:352.52, Y:-21.56, Z:-4.81 [[ 9.99963975e-01 -7.76486715e-03 3.42864458e-03 3.52522189e+02] [ 7.76560621e-03 9.99969827e-01 -2.02291796e-04 -2.15639944e+01] [-3.42697036e-03 2.28910012e-04 9.99994102e-01 -4.80815785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.590371743 meters 0.040385412014728735 Centerline is valid? [True, True] Translation: X:352.55, Y:-21.57, Z:-4.81 [[ 9.99955800e-01 -8.77134788e-03 3.38554294e-03 3.52552587e+02] [ 8.77207373e-03 9.99961505e-01 -1.99606749e-04 -2.15703515e+01] [-3.38366179e-03 2.29296159e-04 9.99994249e-01 -4.80892385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620371743 meters 0.040963995294035285 Centerline is valid? [True, True] Translation: X:352.58, Y:-21.58, Z:-4.81 [[ 9.99954978e-01 -9.27491860e-03 2.00454998e-03 3.52583877e+02] [ 9.27517339e-03 9.99956978e-01 -1.17844793e-04 -2.15768462e+01] [-2.00337074e-03 1.36432036e-04 9.99997984e-01 -4.81218424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.650371743 meters 0.03851194659824973 Centerline is valid? [True, True] Translation: X:352.62, Y:-21.58, Z:-4.81 [[ 9.99957301e-01 -9.07883449e-03 1.72347462e-03 3.52616620e+02] [ 9.07902210e-03 9.99958780e-01 -1.01063731e-04 -2.15769241e+01] [-1.72248603e-03 1.16706880e-04 9.99998510e-01 -4.81211060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680371743 meters 0.040549418275522935 Centerline is valid? [True, True] Translation: X:352.65, Y:-21.58, Z:-4.81 [[ 9.99961256e-01 -8.54220367e-03 2.12540691e-03 3.52647432e+02] [ 8.54248910e-03 9.99963504e-01 -1.25248231e-04 -2.15846875e+01] [-2.12425945e-03 1.43399643e-04 9.99997733e-01 -4.81269592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.710371743 meters 0.04012849166945721 Centerline is valid? [True, True] Translation: X:352.68, Y:-21.59, Z:-4.81 [[ 9.99963525e-01 -8.29281834e-03 2.04382396e-03 3.52679457e+02] [ 8.29308152e-03 9.99965605e-01 -1.20326092e-04 -2.15876898e+01] [-2.04275582e-03 1.37271302e-04 9.99997904e-01 -4.81331780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740371743 meters 0.03881119042331614 Centerline is valid? [True, True] Translation: X:352.71, Y:-21.59, Z:-4.81 [[ 9.99968321e-01 -7.76616479e-03 1.74480262e-03 3.52711241e+02] [ 7.76635574e-03 9.99969836e-01 -1.02692655e-04 -2.15897565e+01] [-1.74395246e-03 1.16240160e-04 9.99998473e-01 -4.81365565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.770371743 meters 0.036475042286627436 Centerline is valid? [True, True] Translation: X:352.74, Y:-21.59, Z:-4.81 [[ 9.99974449e-01 -7.02744059e-03 1.31009856e-03 3.52743722e+02] [ 7.02754738e-03 9.99975304e-01 -7.69318122e-05 -2.15919443e+01] [-1.30952557e-03 8.61366263e-05 9.99999139e-01 -4.81474466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800371743 meters 0.039722587350724224 Centerline is valid? [True, True] Translation: X:352.77, Y:-21.60, Z:-4.82 [[ 9.99975937e-01 -6.75989399e-03 1.55838887e-03 3.52774723e+02] [ 6.76004562e-03 9.99977146e-01 -9.20527965e-05 -2.16013030e+01] [-1.55773098e-03 1.02585361e-04 9.99998781e-01 -4.81627321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.830371743 meters 0.03824827482009666 Centerline is valid? [True, True] Translation: X:352.81, Y:-21.60, Z:-4.82 [[ 9.99976155e-01 -6.51441342e-03 2.29149113e-03 3.52806950e+02] [ 6.51474128e-03 9.99978770e-01 -1.35644164e-04 -2.16048009e+01] [-2.29055884e-03 1.50569401e-04 9.99997365e-01 -4.81564196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86037174300003 meters 0.03743753679822933 Centerline is valid? [True, True] Translation: X:352.84, Y:-21.61, Z:-4.82 [[ 9.99978085e-01 -6.35503413e-03 1.85540692e-03 3.52838717e+02] [ 6.35524870e-03 9.99979799e-01 -1.09770315e-04 -2.16070517e+01] [-1.85467184e-03 1.21559482e-04 9.99998273e-01 -4.81540818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.890371743 meters 0.0376831731317393 Centerline is valid? [True, True] Translation: X:352.87, Y:-21.61, Z:-4.82 [[ 9.99982383e-01 -5.71482749e-03 1.60461475e-03 3.52871066e+02] [ 5.71498678e-03 9.99983665e-01 -9.47009092e-05 -2.16135135e+01] [-1.60404734e-03 1.03869593e-04 9.99998708e-01 -4.81692077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.920371743 meters 0.037408693256707516 Centerline is valid? [True, True] Translation: X:352.90, Y:-21.62, Z:-4.82 [[ 9.99983860e-01 -5.43373114e-03 1.65979419e-03 3.52903097e+02] [ 5.43390185e-03 9.99985231e-01 -9.83614167e-05 -2.16175567e+01] [-1.65923520e-03 1.07378988e-04 9.99998618e-01 -4.81788942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.950371743 meters 0.03705792340313116 Centerline is valid? [True, True] Translation: X:352.94, Y:-21.62, Z:-4.82 [[ 9.99980342e-01 -6.19339016e-03 9.78075467e-04 3.52935140e+02] [ 6.19344946e-03 9.99980819e-01 -5.76157361e-05 -2.16235488e+01] [-9.77699870e-04 6.36722645e-05 9.99999520e-01 -4.81959887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.980371743 meters 0.039748085997856314 Centerline is valid? [True, True] Translation: X:352.97, Y:-21.63, Z:-4.82 [[ 9.99980506e-01 -6.19697603e-03 7.65482357e-04 3.52965481e+02] [ 6.19701185e-03 9.99980797e-01 -4.44323401e-05 -2.16320275e+01] [-7.65192312e-04 4.91751772e-05 9.99999706e-01 -4.82084513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.010371743 meters 0.040166045580148524 Centerline is valid? [True, True] Translation: X:353.00, Y:-21.64, Z:-4.82 [[ 9.99976804e-01 -6.79060145e-03 5.27752154e-04 3.52997676e+02] [ 6.79061862e-03 9.99976943e-01 -3.07553715e-05 -2.16368381e+01] [-5.27531139e-04 3.43384217e-05 9.99999860e-01 -4.82125866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.040371743 meters 0.03770567020791329 Centerline is valid? [True, True] Translation: X:353.03, Y:-21.64, Z:-4.82 [[ 9.99966699e-01 -8.15996919e-03 1.21852818e-04 3.53029384e+02] [ 8.15997005e-03 9.99966707e-01 -6.57641784e-06 -2.16387262e+01] [-1.21795099e-04 7.57051420e-06 9.99999993e-01 -4.82132538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.070371743 meters 0.03687397267094014 Centerline is valid? [True, True] Translation: X:353.06, Y:-21.64, Z:-4.82 [[ 9.99961701e-01 -8.74096119e-03 4.37951603e-04 3.53061670e+02] [ 8.74097314e-03 9.99961797e-01 -2.53626575e-05 -2.16419437e+01] [-4.37713178e-04 2.91898094e-05 9.99999904e-01 -4.82123487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.100371743 meters 0.04180675775325912 Centerline is valid? [True, True] Translation: X:353.09, Y:-21.66, Z:-4.82 [[ 9.99943572e-01 -1.06113006e-02 5.02221107e-04 3.53091051e+02] [ 1.06113170e-02 9.99943698e-01 -3.00086515e-05 -2.16556220e+01] [-5.01874400e-04 3.53361856e-05 9.99999873e-01 -4.82261385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.130371743 meters 0.03973195148219906 Centerline is valid? [True, True] Translation: X:353.12, Y:-21.66, Z:-4.82 [[ 9.99933819e-01 -1.14682270e-02 9.15027445e-04 3.53122752e+02] [ 1.14682816e-02 9.99934236e-01 -5.44324565e-05 -2.16563400e+01] [-9.14343025e-04 6.49226465e-05 9.99999580e-01 -4.82176931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.160371743 meters 0.03942823976759458 Centerline is valid? [True, True] Translation: X:353.15, Y:-21.66, Z:-4.82 [[ 9.99926859e-01 -1.20777598e-02 6.35233213e-04 3.53154733e+02] [ 1.20777859e-02 9.99927060e-01 -3.73492631e-05 -2.16596722e+01] [-6.34735784e-04 4.50187422e-05 9.99999798e-01 -4.82186475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.190371743 meters 0.039168204829551634 Centerline is valid? [True, True] Translation: X:353.19, Y:-21.66, Z:-4.82 [[ 9.99909387e-01 -1.34574388e-02 -3.39092381e-04 3.53186819e+02] [ 1.34574469e-02 9.99909444e-01 2.15028966e-05 -2.16644152e+01] [ 3.38772300e-04 -2.60642658e-05 9.99999942e-01 -4.82268956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.220371743 meters 0.04000557548426712 Centerline is valid? [True, True] Translation: X:353.22, Y:-21.67, Z:-4.82 [[ 9.99903672e-01 -1.38463050e-02 -9.62452366e-04 3.53218559e+02] [ 1.38463684e-02 9.99904133e-01 5.92590354e-05 -2.16705295e+01] [ 9.61539580e-04 -7.25797971e-05 9.99999535e-01 -4.82393155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.250371743 meters 0.039956091965728364 Centerline is valid? [True, True] Translation: X:353.25, Y:-21.67, Z:-4.82 [[ 9.99910546e-01 -1.33275494e-02 -1.12956433e-03 3.53250209e+02] [ 1.33276363e-02 9.99911181e-01 6.94546206e-05 -2.16737083e+01] [ 1.12853834e-03 -8.45028301e-05 9.99999360e-01 -4.82389213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.280371743 meters 0.039776811879099684 Centerline is valid? [True, True] Translation: X:353.28, Y:-21.68, Z:-4.82 [[ 9.99914229e-01 -1.30551728e-02 -1.04745429e-03 3.53282072e+02] [ 1.30552475e-02 9.99914775e-01 6.45563062e-05 -2.16766606e+01] [ 1.04652223e-03 -7.82255442e-05 9.99999449e-01 -4.82424190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.310371743 meters 0.04072162730998569 Centerline is valid? [True, True] Translation: X:353.31, Y:-21.68, Z:-4.82 [[ 9.99925756e-01 -1.21702634e-02 -6.05475784e-04 3.53312863e+02] [ 1.21702890e-02 9.99925939e-01 3.87021222e-05 -2.16813998e+01] [ 6.04959926e-04 -4.60680641e-05 9.99999816e-01 -4.82443383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.340371743 meters 0.03887290908379219 Centerline is valid? [True, True] Translation: X:353.34, Y:-21.68, Z:-4.82 [[ 9.99934189e-01 -1.14688441e-02 -2.88141085e-04 3.53344812e+02] [ 1.14688499e-02 9.99934230e-01 1.85584795e-05 -2.16817023e+01] [ 2.87909290e-04 -2.18619049e-05 9.99999958e-01 -4.82420071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.370371743 meters 0.039243338952751644 Centerline is valid? [True, True] Translation: X:353.38, Y:-21.69, Z:-4.82 [[ 9.99934036e-01 -1.14824877e-02 -2.75669961e-04 3.53376503e+02] [ 1.14824931e-02 9.99934074e-01 1.78150705e-05 -2.16864333e+01] [ 2.75447226e-04 -2.09792738e-05 9.99999962e-01 -4.82494669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.400371743 meters 0.04162427562678745 Centerline is valid? [True, True] Translation: X:353.41, Y:-21.69, Z:-4.83 [[ 9.99931293e-01 -1.17149415e-02 -4.11206920e-04 3.53407437e+02] [ 1.17149531e-02 9.99931377e-01 2.58402709e-05 -2.16933268e+01] [ 4.10875985e-04 -3.06557652e-05 9.99999915e-01 -4.82633917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.430371743 meters 0.04033909439403247 Centerline is valid? [True, True] Translation: X:353.44, Y:-21.69, Z:-4.83 [[ 9.99923630e-01 -1.23485751e-02 -4.97574266e-04 3.53439316e+02] [ 1.23485922e-02 9.99923753e-01 3.13963563e-05 -2.16943149e+01] [ 4.97148627e-04 -3.75383002e-05 9.99999876e-01 -4.82659283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.460371743 meters 0.041828544994148925 Centerline is valid? [True, True] Translation: X:353.47, Y:-21.70, Z:-4.83 [[ 9.99892860e-01 -1.46222325e-02 -6.77670945e-04 3.53469828e+02] [ 1.46222640e-02 9.99893088e-01 4.16483035e-05 -2.17012921e+01] [ 6.76989502e-04 -5.15529248e-05 9.99999770e-01 -4.82771109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.490371743 meters 0.04335713764379733 Centerline is valid? [True, True] Translation: X:353.50, Y:-21.71, Z:-4.83 [[ 9.99872015e-01 -1.59481129e-02 -1.26961508e-03 3.53500826e+02] [ 1.59482263e-02 9.99872816e-01 7.92044862e-05 -2.17066782e+01] [ 1.26819044e-03 -9.94424577e-05 9.99999191e-01 -4.82848483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.520371743 meters 0.04332372005940271 Centerline is valid? [True, True] Translation: X:353.53, Y:-21.71, Z:-4.83 [[ 9.99820754e-01 -1.88637379e-02 -1.61841143e-03 3.53531564e+02] [ 1.88639230e-02 9.99822055e-01 9.91537919e-05 -2.17106090e+01] [ 1.61625303e-03 -1.29665607e-04 9.99998685e-01 -4.82856109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.550371743 meters 0.042777066008497296 Centerline is valid? [True, True] Translation: X:353.56, Y:-21.71, Z:-4.83 [[ 9.99800473e-01 -1.98985764e-02 -1.74957691e-03 3.53563085e+02] [ 1.98987956e-02 9.99801994e-01 1.07939957e-04 -2.17132304e+01] [ 1.74708263e-03 -1.42732893e-04 9.99998464e-01 -4.82882651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.580371743 meters 0.045941996207492584 Centerline is valid? [True, True] Translation: X:353.59, Y:-21.72, Z:-4.83 [[ 9.99787209e-01 -2.05749988e-02 -1.48534198e-03 3.53593493e+02] [ 2.05751595e-02 9.99788305e-01 9.29800266e-05 -2.17213190e+01] [ 1.48311447e-03 -1.23521389e-04 9.99998893e-01 -4.83065564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61037174300003 meters 0.04881538240994311 Centerline is valid? [True, True] Translation: X:353.62, Y:-21.73, Z:-4.83 [[ 9.99775676e-01 -2.10216928e-02 -2.58584445e-03 3.53624562e+02] [ 2.10221755e-02 9.99778997e-01 1.59609127e-04 -2.17294214e+01] [ 2.58191772e-03 -2.13933398e-04 9.99996644e-01 -4.83211094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.640371743 meters 0.04933057623948548 Centerline is valid? [True, True] Translation: X:353.66, Y:-21.73, Z:-4.83 [[ 9.99773156e-01 -2.11033966e-02 -2.87799500e-03 3.53656584e+02] [ 2.11039958e-02 9.99777270e-01 1.77978547e-04 -2.17326423e+01] [ 2.87359803e-03 -2.38675368e-04 9.99995843e-01 -4.83257043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.670371743 meters 0.04933057623948548 Centerline is valid? [True, True] Translation: X:353.69, Y:-21.73, Z:-4.83 [[ 9.99775315e-01 -2.10008581e-02 -2.87794712e-03 3.53689175e+02] [ 2.10014591e-02 9.99779429e-01 1.78755568e-04 -2.17347469e+01] [ 2.87355831e-03 -2.39156494e-04 9.99995843e-01 -4.83302876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.700371743 meters 0.04533836059478917 Centerline is valid? [True, True] Translation: X:353.72, Y:-21.73, Z:-4.83 [[ 9.99785080e-01 -2.05125648e-02 -3.00464012e-03 3.53721543e+02] [ 2.05132168e-02 9.99789564e-01 1.86326687e-04 -2.17312802e+01] [ 3.00018580e-03 -2.47921476e-04 9.99995469e-01 -4.83160351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.730371743 meters 0.04306749559028578 Centerline is valid? [True, True] Translation: X:353.75, Y:-21.73, Z:-4.83 [[ 9.99800072e-01 -1.97729268e-02 -2.97461645e-03 3.53754267e+02] [ 1.97735633e-02 9.99804467e-01 1.84714468e-04 -2.17300664e+01] [ 2.97038247e-03 -2.43496305e-04 9.99995559e-01 -4.83111509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.760371743 meters 0.042833924340264194 Centerline is valid? [True, True] Translation: X:353.79, Y:-21.73, Z:-4.83 [[ 9.99817140e-01 -1.89678810e-02 -2.43011352e-03 3.53786405e+02] [ 1.89683044e-02 9.99820074e-01 1.51273280e-04 -2.17317828e+01] [ 2.42680694e-03 -1.97340751e-04 9.99997036e-01 -4.83160290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.790371743 meters 0.041412296345044286 Centerline is valid? [True, True] Translation: X:353.82, Y:-21.73, Z:-4.83 [[ 9.99867769e-01 -1.61121745e-02 -2.20060877e-03 3.53817602e+02] [ 1.61125134e-02 9.99870176e-01 1.36354311e-04 -2.17319680e+01] [ 2.19812612e-03 -1.71793619e-04 9.99997569e-01 -4.83171008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.820371743 meters 0.04222464719960416 Centerline is valid? [True, True] Translation: X:353.85, Y:-21.74, Z:-4.83 [[ 9.99899810e-01 -1.40645400e-02 -1.59973674e-03 3.53847646e+02] [ 1.40647189e-02 9.99901082e-01 1.00623853e-04 -2.17351136e+01] [ 1.59816327e-03 -1.23113619e-04 9.99998715e-01 -4.83237191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.850371743 meters 0.04200725825092482 Centerline is valid? [True, True] Translation: X:353.88, Y:-21.74, Z:-4.83 [[ 9.99952927e-01 -9.65619279e-03 -9.49676053e-04 3.53877531e+02] [ 9.65625309e-03 9.99953376e-01 5.89343512e-05 -2.17358633e+01] [ 9.49062693e-04 -6.81018893e-05 9.99999547e-01 -4.83254247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880371743 meters 0.041619720278824386 Centerline is valid? [True, True] Translation: X:353.91, Y:-21.74, Z:-4.83 [[ 9.99974286e-01 -7.11969094e-03 -8.58684096e-04 3.53907912e+02] [ 7.11973924e-03 9.99974653e-01 5.32044585e-05 -2.17367752e+01] [ 8.58283531e-04 -5.93166972e-05 9.99999630e-01 -4.83281558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.910371743 meters 0.03655457564959479 Centerline is valid? [True, True] Translation: X:353.94, Y:-21.73, Z:-4.83 [[ 9.99988300e-01 -4.80707058e-03 -5.39998851e-04 3.53939975e+02] [ 4.80708978e-03 9.99988445e-01 3.42540768e-05 -2.17305227e+01] [ 5.39827950e-04 -3.68494990e-05 9.99999854e-01 -4.83159286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940371743 meters 0.039926635643173995 Centerline is valid? [True, True] Translation: X:353.97, Y:-21.74, Z:-4.83 [[ 9.99999771e-01 -2.79189159e-04 -6.16603357e-04 3.53969383e+02] [ 2.79212640e-04 9.99999960e-01 3.79962498e-05 -2.17386247e+01] [ 6.16592724e-04 -3.81684045e-05 9.99999809e-01 -4.83449451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.970371743 meters 0.039459805090333526 Centerline is valid? [True, True] Translation: X:354.00, Y:-21.74, Z:-4.83 [[ 9.99998636e-01 1.62480761e-03 -2.98284561e-04 3.53999993e+02] [-1.62480217e-03 9.99998680e-01 1.84932068e-05 -2.17406158e+01] [ 2.98314215e-04 -1.80085282e-05 9.99999955e-01 -4.83448334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000371743 meters 0.03405827473692879 Centerline is valid? [True, True] Translation: X:354.03, Y:-21.73, Z:-4.83 [[ 9.99986631e-01 5.17003331e-03 8.81198661e-05 3.54030658e+02] [-5.17003282e-03 9.99986635e-01 -5.71494155e-06 -2.17331634e+01] [-8.81482352e-05 5.25928256e-06 9.99999996e-01 -4.83252863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.030371743 meters 0.03306174687470229 Centerline is valid? [True, True] Translation: X:354.06, Y:-21.73, Z:-4.83 [[ 9.99977348e-01 6.72754657e-03 -2.07994988e-04 3.54059201e+02] [-6.72754425e-03 9.99977370e-01 1.18576705e-05 -2.17334451e+01] [ 2.08070053e-04 -1.04581065e-05 9.99999978e-01 -4.83255653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060371743 meters 0.032965409009510394 Centerline is valid? [True, True] Translation: X:354.09, Y:-21.74, Z:-4.83 [[ 9.99967251e-01 8.04452998e-03 -8.84164373e-04 3.54087804e+02] [-8.04448567e-03 9.99967641e-01 5.36615577e-05 -2.17356136e+01] [ 8.84567444e-04 -4.65471527e-05 9.99999608e-01 -4.83410654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.090371743 meters 0.033116009239254486 Centerline is valid? [True, True] Translation: X:354.12, Y:-21.74, Z:-4.84 [[ 9.99960118e-01 8.65741697e-03 -2.19349420e-03 3.54116385e+02] [-8.65714276e-03 9.99962517e-01 1.34473895e-04 -2.17393730e+01] [ 2.19457618e-03 -1.15479140e-04 9.99997585e-01 -4.83724681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120371743 meters 0.03328329218391536 Centerline is valid? [True, True] Translation: X:354.14, Y:-21.74, Z:-4.84 [[ 9.99958271e-01 8.47030452e-03 -3.42208770e-03 3.54144656e+02] [-8.46963492e-03 9.99964110e-01 2.10113654e-04 -2.17426318e+01] [ 3.42374461e-03 -1.81121053e-04 9.99994123e-01 -4.83913104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.150371743 meters 0.03372017216821675 Centerline is valid? [True, True] Translation: X:354.17, Y:-21.75, Z:-4.84 [[ 9.99972730e-01 6.31206173e-03 -3.83356212e-03 3.54173882e+02] [-6.31120377e-03 9.99980056e-01 2.35859870e-04 -2.17471522e+01] [ 3.83497442e-03 -2.11659047e-04 9.99992624e-01 -4.84048887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180371743 meters 0.03477320293865896 Centerline is valid? [True, True] Translation: X:354.20, Y:-21.75, Z:-4.84 [[ 9.99980761e-01 4.73324587e-03 -4.00924411e-03 3.54202169e+02] [-4.73229657e-03 9.99988772e-01 2.46230243e-04 -2.17514657e+01] [ 4.01036457e-03 -2.27252574e-04 9.99991933e-01 -4.84098489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.210371743 meters 0.035095103387930725 Centerline is valid? [True, True] Translation: X:354.23, Y:-21.75, Z:-4.84 [[ 9.99989518e-01 2.87230775e-03 -3.56552242e-03 3.54231689e+02] [-2.87154503e-03 9.99995853e-01 2.19016429e-04 -2.17543848e+01] [ 3.56613672e-03 -2.08775575e-04 9.99993620e-01 -4.84041538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240371743 meters 0.03501480721102007 Centerline is valid? [True, True] Translation: X:354.26, Y:-21.76, Z:-4.84 [[ 9.99995780e-01 -1.70725864e-03 -2.35074587e-03 3.54261520e+02] [ 1.70760306e-03 9.99998532e-01 1.44519416e-04 -2.17585321e+01] [ 2.35049569e-03 -1.48532947e-04 9.99997227e-01 -4.83904301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.270371743 meters 0.03895332057084339 Centerline is valid? [True, True] Translation: X:354.29, Y:-21.77, Z:-4.84 [[ 9.99989770e-01 -4.13258762e-03 -1.83876233e-03 3.54291037e+02] [ 4.13280269e-03 9.99991454e-01 1.13183629e-04 -2.17681566e+01] [ 1.83827888e-03 -1.20781713e-04 9.99998303e-01 -4.84036808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300371743 meters 0.04021421549313852 Centerline is valid? [True, True] Translation: X:354.32, Y:-21.77, Z:-4.84 [[ 9.99950765e-01 -9.83622059e-03 -1.31043894e-03 3.54321689e+02] [ 9.83633493e-03 9.99951619e-01 8.08310749e-05 -2.17736392e+01] [ 1.30958047e-03 -9.37170114e-05 9.99999138e-01 -4.83967203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.330371743 meters 0.04083167912916067 Centerline is valid? [True, True] Translation: X:354.35, Y:-21.78, Z:-4.84 [[ 9.99920710e-01 -1.25768495e-02 -6.29462863e-04 3.54352948e+02] [ 1.25768767e-02 9.99920907e-01 3.92787632e-05 -2.17773673e+01] [ 6.28919074e-04 -4.71923257e-05 9.99999801e-01 -4.83965462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36037174300003 meters 0.04233295077951537 Centerline is valid? [True, True] Translation: X:354.38, Y:-21.78, Z:-4.84 [[ 9.99823804e-01 -1.87685736e-02 -3.17385714e-04 3.54382876e+02] [ 1.87685808e-02 9.99823854e-01 1.94988169e-05 -2.17829426e+01] [ 3.16963842e-04 -2.54522607e-05 9.99999949e-01 -4.83920278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.390371743 meters 0.046001609782617026 Centerline is valid? [True, True] Translation: X:354.41, Y:-21.79, Z:-4.84 [[ 9.99770016e-01 -2.14435757e-02 -2.98061731e-04 3.54412134e+02] [ 2.14435821e-02 9.99770060e-01 1.83598410e-05 -2.17911276e+01] [ 2.97599494e-04 -2.47471297e-05 9.99999955e-01 -4.84059390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.420371743 meters 0.044837846885921226 Centerline is valid? [True, True] Translation: X:354.44, Y:-21.79, Z:-4.84 [[ 9.99710191e-01 -2.40610796e-02 -7.73577086e-04 3.54442843e+02] [ 2.40611238e-02 9.99710488e-01 4.79095852e-05 -2.17921070e+01] [ 7.72200369e-04 -6.65088346e-05 9.99999700e-01 -4.84089665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.450371743 meters 0.047168273264322755 Centerline is valid? [True, True] Translation: X:354.47, Y:-21.80, Z:-4.84 [[ 9.99599974e-01 -2.82266199e-02 -1.77476684e-03 3.54473516e+02] [ 2.82268590e-02 9.99601537e-01 1.09803195e-04 -2.18001182e+01] [ 1.77096029e-03 -1.59855364e-04 9.99998419e-01 -4.84225332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.480371743 meters 0.05094798872748642 Centerline is valid? [True, True] Translation: X:354.50, Y:-21.81, Z:-4.84 [[ 9.99555773e-01 -2.97574915e-02 -1.65763276e-03 3.54503474e+02] [ 2.97577020e-02 9.99557136e-01 1.02462097e-04 -2.18082919e+01] [ 1.65384964e-03 -1.51743922e-04 9.99998621e-01 -4.84393716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.510371743 meters 0.05055868358747903 Centerline is valid? [True, True] Translation: X:354.53, Y:-21.81, Z:-4.84 [[ 9.99497185e-01 -3.16200080e-02 -2.35632863e-03 3.54534650e+02] [ 3.16204390e-02 9.99499938e-01 1.45877742e-04 -2.18113464e+01] [ 2.35053766e-03 -2.20312538e-04 9.99997213e-01 -4.84388220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.540371743 meters 0.0505888805123036 Centerline is valid? [True, True] Translation: X:354.57, Y:-21.81, Z:-4.84 [[ 9.99486807e-01 -3.19554942e-02 -2.22925480e-03 3.54566998e+02] [ 3.19558823e-02 9.99489271e-01 1.38696426e-04 -2.18142849e+01] [ 2.22368414e-03 -2.09863052e-04 9.99997506e-01 -4.84429200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.570371743 meters 0.04981018642716486 Centerline is valid? [True, True] Translation: X:354.60, Y:-21.82, Z:-4.84 [[ 9.99501061e-01 -3.14879235e-02 -2.47773958e-03 3.54599084e+02] [ 3.14884017e-02 9.99504105e-01 1.54229579e-04 -2.18163305e+01] [ 2.47165452e-03 -2.32172687e-04 9.99996919e-01 -4.84496801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.600371743 meters 0.05071639599786831 Centerline is valid? [True, True] Translation: X:354.63, Y:-21.82, Z:-4.85 [[ 9.99510010e-01 -3.11386925e-02 -3.18153840e-03 3.54630081e+02] [ 3.11394780e-02 9.99515029e-01 1.97667850e-04 -2.18200647e+01] [ 3.17384032e-03 -2.96642439e-04 9.99994919e-01 -4.84596839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.630371743 meters 0.048184914983000794 Centerline is valid? [True, True] Translation: X:354.66, Y:-21.82, Z:-4.85 [[ 9.99534607e-01 -3.03440362e-02 -3.13189753e-03 3.54662440e+02] [ 3.03447952e-02 9.99539472e-01 1.95089468e-04 -2.18186464e+01] [ 3.12453540e-03 -2.90035464e-04 9.99995077e-01 -4.84543869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.660371743 meters 0.04686531622537973 Centerline is valid? [True, True] Translation: X:354.69, Y:-21.82, Z:-4.85 [[ 9.99576065e-01 -2.90371321e-02 -2.12968320e-03 3.54694335e+02] [ 2.90374805e-02 9.99578315e-01 1.32853564e-04 -2.18194075e+01] [ 2.12492746e-03 -1.94637877e-04 9.99997723e-01 -4.84523940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.690371743 meters 0.04550455652993613 Centerline is valid? [True, True] Translation: X:354.73, Y:-21.82, Z:-4.85 [[ 9.99584693e-01 -2.87346650e-02 -2.18172373e-03 3.54726871e+02] [ 2.87350308e-02 9.99587054e-01 1.36504745e-04 -2.18201887e+01] [ 2.17690038e-03 -1.99139952e-04 9.99997611e-01 -4.84535037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.720371743 meters 0.04562932650308655 Centerline is valid? [True, True] Translation: X:354.76, Y:-21.82, Z:-4.85 [[ 9.99612116e-01 -2.77739787e-02 -2.05507833e-03 3.54759182e+02] [ 2.77743017e-02 9.99614211e-01 1.28784400e-04 -2.18233878e+01] [ 2.05070865e-03 -1.85812812e-04 9.99997880e-01 -4.84580697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.750371743 meters 0.04696579480379738 Centerline is valid? [True, True] Translation: X:354.79, Y:-21.83, Z:-4.85 [[ 9.99606796e-01 -2.79504304e-02 -2.24215838e-03 3.54790554e+02] [ 2.79508148e-02 9.99609290e-01 1.40278258e-04 -2.18276895e+01] [ 2.23736151e-03 -2.02893253e-04 9.99997477e-01 -4.84657995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.780371743 meters 0.047643477729761186 Centerline is valid? [True, True] Translation: X:354.82, Y:-21.83, Z:-4.85 [[ 9.99606575e-01 -2.79096505e-02 -2.78326193e-03 3.54822439e+02] [ 2.79102433e-02 9.99610418e-01 1.74394343e-04 -2.18311345e+01] [ 2.77731034e-03 -2.52007250e-04 9.99996112e-01 -4.84764366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.810371743 meters 0.047895217082016155 Centerline is valid? [True, True] Translation: X:354.85, Y:-21.83, Z:-4.85 [[ 9.99577459e-01 -2.87515046e-02 -4.27251800e-03 3.54854792e+02] [ 2.87529084e-02 9.99586514e-01 2.67474971e-04 -2.18339059e+01] [ 4.26306106e-03 -3.90209270e-04 9.99990837e-01 -4.84897232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.840371743 meters 0.04912632136576976 Centerline is valid? [True, True] Translation: X:354.89, Y:-21.84, Z:-4.85 [[ 9.99540707e-01 -2.98344897e-02 -5.31782687e-03 3.54885623e+02] [ 2.98366747e-02 9.99554732e-01 3.32001811e-04 -2.18380540e+01] [ 5.30555390e-03 -4.90515595e-04 9.99985805e-01 -4.85005030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.870371743 meters 0.058405766112980845 Centerline is valid? [True, True] Translation: X:354.91, Y:-21.85, Z:-4.85 [[ 9.99456846e-01 -3.24229705e-02 -5.89616467e-03 3.54914577e+02] [ 3.24256979e-02 9.99474081e-01 3.67546295e-04 -2.18545938e+01] [ 5.88114682e-03 -5.58533915e-04 9.99982550e-01 -4.85361121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.900371743 meters 0.049031644597117494 Centerline is valid? [True, True] Translation: X:354.95, Y:-21.84, Z:-4.85 [[ 9.99408752e-01 -3.37997388e-02 -6.30267353e-03 3.54946733e+02] [ 3.38028884e-02 9.99428441e-01 3.93839694e-04 -2.18437975e+01] [ 6.28575951e-03 -6.06655408e-04 9.99980060e-01 -4.85100994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.930371743 meters 0.04965696507192097 Centerline is valid? [True, True] Translation: X:354.98, Y:-21.85, Z:-4.85 [[ 9.99340234e-01 -3.58675271e-02 -5.71112466e-03 3.54977335e+02] [ 3.58701461e-02 9.99356396e-01 3.56772877e-04 -2.18476930e+01] [ 5.69465239e-03 -5.61396366e-04 9.99983628e-01 -4.85043850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.960371743 meters 0.05345506141186579 Centerline is valid? [True, True] Translation: X:355.01, Y:-21.86, Z:-4.85 [[ 9.99313886e-01 -3.65694246e-02 -5.86800407e-03 3.55008228e+02] [ 3.65722063e-02 9.99330946e-01 3.67397281e-04 -2.18552418e+01] [ 5.85064254e-03 -5.81751060e-04 9.99982716e-01 -4.85162954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.990371743 meters 0.05092594129538132 Centerline is valid? [True, True] Translation: X:355.04, Y:-21.85, Z:-4.85 [[ 9.99310805e-01 -3.67551529e-02 -5.19369923e-03 3.55041044e+02] [ 3.67573382e-02 9.99324168e-01 3.25901295e-04 -2.18538365e+01] [ 5.17821061e-03 -5.16583244e-04 9.99986460e-01 -4.85081599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.020371743 meters 0.05256075807885886 Centerline is valid? [True, True] Translation: X:355.07, Y:-21.86, Z:-4.85 [[ 9.99324401e-01 -3.65505208e-02 -3.84731725e-03 3.55072199e+02] [ 3.65517255e-02 9.99331733e-01 2.43254119e-04 -2.18582948e+01] [ 3.83585515e-03 -3.83715860e-04 9.99992569e-01 -4.85050082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.050371743 meters 0.05011605824515957 Centerline is valid? [True, True] Translation: X:355.10, Y:-21.86, Z:-4.85 [[ 9.99348309e-01 -3.59265527e-02 -3.49863700e-03 3.55104118e+02] [ 3.59275431e-02 9.99354373e-01 2.20635367e-04 -2.18575343e+01] [ 3.48845152e-03 -3.46189013e-04 9.99993855e-01 -4.84994178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.080371743 meters 0.05188686891130866 Centerline is valid? [True, True] Translation: X:355.13, Y:-21.86, Z:-4.85 [[ 9.99396316e-01 -3.46354496e-02 -2.71826937e-03 3.55134579e+02] [ 3.46360423e-02 9.99399978e-01 1.71236002e-04 -2.18626983e+01] [ 2.71070751e-03 -2.65282722e-04 9.99996291e-01 -4.85017548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11037174300003 meters 0.05220460536732586 Centerline is valid? [True, True] Translation: X:355.17, Y:-21.87, Z:-4.85 [[ 9.99401989e-01 -3.45030326e-02 -2.28166613e-03 3.55166503e+02] [ 3.45034515e-02 9.99404568e-01 1.44470602e-04 -2.18661169e+01] [ 2.27532288e-03 -2.23109563e-04 9.99997387e-01 -4.85033279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.140371743 meters 0.04941597854691074 Centerline is valid? [True, True] Translation: X:355.20, Y:-21.86, Z:-4.85 [[ 9.99397699e-01 -3.46526101e-02 -1.85364696e-03 3.55199040e+02] [ 3.46528874e-02 9.99399401e-01 1.17715281e-04 -2.18649678e+01] [ 1.84845452e-03 -1.81878601e-04 9.99998275e-01 -4.84968002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.170371743 meters 0.051043894349376964 Centerline is valid? [True, True] Translation: X:355.23, Y:-21.87, Z:-4.85 [[ 9.99371360e-01 -3.53970008e-02 -1.98429083e-03 3.55229983e+02] [ 3.53973197e-02 9.99373311e-01 1.25786559e-04 -2.18711657e+01] [ 1.97859483e-03 -1.95946062e-04 9.99998023e-01 -4.85057915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.200371743 meters 0.05298675533765251 Centerline is valid? [True, True] Translation: X:355.26, Y:-21.88, Z:-4.85 [[ 9.99301932e-01 -3.72793582e-02 -2.42864202e-03 3.55260439e+02] [ 3.72798398e-02 9.99304853e-01 1.53314714e-04 -2.18783872e+01] [ 2.42123828e-03 -2.43747075e-04 9.99997039e-01 -4.85248080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.230371743 meters 0.05211701837686886 Centerline is valid? [True, True] Translation: X:355.29, Y:-21.88, Z:-4.85 [[ 9.99256553e-01 -3.84469796e-02 -2.85860260e-03 3.55291117e+02] [ 3.84476532e-02 9.99260599e-01 1.81068813e-04 -2.18802585e+01] [ 2.84952739e-03 -2.90840759e-04 9.99995898e-01 -4.85338251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.260371743 meters 0.0539026937642444 Centerline is valid? [True, True] Translation: X:355.32, Y:-21.89, Z:-4.85 [[ 9.99207165e-01 -3.96238457e-02 -3.87189626e-03 3.55320592e+02] [ 3.96250925e-02 9.99214587e-01 2.45794305e-04 -2.18857857e+01] [ 3.85911591e-03 -3.99023678e-04 9.99992474e-01 -4.85487951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.290371743 meters 0.05822532904760713 Centerline is valid? [True, True] Translation: X:355.35, Y:-21.90, Z:-4.86 [[ 9.99099914e-01 -4.20988383e-02 -5.20088839e-03 3.55350004e+02] [ 4.21011110e-02 9.99113301e-01 3.28238111e-04 -2.18959536e+01] [ 5.18245833e-03 -5.46905848e-04 9.99986421e-01 -4.85814397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.320371743 meters 0.0572602898418583 Centerline is valid? [True, True] Translation: X:355.38, Y:-21.90, Z:-4.86 [[ 9.99063201e-01 -4.28798338e-02 -5.83444743e-03 3.55382064e+02] [ 4.28827167e-02 9.99080045e-01 3.69861643e-04 -2.18975583e+01] [ 5.81322039e-03 -6.19712113e-04 9.99982911e-01 -4.85877002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.350371743 meters 0.05459305071528586 Centerline is valid? [True, True] Translation: X:355.41, Y:-21.90, Z:-4.86 [[ 9.99004243e-01 -4.40176293e-02 -7.27813807e-03 3.55413253e+02] [ 4.40221391e-02 9.99030450e-01 4.60525535e-04 -2.18974707e+01] [ 7.25081031e-03 -7.80466170e-04 9.99973408e-01 -4.85941884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380371743 meters 0.05550510776598812 Centerline is valid? [True, True] Translation: X:355.45, Y:-21.90, Z:-4.86 [[ 9.98999043e-01 -4.40648700e-02 -7.69415798e-03 3.55445235e+02] [ 4.40699215e-02 9.99028330e-01 4.88152121e-04 -2.19020778e+01] [ 7.66517144e-03 -8.26744440e-04 9.99970280e-01 -4.86056737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.410371743 meters 0.056603996894028535 Centerline is valid? [True, True] Translation: X:355.48, Y:-21.91, Z:-4.86 [[ 9.99010657e-01 -4.37667871e-02 -7.88514906e-03 3.55476520e+02] [ 4.37720845e-02 9.99041418e-01 5.00410685e-04 -2.19066571e+01] [ 7.85568913e-03 -8.45065017e-04 9.99968787e-01 -4.86171719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440371743 meters 0.05509957648427637 Centerline is valid? [True, True] Translation: X:355.51, Y:-21.91, Z:-4.86 [[ 9.99069386e-01 -4.24088822e-02 -7.86438676e-03 3.55507830e+02] [ 4.24141104e-02 9.99099992e-01 4.99133900e-04 -2.19077791e+01] [ 7.83614104e-03 -8.32230367e-04 9.99968951e-01 -4.86135176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.470371743 meters 0.06446587929634615 Centerline is valid? [True, True] Translation: X:355.54, Y:-21.92, Z:-4.86 [[ 9.99116777e-01 -4.13711150e-02 -7.35502678e-03 3.55537333e+02] [ 4.13756734e-02 9.99143550e-01 4.68629102e-04 -2.19236390e+01] [ 7.32933986e-03 -7.72534385e-04 9.99972842e-01 -4.86369791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500371743 meters 0.05343553422482275 Centerline is valid? [True, True] Translation: X:355.57, Y:-21.91, Z:-4.86 [[ 9.99199765e-01 -3.95461712e-02 -5.99410826e-03 3.55568549e+02] [ 3.95491589e-02 9.99217553e-01 3.80688773e-04 -2.19120198e+01] [ 5.97436341e-03 -6.17446073e-04 9.99981963e-01 -4.85984997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.530371743 meters 0.05361703378641394 Centerline is valid? [True, True] Translation: X:355.60, Y:-21.92, Z:-4.86 [[ 9.99252770e-01 -3.83124283e-02 -5.10493345e-03 3.55600295e+02] [ 3.83145847e-02 9.99265674e-01 3.25251601e-04 -2.19155660e+01] [ 5.08872358e-03 -5.20601968e-04 9.99986917e-01 -4.86027927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560371743 meters 0.052333160221423446 Centerline is valid? [True, True] Translation: X:355.63, Y:-21.92, Z:-4.86 [[ 9.99332934e-01 -3.62775485e-02 -4.19847238e-03 3.55630573e+02] [ 3.62789867e-02 9.99341665e-01 2.66874297e-04 -2.19180340e+01] [ 4.18602683e-03 -4.19012598e-04 9.99991151e-01 -4.85974937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.590371743 meters 0.052333160221423446 Centerline is valid? [True, True] Translation: X:355.66, Y:-21.92, Z:-4.86 [[ 9.99336859e-01 -3.61692835e-02 -4.19834684e-03 3.55663208e+02] [ 3.61707289e-02 9.99345589e-01 2.68847638e-04 -2.19202034e+01] [ 4.18587537e-03 -4.20526620e-04 9.99991151e-01 -4.86020873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620371743 meters 0.053336376876791276 Centerline is valid? [True, True] Translation: X:355.69, Y:-21.93, Z:-4.86 [[ 9.99368000e-01 -3.53219750e-02 -3.99475171e-03 3.55693660e+02] [ 3.53232737e-02 9.99375906e-01 2.55007418e-04 -2.19251880e+01] [ 3.98325125e-03 -3.95953962e-04 9.99991988e-01 -4.86101493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.650371743 meters 0.053501316879180014 Centerline is valid? [True, True] Translation: X:355.73, Y:-21.93, Z:-4.86 [[ 9.99371816e-01 -3.51901647e-02 -4.19833286e-03 3.55726537e+02] [ 3.51916040e-02 9.99380547e-01 2.69435643e-04 -2.19288414e+01] [ 4.18625071e-03 -4.17012455e-04 9.99991151e-01 -4.86131758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680371743 meters 0.050728496435543245 Centerline is valid? [True, True] Translation: X:355.76, Y:-21.93, Z:-4.86 [[ 9.99400980e-01 -3.43254709e-02 -4.40943638e-03 3.55758456e+02] [ 3.43270493e-02 9.99410613e-01 2.82744803e-04 -2.19294418e+01] [ 4.39713217e-03 -4.33938373e-04 9.99990238e-01 -4.86166355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.710371743 meters 0.05176339756260982 Centerline is valid? [True, True] Translation: X:355.79, Y:-21.93, Z:-4.86 [[ 9.99415040e-01 -3.38521363e-02 -4.85918864e-03 3.55789389e+02] [ 3.38540553e-02 9.99426738e-01 3.13182958e-04 -2.19347002e+01] [ 4.84580114e-03 -4.77502999e-04 9.99988145e-01 -4.86256899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740371743 meters 0.04987914654725365 Centerline is valid? [True, True] Translation: X:355.82, Y:-21.94, Z:-4.86 [[ 9.99409826e-01 -3.38620652e-02 -5.77575544e-03 3.55821261e+02] [ 3.38647711e-02 9.99426355e-01 3.71304684e-04 -2.19366212e+01] [ 5.75986907e-03 -5.66680186e-04 9.99983251e-01 -4.86336856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.770371743 meters 0.05320794585650949 Centerline is valid? [True, True] Translation: X:355.85, Y:-21.95, Z:-4.87 [[ 9.99411532e-01 -3.37445152e-02 -6.15615258e-03 3.55851746e+02] [ 3.37475977e-02 9.99430309e-01 3.97501755e-04 -2.19452429e+01] [ 6.13923197e-03 -6.05023199e-04 9.99980972e-01 -4.86534385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800371743 meters 0.05017750760115433 Centerline is valid? [True, True] Translation: X:355.88, Y:-21.94, Z:-4.87 [[ 9.99426708e-01 -3.32072227e-02 -6.59813584e-03 3.55884393e+02] [ 3.32107482e-02 9.99448280e-01 4.25433953e-04 -2.19445924e+01] [ 6.58036804e-03 -6.44319083e-04 9.99978142e-01 -4.86531794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.830371743 meters 0.048712591468041085 Centerline is valid? [True, True] Translation: X:355.92, Y:-21.95, Z:-4.87 [[ 9.99433989e-01 -3.27041702e-02 -7.88278155e-03 3.55916590e+02] [ 3.27091897e-02 9.99464782e-01 5.08662019e-04 -2.19461201e+01] [ 7.86192717e-03 -7.66213508e-04 9.99968801e-01 -4.86564143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86037174300003 meters 0.04808161446096081 Centerline is valid? [True, True] Translation: X:355.95, Y:-21.95, Z:-4.87 [[ 9.99440946e-01 -3.24089559e-02 -8.21305108e-03 3.55948559e+02] [ 3.24143997e-02 9.99474374e-01 5.30548136e-04 -2.19480001e+01] [ 8.19153958e-03 -7.96472652e-04 9.99966132e-01 -4.86591645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.890371743 meters 0.049275717864861436 Centerline is valid? [True, True] Translation: X:355.98, Y:-21.95, Z:-4.87 [[ 9.99435261e-01 -3.25642549e-02 -8.29025965e-03 3.55978998e+02] [ 3.25698220e-02 9.99469318e-01 5.37364347e-04 -2.19531613e+01] [ 8.26836129e-03 -8.07073158e-04 9.99965491e-01 -4.86625715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.920371743 meters 0.05090312051888226 Centerline is valid? [True, True] Translation: X:356.01, Y:-21.96, Z:-4.87 [[ 9.99402185e-01 -3.36032542e-02 -8.12985969e-03 3.56011173e+02] [ 3.36086407e-02 9.99434931e-01 5.26812923e-04 -2.19581248e+01] [ 8.10756313e-03 -7.99731519e-04 9.99966813e-01 -4.86734006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.950371743 meters 0.0519684082317956 Centerline is valid? [True, True] Translation: X:356.04, Y:-21.96, Z:-4.87 [[ 9.99370195e-01 -3.46241654e-02 -7.77053310e-03 3.56042877e+02] [ 3.46291215e-02 9.99400105e-01 5.04136451e-04 -2.19627153e+01] [ 7.74841630e-03 -7.72905678e-04 9.99969682e-01 -4.86781599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.980371743 meters 0.053171122789481065 Centerline is valid? [True, True] Translation: X:356.07, Y:-21.97, Z:-4.87 [[ 9.99249579e-01 -3.80538540e-02 -7.22377182e-03 3.56073523e+02] [ 3.80582195e-02 9.99275414e-01 4.67782108e-04 -2.19682059e+01] [ 7.20073666e-03 -7.42354968e-04 9.99973799e-01 -4.86784675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.010371743 meters 0.053679489321384874 Centerline is valid? [True, True] Translation: X:356.10, Y:-21.97, Z:-4.87 [[ 9.99195149e-01 -3.95583786e-02 -6.64743850e-03 3.56104893e+02] [ 3.95621130e-02 9.99217020e-01 4.31172860e-04 -2.19723500e+01] [ 6.62517719e-03 -6.93812544e-04 9.99977813e-01 -4.86781234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.040371743 meters 0.05760772598388641 Centerline is valid? [True, True] Translation: X:356.13, Y:-21.98, Z:-4.87 [[ 9.99035035e-01 -4.32942445e-02 -7.38969300e-03 3.56134168e+02] [ 4.32989553e-02 9.99062046e-01 4.78627160e-04 -2.19813932e+01] [ 7.36204000e-03 -7.98131289e-04 9.99972581e-01 -4.86860138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.070371743 meters 0.06050324742989176 Centerline is valid? [True, True] Translation: X:356.16, Y:-21.99, Z:-4.87 [[ 9.98987195e-01 -4.44139875e-02 -7.20980280e-03 3.56163899e+02] [ 4.44185039e-02 9.99012902e-01 4.67432509e-04 -2.19882327e+01] [ 7.18192548e-03 -7.87207746e-04 9.99973900e-01 -4.86982544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.100371743 meters 0.059287856920836886 Centerline is valid? [True, True] Translation: X:356.19, Y:-21.99, Z:-4.87 [[ 9.98918254e-01 -4.58286088e-02 -7.87780892e-03 3.56194476e+02] [ 4.58340497e-02 9.98948937e-01 5.11426964e-04 -2.19905653e+01] [ 7.84609085e-03 -8.71945616e-04 9.99968839e-01 -4.86991926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.130371743 meters 0.058652945707662156 Centerline is valid? [True, True] Translation: X:356.23, Y:-21.99, Z:-4.87 [[ 9.98912507e-01 -4.59361876e-02 -7.97939760e-03 3.56226353e+02] [ 4.59417808e-02 9.98943984e-01 5.18988235e-04 -2.19923878e+01] [ 7.94713089e-03 -8.85011575e-04 9.99968029e-01 -4.87079934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.160371743 meters 0.05949788061816331 Centerline is valid? [True, True] Translation: X:356.26, Y:-22.00, Z:-4.87 [[ 9.98907389e-01 -4.59885622e-02 -8.31142548e-03 3.56258710e+02] [ 4.59946370e-02 9.98941540e-01 5.41132864e-04 -2.19968782e+01] [ 8.27774225e-03 -9.22822614e-04 9.99965313e-01 -4.87161808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.190371743 meters 0.060670590260092215 Centerline is valid? [True, True] Translation: X:356.29, Y:-22.00, Z:-4.87 [[ 9.98926969e-01 -4.54442021e-02 -8.92940189e-03 3.56290375e+02] [ 4.54511972e-02 9.98966391e-01 5.81920692e-04 -2.20014107e+01] [ 8.89372745e-03 -9.87148280e-04 9.99959963e-01 -4.87234122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.220371743 meters 0.06520767091504634 Centerline is valid? [True, True] Translation: X:356.32, Y:-22.01, Z:-4.87 [[ 9.99019444e-01 -4.36461527e-02 -7.42724605e-03 3.56319980e+02] [ 4.36509370e-02 9.99046727e-01 4.83193081e-04 -2.20110004e+01] [ 7.39907633e-03 -8.06925532e-04 9.99972301e-01 -4.87298664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.250371743 meters 0.055520988375411286 Centerline is valid? [True, True] Translation: X:356.35, Y:-22.00, Z:-4.87 [[ 9.99060249e-01 -4.26999380e-02 -7.43867178e-03 3.56352742e+02] [ 4.27047198e-02 9.99087620e-01 4.85116144e-04 -2.19999784e+01] [ 7.41117045e-03 -8.02326650e-04 9.99972215e-01 -4.87107416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.280371743 meters 0.057266691522260785 Centerline is valid? [True, True] Translation: X:356.38, Y:-22.01, Z:-4.87 [[ 9.99088008e-01 -4.18843124e-02 -8.29795123e-03 3.56384237e+02] [ 4.18902413e-02 9.99122072e-01 5.41913829e-04 -2.20050303e+01] [ 8.26796854e-03 -8.89022788e-04 9.99965425e-01 -4.87216188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.310371743 meters 0.054683587036609804 Centerline is valid? [True, True] Translation: X:356.42, Y:-22.00, Z:-4.87 [[ 9.99122909e-01 -4.10616887e-02 -8.20667750e-03 3.56416311e+02] [ 4.10674655e-02 9.99156232e-01 5.36572651e-04 -2.20044788e+01] [ 8.17772038e-03 -8.73129473e-04 9.99966181e-01 -4.87203910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.340371743 meters 0.054817129747732514 Centerline is valid? [True, True] Translation: X:356.45, Y:-22.01, Z:-4.87 [[ 9.99218686e-01 -3.88990721e-02 -6.99143618e-03 3.56445427e+02] [ 3.89032047e-02 9.99242880e-01 4.56033526e-04 -2.20088902e+01] [ 6.96840354e-03 -7.27666494e-04 9.99975456e-01 -4.87214905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.370371743 meters 0.05455406468767983 Centerline is valid? [True, True] Translation: X:356.48, Y:-22.01, Z:-4.87 [[ 9.99320330e-01 -3.61424995e-02 -7.25247622e-03 3.56476038e+02] [ 3.61468762e-02 9.99346376e-01 4.73268016e-04 -2.20108024e+01] [ 7.23063074e-03 -7.35100710e-04 9.99973588e-01 -4.87307537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.400371743 meters 0.051009848073603176 Centerline is valid? [True, True] Translation: X:356.51, Y:-22.01, Z:-4.87 [[ 9.99379794e-01 -3.43641632e-02 -7.68967764e-03 3.56506779e+02] [ 3.43690311e-02 9.99409084e-01 5.01755132e-04 -2.20076006e+01] [ 7.66789129e-03 -7.65730711e-04 9.99970308e-01 -4.87273110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.430371743 meters 0.05481905961411915 Centerline is valid? [True, True] Translation: X:356.54, Y:-22.02, Z:-4.87 [[ 9.99431391e-01 -3.27141861e-02 -8.16555262e-03 3.56536702e+02] [ 3.27196403e-02 9.99464426e-01 5.35229269e-04 -2.20157163e+01] [ 8.14366977e-03 -8.02098877e-04 9.99966518e-01 -4.87432415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.460371743 meters 0.05477656773625862 Centerline is valid? [True, True] Translation: X:356.57, Y:-22.02, Z:-4.87 [[ 9.99495819e-01 -3.08681579e-02 -7.43408587e-03 3.56566946e+02] [ 3.08726178e-02 9.99523209e-01 4.85889939e-04 -2.20181232e+01] [ 7.41554284e-03 -7.15154654e-04 9.99972249e-01 -4.87486160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.490371743 meters 0.048892583059320864 Centerline is valid? [True, True] Translation: X:356.60, Y:-22.01, Z:-4.87 [[ 9.99634513e-01 -2.59894605e-02 -7.44229037e-03 3.56598503e+02] [ 2.59937988e-02 9.99661986e-01 4.86775603e-04 -2.20126570e+01] [ 7.42712374e-03 -6.80051091e-04 9.99972187e-01 -4.87411642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.520371743 meters 0.04440162940184273 Centerline is valid? [True, True] Translation: X:356.63, Y:-22.01, Z:-4.87 [[ 9.99749571e-01 -2.07312781e-02 -8.42669098e-03 3.56629736e+02] [ 2.07366557e-02 9.99784820e-01 5.51285758e-04 -2.20077107e+01] [ 8.41344887e-03 -7.25889090e-04 9.99964343e-01 -4.87443390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.550371743 meters 0.04664854215478489 Centerline is valid? [True, True] Translation: X:356.66, Y:-22.01, Z:-4.88 [[ 9.99809753e-01 -1.73290245e-02 -8.95339642e-03 3.56659066e+02] [ 1.73349547e-02 9.99849567e-01 5.85154526e-04 -2.20127701e+01] [ 8.94190938e-03 -7.40249923e-04 9.99959746e-01 -4.87648014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.580371743 meters 0.04392175969610714 Centerline is valid? [True, True] Translation: X:356.69, Y:-22.01, Z:-4.88 [[ 9.99842746e-01 -1.45451443e-02 -1.01450982e-02 3.56690516e+02] [ 1.45526226e-02 9.99893885e-01 6.63708151e-04 -2.20099631e+01] [ 1.01343679e-02 -8.11241566e-04 9.99948317e-01 -4.87660991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61037174300003 meters 0.04187726630173863 Centerline is valid? [True, True] Translation: X:356.72, Y:-22.01, Z:-4.88 [[ 9.99900480e-01 -8.70020663e-03 -1.11057207e-02 3.56720847e+02] [ 8.70880642e-03 9.99961814e-01 7.26230456e-04 -2.20090130e+01] [ 1.10989783e-02 -8.22875754e-04 9.99938066e-01 -4.87859424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.640371743 meters 0.04876863065387419 Centerline is valid? [True, True] Translation: X:356.75, Y:-22.02, Z:-4.88 [[ 9.99918131e-01 -6.58543995e-03 -1.09709899e-02 3.56749370e+02] [ 6.59370110e-03 9.99978004e-01 7.16998152e-04 -2.20219657e+01] [ 1.09660269e-02 -7.89278881e-04 9.99939560e-01 -4.88324322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.670371743 meters 0.039625177916408454 Centerline is valid? [True, True] Translation: X:356.78, Y:-22.01, Z:-4.88 [[ 9.99950218e-01 -2.05471133e-03 -9.76424316e-03 3.56780880e+02] [ 2.06104145e-03 9.99997672e-01 6.38277811e-04 -2.20103721e+01] [ 9.76290895e-03 -6.58370546e-04 9.99952125e-01 -4.87898020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.700371743 meters 0.03939148237576568 Centerline is valid? [True, True] Translation: X:356.81, Y:-22.01, Z:-4.88 [[ 9.99955470e-01 -1.07289920e-04 -9.43646273e-03 3.56810809e+02] [ 1.13105175e-04 9.99999804e-01 6.15722128e-04 -2.20116347e+01] [ 9.43639482e-03 -6.16762023e-04 9.99955286e-01 -4.87851401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.730371743 meters 0.03885542463600624 Centerline is valid? [True, True] Translation: X:356.84, Y:-22.01, Z:-4.88 [[ 9.99963075e-01 1.88780769e-03 -8.38360522e-03 3.56841050e+02] [-1.88328569e-03 9.99998077e-01 5.47247729e-04 -2.20135993e+01] [ 8.38462220e-03 -5.31438798e-04 9.99964707e-01 -4.87777332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.760371743 meters 0.04068398871570414 Centerline is valid? [True, True] Translation: X:356.87, Y:-22.02, Z:-4.88 [[ 9.99961158e-01 3.69931588e-03 -7.99987846e-03 3.56869883e+02] [-3.69526044e-03 9.99993036e-01 5.21659156e-04 -2.20198860e+01] [ 8.00175254e-03 -4.92077259e-04 9.99967864e-01 -4.87929041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.790371743 meters 0.03958036073228733 Centerline is valid? [True, True] Translation: X:356.90, Y:-22.02, Z:-4.88 [[ 9.99967723e-01 3.80000770e-03 -7.07898023e-03 3.56898836e+02] [-3.79684201e-03 9.99992686e-01 4.60581425e-04 -2.20218651e+01] [ 7.08067866e-03 -4.33688790e-04 9.99974838e-01 -4.87852453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.820371743 meters 0.03889106013078156 Centerline is valid? [True, True] Translation: X:356.93, Y:-22.02, Z:-4.88 [[ 9.99971832e-01 3.63243350e-03 -6.56808136e-03 3.56927201e+02] [-3.62970824e-03 9.99993322e-01 4.26796441e-04 -2.20228102e+01] [ 6.56958781e-03 -4.02944201e-04 9.99978339e-01 -4.87841856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.850371743 meters 0.03945272744930057 Centerline is valid? [True, True] Translation: X:356.96, Y:-22.03, Z:-4.88 [[ 9.99976376e-01 2.47517640e-03 -6.41256575e-03 3.56955504e+02] [-2.47255800e-03 9.99996857e-01 4.16219114e-04 -2.20260414e+01] [ 6.41357581e-03 -4.00353840e-04 9.99979353e-01 -4.87883866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880371743 meters 0.04136496420753242 Centerline is valid? [True, True] Translation: X:356.98, Y:-22.03, Z:-4.88 [[ 9.99979779e-01 1.59673602e-03 -6.15562152e-03 3.56982591e+02] [-1.59431168e-03 9.99998650e-01 3.98728233e-04 -2.20316963e+01] [ 6.15624987e-03 -3.88906191e-04 9.99980974e-01 -4.88005233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.910371743 meters 0.03863147777977593 Centerline is valid? [True, True] Translation: X:357.01, Y:-22.03, Z:-4.88 [[ 9.99986204e-01 -1.34617175e-03 -5.07734092e-03 3.57012521e+02] [ 1.34786206e-03 9.99999037e-01 3.29505188e-04 -2.20309722e+01] [ 5.07689246e-03 -3.36344197e-04 9.99987056e-01 -4.87925342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940371743 meters 0.04082354233235584 Centerline is valid? [True, True] Translation: X:357.04, Y:-22.04, Z:-4.88 [[ 9.99960078e-01 -7.03697149e-03 -5.50658773e-03 3.57042440e+02] [ 7.03904740e-03 9.99975162e-01 3.57696471e-04 -2.20392544e+01] [ 5.50393385e-03 -3.96443323e-04 9.99984775e-01 -4.88110958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.970371743 meters 0.048901151668529395 Centerline is valid? [True, True] Translation: X:357.07, Y:-22.06, Z:-4.89 [[ 9.99929236e-01 -1.03082301e-02 -5.93827005e-03 3.57070916e+02] [ 1.03106998e-02 9.99946769e-01 3.85436232e-04 -2.20556089e+01] [ 5.93398078e-03 -4.46636676e-04 9.99982294e-01 -4.88522582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000371743 meters 0.04293612960780968 Centerline is valid? [True, True] Translation: X:357.10, Y:-22.05, Z:-4.88 [[ 9.99889567e-01 -1.38607020e-02 -5.36047642e-03 3.57101605e+02] [ 1.38627666e-02 9.99903847e-01 3.48182576e-04 -2.20504049e+01] [ 5.35513494e-03 -4.22455159e-04 9.99985572e-01 -4.88326041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.030371743 meters 0.04702900854934204 Centerline is valid? [True, True] Translation: X:357.13, Y:-22.06, Z:-4.89 [[ 9.99767631e-01 -2.08725605e-02 -5.38701721e-03 3.57130609e+02] [ 2.08747477e-02 9.99782037e-01 3.50100594e-04 -2.20624363e+01] [ 5.37853554e-03 -4.62471866e-04 9.99985429e-01 -4.88517437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060371743 meters 0.046367256899583265 Centerline is valid? [True, True] Translation: X:357.16, Y:-22.07, Z:-4.88 [[ 9.99710022e-01 -2.35540959e-02 -5.00762358e-03 3.57161740e+02] [ 2.35560201e-02 9.99722465e-01 3.25619457e-04 -2.20654460e+01] [ 4.99856412e-03 -4.43484716e-04 9.99987409e-01 -4.88456522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.090371743 meters 0.05156463353127024 Centerline is valid? [True, True] Translation: X:357.19, Y:-22.08, Z:-4.89 [[ 9.99602971e-01 -2.78717421e-02 -4.13105707e-03 3.57191185e+02] [ 2.78730880e-02 9.99611434e-01 2.68593883e-04 -2.20784761e+01] [ 4.12196570e-03 -3.83632561e-04 9.99991431e-01 -4.88572517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120371743 meters 0.04996491121757642 Centerline is valid? [True, True] Translation: X:357.22, Y:-22.08, Z:-4.89 [[ 9.99548015e-01 -2.97917738e-02 -4.02691222e-03 3.57222510e+02] [ 2.97930703e-02 9.99556054e-01 2.62341436e-04 -2.20799157e+01] [ 4.01730887e-03 -3.82196941e-04 9.99991858e-01 -4.88563464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.150371743 meters 0.0505260856346678 Centerline is valid? [True, True] Translation: X:357.25, Y:-22.08, Z:-4.89 [[ 9.99513394e-01 -3.09906065e-02 -3.54376273e-03 3.57254484e+02] [ 3.09916210e-02 9.99519618e-01 2.31696928e-04 -2.20849121e+01] [ 3.53487994e-03 -3.41411134e-04 9.99993694e-01 -4.88570753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180371743 meters 0.05271554047757465 Centerline is valid? [True, True] Translation: X:357.28, Y:-22.09, Z:-4.89 [[ 9.99464458e-01 -3.26534146e-02 -2.13358868e-03 3.57283650e+02] [ 3.26537847e-02 9.99466713e-01 1.38883049e-04 -2.20938390e+01] [ 2.12791586e-03 -2.08478417e-04 9.99997714e-01 -4.88598126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.210371743 meters 0.051874779830450156 Centerline is valid? [True, True] Translation: X:357.32, Y:-22.10, Z:-4.89 [[ 9.99438087e-01 -3.34425194e-02 -2.26016482e-03 3.57315181e+02] [ 3.34429388e-02 9.99440618e-01 1.48012518e-04 -2.20966880e+01] [ 2.25395061e-03 -2.23515901e-04 9.99997435e-01 -4.88555368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240371743 meters 0.052800084566673344 Centerline is valid? [True, True] Translation: X:357.35, Y:-22.10, Z:-4.89 [[ 9.99451314e-01 -3.30871199e-02 -1.52128588e-03 3.57346243e+02] [ 3.30873118e-02 9.99452460e-01 1.01145008e-04 -2.21038604e+01] [ 1.51710632e-03 -1.51424771e-04 9.99998838e-01 -4.88587520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.270371743 meters 0.053429911198398475 Centerline is valid? [True, True] Translation: X:357.38, Y:-22.11, Z:-4.89 [[ 9.99471064e-01 -3.24855145e-02 -1.51097632e-03 3.57377486e+02] [ 3.24857017e-02 9.99472195e-01 9.94702278e-05 -2.21089875e+01] [ 1.50694748e-03 -1.48502740e-04 9.99998854e-01 -4.88686683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300371743 meters 0.0520016271670942 Centerline is valid? [True, True] Translation: X:357.41, Y:-22.11, Z:-4.89 [[ 9.99579797e-01 -2.89725662e-02 -9.05306709e-04 3.57407429e+02] [ 2.89726316e-02 9.99580203e-01 5.91361500e-05 -2.21125266e+01] [ 9.03213338e-04 -8.53404185e-05 9.99999588e-01 -4.88813673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.330371743 meters 0.049325517340508586 Centerline is valid? [True, True] Translation: X:357.44, Y:-22.11, Z:-4.89 [[ 9.99621996e-01 -2.74758144e-02 -9.71503662e-04 3.57438662e+02] [ 2.74758895e-02 9.99622464e-01 6.40172233e-05 -2.21113687e+01] [ 9.69377959e-04 -9.06859519e-05 9.99999526e-01 -4.88859904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36037174300003 meters 0.04939170525007273 Centerline is valid? [True, True] Translation: X:357.47, Y:-22.11, Z:-4.89 [[ 9.99665549e-01 -2.58382622e-02 -1.08389449e-03 3.57470435e+02] [ 2.58383549e-02 9.99666131e-01 7.16715220e-05 -2.21145632e+01] [ 1.08168074e-03 -9.96536018e-05 9.99999410e-01 -4.88882867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.390371743 meters 0.0500928460999048 Centerline is valid? [True, True] Translation: X:357.50, Y:-22.12, Z:-4.89 [[ 9.99740269e-01 -2.27779231e-02 -7.48668847e-04 3.57499824e+02] [ 2.27779660e-02 9.99740547e-01 4.87497182e-05 -2.21196072e+01] [ 7.47364186e-04 -6.57902099e-05 9.99999719e-01 -4.88993394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.420371743 meters 0.045324013145463735 Centerline is valid? [True, True] Translation: X:357.53, Y:-22.12, Z:-4.89 [[ 9.99769585e-01 -2.14529074e-02 -7.40743261e-04 3.57531581e+02] [ 2.14529495e-02 9.99769858e-01 4.89955438e-05 -2.21153456e+01] [ 7.39521688e-04 -6.48753824e-05 9.99999724e-01 -4.88972847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.450371743 meters 0.04467161520262838 Centerline is valid? [True, True] Translation: X:357.56, Y:-22.12, Z:-4.89 [[ 9.99806170e-01 -1.96637849e-02 -9.79133531e-04 3.57562925e+02] [ 1.96638575e-02 9.99806646e-01 6.46328332e-05 -2.21186522e+01] [ 9.77673285e-04 -8.38738476e-05 9.99999519e-01 -4.89063010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.480371743 meters 0.04467161520262838 Centerline is valid? [True, True] Translation: X:357.59, Y:-22.12, Z:-4.89 [[ 9.99807608e-01 -1.95905308e-02 -9.79095318e-04 3.57594658e+02] [ 1.95906040e-02 9.99808084e-01 6.52157793e-05 -2.21207912e+01] [ 9.77629802e-04 -8.43843009e-05 9.99999519e-01 -4.89107666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.510371743 meters 0.04635132177798462 Centerline is valid? [True, True] Translation: X:357.63, Y:-22.13, Z:-4.89 [[ 9.99815558e-01 -1.91885779e-02 -8.05177341e-04 3.57625435e+02] [ 1.91886273e-02 9.99815880e-01 5.35959607e-05 -2.21264068e+01] [ 8.04000661e-04 -6.90363232e-05 9.99999674e-01 -4.89252274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.540371743 meters 0.0448904709873732 Centerline is valid? [True, True] Translation: X:357.66, Y:-22.13, Z:-4.89 [[ 9.99825870e-01 -1.86375156e-02 -9.33754835e-04 3.57657933e+02] [ 1.86375819e-02 9.99826303e-01 6.23567014e-05 -2.21271723e+01] [ 9.32430471e-04 -7.97487754e-05 9.99999562e-01 -4.89244799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.570371743 meters 0.046804625276462675 Centerline is valid? [True, True] Translation: X:357.69, Y:-22.13, Z:-4.89 [[ 9.99841609e-01 -1.77688782e-02 -1.01223920e-03 3.57688415e+02] [ 1.77689554e-02 9.99842117e-01 6.73047812e-05 -2.21329672e+01] [ 1.01088345e-03 -8.52805539e-05 9.99999485e-01 -4.89391431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.600371743 meters 0.04816565576920211 Centerline is valid? [True, True] Translation: X:357.72, Y:-22.14, Z:-4.90 [[ 9.99841011e-01 -1.78141823e-02 -7.79433630e-04 3.57719622e+02] [ 1.78142282e-02 9.99841313e-01 5.20247106e-05 -2.21391731e+01] [ 7.78383166e-04 -6.59014478e-05 9.99999695e-01 -4.89528137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.630371743 meters 0.0466708054659853 Centerline is valid? [True, True] Translation: X:357.75, Y:-22.14, Z:-4.90 [[ 9.99838238e-01 -1.79761365e-02 -5.96526198e-04 3.57751781e+02] [ 1.79761637e-02 9.99838415e-01 4.02920814e-05 -2.21407086e+01] [ 5.95705512e-04 -5.10088162e-05 9.99999821e-01 -4.89553644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.660371743 meters 0.04647192561015216 Centerline is valid? [True, True] Translation: X:357.78, Y:-22.14, Z:-4.90 [[ 9.99819637e-01 -1.89826063e-02 -5.95819201e-04 3.57784175e+02] [ 1.89826337e-02 9.99819813e-01 4.02982637e-05 -2.21428585e+01] [ 5.94946876e-04 -5.16012130e-05 9.99999822e-01 -4.89646147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.690371743 meters 0.04643117979473308 Centerline is valid? [True, True] Translation: X:357.82, Y:-22.15, Z:-4.90 [[ 9.99820478e-01 -1.88926199e-02 -1.44272671e-03 3.57815819e+02] [ 1.88927783e-02 9.99821511e-01 9.62416534e-05 -2.21474001e+01] [ 1.44065094e-03 -1.23481492e-04 9.99998955e-01 -4.89672353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.720371743 meters 0.04472721476571876 Centerline is valid? [True, True] Translation: X:357.85, Y:-22.15, Z:-4.90 [[ 9.99810178e-01 -1.93890472e-02 -1.91647777e-03 3.57848222e+02] [ 1.93893273e-02 9.99812001e-01 1.27671754e-04 -2.21481141e+01] [ 1.91364204e-03 -1.64806733e-04 9.99998155e-01 -4.89595844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.750371743 meters 0.044320383367344104 Centerline is valid? [True, True] Translation: X:357.88, Y:-22.15, Z:-4.90 [[ 9.99755815e-01 -2.20303057e-02 -1.72512734e-03 3.57878678e+02] [ 2.20305355e-02 9.99757292e-01 1.14288609e-04 -2.21515895e+01] [ 1.72219082e-03 -1.52266181e-04 9.99998505e-01 -4.89568705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.780371743 meters 0.04800936318680317 Centerline is valid? [True, True] Translation: X:357.91, Y:-22.16, Z:-4.90 [[ 9.99749942e-01 -2.23105620e-02 -1.51407924e-03 3.57909553e+02] [ 2.23107402e-02 9.99751079e-01 1.00942711e-04 -2.21609567e+01] [ 1.51145027e-03 -1.34697698e-04 9.99998849e-01 -4.89682171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.810371743 meters 0.0488497831095564 Centerline is valid? [True, True] Translation: X:357.94, Y:-22.17, Z:-4.90 [[ 9.99748197e-01 -2.24024695e-02 -1.29310281e-03 3.57941632e+02] [ 2.24026001e-02 9.99749027e-01 8.66438207e-05 -2.21664817e+01] [ 1.29083724e-03 -1.15590869e-04 9.99999160e-01 -4.89772743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.840371743 meters 0.04937682692601573 Centerline is valid? [True, True] Translation: X:357.97, Y:-22.17, Z:-4.90 [[ 9.99747046e-01 -2.24810689e-02 -6.67658704e-04 3.57973745e+02] [ 2.24811041e-02 9.99747267e-01 4.52636641e-05 -2.21703480e+01] [ 6.66472389e-04 -6.02619193e-05 9.99999776e-01 -4.89857820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.870371743 meters 0.043511732757290644 Centerline is valid? [True, True] Translation: X:358.01, Y:-22.16, Z:-4.90 [[ 9.99738643e-01 -2.28590773e-02 -3.28744185e-04 3.58006196e+02] [ 2.28590860e-02 9.99738697e-01 2.28785970e-05 -2.21639803e+01] [ 3.28135299e-04 -3.03874091e-05 9.99999946e-01 -4.89643421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.900371743 meters 0.04756586050287026 Centerline is valid? [True, True] Translation: X:358.04, Y:-22.17, Z:-4.90 [[ 9.99727891e-01 -2.33156004e-02 -7.25155645e-04 3.58037139e+02] [ 2.33156420e-02 9.99728152e-01 4.89606644e-05 -2.21724948e+01] [ 7.23816966e-04 -6.58548112e-05 9.99999736e-01 -4.89736772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.930371743 meters 0.04413361537614153 Centerline is valid? [True, True] Translation: X:358.07, Y:-22.17, Z:-4.90 [[ 9.99715837e-01 -2.38236738e-02 -8.23073146e-04 3.58069200e+02] [ 2.38237278e-02 9.99716173e-01 5.57937692e-05 -2.21701938e+01] [ 8.21510323e-04 -7.53865852e-05 9.99999660e-01 -4.89701742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.960371743 meters 0.04822925375619288 Centerline is valid? [True, True] Translation: X:358.10, Y:-22.18, Z:-4.90 [[ 9.99693431e-01 -2.46937052e-02 -1.80711828e-03 3.58099222e+02] [ 2.46939635e-02 9.99695050e-01 1.20776346e-04 -2.21799003e+01] [ 1.80358478e-03 -1.65364233e-04 9.99998360e-01 -4.89934225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.990371743 meters 0.04816504382235605 Centerline is valid? [True, True] Translation: X:358.13, Y:-22.18, Z:-4.90 [[ 9.99682698e-01 -2.50800121e-02 -2.34422114e-03 3.58130924e+02] [ 2.50804484e-02 9.99685424e-01 1.56888745e-04 -2.21820129e+01] [ 2.33954893e-03 -2.15633081e-04 9.99997240e-01 -4.89991458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.020371743 meters 0.046222160273098514 Centerline is valid? [True, True] Translation: X:358.16, Y:-22.18, Z:-4.90 [[ 9.99670004e-01 -2.56482480e-02 -1.43217755e-03 3.58163293e+02] [ 2.56484124e-02 9.99671021e-01 9.65308658e-05 -2.21829482e+01] [ 1.42923054e-03 -1.33232091e-04 9.99998970e-01 -4.89943285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.050371743 meters 0.04705619067032265 Centerline is valid? [True, True] Translation: X:358.20, Y:-22.19, Z:-4.90 [[ 9.99674680e-01 -2.54794064e-02 -1.15524045e-03 3.58195204e+02] [ 2.54795136e-02 9.99675341e-01 7.81462283e-05 -2.21867490e+01] [ 1.15287427e-03 -1.07555770e-04 9.99999330e-01 -4.89955246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.080371743 meters 0.04853157826026247 Centerline is valid? [True, True] Translation: X:358.23, Y:-22.19, Z:-4.90 [[ 9.99676939e-01 -2.54117509e-02 -5.10944756e-04 3.58226309e+02] [ 2.54117721e-02 9.99677068e-01 3.49060151e-05 -2.21914469e+01] [ 5.09892732e-04 -4.78787500e-05 9.99999869e-01 -4.89939550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11037174300003 meters 0.04918625757892908 Centerline is valid? [True, True] Translation: X:358.26, Y:-22.19, Z:-4.90 [[ 9.99701872e-01 -2.44161669e-02 -1.34434673e-04 3.58256391e+02] [ 2.44161684e-02 9.99701881e-01 9.23582045e-06 -2.21941395e+01] [ 1.34169092e-04 -1.25154466e-05 9.99999991e-01 -4.89888829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.140371743 meters 0.0486854140384572 Centerline is valid? [True, True] Translation: X:358.29, Y:-22.20, Z:-4.90 [[ 9.99709985e-01 -2.40802917e-02 -2.92245309e-04 3.58288802e+02] [ 2.40802988e-02 9.99710027e-01 2.05649933e-05 -2.21956652e+01] [ 2.91665354e-04 -2.75963835e-05 9.99999957e-01 -4.89925727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.170371743 meters 0.05035883212840164 Centerline is valid? [True, True] Translation: X:358.32, Y:-22.20, Z:-4.90 [[ 9.99705982e-01 -2.42475202e-02 -8.02517277e-05 3.58319318e+02] [ 2.42475208e-02 9.99705986e-01 6.12980111e-06 -2.22012829e+01] [ 8.00794998e-05 -8.07390426e-06 9.99999997e-01 -4.90025981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.200371743 meters 0.049323263424864525 Centerline is valid? [True, True] Translation: X:358.35, Y:-22.20, Z:-4.90 [[ 9.99695809e-01 -2.46570112e-02 -5.65946353e-04 3.58351728e+02] [ 2.46570371e-02 9.99695968e-01 3.89435587e-05 -2.22021619e+01] [ 5.64814055e-04 -5.28862726e-05 9.99999839e-01 -4.90013025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.230371743 meters 0.049367079775004145 Centerline is valid? [True, True] Translation: X:358.38, Y:-22.21, Z:-4.90 [[ 9.99660412e-01 -2.60575461e-02 -2.56384416e-04 3.58383046e+02] [ 2.60575515e-02 9.99660444e-01 1.76990248e-05 -2.22055711e+01] [ 2.55836165e-04 -2.43737645e-05 9.99999967e-01 -4.90012007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.260371743 meters 0.05255308765156999 Centerline is valid? [True, True] Translation: X:358.41, Y:-22.21, Z:-4.90 [[ 9.99649435e-01 -2.64745394e-02 -3.26104250e-04 3.58414196e+02] [ 2.64745484e-02 9.99649487e-01 2.33297642e-05 -2.22127986e+01] [ 3.25372302e-04 -3.19550483e-05 9.99999947e-01 -4.90096633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.290371743 meters 0.04791574141714783 Centerline is valid? [True, True] Translation: X:358.45, Y:-22.21, Z:-4.90 [[ 9.99598677e-01 -2.83204314e-02 -6.61494816e-04 3.58445625e+02] [ 2.83204671e-02 9.99598894e-01 4.46954283e-05 -2.22091241e+01] [ 6.59963693e-04 -6.34113332e-05 9.99999780e-01 -4.89996220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.320371743 meters 0.0509019782753822 Centerline is valid? [True, True] Translation: X:358.47, Y:-22.22, Z:-4.90 [[ 9.99555140e-01 -2.98113383e-02 -8.98025159e-04 3.58474874e+02] [ 2.98114044e-02 9.99555540e-01 6.03249633e-05 -2.22173187e+01] [ 8.95827654e-04 -8.70695183e-05 9.99999595e-01 -4.90068463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.350371743 meters 0.05351565714440087 Centerline is valid? [True, True] Translation: X:358.50, Y:-22.22, Z:-4.90 [[ 9.99490190e-01 -3.18722738e-02 -1.87556918e-03 3.58504464e+02] [ 3.18725677e-02 9.99491933e-01 1.26965629e-04 -2.22233586e+01] [ 1.87056958e-03 -1.86680106e-04 9.99998233e-01 -4.90182625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380371743 meters 0.05485840471942369 Centerline is valid? [True, True] Translation: X:358.53, Y:-22.23, Z:-4.90 [[ 9.99379364e-01 -3.51301382e-02 -2.60000391e-03 3.58534937e+02] [ 3.51307107e-02 9.99382711e-01 1.74862554e-04 -2.22289477e+01] [ 2.59225600e-03 -2.66094013e-04 9.99996605e-01 -4.90276798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.410371743 meters 0.05295915215696919 Centerline is valid? [True, True] Translation: X:358.57, Y:-22.23, Z:-4.90 [[ 9.99354238e-01 -3.58108114e-02 -2.94837608e-03 3.58566808e+02] [ 3.58115560e-02 9.99358540e-01 2.00116413e-04 -2.22292509e+01] [ 2.93931848e-03 -3.05573120e-04 9.99995634e-01 -4.90247838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440371743 meters 0.05576429229235912 Centerline is valid? [True, True] Translation: X:358.60, Y:-22.24, Z:-4.90 [[ 9.99313352e-01 -3.68608964e-02 -3.75496618e-03 3.58596152e+02] [ 3.68621040e-02 9.99320330e-01 2.52895322e-04 -2.22352959e+01] [ 3.74309209e-03 -3.91137625e-04 9.99992918e-01 -4.90326340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.470371743 meters 0.058170335511798725 Centerline is valid? [True, True] Translation: X:358.63, Y:-22.24, Z:-4.90 [[ 9.99261061e-01 -3.83030722e-02 -3.19479019e-03 3.58626316e+02] [ 3.83039547e-02 9.99266111e-01 2.15474748e-04 -2.22414414e+01] [ 3.18419223e-03 -3.37688624e-04 9.99994873e-01 -4.90337781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500371743 meters 0.05429262712192814 Centerline is valid? [True, True] Translation: X:358.66, Y:-22.24, Z:-4.90 [[ 9.99170275e-01 -4.05106058e-02 -4.20140370e-03 3.58657725e+02] [ 4.05121517e-02 9.99179006e-01 2.83457254e-04 -2.22381614e+01] [ 4.18647135e-03 -4.53429967e-04 9.99991134e-01 -4.90318918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.530371743 meters 0.06065339232596605 Centerline is valid? [True, True] Translation: X:358.69, Y:-22.25, Z:-4.91 [[ 9.99153003e-01 -4.08821487e-02 -4.68248375e-03 3.58688278e+02] [ 4.08840760e-02 9.99163846e-01 3.16586656e-04 -2.22502232e+01] [ 4.66562573e-03 -5.07757529e-04 9.99988987e-01 -4.90540127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560371743 meters 0.057569627032822264 Centerline is valid? [True, True] Translation: X:358.72, Y:-22.25, Z:-4.91 [[ 9.99140017e-01 -4.11243502e-02 -5.29282187e-03 3.58720747e+02] [ 4.11268189e-02 9.99153870e-01 3.58377854e-04 -2.22488770e+01] [ 5.27360540e-03 -5.75746581e-04 9.99985929e-01 -4.90546583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.590371743 meters 0.06558660627593778 Centerline is valid? [True, True] Translation: X:358.75, Y:-22.26, Z:-4.91 [[ 9.99170275e-01 -4.02596578e-02 -6.15812319e-03 3.58750862e+02] [ 4.02629828e-02 9.99189030e-01 4.16875297e-04 -2.22634756e+01] [ 6.13634588e-03 -6.64473813e-04 9.99980952e-01 -4.90898532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620371743 meters 0.06208453418438969 Centerline is valid? [True, True] Translation: X:358.78, Y:-22.26, Z:-4.91 [[ 9.99187869e-01 -3.98357347e-02 -6.05947949e-03 3.58783078e+02] [ 3.98389504e-02 9.99206029e-01 4.10857091e-04 -2.22615003e+01] [ 6.03830165e-03 -6.51926724e-04 9.99981557e-01 -4.90817110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.650371743 meters 0.054727620847685135 Centerline is valid? [True, True] Translation: X:358.81, Y:-22.25, Z:-4.91 [[ 9.99225740e-01 -3.88980204e-02 -5.90468710e-03 3.58814928e+02] [ 3.89010564e-02 9.99242987e-01 4.00142583e-04 -2.22537496e+01] [ 5.88465243e-03 -6.29531334e-04 9.99982487e-01 -4.90596787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680371743 meters 0.063594105847106 Centerline is valid? [True, True] Translation: X:358.85, Y:-22.27, Z:-4.91 [[ 9.99253751e-01 -3.80831493e-02 -6.45099235e-03 3.58845592e+02] [ 3.80867622e-02 9.99274340e-01 4.38092983e-04 -2.22689374e+01] [ 6.42962716e-03 -6.83463468e-04 9.99979096e-01 -4.90850531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.710371743 meters 0.0550166863239266 Centerline is valid? [True, True] Translation: X:358.88, Y:-22.26, Z:-4.91 [[ 9.99240434e-01 -3.82859708e-02 -7.26222591e-03 3.58878786e+02] [ 3.82905578e-02 9.99266526e-01 4.93589362e-04 -2.22602357e+01] [ 7.23800171e-03 -7.71289129e-04 9.99973508e-01 -4.90709809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740371743 meters 0.06504701354943179 Centerline is valid? [True, True] Translation: X:358.91, Y:-22.28, Z:-4.91 [[ 9.99239632e-01 -3.82691665e-02 -7.45840337e-03 3.58908640e+02] [ 3.82740051e-02 9.99267153e-01 5.07041247e-04 -2.22773222e+01] [ 7.43353346e-03 -7.92118678e-04 9.99972057e-01 -4.91013511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.770371743 meters 0.052170054355007586 Centerline is valid? [True, True] Translation: X:358.94, Y:-22.26, Z:-4.91 [[ 9.99235603e-01 -3.84190509e-02 -7.22404272e-03 3.58942186e+02] [ 3.84236001e-02 9.99261420e-01 4.91958732e-04 -2.22625727e+01] [ 7.19980659e-03 -7.69156409e-04 9.99973785e-01 -4.90671000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800371743 meters 0.05550403440362245 Centerline is valid? [True, True] Translation: X:358.97, Y:-22.27, Z:-4.91 [[ 9.99165965e-01 -4.01271052e-02 -7.56235501e-03 3.58971472e+02] [ 4.01321306e-02 9.99194249e-01 5.13899468e-04 -2.22705528e+01] [ 7.53564034e-03 -8.16964277e-04 9.99971273e-01 -4.90736754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.830371743 meters 0.05626280353187548 Centerline is valid? [True, True] Translation: X:359.00, Y:-22.27, Z:-4.91 [[ 9.99117464e-01 -4.12966854e-02 -7.67309415e-03 3.59002530e+02] [ 4.13018993e-02 9.99146576e-01 5.22218232e-04 -2.22743022e+01] [ 7.64497987e-03 -8.38670717e-04 9.99970425e-01 -4.90774714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86037174300003 meters 0.057229885138153906 Centerline is valid? [True, True] Translation: X:359.03, Y:-22.28, Z:-4.91 [[ 9.99080415e-01 -4.19722130e-02 -8.75544231e-03 3.59033817e+02] [ 4.19790330e-02 9.99118314e-01 5.96547019e-04 -2.22793219e+01] [ 8.72268435e-03 -9.63543445e-04 9.99961492e-01 -4.90845823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.890371743 meters 0.05751415103887136 Centerline is valid? [True, True] Translation: X:359.07, Y:-22.28, Z:-4.91 [[ 9.99076968e-01 -4.18959727e-02 -9.48362983e-03 3.59065550e+02] [ 4.19039794e-02 9.99121433e-01 6.47045860e-04 -2.22816252e+01] [ 9.44818921e-03 -1.04385044e-03 9.99954820e-01 -4.90955311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.920371743 meters 0.053250262111806515 Centerline is valid? [True, True] Translation: X:359.10, Y:-22.28, Z:-4.91 [[ 9.99093404e-01 -4.14252163e-02 -9.81432358e-03 3.59097676e+02] [ 4.14337758e-02 9.99141028e-01 6.70341189e-04 -2.22778999e+01] [ 9.77812431e-03 -1.07637794e-03 9.99951614e-01 -4.90915488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.950371743 meters 0.0554885852911114 Centerline is valid? [True, True] Translation: X:359.13, Y:-22.28, Z:-4.91 [[ 9.99069764e-01 -4.18923706e-02 -1.02291285e-02 3.59128099e+02] [ 4.19016913e-02 9.99121494e-01 6.98483028e-04 -2.22836500e+01] [ 1.01908810e-02 -1.12645106e-03 9.99947437e-01 -4.90999303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.980371743 meters 0.05655389131133989 Centerline is valid? [True, True] Translation: X:359.16, Y:-22.29, Z:-4.91 [[ 9.99056736e-01 -4.20627971e-02 -1.07870119e-02 3.59159703e+02] [ 4.20731964e-02 9.99114258e-01 7.38847915e-04 -2.22861745e+01] [ 1.07463794e-02 -1.19199506e-03 9.99941546e-01 -4.91058586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.010371743 meters 0.060099296472596216 Centerline is valid? [True, True] Translation: X:359.19, Y:-22.29, Z:-4.91 [[ 9.99062701e-01 -4.20061277e-02 -1.04501207e-02 3.59190128e+02] [ 4.20158824e-02 9.99116687e-01 7.15573089e-04 -2.22931141e+01] [ 1.04108315e-02 -1.15397343e-03 9.99945140e-01 -4.91145429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.040371743 meters 0.057923357615741605 Centerline is valid? [True, True] Translation: X:359.22, Y:-22.29, Z:-4.91 [[ 9.99058708e-01 -4.19451830e-02 -1.10588722e-02 3.59222858e+02] [ 4.19561149e-02 9.99119167e-01 7.58271574e-04 -2.22911956e+01] [ 1.10173253e-02 -1.22154513e-03 9.99938561e-01 -4.91079260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.070371743 meters 0.0586770680412646 Centerline is valid? [True, True] Translation: X:359.25, Y:-22.29, Z:-4.91 [[ 9.99092486e-01 -4.11677632e-02 -1.09279435e-02 3.59253770e+02] [ 4.11783907e-02 9.99151529e-01 7.49191052e-04 -2.22927303e+01] [ 1.08878289e-02 -1.19850628e-03 9.99940008e-01 -4.91083786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.100371743 meters 0.05929198276027681 Centerline is valid? [True, True] Translation: X:359.29, Y:-22.29, Z:-4.91 [[ 9.99110368e-01 -4.05141160e-02 -1.17080946e-02 3.59285637e+02] [ 4.05262861e-02 9.99178149e-01 8.03980964e-04 -2.22944679e+01] [ 1.16658998e-02 -1.27775131e-03 9.99931135e-01 -4.91146664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.130371743 meters 0.060744709679086864 Centerline is valid? [True, True] Translation: X:359.32, Y:-22.30, Z:-4.91 [[ 9.99097824e-01 -4.05319822e-02 -1.26765984e-02 3.59316700e+02] [ 4.05462549e-02 9.99177283e-01 8.70827959e-04 -2.22964751e+01] [ 1.26308727e-02 -1.38403091e-03 9.99919269e-01 -4.91258114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.160371743 meters 0.05803579792949048 Centerline is valid? [True, True] Translation: X:359.35, Y:-22.29, Z:-4.91 [[ 9.99113393e-01 -4.00210469e-02 -1.30668977e-02 3.59348868e+02] [ 4.00361752e-02 9.99197827e-01 8.98131581e-04 -2.22938267e+01] [ 1.30204717e-02 -1.42048390e-03 9.99914221e-01 -4.91125686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.190371743 meters 0.058332596624719554 Centerline is valid? [True, True] Translation: X:359.38, Y:-22.30, Z:-4.91 [[ 9.99108981e-01 -4.01740074e-02 -1.29341741e-02 3.59380683e+02] [ 4.01888594e-02 9.99191705e-01 8.90307200e-04 -2.22955524e+01] [ 1.28879523e-02 -1.40932362e-03 9.99915954e-01 -4.91145817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.220371743 meters 0.06042012878568148 Centerline is valid? [True, True] Translation: X:359.41, Y:-22.30, Z:-4.91 [[ 9.98991138e-01 -4.32040892e-02 -1.22520717e-02 3.59410507e+02] [ 4.32176244e-02 9.99065327e-01 8.42001092e-04 -2.22997057e+01] [ 1.22042421e-02 -1.37065706e-03 9.99924586e-01 -4.91039875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.250371743 meters 0.06298016926261557 Centerline is valid? [True, True] Translation: X:359.44, Y:-22.30, Z:-4.91 [[ 9.98785506e-01 -4.78714930e-02 -1.16547420e-02 3.59441049e+02] [ 4.78840571e-02 9.98852579e-01 8.01219089e-04 -2.23048140e+01] [ 1.16030136e-02 -1.35832235e-03 9.99931760e-01 -4.91003855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.280371743 meters 0.05723587743250342 Centerline is valid? [True, True] Translation: X:359.47, Y:-22.30, Z:-4.91 [[ 9.98717646e-01 -4.93561914e-02 -1.12707482e-02 3.59472471e+02] [ 4.93680469e-02 9.98780353e-01 7.75934933e-04 -2.22993566e+01] [ 1.12187047e-02 -1.33135474e-03 9.99936182e-01 -4.90828200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.310371743 meters 0.058777754870896606 Centerline is valid? [True, True] Translation: X:359.50, Y:-22.30, Z:-4.91 [[ 9.98657845e-01 -5.05572751e-02 -1.12458762e-02 3.59503604e+02] [ 5.05691569e-02 9.98720261e-01 7.74526467e-04 -2.23034216e+01] [ 1.11923264e-02 -1.34218141e-03 9.99936463e-01 -4.90917315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.340371743 meters 0.062192106528786616 Centerline is valid? [True, True] Translation: X:359.53, Y:-22.31, Z:-4.91 [[ 9.98615898e-01 -5.13165993e-02 -1.15280088e-02 3.59533803e+02] [ 5.13291394e-02 9.98681475e-01 7.94373359e-04 -2.23098635e+01] [ 1.14720443e-02 -1.38499663e-03 9.99933235e-01 -4.90994633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.370371743 meters 0.0651682779322489 Centerline is valid? [True, True] Translation: X:359.56, Y:-22.31, Z:-4.91 [[ 9.98558453e-01 -5.23635230e-02 -1.17930775e-02 3.59563547e+02] [ 5.23767122e-02 9.98627068e-01 8.12105673e-04 -2.23129669e+01] [ 1.17343617e-02 -1.42861761e-03 9.99930129e-01 -4.91045626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.400371743 meters 0.0651682779322489 Centerline is valid? [True, True] Translation: X:359.60, Y:-22.32, Z:-4.91 [[ 9.98562215e-01 -5.22917684e-02 -1.17929498e-02 3.59595393e+02] [ 5.23049742e-02 9.98630826e-01 8.13959762e-04 -2.23152261e+01] [ 1.17342398e-02 -1.42961940e-03 9.99930129e-01 -4.91090467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.430371743 meters 0.061847826462914826 Centerline is valid? [True, True] Translation: X:359.63, Y:-22.31, Z:-4.91 [[ 9.98581149e-01 -5.19706845e-02 -1.16076121e-02 3.59628003e+02] [ 5.19834674e-02 9.98647623e-01 8.02058929e-04 -2.23107149e+01] [ 1.15502307e-02 -1.40432485e-03 9.99932308e-01 -4.90887531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.460371743 meters 0.06210007944092375 Centerline is valid? [True, True] Translation: X:359.66, Y:-22.31, Z:-4.91 [[ 9.98570780e-01 -5.22455874e-02 -1.12603569e-02 3.59660346e+02] [ 5.22576437e-02 9.98633332e-01 7.78922765e-04 -2.23129354e+01] [ 1.12042725e-02 -1.36624923e-03 9.99936297e-01 -4.90879058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.490371743 meters 0.06190697688856822 Centerline is valid? [True, True] Translation: X:359.69, Y:-22.31, Z:-4.91 [[ 9.98492020e-01 -5.38548184e-02 -1.06463186e-02 3.59690947e+02] [ 5.38656801e-02 9.98547919e-01 7.35927352e-04 -2.23144059e+01] [ 1.05912261e-02 -1.30828878e-03 9.99943056e-01 -4.90824372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.520371743 meters 0.06562326082826453 Centerline is valid? [True, True] Translation: X:359.72, Y:-22.32, Z:-4.91 [[ 9.98344152e-01 -5.66829498e-02 -9.79780466e-03 3.59720446e+02] [ 5.66922824e-02 9.98391470e-01 6.77202865e-04 -2.23208469e+01] [ 9.74365874e-03 -1.23154143e-03 9.99951771e-01 -4.90793619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.550371743 meters 0.06092540632352678 Centerline is valid? [True, True] Translation: X:359.75, Y:-22.32, Z:-4.91 [[ 9.98301000e-01 -5.73822697e-02 -1.01186944e-02 3.59753076e+02] [ 5.73922764e-02 9.98351459e-01 7.01098663e-04 -2.23158672e+01] [ 1.00617827e-02 -1.28064240e-03 9.99948559e-01 -4.90735434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.580371743 meters 0.06217569860968844 Centerline is valid? [True, True] Translation: X:359.79, Y:-22.32, Z:-4.91 [[ 9.98313217e-01 -5.72453927e-02 -9.67916722e-03 3.59785225e+02] [ 5.72545499e-02 9.98359387e-01 6.71408252e-04 -2.23195233e+01] [ 9.62485243e-03 -1.22445209e-03 9.99952930e-01 -4.90816169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61037174300003 meters 0.06186986112905216 Centerline is valid? [True, True] Translation: X:359.82, Y:-22.32, Z:-4.91 [[ 9.98297393e-01 -5.74448949e-02 -1.01192825e-02 3.59816869e+02] [ 5.74549165e-02 9.98347855e-01 7.02199713e-04 -2.23206118e+01] [ 1.00622262e-02 -1.28240667e-03 9.99948552e-01 -4.90860246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.640371743 meters 0.0639900108553107 Centerline is valid? [True, True] Translation: X:359.85, Y:-22.33, Z:-4.91 [[ 9.98327476e-01 -5.68790673e-02 -1.03451907e-02 3.59848129e+02] [ 5.68895172e-02 9.98380222e-01 7.18429223e-04 -2.23261946e+01] [ 1.02875702e-02 -1.30576054e-03 9.99946229e-01 -4.90879360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.670371743 meters 0.06215697768294244 Centerline is valid? [True, True] Translation: X:359.88, Y:-22.33, Z:-4.91 [[ 9.98240550e-01 -5.83665234e-02 -1.04476000e-02 3.59879522e+02] [ 5.83772626e-02 9.98294330e-01 7.25664390e-04 -2.23263380e+01] [ 1.03874253e-02 -1.33428991e-03 9.99945159e-01 -4.90883970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.700371743 meters 0.06347386217737457 Centerline is valid? [True, True] Translation: X:359.91, Y:-22.33, Z:-4.91 [[ 9.98287244e-01 -5.76584349e-02 -9.90370092e-03 3.59909653e+02] [ 5.76680502e-02 9.98335576e-01 6.87834288e-04 -2.23306459e+01] [ 9.84755751e-03 -1.25778332e-03 9.99950721e-01 -4.90876096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.730371743 meters 0.0628079223086182 Centerline is valid? [True, True] Translation: X:359.94, Y:-22.33, Z:-4.91 [[ 9.98364737e-01 -5.64196536e-02 -9.20183416e-03 3.59940808e+02] [ 5.64279043e-02 9.98406472e-01 6.39290835e-04 -2.23320635e+01] [ 9.15110221e-03 -1.15748564e-03 9.99957458e-01 -4.90713113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.760371743 meters 0.05964468979240801 Centerline is valid? [True, True] Translation: X:359.97, Y:-22.33, Z:-4.91 [[ 9.98386110e-01 -5.61906136e-02 -8.23348035e-03 3.59972875e+02] [ 5.61972233e-02 9.98419523e-01 5.73457557e-04 -2.23294326e+01] [ 8.18824459e-03 -1.03523079e-03 9.99965940e-01 -4.90558005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.790371743 meters 0.057800285563351754 Centerline is valid? [True, True] Translation: X:360.00, Y:-22.33, Z:-4.90 [[ 9.98433946e-01 -5.53776344e-02 -7.93554630e-03 3.60004359e+02] [ 5.53837477e-02 9.98464989e-01 5.52526607e-04 -2.23285834e+01] [ 7.89276754e-03 -9.91161615e-04 9.99968360e-01 -4.90471358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.820371743 meters 0.0591895281109301 Centerline is valid? [True, True] Translation: X:360.03, Y:-22.33, Z:-4.90 [[ 9.98543398e-01 -5.35430991e-02 -6.64966785e-03 3.60034242e+02] [ 5.35473481e-02 9.98565205e-01 4.62465634e-04 -2.23323059e+01] [ 6.61536509e-03 -8.17864085e-04 9.99977784e-01 -4.90320985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.850371743 meters 0.062483866433358466 Centerline is valid? [True, True] Translation: X:360.07, Y:-22.34, Z:-4.90 [[ 9.98554325e-01 -5.34026211e-02 -6.11721384e-03 3.60065271e+02] [ 5.34062215e-02 9.98572778e-01 4.26611698e-04 -2.23389391e+01] [ 6.08570103e-03 -7.52692233e-04 9.99981199e-01 -4.90412491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880371743 meters 0.061807078891122566 Centerline is valid? [True, True] Translation: X:360.10, Y:-22.34, Z:-4.90 [[ 9.98606230e-01 -5.24129163e-02 -6.20350187e-03 3.60096737e+02] [ 5.24165999e-02 9.98625211e-01 4.32581386e-04 -2.23403333e+01] [ 6.17230052e-03 -7.57144943e-04 9.99980665e-01 -4.90443706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.910371743 meters 0.05870681229937059 Centerline is valid? [True, True] Translation: X:360.13, Y:-22.34, Z:-4.90 [[ 9.98628454e-01 -5.20108773e-02 -6.00666815e-03 3.60128766e+02] [ 5.20143296e-02 9.98646250e-01 4.19859343e-04 -2.23385408e+01] [ 5.97669937e-03 -7.31716303e-04 9.99981872e-01 -4.90437948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940371743 meters 0.05792480105834954 Centerline is valid? [True, True] Translation: X:360.16, Y:-22.34, Z:-4.90 [[ 9.98720445e-01 -5.01833114e-02 -6.25365892e-03 3.60159553e+02] [ 5.01870137e-02 9.98739742e-01 4.36406902e-04 -2.23389269e+01] [ 6.22387735e-03 -7.49700961e-04 9.99980350e-01 -4.90460295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.970371743 meters 0.06124810237346855 Centerline is valid? [True, True] Translation: X:360.19, Y:-22.35, Z:-4.90 [[ 9.98788046e-01 -4.88141415e-02 -6.29435762e-03 3.60189700e+02] [ 4.88178685e-02 9.98807600e-01 4.39742159e-04 -2.23455638e+01] [ 6.26538659e-03 -7.46486334e-04 9.99980094e-01 -4.90483428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000371743 meters 0.058970116597715797 Centerline is valid? [True, True] Translation: X:360.22, Y:-22.34, Z:-4.90 [[ 9.98825147e-01 -4.80916265e-02 -5.95997831e-03 3.60222019e+02] [ 4.80949611e-02 9.98842681e-01 4.17356111e-04 -2.23442722e+01] [ 5.93300937e-03 -7.03510704e-04 9.99982152e-01 -4.90398084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.030371743 meters 0.05543109674329317 Centerline is valid? [True, True] Translation: X:360.25, Y:-22.34, Z:-4.90 [[ 9.98923936e-01 -4.61153255e-02 -4.93424873e-03 3.60253405e+02] [ 4.61175855e-02 9.98935959e-01 3.45174094e-04 -2.23407112e+01] [ 4.91308066e-03 -5.72358303e-04 9.99987767e-01 -4.90205923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060371743 meters 0.05904260981836859 Centerline is valid? [True, True] Translation: X:360.28, Y:-22.35, Z:-4.90 [[ 9.99055869e-01 -4.32675511e-02 -3.91012282e-03 3.60282469e+02] [ 4.32689463e-02 9.99063423e-01 2.72892675e-04 -2.23485721e+01] [ 3.89465329e-03 -4.41821923e-04 9.99992318e-01 -4.90203496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.090371743 meters 0.05830671846526924 Centerline is valid? [True, True] Translation: X:360.31, Y:-22.35, Z:-4.90 [[ 9.99117716e-01 -4.18757695e-02 -3.19509016e-03 3.60314330e+02] [ 4.18766989e-02 9.99122761e-01 2.24496887e-04 -2.23500882e+01] [ 3.18288632e-03 -3.58098646e-04 9.99994870e-01 -4.90226375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120371743 meters 0.05924021693343701 Centerline is valid? [True, True] Translation: X:360.34, Y:-22.35, Z:-4.90 [[ 9.99178343e-01 -4.03850518e-02 -3.41854276e-03 3.60344846e+02] [ 4.03861054e-02 9.99184120e-01 2.39705935e-04 -2.23533040e+01] [ 3.40607310e-03 -3.77570607e-04 9.99994128e-01 -4.90300846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.150371743 meters 0.057429277679380046 Centerline is valid? [True, True] Translation: X:360.38, Y:-22.35, Z:-4.90 [[ 9.99337228e-01 -3.62577484e-02 -3.23742267e-03 3.60375253e+02] [ 3.62586703e-02 9.99342413e-01 2.26494208e-04 -2.23535034e+01] [ 3.22708162e-03 -3.43728735e-04 9.99994734e-01 -4.90355519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180371743 meters 0.052432885267556406 Centerline is valid? [True, True] Translation: X:360.41, Y:-22.35, Z:-4.90 [[ 9.99428075e-01 -3.36060934e-02 -3.76200014e-03 3.60406210e+02] [ 3.36073203e-02 9.99435080e-01 2.63380830e-04 -2.23488202e+01] [ 3.75102370e-03 -3.89660939e-04 9.99992889e-01 -4.90306316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.210371743 meters 0.05195275372911425 Centerline is valid? [True, True] Translation: X:360.44, Y:-22.35, Z:-4.90 [[ 9.99549322e-01 -2.96232241e-02 -4.85972669e-03 3.60435713e+02] [ 2.96252224e-02 9.99561019e-01 3.39706371e-04 -2.23504350e+01] [ 4.84753016e-03 -4.83523757e-04 9.99988134e-01 -4.90376531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240371743 meters 0.05170563355092414 Centerline is valid? [True, True] Translation: X:360.47, Y:-22.35, Z:-4.90 [[ 9.99604411e-01 -2.77099046e-02 -4.81493681e-03 3.60466134e+02] [ 2.77118456e-02 9.99615896e-01 3.36846626e-04 -2.23519101e+01] [ 4.80375339e-03 -4.70144159e-04 9.99988351e-01 -4.90429526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.270371743 meters 0.05144043109156688 Centerline is valid? [True, True] Translation: X:360.50, Y:-22.35, Z:-4.91 [[ 9.99679347e-01 -2.47766659e-02 -5.22687353e-03 3.60496261e+02] [ 2.47789137e-02 9.99692889e-01 3.65725115e-04 -2.23548298e+01] [ 5.21620685e-03 -4.95124092e-04 9.99986273e-01 -4.90524745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300371743 meters 0.052585890711716425 Centerline is valid? [True, True] Translation: X:360.53, Y:-22.36, Z:-4.91 [[ 9.99675966e-01 -2.49728182e-02 -4.93168981e-03 3.60528185e+02] [ 2.49748281e-02 9.99688020e-01 3.46387007e-04 -2.23602929e+01] [ 4.92150096e-03 -4.69442871e-04 9.99987779e-01 -4.90537483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.330371743 meters 0.054259268032906836 Centerline is valid? [True, True] Translation: X:360.56, Y:-22.37, Z:-4.91 [[ 9.99652918e-01 -2.60355809e-02 -4.02388506e-03 3.60558720e+02] [ 2.60369281e-02 9.99660942e-01 2.82769671e-04 -2.23682631e+01] [ 4.01515866e-03 -3.87441132e-04 9.99991864e-01 -4.90510917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36037174300003 meters 0.05488080198118192 Centerline is valid? [True, True] Translation: X:360.59, Y:-22.37, Z:-4.91 [[ 9.99670466e-01 -2.54235246e-02 -3.55030288e-03 3.60590490e+02] [ 2.54245716e-02 9.99676712e-01 2.50069353e-04 -2.23730030e+01] [ 3.54279747e-03 -3.40251876e-04 9.99993666e-01 -4.90559549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.390371743 meters 0.049300110257265536 Centerline is valid? [True, True] Translation: X:360.62, Y:-22.37, Z:-4.90 [[ 9.99715392e-01 -2.36301915e-02 -3.27845616e-03 3.60622050e+02] [ 2.36310728e-02 9.99720721e-01 2.30325484e-04 -2.23686644e+01] [ 3.27209791e-03 -3.07733368e-04 9.99994599e-01 -4.90432490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.420371743 meters 0.05050329336805219 Centerline is valid? [True, True] Translation: X:360.65, Y:-22.37, Z:-4.91 [[ 9.99755175e-01 -2.18355384e-02 -3.57769182e-03 3.60651755e+02] [ 2.18365766e-02 9.99761522e-01 2.51389212e-04 -2.23748203e+01] [ 3.57134940e-03 -3.29452207e-04 9.99993568e-01 -4.90592490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.450371743 meters 0.04701337238225301 Centerline is valid? [True, True] Translation: X:360.68, Y:-22.37, Z:-4.91 [[ 9.99781965e-01 -2.05640005e-02 -3.62542268e-03 3.60683952e+02] [ 2.05650609e-02 9.99788484e-01 2.55471255e-04 -2.23727398e+01] [ 3.61940234e-03 -3.29972592e-04 9.99993395e-01 -4.90532235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.480371743 meters 0.04390182316681783 Centerline is valid? [True, True] Translation: X:360.72, Y:-22.37, Z:-4.91 [[ 9.99839475e-01 -1.75113882e-02 -3.79142016e-03 3.60715138e+02] [ 1.75125237e-02 9.99846608e-01 2.66494499e-04 -2.23728104e+01] [ 3.78617190e-03 -3.32849055e-04 9.99992777e-01 -4.90504768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.510371743 meters 0.0447764386643158 Centerline is valid? [True, True] Translation: X:360.74, Y:-22.38, Z:-4.91 [[ 9.99874647e-01 -1.54468240e-02 -3.47652161e-03 3.60744783e+02] [ 1.54477660e-02 9.99880646e-01 2.44254826e-04 -2.23776222e+01] [ 3.47233371e-03 -2.97928700e-04 9.99993927e-01 -4.90556448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.540371743 meters 0.04419663951534619 Centerline is valid? [True, True] Translation: X:360.77, Y:-22.38, Z:-4.91 [[ 9.99936960e-01 -1.07789166e-02 -3.14514198e-03 3.60774065e+02] [ 1.07796635e-02 9.99941873e-01 2.20627735e-04 -2.23817190e+01] [ 3.14258103e-03 -2.54517399e-04 9.99995030e-01 -4.90501296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.570371743 meters 0.04388910291160653 Centerline is valid? [True, True] Translation: X:360.80, Y:-22.39, Z:-4.91 [[ 9.99959864e-01 -8.51243506e-03 -2.79437739e-03 3.60804353e+02] [ 8.51301657e-03 9.99963744e-01 1.96272280e-04 -2.23850758e+01] [ 2.79260532e-03 -2.20052983e-04 9.99996076e-01 -4.90584215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.600371743 meters 0.04132332496889823 Centerline is valid? [True, True] Translation: X:360.83, Y:-22.38, Z:-4.91 [[ 9.99973785e-01 -6.59186498e-03 -2.99619621e-03 3.60834990e+02] [ 6.59252496e-03 9.99978247e-01 2.10447688e-04 -2.23845610e+01] [ 2.99474379e-03 -2.30194669e-04 9.99995489e-01 -4.90549673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.630371743 meters 0.04245773404674097 Centerline is valid? [True, True] Translation: X:360.86, Y:-22.39, Z:-4.91 [[ 9.99996708e-01 -9.73416840e-04 -2.37417647e-03 3.60864362e+02] [ 9.73815405e-04 9.99999512e-01 1.66724961e-04 -2.23912568e+01] [ 2.37401301e-03 -1.69036421e-04 9.99997168e-01 -4.90727701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.660371743 meters 0.040581380099508464 Centerline is valid? [True, True] Translation: X:360.89, Y:-22.39, Z:-4.91 [[ 9.99978163e-01 6.34591781e-03 -1.84481795e-03 3.60894482e+02] [-6.34568957e-03 9.99979858e-01 1.29548995e-04 -2.23935745e+01] [ 1.84560290e-03 -1.17839524e-04 9.99998290e-01 -4.90853354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.690371743 meters 0.036824706821409786 Centerline is valid? [True, True] Translation: X:360.93, Y:-22.39, Z:-4.91 [[ 9.99950690e-01 9.78792014e-03 -1.67743740e-03 3.60925102e+02] [-9.78773672e-03 9.99952092e-01 1.17523639e-04 -2.23906852e+01] [ 1.67850735e-03 -1.01099528e-04 9.99998586e-01 -4.90752598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.720371743 meters 0.03703221370799857 Centerline is valid? [True, True] Translation: X:360.95, Y:-22.39, Z:-4.91 [[ 9.99919292e-01 1.25725707e-02 -1.82776699e-03 3.60953493e+02] [-1.25723586e-02 9.99920957e-01 1.27466183e-04 -2.23946763e+01] [ 1.82922510e-03 -1.04476553e-04 9.99998322e-01 -4.90861593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.750371743 meters 0.03647182490662127 Centerline is valid? [True, True] Translation: X:360.98, Y:-22.40, Z:-4.91 [[ 9.99852778e-01 1.71081836e-02 -1.31648556e-03 3.60983006e+02] [-1.71080773e-02 9.99853642e-01 9.20255988e-05 -2.23994596e+01] [ 1.31786727e-03 -6.94895139e-05 9.99999129e-01 -4.90915644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.780371743 meters 0.03599690225891219 Centerline is valid? [True, True] Translation: X:361.01, Y:-22.40, Z:-4.91 [[ 9.99806134e-01 1.96455508e-02 -1.32138876e-03 3.61011741e+02] [-1.96454461e-02 9.99807005e-01 9.21368105e-05 -2.24028271e+01] [ 1.32294381e-03 -6.61596767e-05 9.99999123e-01 -4.90951232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.810371743 meters 0.0342707922714102 Centerline is valid? [True, True] Translation: X:361.04, Y:-22.40, Z:-4.91 [[ 9.99782427e-01 2.08192737e-02 -1.28704527e-03 3.61040784e+02] [-2.08191762e-02 9.99783254e-01 8.91085800e-05 -2.24030969e+01] [ 1.28862148e-03 -6.22939701e-05 9.99999168e-01 -4.90913344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.840371743 meters 0.03337007177208843 Centerline is valid? [True, True] Translation: X:361.07, Y:-22.41, Z:-4.91 [[ 9.99705474e-01 2.42602879e-02 -6.35533318e-04 3.61070653e+02] [-2.42602647e-02 9.99705676e-01 4.42397966e-05 -2.24084991e+01] [ 6.36419535e-04 -2.88085603e-05 9.99999797e-01 -4.90978775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.870371743 meters 0.033545082622327124 Centerline is valid? [True, True] Translation: X:361.10, Y:-22.41, Z:-4.91 [[ 9.99658960e-01 2.61004466e-02 -8.55016009e-04 3.61098786e+02] [-2.61004059e-02 9.99659325e-01 5.87874178e-05 -2.24132601e+01] [ 8.56259104e-04 -3.64511040e-05 9.99999633e-01 -4.90990908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.900371743 meters 0.03187133867567203 Centerline is valid? [True, True] Translation: X:361.13, Y:-22.42, Z:-4.91 [[ 9.99581648e-01 2.89108875e-02 -8.30825440e-04 3.61127358e+02] [-2.89108500e-02 9.99581992e-01 5.70218088e-05 -2.24169094e+01] [ 8.32126700e-04 -3.29780839e-05 9.99999653e-01 -4.91061137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.930371743 meters 0.03304028071696604 Centerline is valid? [True, True] Translation: X:361.16, Y:-22.42, Z:-4.91 [[ 9.99504867e-01 3.14596171e-02 -5.59486834e-04 3.61155011e+02] [-3.14596007e-02 9.99505024e-01 3.80209880e-05 -2.24239351e+01] [ 5.60406027e-04 -2.04009301e-05 9.99999843e-01 -4.91205761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.960371743 meters 0.03254536061660232 Centerline is valid? [True, True] Translation: X:361.18, Y:-22.43, Z:-4.91 [[ 9.99420333e-01 3.40397701e-02 -5.41227426e-04 3.61182868e+02] [-3.40397553e-02 9.99420479e-01 3.65022123e-05 -2.24276921e+01] [ 5.42156300e-04 -1.80578040e-05 9.99999853e-01 -4.91239568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.990371743 meters 0.03144516502412019 Centerline is valid? [True, True] Translation: X:361.21, Y:-22.43, Z:-4.91 [[ 9.99223984e-01 3.93869190e-02 -3.18036508e-04 3.61212570e+02] [-3.93869142e-02 9.99224034e-01 2.16150443e-05 -2.24320182e+01] [ 3.18641072e-04 -9.07179405e-06 9.99999949e-01 -4.91179128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.020371743 meters 0.02967872772624271 Centerline is valid? [True, True] Translation: X:361.24, Y:-22.43, Z:-4.91 [[ 9.99093949e-01 4.25590015e-02 1.12325950e-04 3.61242004e+02] [-4.25590008e-02 9.99093955e-01 -8.60163675e-06 -2.24312802e+01] [-1.12590255e-04 3.81336303e-06 9.99999994e-01 -4.90944947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.050371743 meters 0.029869392053839334 Centerline is valid? [True, True] Translation: X:361.27, Y:-22.44, Z:-4.91 [[ 9.98819500e-01 4.85695033e-02 7.80256573e-04 3.61269963e+02] [-4.85694752e-02 9.98819805e-01 -5.50474487e-05 -2.24401398e+01] [-7.82009346e-04 1.70858130e-05 9.99999694e-01 -4.91081432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.080371743 meters 0.028328536378110763 Centerline is valid? [True, True] Translation: X:361.30, Y:-22.44, Z:-4.91 [[ 9.98684194e-01 5.12684389e-02 1.19523652e-03 3.61298736e+02] [-5.12683750e-02 9.98684909e-01 -8.40681232e-05 -2.24410491e+01] [-1.19797471e-03 2.26796718e-05 9.99999282e-01 -4.90882696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11037174300003 meters 0.027965038494577668 Centerline is valid? [True, True] Translation: X:361.33, Y:-22.45, Z:-4.91 [[ 9.98558237e-01 5.36604289e-02 1.41642536e-03 3.61327410e+02] [-5.36603420e-02 9.98559241e-01 -9.93340681e-05 -2.24452451e+01] [-1.41971494e-03 2.31849825e-05 9.99998992e-01 -4.90893413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.140371743 meters 0.027707424762039915 Centerline is valid? [True, True] Translation: X:361.35, Y:-22.45, Z:-4.91 [[ 9.98248879e-01 5.91300056e-02 1.67881278e-03 3.61354942e+02] [-5.91298906e-02 9.98250290e-01 -1.18074637e-04 -2.24519574e+01] [-1.68285710e-03 1.85998572e-05 9.99998584e-01 -4.90873588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.170371743 meters 0.027055664923596533 Centerline is valid? [True, True] Translation: X:361.38, Y:-22.46, Z:-4.91 [[ 9.98100369e-01 6.15938175e-02 1.36178102e-03 3.61383324e+02] [-6.15937448e-02 9.98101298e-01 -9.52627262e-05 -2.24562951e+01] [-1.36506300e-03 1.12045693e-05 9.99999068e-01 -4.90867796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.200371743 meters 0.02621799580439014 Centerline is valid? [True, True] Translation: X:361.41, Y:-22.46, Z:-4.91 [[ 9.97728109e-01 6.73692733e-02 -2.64577504e-05 3.61411962e+02] [-6.73692733e-02 9.97728110e-01 8.22101066e-07 -2.24633282e+01] [ 2.64530253e-05 9.62206089e-07 1.00000000e+00 -4.90852192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.230371743 meters 0.025718095179547706 Centerline is valid? [True, True] Translation: X:361.44, Y:-22.47, Z:-4.91 [[ 9.97542696e-01 7.00611908e-02 6.49121052e-06 3.61438570e+02] [-7.00611908e-02 9.97542696e-01 -2.19574079e-06 -2.24673186e+01] [-6.62909618e-06 1.73556326e-06 1.00000000e+00 -4.90933739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.260371743 meters 0.025277684557734742 Centerline is valid? [True, True] Translation: X:361.47, Y:-22.47, Z:-4.91 [[ 9.97157555e-01 7.53441885e-02 -2.51515689e-04 3.61466748e+02] [-7.53441868e-02 9.97157587e-01 1.63129243e-05 -2.24748402e+01] [ 2.52029861e-04 2.68368933e-06 9.99999968e-01 -4.90761969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.290371743 meters 0.025277684557734742 Centerline is valid? [True, True] Translation: X:361.49, Y:-22.48, Z:-4.91 [[ 9.97165787e-01 7.52351666e-02 -2.51552612e-04 3.61494165e+02] [-7.52351650e-02 9.97165819e-01 1.57761241e-05 -2.24766469e+01] [ 2.52026585e-04 3.19419110e-06 9.99999968e-01 -4.90800577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.320371743 meters 0.025384352013420687 Centerline is valid? [True, True] Translation: X:361.52, Y:-22.48, Z:-4.91 [[ 9.97003709e-01 7.73528826e-02 3.68633677e-04 3.61521586e+02] [-7.73528780e-02 9.97003777e-01 -2.66131354e-05 -2.24812259e+01] [-3.69587771e-04 -1.98148115e-06 9.99999932e-01 -4.90833233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.350371743 meters 0.024855629905972974 Centerline is valid? [True, True] Translation: X:361.55, Y:-22.49, Z:-4.91 [[ 9.96900654e-01 7.86657843e-02 8.83357969e-04 3.61548830e+02] [-7.86657598e-02 9.96901045e-01 -6.24030851e-05 -2.24861377e+01] [-8.85529471e-04 -7.28034950e-06 9.99999608e-01 -4.90802173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380371743 meters 0.02399713924917536 Centerline is valid? [True, True] Translation: X:361.58, Y:-22.50, Z:-4.91 [[ 9.96856220e-01 7.92012881e-02 2.19838214e-03 3.61575822e+02] [-7.92011458e-02 9.96858644e-01 -1.51849819e-04 -2.24957987e+01] [-2.20350294e-03 -2.27419476e-05 9.99997572e-01 -4.90634797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.410371743 meters 0.023768181433378666 Centerline is valid? [True, True] Translation: X:361.60, Y:-22.50, Z:-4.91 [[ 9.96905125e-01 7.85660116e-02 2.74822681e-03 3.61603910e+02] [-7.85657888e-02 9.96908913e-01 -1.89109299e-04 -2.25025448e+01] [-2.75458937e-03 -2.73925778e-05 9.99996206e-01 -4.90570650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440371743 meters 0.0220844677433071 Centerline is valid? [True, True] Translation: X:361.63, Y:-22.52, Z:-4.90 [[ 9.97108718e-01 7.58986878e-02 3.68688008e-03 3.61632324e+02] [-7.58982706e-02 9.97115534e-01 -2.53143167e-04 -2.25159046e+01] [-3.69545863e-03 -2.74165629e-05 9.99993171e-01 -4.90364020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.470371743 meters 0.021819078412099197 Centerline is valid? [True, True] Translation: X:361.66, Y:-22.52, Z:-4.90 [[ 9.97319635e-01 7.30836736e-02 3.51031340e-03 3.61660679e+02] [-7.30832787e-02 9.97325813e-01 -2.40823358e-04 -2.25237687e+01] [-3.51852642e-03 -1.63673495e-05 9.99993810e-01 -4.90362304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500371743 meters 0.020147495776035397 Centerline is valid? [True, True] Translation: X:361.69, Y:-22.54, Z:-4.90 [[ 9.97702761e-01 6.76772803e-02 2.99760206e-03 3.61687407e+02] [-6.76769671e-02 9.97707265e-01 -2.05929664e-04 -2.25369275e+01] [-3.00466611e-03 2.58797876e-06 9.99995486e-01 -4.90392123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.530371743 meters 0.019818770712449644 Centerline is valid? [True, True] Translation: X:361.72, Y:-22.54, Z:-4.90 [[ 9.97913796e-01 6.44740779e-02 3.33897218e-03 3.61715817e+02] [-6.44736742e-02 9.97919382e-01 -2.28520829e-04 -2.25443943e+01] [-3.34675872e-03 1.27682836e-05 9.99994400e-01 -4.90353552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560371743 meters 0.019614674165415687 Centerline is valid? [True, True] Translation: X:361.74, Y:-22.56, Z:-4.90 [[ 9.98213216e-01 5.96108182e-02 4.11413509e-03 3.61742774e+02] [-5.96101654e-02 9.98221693e-01 -2.81216681e-04 -2.25565585e+01] [-4.12358245e-03 3.54699347e-05 9.99991497e-01 -4.90217556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.590371743 meters 0.01912274787909001 Centerline is valid? [True, True] Translation: X:361.77, Y:-22.56, Z:-4.90 [[ 9.98355982e-01 5.71270755e-02 4.67239719e-03 3.61771243e+02] [-5.71262099e-02 9.98366914e-01 -3.18625692e-04 -2.25631333e+01] [-4.68296892e-03 5.11855232e-05 9.99989034e-01 -4.90163099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620371743 meters 0.01873424633396504 Centerline is valid? [True, True] Translation: X:361.80, Y:-22.57, Z:-4.90 [[ 9.98465884e-01 5.51541291e-02 4.88876545e-03 3.61799724e+02] [-5.51531598e-02 9.98477851e-01 -3.32981385e-04 -2.25696097e+01] [-4.89968931e-03 6.28396914e-05 9.99987994e-01 -4.90144557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.650371743 meters 0.018584114383871277 Centerline is valid? [True, True] Translation: X:361.83, Y:-22.58, Z:-4.90 [[ 9.98674137e-01 5.13046032e-02 4.21973007e-03 3.61829275e+02] [-5.13038487e-02 9.98683049e-01 -2.86923624e-04 -2.25784360e+01] [-4.22889340e-03 7.00548094e-05 9.99991056e-01 -4.90065708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680371743 meters 0.018355919989405365 Centerline is valid? [True, True] Translation: X:361.86, Y:-22.58, Z:-4.90 [[ 9.98762355e-01 4.95616130e-02 4.17189466e-03 3.61858065e+02] [-4.95608595e-02 9.98771065e-01 -2.83879181e-04 -2.25841176e+01] [-4.18083718e-03 7.67651543e-05 9.99991257e-01 -4.90089738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.710371743 meters 0.019417469820125897 Centerline is valid? [True, True] Translation: X:361.89, Y:-22.60, Z:-4.90 [[ 9.98882912e-01 4.70978270e-02 3.83691522e-03 3.61885806e+02] [-4.70971729e-02 9.98890278e-01 -2.60696024e-04 -2.25950991e+01] [-3.84493553e-03 7.96969446e-05 9.99992605e-01 -4.90273893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740371743 meters 0.018637223056759262 Centerline is valid? [True, True] Translation: X:361.91, Y:-22.60, Z:-4.90 [[ 9.98931123e-01 4.60701528e-02 3.76196999e-03 3.61914086e+02] [-4.60695167e-02 9.98938203e-01 -2.55596243e-04 -2.25976826e+01] [-3.76975090e-03 8.20109031e-05 9.99992891e-01 -4.90168988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.770371743 meters 0.018149234226975775 Centerline is valid? [True, True] Translation: X:361.94, Y:-22.60, Z:-4.90 [[ 9.99002870e-01 4.43419194e-02 5.20185781e-03 3.61942753e+02] [-4.43406838e-02 9.99016406e-01 -3.52671209e-04 -2.26022352e+01] [-5.21237942e-03 1.21665618e-04 9.99986408e-01 -4.90019357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800371743 meters 0.01874956818846538 Centerline is valid? [True, True] Translation: X:361.97, Y:-22.61, Z:-4.90 [[ 9.99013229e-01 4.40409937e-02 5.74103588e-03 3.61971257e+02] [-4.40394877e-02 9.99029716e-01 -3.88539813e-04 -2.26070000e+01] [-5.75257713e-03 1.35324135e-04 9.99983445e-01 -4.90034803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.830371743 meters 0.018554882902365517 Centerline is valid? [True, True] Translation: X:362.00, Y:-22.61, Z:-4.90 [[ 9.99057125e-01 4.28802871e-02 6.79277264e-03 3.62000481e+02] [-4.28781563e-02 9.99080203e-01 -4.59066245e-04 -2.26112817e+01] [-6.80620956e-03 1.67371836e-04 9.99976823e-01 -4.89961354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86037174300003 meters 0.018702523308967836 Centerline is valid? [True, True] Translation: X:362.03, Y:-22.61, Z:-4.90 [[ 9.99105310e-01 4.17284030e-02 6.87894165e-03 3.62029933e+02] [-4.17261922e-02 9.99128975e-01 -4.64643902e-04 -2.26133378e+01] [-6.89233877e-03 1.77196148e-04 9.99976232e-01 -4.89979161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.890371743 meters 0.019376746654396867 Centerline is valid? [True, True] Translation: X:362.06, Y:-22.62, Z:-4.90 [[ 9.99173268e-01 3.99464006e-02 7.55422110e-03 3.62059184e+02] [-3.99436860e-02 9.99201802e-01 -5.09929899e-04 -2.26176335e+01] [-7.56856120e-03 2.07764887e-04 9.99971336e-01 -4.90014085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.920371743 meters 0.01894873798096093 Centerline is valid? [True, True] Translation: X:362.09, Y:-22.62, Z:-4.90 [[ 9.99239124e-01 3.82280129e-02 7.73254481e-03 3.62088708e+02] [-3.82251196e-02 9.99269017e-01 -5.21674347e-04 -2.26206517e+01] [-7.74683502e-03 2.25699968e-04 9.99969967e-01 -4.89947901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.950371743 meters 0.01997681316173022 Centerline is valid? [True, True] Translation: X:362.12, Y:-22.62, Z:-4.90 [[ 9.99270927e-01 3.73888386e-02 7.72584572e-03 3.62118422e+02] [-3.73859283e-02 9.99300766e-01 -5.20827066e-04 -2.26240698e+01] [-7.73991666e-03 2.31609431e-04 9.99970020e-01 -4.90020701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.980371743 meters 0.02030307833970622 Centerline is valid? [True, True] Translation: X:362.15, Y:-22.63, Z:-4.90 [[ 9.99349171e-01 3.52655685e-02 7.58775620e-03 3.62148377e+02] [-3.52627011e-02 9.99377947e-01 -5.11385105e-04 -2.26259100e+01] [-7.60107050e-03 2.43487501e-04 9.99971082e-01 -4.90065509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.010371743 meters 0.01972953630326583 Centerline is valid? [True, True] Translation: X:362.18, Y:-22.63, Z:-4.90 [[ 9.99390697e-01 3.40824412e-02 7.52469689e-03 3.62178349e+02] [-3.40795879e-02 9.99418993e-01 -5.07124096e-04 -2.26265656e+01] [-7.53760902e-03 2.50376535e-04 9.99971560e-01 -4.90054323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.040371743 meters 0.023497974548652174 Centerline is valid? [True, True] Translation: X:362.21, Y:-22.63, Z:-4.90 [[ 9.99482633e-01 3.13535895e-02 7.17062300e-03 3.62207195e+02] [-3.13509319e-02 9.99508322e-01 -4.82753786e-04 -2.26329440e+01] [-7.18223342e-03 2.57698313e-04 9.99974174e-01 -4.90274035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.070371743 meters 0.022899732342957054 Centerline is valid? [True, True] Translation: X:362.24, Y:-22.63, Z:-4.90 [[ 9.99600065e-01 2.75564763e-02 6.35227418e-03 3.62237245e+02] [-2.75543131e-02 9.99620216e-01 -4.27823655e-04 -2.26314301e+01] [-6.36165101e-03 2.52620002e-04 9.99979733e-01 -4.90335670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.100371743 meters 0.023963493985625167 Centerline is valid? [True, True] Translation: X:362.27, Y:-22.63, Z:-4.90 [[ 9.99678932e-01 2.45356464e-02 6.32733582e-03 3.62267206e+02] [-2.45334405e-02 9.99698919e-01 -4.26030040e-04 -2.26343398e+01] [-6.33588370e-03 2.70661938e-04 9.99979891e-01 -4.90401371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.130371743 meters 0.025463067068269563 Centerline is valid? [True, True] Translation: X:362.30, Y:-22.64, Z:-4.90 [[ 9.99753188e-01 2.13854309e-02 6.01879988e-03 3.62297809e+02] [-2.13833801e-02 9.99771267e-01 -4.04873356e-04 -2.26374473e+01] [-6.02608158e-03 2.76071143e-04 9.99981805e-01 -4.90482820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.160371743 meters 0.02678485077014326 Centerline is valid? [True, True] Translation: X:362.33, Y:-22.64, Z:-4.91 [[ 9.99817489e-01 1.82431025e-02 5.67248956e-03 3.62328338e+02] [-1.82412291e-02 9.99833542e-01 -3.81814013e-04 -2.26404889e+01] [-5.67851080e-03 2.78271146e-04 9.99983838e-01 -4.90580964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.190371743 meters 0.027432256641717296 Centerline is valid? [True, True] Translation: X:362.36, Y:-22.64, Z:-4.91 [[ 9.99917872e-01 1.15899789e-02 5.46998083e-03 3.62359064e+02] [-1.15881378e-02 9.99932788e-01 -3.68158407e-04 -2.26406978e+01] [-5.47388013e-03 3.04741280e-04 9.99984972e-01 -4.90583679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.220371743 meters 0.028958262018686103 Centerline is valid? [True, True] Translation: X:362.39, Y:-22.64, Z:-4.91 [[ 9.99946464e-01 8.44928688e-03 5.97310624e-03 3.62389991e+02] [-8.44703766e-03 9.99964242e-01 -4.01686486e-04 -2.26432214e+01] [-5.97628662e-03 3.51209928e-04 9.99982080e-01 -4.90627154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.250371743 meters 0.03279732291861131 Centerline is valid? [True, True] Translation: X:362.42, Y:-22.65, Z:-4.91 [[ 9.99983831e-01 2.49068880e-03 5.11222720e-03 3.62420284e+02] [-2.48896119e-03 9.99996843e-01 -3.44271066e-04 -2.26460683e+01] [-5.11306853e-03 3.31541364e-04 9.99986873e-01 -4.90747207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.280371743 meters 0.0344368106835478 Centerline is valid? [True, True] Translation: X:362.45, Y:-22.65, Z:-4.91 [[ 9.99988448e-01 3.04432350e-04 4.79709339e-03 3.62451470e+02] [-3.02887090e-04 9.99999902e-01 -3.22847460e-04 -2.26472988e+01] [-4.79719121e-03 3.21390752e-04 9.99988442e-01 -4.90867774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.310371743 meters 0.03411920013992585 Centerline is valid? [True, True] Translation: X:362.48, Y:-22.64, Z:-4.91 [[ 9.99987232e-01 -1.64637978e-03 4.77766268e-03 3.62483214e+02] [ 1.64793549e-03 9.99998590e-01 -3.21704233e-04 -2.26428594e+01] [-4.77712629e-03 3.29573406e-04 9.99988535e-01 -4.90856141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.340371743 meters 0.034287244211233275 Centerline is valid? [True, True] Translation: X:362.52, Y:-22.64, Z:-4.91 [[ 9.99986306e-01 -1.39848171e-03 5.04307312e-03 3.62515042e+02] [ 1.40021300e-03 9.99998962e-01 -3.39787984e-04 -2.26410369e+01] [-5.04259270e-03 3.46844707e-04 9.99987226e-01 -4.90850094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.370371743 meters 0.03353613237591602 Centerline is valid? [True, True] Translation: X:362.55, Y:-22.63, Z:-4.91 [[ 9.99976673e-01 1.02694020e-03 6.75268616e-03 3.62546651e+02] [-1.02388739e-03 9.99999372e-01 -4.55530260e-04 -2.26328361e+01] [-6.75314973e-03 4.48605644e-04 9.99977097e-01 -4.90767095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.400371743 meters 0.033110512345758125 Centerline is valid? [True, True] Translation: X:362.58, Y:-22.63, Z:-4.91 [[ 9.99975081e-01 2.49483024e-03 6.60403229e-03 3.62578586e+02] [-2.49194238e-03 9.99996796e-01 -4.45479989e-04 -2.26294537e+01] [-6.60512253e-03 4.29012020e-04 9.99978094e-01 -4.90788279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.430371743 meters 0.0335031360331129 Centerline is valid? [True, True] Translation: X:362.61, Y:-22.63, Z:-4.91 [[ 9.99965374e-01 4.54650846e-03 6.96993510e-03 3.62609035e+02] [-4.54333844e-03 9.99989568e-01 -4.70579452e-04 -2.26277162e+01] [-6.97200189e-03 4.38896383e-04 9.99975599e-01 -4.90875393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.460371743 meters 0.032974411574361956 Centerline is valid? [True, True] Translation: X:362.64, Y:-22.62, Z:-4.91 [[ 9.99953351e-01 7.67110238e-03 5.86945529e-03 3.62640386e+02] [-7.66890759e-03 9.99970515e-01 -3.96350014e-04 -2.26190788e+01] [-5.87232267e-03 3.51319214e-04 9.99982696e-01 -4.91022510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.490371743 meters 0.03608992898779997 Centerline is valid? [True, True] Translation: X:362.67, Y:-22.62, Z:-4.91 [[ 9.99944269e-01 8.76875585e-03 5.87938163e-03 3.62671061e+02] [-8.76657276e-03 9.99961494e-01 -3.96982484e-04 -2.26218912e+01] [-5.88263628e-03 3.45418333e-04 9.99982637e-01 -4.91210527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.520371743 meters 0.0343274023661848 Centerline is valid? [True, True] Translation: X:362.70, Y:-22.61, Z:-4.91 [[ 9.99939261e-01 1.00337745e-02 4.56055481e-03 3.62702180e+02] [-1.00324723e-02 9.99949626e-01 -3.08325348e-04 -2.26116403e+01] [-4.56341875e-03 2.62552981e-04 9.99989553e-01 -4.91344954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.550371743 meters 0.03273173356848625 Centerline is valid? [True, True] Translation: X:362.73, Y:-22.61, Z:-4.91 [[ 9.99937230e-01 1.02630805e-02 4.49511977e-03 3.62732947e+02] [-1.02618177e-02 9.99947300e-01 -3.03901482e-04 -2.26065006e+01] [-4.49800185e-03 2.57754307e-04 9.99989851e-01 -4.91354948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.580371743 meters 0.033935731674188334 Centerline is valid? [True, True] Translation: X:362.76, Y:-22.61, Z:-4.91 [[ 9.99934207e-01 1.05490809e-02 4.50536057e-03 3.62762282e+02] [-1.05478162e-02 9.99944324e-01 -3.04370863e-04 -2.26056262e+01] [-4.50832057e-03 2.56829122e-04 9.99989804e-01 -4.91432832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61037174300003 meters 0.0347140457212905 Centerline is valid? [True, True] Translation: X:362.79, Y:-22.60, Z:-4.91 [[ 9.99916661e-01 1.20587216e-02 4.61056962e-03 3.62792817e+02] [-1.20574108e-02 9.99927258e-01 -3.11983888e-04 -2.25997343e+01] [-4.61399637e-03 2.56366355e-04 9.99989323e-01 -4.91466875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.640371743 meters 0.03387219511321474 Centerline is valid? [True, True] Translation: X:362.82, Y:-22.60, Z:-4.92 [[ 9.99893538e-01 1.39426017e-02 4.30316694e-03 3.62823422e+02] [-1.39414776e-02 9.99902771e-01 -2.91124506e-04 -2.25959752e+01] [-4.30680758e-03 2.31101007e-04 9.99990699e-01 -4.91513421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.670371743 meters 0.03227347119792255 Centerline is valid? [True, True] Translation: X:362.85, Y:-22.59, Z:-4.92 [[ 9.99814722e-01 1.88819441e-02 3.74088594e-03 3.62854268e+02] [-1.88811297e-02 9.99821704e-01 -2.52917677e-04 -2.25868894e+01] [-3.74499453e-03 1.82238664e-04 9.99992971e-01 -4.91649650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.700371743 meters 0.03218082553406167 Centerline is valid? [True, True] Translation: X:362.88, Y:-22.58, Z:-4.92 [[ 9.99751646e-01 2.20306113e-02 3.36144858e-03 3.62883881e+02] [-2.20299703e-02 9.99757285e-01 -2.27586666e-04 -2.25844477e+01] [-3.36564658e-03 1.53477531e-04 9.99994324e-01 -4.91733147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.730371743 meters 0.03177141990946763 Centerline is valid? [True, True] Translation: X:362.91, Y:-22.58, Z:-4.92 [[ 9.99574440e-01 2.91368287e-02 1.40832946e-03 3.62913815e+02] [-2.91367231e-02 9.99575431e-01 -9.54099348e-05 -2.25787534e+01] [-1.41051147e-03 5.43352267e-05 9.99999004e-01 -4.91902938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.760371743 meters 0.030592518680875293 Centerline is valid? [True, True] Translation: X:362.94, Y:-22.57, Z:-4.92 [[ 9.99459858e-01 3.28412360e-02 1.20259742e-03 3.62943557e+02] [-3.28411614e-02 9.99460580e-01 -8.16716426e-05 -2.25749827e+01] [-1.20463091e-03 4.21328323e-05 9.99999274e-01 -4.92001762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.790371743 meters 0.029303074183667753 Centerline is valid? [True, True] Translation: X:362.97, Y:-22.57, Z:-4.92 [[ 9.99278249e-01 3.79809845e-02 6.52003745e-04 3.62974143e+02] [-3.79809637e-02 9.99278462e-01 -4.42501494e-05 -2.25711702e+01] [-6.53213964e-04 1.94544813e-05 9.99999786e-01 -4.91977321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.820371743 meters 0.028045882538543395 Centerline is valid? [True, True] Translation: X:363.00, Y:-22.56, Z:-4.92 [[ 9.98833898e-01 4.82748846e-02 6.16668471e-04 3.63004031e+02] [-4.82748680e-02 9.98834088e-01 -4.19194155e-05 -2.25640511e+01] [-6.17973146e-04 1.21009441e-05 9.99999809e-01 -4.92063152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.850371743 meters 0.02709700994915745 Centerline is valid? [True, True] Translation: X:363.03, Y:-22.56, Z:-4.92 [[ 9.98270231e-01 5.87757879e-02 1.39727715e-03 3.63033245e+02] [-5.87757126e-02 9.98271209e-01 -9.49220764e-05 -2.25581683e+01] [-1.40044067e-03 1.26319227e-05 9.99999019e-01 -4.92012307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880371743 meters 0.026639780050345473 Centerline is valid? [True, True] Translation: X:363.06, Y:-22.56, Z:-4.92 [[ 9.97996391e-01 6.32379407e-02 2.04142145e-03 3.63062004e+02] [-6.32377898e-02 9.97998478e-01 -1.38431676e-04 -2.25567599e+01] [-2.04608964e-03 9.05933191e-06 9.99997907e-01 -4.91970553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.910371743 meters 0.0265350668320851 Centerline is valid? [True, True] Translation: X:363.09, Y:-22.56, Z:-4.92 [[ 9.97754025e-01 6.69412020e-02 2.40420222e-03 3.63090605e+02] [-6.69410042e-02 9.97756922e-01 -1.62725677e-04 -2.25561069e+01] [-2.40970246e-03 1.42048837e-06 9.99997097e-01 -4.91863795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940371743 meters 0.02635261384675587 Centerline is valid? [True, True] Translation: X:363.12, Y:-22.56, Z:-4.92 [[ 9.97339846e-01 7.28388251e-02 2.78161171e-03 3.63118611e+02] [-7.28385824e-02 9.97343725e-01 -1.88597398e-04 -2.25561143e+01] [-2.78796020e-03 -1.45129544e-05 9.99996114e-01 -4.91840495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.970371743 meters 0.026245800267054115 Centerline is valid? [True, True] Translation: X:363.15, Y:-22.56, Z:-4.92 [[ 9.97203099e-01 7.46969971e-02 2.51756118e-03 3.63147789e+02] [-7.46968064e-02 9.97206277e-01 -1.69819964e-04 -2.25584169e+01] [-2.52321285e-03 -1.87087855e-05 9.99996817e-01 -4.91931502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000371743 meters 0.026247508185264022 Centerline is valid? [True, True] Translation: X:363.18, Y:-22.56, Z:-4.92 [[ 9.96988587e-01 7.75279792e-02 1.78067739e-03 3.63176495e+02] [-7.75278880e-02 9.96990177e-01 -1.20290252e-04 -2.25633092e+01] [-1.78464373e-03 -1.81241493e-05 9.99998407e-01 -4.92054990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.030371743 meters 0.026313372255914243 Centerline is valid? [True, True] Translation: X:363.20, Y:-22.57, Z:-4.92 [[ 9.96909140e-01 7.85424816e-02 1.80158712e-03 3.63204814e+02] [-7.85423901e-02 9.96910767e-01 -1.21555438e-04 -2.25675311e+01] [-1.80556886e-03 -2.03212309e-05 9.99998370e-01 -4.92123100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060371743 meters 0.02600163499231425 Centerline is valid? [True, True] Translation: X:363.23, Y:-22.57, Z:-4.92 [[ 9.96823236e-01 7.96209994e-02 1.98309635e-03 3.63232650e+02] [-7.96208908e-02 9.96825208e-01 -1.33765171e-04 -2.25718991e+01] [-1.98745095e-03 -2.45556675e-05 9.99998025e-01 -4.92149770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.090371743 meters 0.025147830803820395 Centerline is valid? [True, True] Translation: X:363.26, Y:-22.58, Z:-4.92 [[ 9.96656516e-01 8.16669215e-02 2.51049584e-03 3.63260699e+02] [-8.16667559e-02 9.96659677e-01 -1.68579707e-04 -2.25809219e+01] [-2.51587736e-03 -3.70079877e-05 9.99996834e-01 -4.91957130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120371743 meters 0.025059594979006124 Centerline is valid? [True, True] Translation: X:363.29, Y:-22.59, Z:-4.92 [[ 9.96543863e-01 8.29865461e-02 3.68283811e-03 3.63288133e+02] [-8.29862008e-02 9.96550666e-01 -2.46729319e-04 -2.25890375e+01] [-3.69060998e-03 -5.97481546e-05 9.99993188e-01 -4.91898140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.150371743 meters 0.025078929098319987 Centerline is valid? [True, True] Translation: X:363.32, Y:-22.60, Z:-4.92 [[ 9.96529157e-01 8.31472647e-02 4.02147945e-03 3.63315281e+02] [-8.31468556e-02 9.96537269e-01 -2.69097903e-04 -2.25953342e+01] [-4.02992891e-03 -6.62094645e-05 9.99991878e-01 -4.91823312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180371743 meters 0.023867795094246125 Centerline is valid? [True, True] Translation: X:363.34, Y:-22.61, Z:-4.92 [[ 9.96488937e-01 8.35296960e-02 5.70868168e-03 3.63343568e+02] [-8.35288867e-02 9.96505284e-01 -3.80456036e-04 -2.26071154e+01] [-5.72051084e-03 -9.77195944e-05 9.99983633e-01 -4.91720315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.210371743 meters 0.023867795094246125 Centerline is valid? [True, True] Translation: X:363.37, Y:-22.61, Z:-4.92 [[ 9.96498208e-01 8.34190144e-02 5.70868898e-03 3.63370992e+02] [-8.34182039e-02 9.96514555e-01 -3.80346962e-04 -2.26088542e+01] [-5.72051983e-03 -9.71935149e-05 9.99983633e-01 -4.91758926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240371743 meters 0.023646509755565218 Centerline is valid? [True, True] Translation: X:363.40, Y:-22.62, Z:-4.92 [[ 9.96510957e-01 8.32085396e-02 6.50013231e-03 3.63397877e+02] [-8.32074868e-02 9.96532150e-01 -4.32705306e-04 -2.26151206e+01] [-6.51359561e-03 -1.09664095e-04 9.99978780e-01 -4.91754248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.270371743 meters 0.023324701106982187 Centerline is valid? [True, True] Translation: X:363.43, Y:-22.62, Z:-4.92 [[ 9.96495202e-01 8.33187475e-02 7.43627145e-03 3.63425476e+02] [-8.33173897e-02 9.96522940e-01 -4.92727323e-04 -2.26221224e+01] [-7.45146851e-03 -1.28570312e-04 9.99972229e-01 -4.91730756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300371743 meters 0.02179598720463836 Centerline is valid? [True, True] Translation: X:363.45, Y:-22.63, Z:-4.92 [[ 9.96586090e-01 8.22150475e-02 7.53991835e-03 3.63453433e+02] [-8.22136281e-02 9.96614605e-01 -4.98525887e-04 -2.26343357e+01] [-7.55537908e-03 -1.23060078e-04 9.99971450e-01 -4.91707467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.330371743 meters 0.02057308705528932 Centerline is valid? [True, True] Translation: X:363.48, Y:-22.65, Z:-4.92 [[ 9.96789990e-01 7.97501812e-02 7.04446183e-03 3.63481011e+02] [-7.97488837e-02 9.96814877e-01 -4.65336502e-04 -2.26478059e+01] [-7.05913502e-03 -9.79451994e-05 9.99975079e-01 -4.91729641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36037174300003 meters 0.020029079247718296 Centerline is valid? [True, True] Translation: X:363.51, Y:-22.66, Z:-4.92 [[ 9.96896642e-01 7.83886768e-02 7.23193868e-03 3.63509223e+02] [-7.83872775e-02 9.96922869e-01 -4.77170836e-04 -2.26555743e+01] [-7.24708985e-03 -9.12019802e-05 9.99973735e-01 -4.91796192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.390371743 meters 0.019343364026607298 Centerline is valid? [True, True] Translation: X:363.54, Y:-22.66, Z:-4.92 [[ 9.97022780e-01 7.67582780e-02 7.33092262e-03 3.63537708e+02] [-7.67568000e-02 9.97049728e-01 -4.83164409e-04 -2.26636596e+01] [-7.34638128e-03 -8.09722400e-05 9.99973012e-01 -4.91863152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.420371743 meters 0.018547520825878783 Centerline is valid? [True, True] Translation: X:363.56, Y:-22.68, Z:-4.92 [[ 9.97182879e-01 7.46129743e-02 7.69482072e-03 3.63564663e+02] [-7.46112859e-02 9.97212565e-01 -5.06651262e-04 -2.26760048e+01] [-7.71117466e-03 -6.88965047e-05 9.99970266e-01 -4.91893154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.450371743 meters 0.01787759916670182 Centerline is valid? [True, True] Translation: X:363.59, Y:-22.68, Z:-4.92 [[ 9.97252329e-01 7.36684274e-02 7.79453146e-03 3.63593520e+02] [-7.36666726e-02 9.97282788e-01 -5.12392849e-04 -2.26838123e+01] [-7.81109924e-03 -6.32122351e-05 9.99969491e-01 -4.91856482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.480371743 meters 0.017097481234872952 Centerline is valid? [True, True] Translation: X:363.62, Y:-22.70, Z:-4.92 [[ 9.97374270e-01 7.19574856e-02 8.16618366e-03 3.63621784e+02] [-7.19555073e-02 9.97407699e-01 -5.36187997e-04 -2.26952107e+01] [-8.18359720e-03 -5.28217760e-05 9.99966512e-01 -4.91819982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.510371743 meters 0.016767992060814575 Centerline is valid? [True, True] Translation: X:363.65, Y:-22.70, Z:-4.92 [[ 9.97400414e-01 7.15481712e-02 8.56003242e-03 3.63649581e+02] [-7.15459872e-02 9.97437144e-01 -5.61484738e-04 -2.27010102e+01] [-8.57826750e-03 -5.24108600e-05 9.99963205e-01 -4.91849272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.540371743 meters 0.016612284859888284 Centerline is valid? [True, True] Translation: X:363.68, Y:-22.71, Z:-4.92 [[ 9.97425153e-01 7.11660405e-02 8.85772205e-03 3.63677433e+02] [-7.11636943e-02 9.97464482e-01 -5.80180902e-04 -2.27064642e+01] [-8.87655232e-03 -5.16611996e-05 9.99960601e-01 -4.91911674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.570371743 meters 0.016206924912289936 Centerline is valid? [True, True] Translation: X:363.71, Y:-22.72, Z:-4.92 [[ 9.97436317e-01 7.09696059e-02 9.17112717e-03 3.63706017e+02] [-7.09670909e-02 9.97478477e-01 -5.99787860e-04 -2.27158357e+01] [-9.19056867e-03 -5.25980211e-05 9.99957764e-01 -4.91933382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.600371743 meters 0.015744614240494382 Centerline is valid? [True, True] Translation: X:363.73, Y:-22.72, Z:-4.92 [[ 9.97434187e-01 7.09920236e-02 9.22904331e-03 3.63734291e+02] [-7.09894838e-02 9.97476882e-01 -6.02910479e-04 -2.27205688e+01] [-9.24855918e-03 -5.38014976e-05 9.99957230e-01 -4.91996446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.630371743 meters 0.01577514623248067 Centerline is valid? [True, True] Translation: X:363.76, Y:-22.72, Z:-4.92 [[ 9.97406577e-01 7.13600743e-02 9.37332473e-03 3.63761718e+02] [-7.13574764e-02 9.97450619e-01 -6.11731835e-04 -2.27247265e+01] [-9.39308178e-03 -5.87114429e-05 9.99955882e-01 -4.92202549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.660371743 meters 0.015691532639777555 Centerline is valid? [True, True] Translation: X:363.79, Y:-22.73, Z:-4.92 [[ 9.97393759e-01 7.14416770e-02 1.00884645e-02 3.63789750e+02] [-7.14386809e-02 9.97444777e-01 -6.57493423e-04 -2.27286013e+01] [-1.01096587e-02 -6.49267599e-05 9.99948894e-01 -4.92177312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.690371743 meters 0.015271307614085712 Centerline is valid? [True, True] Translation: X:363.82, Y:-22.74, Z:-4.92 [[ 9.97403701e-01 7.11438704e-02 1.11538222e-02 3.63817944e+02] [-7.11402053e-02 9.97466062e-01 -7.25504760e-04 -2.27355485e+01] [-1.11771744e-02 -6.98640710e-05 9.99937531e-01 -4.92110886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.720371743 meters 0.015070338528310193 Centerline is valid? [True, True] Translation: X:363.85, Y:-22.74, Z:-4.92 [[ 9.97413066e-01 7.09724030e-02 1.14058426e-02 3.63845413e+02] [-7.09685703e-02 9.97478277e-01 -7.40934396e-04 -2.27390117e+01] [-1.14296661e-02 -7.04386919e-05 9.99934677e-01 -4.92128776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.750371743 meters 0.014837147563005281 Centerline is valid? [True, True] Translation: X:363.87, Y:-22.74, Z:-4.92 [[ 9.97446297e-01 7.04581126e-02 1.16849698e-02 3.63873652e+02] [-7.04540710e-02 9.97514737e-01 -7.57669395e-04 -2.27436999e+01] [-1.17093135e-02 -6.75191564e-05 9.99931441e-01 -4.92153242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.780371743 meters 0.014218031502951478 Centerline is valid? [True, True] Translation: X:363.90, Y:-22.75, Z:-4.92 [[ 9.97471825e-01 7.00996597e-02 1.16617390e-02 3.63901984e+02] [-7.00956178e-02 9.97539991e-01 -7.55474044e-04 -2.27472430e+01] [-1.16860095e-02 -6.38727244e-05 9.99931714e-01 -4.92149711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.810371743 meters 0.013895912652305166 Centerline is valid? [True, True] Translation: X:363.93, Y:-22.75, Z:-4.92 [[ 9.97565366e-01 6.87692859e-02 1.15812411e-02 3.63931180e+02] [-6.87652226e-02 9.97632589e-01 -7.49160959e-04 -2.27525097e+01] [-1.16053428e-02 -4.90495962e-05 9.99932655e-01 -4.92260425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.840371743 meters 0.01390803474522589 Centerline is valid? [True, True] Translation: X:363.96, Y:-22.76, Z:-4.92 [[ 9.97665424e-01 6.72387551e-02 1.19437209e-02 3.63960505e+02] [-6.72343302e-02 9.97736914e-01 -7.72076761e-04 -2.27568777e+01] [-1.19686047e-02 -3.27537831e-05 9.99928373e-01 -4.92282746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.870371743 meters 0.013820653279475686 Centerline is valid? [True, True] Translation: X:363.99, Y:-22.76, Z:-4.92 [[ 9.97890179e-01 6.38056634e-02 1.20011286e-02 3.63989261e+02] [-6.38009535e-02 9.97962343e-01 -7.75289000e-04 -2.27638251e+01] [-1.20261422e-02 7.96983399e-06 9.99927683e-01 -4.92352497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.900371743 meters 0.014059515140088488 Centerline is valid? [True, True] Translation: X:364.02, Y:-22.77, Z:-4.92 [[ 9.98053835e-01 6.12299089e-02 1.18084992e-02 3.64018864e+02] [-6.12251784e-02 9.98123688e-01 -7.62022598e-04 -2.27689113e+01] [-1.18330013e-02 3.75621075e-05 9.99929987e-01 -4.92412781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.930371743 meters 0.01422675500468016 Centerline is valid? [True, True] Translation: X:364.05, Y:-22.77, Z:-4.92 [[ 9.98232824e-01 5.82671317e-02 1.16692479e-02 3.64048268e+02] [-5.82623173e-02 9.98301025e-01 -7.52386033e-04 -2.27746685e+01] [-1.16932615e-02 7.11790094e-05 9.99931629e-01 -4.92435093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.960371743 meters 0.01567000633890089 Centerline is valid? [True, True] Translation: X:364.08, Y:-22.78, Z:-4.92 [[ 9.98599248e-01 5.16716608e-02 1.13834220e-02 3.64078636e+02] [-5.16666490e-02 9.98664117e-01 -7.34114300e-04 -2.27840470e+01] [-1.14061479e-02 1.44942721e-04 9.99934937e-01 -4.92443110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.990371743 meters 0.016386632673011586 Centerline is valid? [True, True] Translation: X:364.11, Y:-22.79, Z:-4.92 [[ 9.98967200e-01 4.40265317e-02 1.12337672e-02 3.64108579e+02] [-4.40211646e-02 9.99030336e-01 -7.24716085e-04 -2.27904528e+01] [-1.12547810e-02 2.29444084e-04 9.99936637e-01 -4.92438137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.020371743 meters 0.01655628972472704 Centerline is valid? [True, True] Translation: X:364.14, Y:-22.80, Z:-4.92 [[ 9.99119721e-01 4.03305492e-02 1.15425483e-02 3.64139481e+02] [-4.03246336e-02 9.99186354e-01 -7.44874506e-04 -2.27952986e+01] [-1.15631979e-02 2.78769778e-04 9.99933105e-01 -4.92393919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.050371743 meters 0.018261855407950587 Centerline is valid? [True, True] Translation: X:364.17, Y:-22.80, Z:-4.92 [[ 9.99389099e-01 3.30069233e-02 1.14879105e-02 3.64169882e+02] [-3.30005748e-02 9.99455057e-01 -7.41796664e-04 -2.28045695e+01] [-1.15061346e-02 3.62235851e-04 9.99933737e-01 -4.92378972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.080371743 meters 0.0190494383328818 Centerline is valid? [True, True] Translation: X:364.20, Y:-22.81, Z:-4.92 [[ 9.99501154e-01 2.95740414e-02 1.10824196e-02 3.64201618e+02] [-2.95679221e-02 9.99562517e-01 -7.15643454e-04 -2.28094617e+01] [-1.10987357e-02 3.87602338e-04 9.99938332e-01 -4.92448089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11037174300003 meters 0.02091692868504157 Centerline is valid? [True, True] Translation: X:364.23, Y:-22.82, Z:-4.93 [[ 9.99602630e-01 2.61884728e-02 1.04281215e-02 3.64231585e+02] [-2.61828615e-02 9.99656943e-01 -6.74279185e-04 -2.28163082e+01] [-1.04422024e-02 4.00973186e-04 9.99945398e-01 -4.92523914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.140371743 meters 0.02468540662900188 Centerline is valid? [True, True] Translation: X:364.26, Y:-22.83, Z:-4.93 [[ 9.99758902e-01 2.00780204e-02 8.88886502e-03 3.64260219e+02] [-2.00736997e-02 9.99798338e-01 -5.75039991e-04 -2.28264530e+01] [-8.89861813e-03 3.96468944e-04 9.99960328e-01 -4.92679687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.170371743 meters 0.02510290962246292 Centerline is valid? [True, True] Translation: X:364.29, Y:-22.83, Z:-4.93 [[ 9.99815039e-01 1.73873460e-02 8.22003330e-03 3.64291109e+02] [-1.73835627e-02 9.99848753e-01 -5.31482506e-04 -2.28302343e+01] [-8.22803111e-03 3.88490738e-04 9.99966074e-01 -4.92705131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.200371743 meters 0.02365386990654878 Centerline is valid? [True, True] Translation: X:364.32, Y:-22.83, Z:-4.93 [[ 9.99889040e-01 1.34943500e-02 6.30955366e-03 3.64321840e+02] [-1.34920446e-02 9.99908895e-01 -4.07798791e-04 -2.28318089e+01] [-6.31448181e-03 3.22624763e-04 9.99980011e-01 -4.92716124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.230371743 meters 0.022661198295103047 Centerline is valid? [True, True] Translation: X:364.35, Y:-22.83, Z:-4.93 [[ 9.99899223e-01 1.31031066e-02 5.46367927e-03 3.64352755e+02] [-1.31013709e-02 9.99914111e-01 -3.53352132e-04 -2.28327562e+01] [-5.46784002e-03 2.81734834e-04 9.99985012e-01 -4.92727301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.260371743 meters 0.023919283223018555 Centerline is valid? [True, True] Translation: X:364.38, Y:-22.84, Z:-4.93 [[ 9.99870014e-01 1.54694179e-02 4.54438141e-03 3.64383074e+02] [-1.54682403e-02 9.99880316e-01 -2.94159920e-04 -2.28366056e+01] [-4.54838800e-03 2.23828100e-04 9.99989631e-01 -4.92690248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.290371743 meters 0.02289431066138074 Centerline is valid? [True, True] Translation: X:364.41, Y:-22.84, Z:-4.93 [[ 9.99833294e-01 1.76623124e-02 4.62896392e-03 3.64414296e+02] [-1.76611144e-02 9.99843985e-01 -2.99558974e-04 -2.28363729e+01] [-4.63353264e-03 2.17756374e-04 9.99989241e-01 -4.92672290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.320371743 meters 0.021573648048286136 Centerline is valid? [True, True] Translation: X:364.45, Y:-22.84, Z:-4.93 [[ 9.99770853e-01 2.08122259e-02 5.00922072e-03 3.64445192e+02] [-2.08108605e-02 9.99783378e-01 -3.24561765e-04 -2.28358005e+01] [-5.01489046e-03 2.20241199e-04 9.99987401e-01 -4.92655831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.350371743 meters 0.019986350174904417 Centerline is valid? [True, True] Translation: X:364.48, Y:-22.83, Z:-4.93 [[ 9.99630682e-01 2.67401393e-02 4.84397056e-03 3.64476769e+02] [-2.67389315e-02 9.99642402e-01 -3.13936361e-04 -2.28330061e+01] [-4.85063306e-03 1.84297822e-04 9.99988219e-01 -4.92624488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380371743 meters 0.01876204038480844 Centerline is valid? [True, True] Translation: X:364.51, Y:-22.83, Z:-4.93 [[ 9.99552811e-01 2.95636718e-02 4.49071780e-03 3.64508170e+02] [-2.95626627e-02 9.99562887e-01 -2.90925062e-04 -2.28313493e+01] [-4.49735566e-03 1.58037388e-04 9.99989874e-01 -4.92629700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.410371743 meters 0.01790494493989017 Centerline is valid? [True, True] Translation: X:364.54, Y:-22.83, Z:-4.93 [[ 9.99369385e-01 3.53436843e-02 3.41400818e-03 3.64537816e+02] [-3.53431328e-02 9.99375212e-01 -2.21762394e-04 -2.28289424e+01] [-3.41971304e-03 1.00960804e-04 9.99994148e-01 -4.92717726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440371743 meters 0.017664500996566735 Centerline is valid? [True, True] Translation: X:364.57, Y:-22.83, Z:-4.93 [[ 9.99297269e-01 3.73723196e-02 2.87716340e-03 3.64567810e+02] [-3.73719369e-02 9.99301408e-01 -1.86674566e-04 -2.28288657e+01] [-2.88212990e-03 7.90182152e-05 9.99995844e-01 -4.92793144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.470371743 meters 0.01717021710241461 Centerline is valid? [True, True] Translation: X:364.60, Y:-22.83, Z:-4.93 [[ 9.99244046e-01 3.88057589e-02 2.33464569e-03 3.64598668e+02] [-3.88055109e-02 9.99246771e-01 -1.51475224e-04 -2.28277373e+01] [-2.33876528e-03 6.07635973e-05 9.99997263e-01 -4.92846837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500371743 meters 0.016786157310264282 Centerline is valid? [True, True] Translation: X:364.63, Y:-22.83, Z:-4.93 [[ 9.99192315e-01 4.01676813e-02 1.12889440e-03 3.64628542e+02] [-4.01676236e-02 9.99192953e-01 -7.37146756e-05 -2.28260108e+01] [-1.13094427e-03 2.83101321e-05 9.99999360e-01 -4.92834345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.530371743 meters 0.017357119256159726 Centerline is valid? [True, True] Translation: X:364.66, Y:-22.83, Z:-4.93 [[ 9.99231711e-01 3.91913797e-02 1.51369744e-04 3.64657045e+02] [-3.91913785e-02 9.99231723e-01 -1.05674517e-05 -2.28262409e+01] [-1.51667603e-04 4.62694393e-06 9.99999988e-01 -4.92933115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560371743 meters 0.01786533837476516 Centerline is valid? [True, True] Translation: X:364.69, Y:-22.83, Z:-4.93 [[ 9.99293248e-01 3.75858839e-02 -5.53746640e-04 3.64686828e+02] [-3.75858700e-02 9.99293401e-01 3.53521563e-05 -2.28272534e+01] [ 5.54684105e-04 -1.45141218e-05 9.99999846e-01 -4.93015471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.590371743 meters 0.018532882194924525 Centerline is valid? [True, True] Translation: X:364.72, Y:-22.83, Z:-4.93 [[ 9.99356113e-01 3.58693161e-02 -8.66752430e-04 3.64715959e+02] [-3.58692816e-02 9.99356489e-01 5.53181120e-05 -2.28284795e+01] [ 8.68178888e-04 -2.41927064e-05 9.99999623e-01 -4.93079542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620371743 meters 0.01956002748858741 Centerline is valid? [True, True] Translation: X:364.75, Y:-22.83, Z:-4.93 [[ 9.99496722e-01 3.16562280e-02 -2.04578181e-03 3.64746344e+02] [-3.16560233e-02 9.99498814e-01 1.32362748e-04 -2.28305161e+01] [ 2.04894660e-03 -6.75348162e-05 9.99997899e-01 -4.93156013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.650371743 meters 0.02206281849120262 Centerline is valid? [True, True] Translation: X:364.78, Y:-22.83, Z:-4.93 [[ 9.99604110e-01 2.80510397e-02 -2.18213826e-03 3.64775501e+02] [-2.80507989e-02 9.99606489e-01 1.40895187e-04 -2.28339849e+01] [ 2.18523182e-03 -7.96286866e-05 9.99997609e-01 -4.93318946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680371743 meters 0.020748760471155064 Centerline is valid? [True, True] Translation: X:364.81, Y:-22.83, Z:-4.93 [[ 9.99645070e-01 2.65388957e-02 -2.32847248e-03 3.64805612e+02] [-2.65386182e-02 9.99647778e-01 1.50013304e-04 -2.28329564e+01] [ 2.33163353e-03 -8.81656177e-05 9.99997278e-01 -4.93206371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.710371743 meters 0.020280223930025713 Centerline is valid? [True, True] Translation: X:364.84, Y:-22.83, Z:-4.93 [[ 9.99675807e-01 2.53376180e-02 -2.50724993e-03 3.64835734e+02] [-2.53372926e-02 9.99678946e-01 1.61460854e-04 -2.28321565e+01] [ 2.51053600e-03 -9.78815848e-05 9.99996844e-01 -4.93146977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740371743 meters 0.02097969270943235 Centerline is valid? [True, True] Translation: X:364.86, Y:-22.83, Z:-4.93 [[ 9.99692354e-01 2.46315224e-02 -2.91299179e-03 3.64864331e+02] [-2.46310806e-02 9.99696591e-01 1.87436844e-04 -2.28325842e+01] [ 2.91672481e-03 -1.15629044e-04 9.99995740e-01 -4.93172186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.770371743 meters 0.021188077748981984 Centerline is valid? [True, True] Translation: X:364.89, Y:-22.83, Z:-4.93 [[ 9.99692015e-01 2.46268017e-02 -3.06526936e-03 3.64892853e+02] [-2.46263143e-02 9.99696707e-01 1.96639829e-04 -2.28330239e+01] [ 3.06918230e-03 -1.21092981e-04 9.99995283e-01 -4.93254509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800371743 meters 0.021469293522120122 Centerline is valid? [True, True] Translation: X:364.92, Y:-22.83, Z:-4.93 [[ 9.99643805e-01 2.64803740e-02 -3.32462224e-03 3.64921862e+02] [-2.64798103e-02 9.99649326e-01 2.13448809e-04 -2.28319464e+01] [ 3.32910858e-03 -1.25337413e-04 9.99994451e-01 -4.93352129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.830371743 meters 0.02060288875305897 Centerline is valid? [True, True] Translation: X:364.95, Y:-22.83, Z:-4.93 [[ 9.99606512e-01 2.78265010e-02 -3.53647598e-03 3.64951378e+02] [-2.78258722e-02 9.99612760e-01 2.26896615e-04 -2.28310520e+01] [ 3.54142025e-03 -1.28401805e-04 9.99993721e-01 -4.93348570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86037174300003 meters 0.020314898575087503 Centerline is valid? [True, True] Translation: X:364.98, Y:-22.83, Z:-4.93 [[ 9.99539907e-01 3.01126305e-02 -3.63373812e-03 3.64981429e+02] [-3.01119812e-02 9.99546504e-01 2.33287043e-04 -2.28295552e+01] [ 3.63911512e-03 -1.23760656e-04 9.99993371e-01 -4.93480162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.890371743 meters 0.01996796001316133 Centerline is valid? [True, True] Translation: X:365.01, Y:-22.83, Z:-4.94 [[ 9.99516403e-01 3.08622071e-02 -3.80582747e-03 3.65009792e+02] [-3.08615019e-02 9.99523641e-01 2.43897332e-04 -2.28306296e+01] [ 3.81154173e-03 -1.26325833e-04 9.99992728e-01 -4.93515970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.920371743 meters 0.019598532120900083 Centerline is valid? [True, True] Translation: X:365.04, Y:-22.83, Z:-4.94 [[ 9.99503008e-01 3.12824657e-02 -3.89146751e-03 3.65038295e+02] [-3.12817336e-02 9.99510576e-01 2.48849082e-04 -2.28302702e+01] [ 3.89734754e-03 -1.26993557e-04 9.99992397e-01 -4.93546558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.950371743 meters 0.019770730680241506 Centerline is valid? [True, True] Translation: X:365.07, Y:-22.83, Z:-4.94 [[ 9.99490211e-01 3.16213582e-02 -4.40550154e-03 3.65066219e+02] [-3.16204256e-02 9.99499910e-01 2.81200122e-04 -2.28302854e+01] [ 4.41219032e-03 -1.41752936e-04 9.99990256e-01 -4.93672956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.980371743 meters 0.01959740368240458 Centerline is valid? [True, True] Translation: X:365.10, Y:-22.83, Z:-4.94 [[ 9.99509828e-01 3.08807179e-02 -5.14627424e-03 3.65095267e+02] [-3.08794351e-02 9.99523063e-01 3.28555545e-04 -2.28293558e+01] [ 5.15396582e-03 -1.69480455e-04 9.99986704e-01 -4.93764096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.010371743 meters 0.020965506871254817 Centerline is valid? [True, True] Translation: X:365.12, Y:-22.83, Z:-4.94 [[ 9.99532070e-01 3.01044776e-02 -5.41859038e-03 3.65123305e+02] [-3.01030427e-02 9.99546741e-01 3.46180759e-04 -2.28333296e+01] [ 5.42655595e-03 -1.82902713e-04 9.99985259e-01 -4.93922560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.040371743 meters 0.020338231769592863 Centerline is valid? [True, True] Translation: X:365.15, Y:-22.83, Z:-4.94 [[ 9.99611899e-01 2.74316457e-02 -4.85350091e-03 3.65153168e+02] [-2.74304638e-02 9.99623666e-01 3.09930727e-04 -2.28343048e+01] [ 4.86017628e-03 -1.76676662e-04 9.99988174e-01 -4.93792889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.070371743 meters 0.02138859170032425 Centerline is valid? [True, True] Translation: X:365.18, Y:-22.84, Z:-4.94 [[ 9.99643312e-01 2.62974199e-02 -4.65781313e-03 3.65181988e+02] [-2.62963216e-02 9.99654148e-01 2.96897726e-04 -2.28384853e+01] [ 4.66400986e-03 -1.74308474e-04 9.99989108e-01 -4.93895244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.100371743 meters 0.02138859170032425 Centerline is valid? [True, True] Translation: X:365.21, Y:-22.84, Z:-4.94 [[ 9.99645216e-01 2.62249312e-02 -4.65784997e-03 3.65210282e+02] [-2.62238347e-02 9.99656052e-01 2.96320602e-04 -2.28402347e+01] [ 4.66401890e-03 -1.74068784e-04 9.99989108e-01 -4.93935063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.130371743 meters 0.022049165442131872 Centerline is valid? [True, True] Translation: X:365.24, Y:-22.84, Z:-4.94 [[ 9.99720783e-01 2.33114543e-02 -3.86428789e-03 3.65239805e+02] [-2.33106772e-02 9.99728239e-01 2.46029136e-04 -2.28429237e+01] [ 3.86897302e-03 -1.55881273e-04 9.99992503e-01 -4.93946785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.160371743 meters 0.022796755931256334 Centerline is valid? [True, True] Translation: X:365.27, Y:-22.85, Z:-4.94 [[ 9.99762370e-01 2.15243992e-02 -3.45026160e-03 3.65269468e+02] [-2.15237696e-02 9.99768313e-01 2.19488759e-04 -2.28459206e+01] [ 3.45418658e-03 -1.45173966e-04 9.99994024e-01 -4.93974811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.190371743 meters 0.023464931588919144 Centerline is valid? [True, True] Translation: X:365.30, Y:-22.85, Z:-4.94 [[ 9.99835799e-01 1.79660541e-02 -2.36542808e-03 3.65298911e+02] [-1.79657489e-02 9.99838592e-01 1.50225467e-04 -2.28495135e+01] [ 2.36774524e-03 -1.07704113e-04 9.99997191e-01 -4.93942512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.220371743 meters 0.024054103753978463 Centerline is valid? [True, True] Translation: X:365.33, Y:-22.85, Z:-4.94 [[ 9.99866908e-01 1.60720201e-02 -2.80294703e-03 3.65327825e+02] [-1.60715849e-02 9.99870828e-01 1.77696008e-04 -2.28529205e+01] [ 2.80544090e-03 -1.32624557e-04 9.99996056e-01 -4.93962103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.250371743 meters 0.025589283674035575 Centerline is valid? [True, True] Translation: X:365.36, Y:-22.86, Z:-4.94 [[ 9.99915321e-01 1.26207243e-02 -3.17305123e-03 3.65356777e+02] [-1.26201457e-02 9.99920342e-01 2.02295846e-04 -2.28583183e+01] [ 3.17535159e-03 -1.62234347e-04 9.99994945e-01 -4.94002464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.280371743 meters 0.025753461205857052 Centerline is valid? [True, True] Translation: X:365.39, Y:-22.86, Z:-4.94 [[ 9.99933996e-01 1.09550846e-02 -3.46266519e-03 3.65386374e+02] [-1.09543886e-02 9.99939975e-01 2.19884109e-04 -2.28602358e+01] [ 3.46486619e-03 -1.81938215e-04 9.99993981e-01 -4.94030382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.310371743 meters 0.02618911564555276 Centerline is valid? [True, True] Translation: X:365.42, Y:-22.86, Z:-4.94 [[ 9.99957291e-01 8.51216209e-03 -3.59996627e-03 3.65416893e+02] [-8.51139216e-03 9.99963751e-01 2.29138239e-04 -2.28614180e+01] [ 3.60178623e-03 -1.98487728e-04 9.99993494e-01 -4.94038938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.340371743 meters 0.02680573746182188 Centerline is valid? [True, True] Translation: X:365.45, Y:-22.86, Z:-4.94 [[ 9.99962554e-01 7.78992838e-03 -3.76927751e-03 3.65446794e+02] [-7.78908167e-03 9.99969636e-01 2.39262151e-04 -2.28642114e+01] [ 3.77102690e-03 -2.09893981e-04 9.99992868e-01 -4.93998099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.370371743 meters 0.02610938671146401 Centerline is valid? [True, True] Translation: X:365.48, Y:-22.86, Z:-4.94 [[ 9.99969764e-01 6.83166014e-03 -3.71464824e-03 3.65476361e+02] [-6.83083179e-03 9.99976642e-01 2.35636715e-04 -2.28636821e+01] [ 3.71617127e-03 -2.10255453e-04 9.99993073e-01 -4.93971282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.400371743 meters 0.026974083268363053 Centerline is valid? [True, True] Translation: X:365.51, Y:-22.87, Z:-4.94 [[ 9.99980512e-01 5.70277292e-03 -2.54059653e-03 3.65505289e+02] [-5.70238324e-03 9.99983728e-01 1.60598435e-04 -2.28664565e+01] [ 2.54147105e-03 -1.46107850e-04 9.99996760e-01 -4.93915310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.430371743 meters 0.027359845581271997 Centerline is valid? [True, True] Translation: X:365.54, Y:-22.87, Z:-4.94 [[ 9.99984097e-01 5.14348590e-03 -2.31325693e-03 3.65535047e+02] [-5.14316111e-03 9.99986763e-01 1.46333342e-04 -2.28677500e+01] [ 2.31397897e-03 -1.34433562e-04 9.99997314e-01 -4.93966866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.460371743 meters 0.030588412507390587 Centerline is valid? [True, True] Translation: X:365.56, Y:-22.87, Z:-4.94 [[ 9.99987181e-01 4.46595641e-03 -2.38592627e-03 3.65563942e+02] [-4.46560841e-03 9.99990018e-01 1.51164478e-04 -2.28719786e+01] [ 2.38657755e-03 -1.40507928e-04 9.99997142e-01 -4.94168271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.490371743 meters 0.027322254065041244 Centerline is valid? [True, True] Translation: X:365.59, Y:-22.87, Z:-4.94 [[ 9.99988194e-01 4.04289971e-03 -2.69580381e-03 3.65594145e+02] [-4.04245481e-03 9.99991815e-01 1.70464383e-04 -2.28680135e+01] [ 2.69647092e-03 -1.59564706e-04 9.99996352e-01 -4.94065731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.520371743 meters 0.028261847153820987 Centerline is valid? [True, True] Translation: X:365.62, Y:-22.87, Z:-4.94 [[ 9.99991904e-01 2.99295772e-03 -2.68962198e-03 3.65623670e+02] [-2.99251134e-03 9.99995508e-01 1.69975627e-04 -2.28690861e+01] [ 2.69011863e-03 -1.61925526e-04 9.99996369e-01 -4.94183447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.550371743 meters 0.032210625390703185 Centerline is valid? [True, True] Translation: X:365.65, Y:-22.88, Z:-4.94 [[ 9.99992907e-01 2.64785841e-03 -2.67865632e-03 3.65652568e+02] [-2.64741252e-03 9.99996481e-01 1.69993878e-04 -2.28761722e+01] [ 2.67909702e-03 -1.62901164e-04 9.99996398e-01 -4.94348934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.580371743 meters 0.028903508566993263 Centerline is valid? [True, True] Translation: X:365.68, Y:-22.87, Z:-4.94 [[ 9.99994177e-01 1.66772337e-03 -2.97720081e-03 3.65683098e+02] [-1.66716969e-03 9.99998593e-01 1.88445925e-04 -2.28711028e+01] [ 2.97751090e-03 -1.83481328e-04 9.99995550e-01 -4.94194439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61037174300003 meters 0.031242150964899438 Centerline is valid? [True, True] Translation: X:365.71, Y:-22.87, Z:-4.94 [[ 9.99994501e-01 1.24187656e-03 -3.07495075e-03 3.65712196e+02] [-1.24128406e-03 9.99999211e-01 1.94587313e-04 -2.28749162e+01] [ 3.07518998e-03 -1.90769356e-04 9.99995253e-01 -4.94359580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.640371743 meters 0.03034456859242954 Centerline is valid? [True, True] Translation: X:365.74, Y:-22.87, Z:-4.94 [[ 9.99995624e-01 3.66581768e-04 -2.93546175e-03 3.65741688e+02] [-3.66039145e-04 9.99999916e-01 1.85386072e-04 -2.28730820e+01] [ 2.93552946e-03 -1.84310767e-04 9.99995674e-01 -4.94266739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.670371743 meters 0.031097211607585752 Centerline is valid? [True, True] Translation: X:365.77, Y:-22.87, Z:-4.94 [[ 9.99997126e-01 -3.97970709e-04 -2.36420513e-03 3.65770875e+02] [ 3.98324384e-04 9.99999910e-01 1.49126673e-04 -2.28749488e+01] [ 2.36414557e-03 -1.50067965e-04 9.99997194e-01 -4.94303835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.700371743 meters 0.03215745562118325 Centerline is valid? [True, True] Translation: X:365.80, Y:-22.88, Z:-4.94 [[ 9.99994664e-01 -2.71504013e-03 -1.81653996e-03 3.65801500e+02] [ 2.71525345e-03 9.99996307e-01 1.14972707e-04 -2.28765258e+01] [ 1.81622109e-03 -1.19904460e-04 9.99998343e-01 -4.94338967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.730371743 meters 0.03353429761439152 Centerline is valid? [True, True] Translation: X:365.83, Y:-22.88, Z:-4.94 [[ 9.99988693e-01 -4.24734479e-03 -2.13848850e-03 3.65831633e+02] [ 4.24764391e-03 9.99990970e-01 1.35349520e-04 -2.28793295e+01] [ 2.13789432e-03 -1.44431528e-04 9.99997704e-01 -4.94496984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.760371743 meters 0.03587689090334426 Centerline is valid? [True, True] Translation: X:365.86, Y:-22.88, Z:-4.95 [[ 9.99969621e-01 -7.18434684e-03 -3.02361727e-03 3.65861323e+02] [ 7.18496078e-03 9.99974169e-01 1.92233694e-04 -2.28831860e+01] [ 3.02215809e-03 -2.13952426e-04 9.99995410e-01 -4.94691197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.790371743 meters 0.032212628533485534 Centerline is valid? [True, True] Translation: X:365.89, Y:-22.88, Z:-4.95 [[ 9.99959728e-01 -8.40236387e-03 -3.15319951e-03 3.65892347e+02] [ 8.40303525e-03 9.99964674e-01 1.99732380e-04 -2.28792177e+01] [ 3.15140990e-03 -2.26220783e-04 9.99995009e-01 -4.94589851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.820371743 meters 0.03294341751815844 Centerline is valid? [True, True] Translation: X:365.92, Y:-22.88, Z:-4.95 [[ 9.99942952e-01 -9.96960280e-03 -3.83408172e-03 3.65922991e+02] [ 9.97060690e-03 9.99950263e-01 2.42861343e-04 -2.28806574e+01] [ 3.83146979e-03 -2.81075610e-04 9.99992620e-01 -4.94665141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.850371743 meters 0.03450258137967363 Centerline is valid? [True, True] Translation: X:365.95, Y:-22.88, Z:-4.95 [[ 9.99936541e-01 -1.06861046e-02 -3.56661748e-03 3.65952581e+02] [ 1.06869768e-02 9.99942867e-01 2.25593545e-04 -2.28815841e+01] [ 3.56400299e-03 -2.63695588e-04 9.99993614e-01 -4.94651038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880371743 meters 0.03455033100927733 Centerline is valid? [True, True] Translation: X:365.98, Y:-22.88, Z:-4.95 [[ 9.99937560e-01 -1.07556475e-02 -3.03181738e-03 3.65983129e+02] [ 1.07562788e-02 9.99942131e-01 1.91987501e-04 -2.28797928e+01] [ 3.02957698e-03 -2.24586586e-04 9.99995386e-01 -4.94532909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.910371743 meters 0.042756640339548735 Centerline is valid? [True, True] Translation: X:366.01, Y:-22.89, Z:-4.95 [[ 9.99937398e-01 -1.09822169e-02 -2.14260482e-03 3.66012331e+02] [ 1.09825320e-02 9.99939681e-01 1.35382945e-04 -2.28914896e+01] [ 2.14098878e-03 -1.58905695e-04 9.99997695e-01 -4.94765754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940371743 meters 0.035133222885604644 Centerline is valid? [True, True] Translation: X:366.04, Y:-22.88, Z:-4.95 [[ 9.99945394e-01 -1.03654825e-02 -1.32912158e-03 3.66043447e+02] [ 1.03656035e-02 9.99946272e-01 8.41412616e-05 -2.28804632e+01] [ 1.32817801e-03 -9.79138142e-05 9.99999113e-01 -4.94563732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.970371743 meters 0.03434585527004052 Centerline is valid? [True, True] Translation: X:366.07, Y:-22.88, Z:-4.95 [[ 9.99980916e-01 -6.12687789e-03 -7.92756223e-04 3.66074118e+02] [ 6.12691957e-03 9.99981229e-01 5.01577821e-05 -2.28765804e+01] [ 7.92434031e-04 -5.50139785e-05 9.99999685e-01 -4.94619721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000371743 meters 0.033677886085753936 Centerline is valid? [True, True] Translation: X:366.11, Y:-22.87, Z:-4.95 [[ 9.99991431e-01 -3.90369141e-03 -1.37843206e-03 3.66105375e+02] [ 3.90381578e-03 9.99992376e-01 8.75414633e-05 -2.28740646e+01] [ 1.37807981e-03 -9.29218579e-05 9.99999046e-01 -4.94745296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.030371743 meters 0.034000847531783944 Centerline is valid? [True, True] Translation: X:366.13, Y:-22.87, Z:-4.95 [[ 9.99998383e-01 2.22174215e-05 -1.79824725e-03 3.66134982e+02] [-2.20130033e-05 9.99999993e-01 1.13696103e-04 -2.28718352e+01] [ 1.79824977e-03 -1.13656334e-04 9.99998377e-01 -4.94880995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060371743 meters 0.03425531490009348 Centerline is valid? [True, True] Translation: X:366.16, Y:-22.87, Z:-4.95 [[ 9.99995251e-01 2.25809282e-03 -2.09752941e-03 3.66164981e+02] [-2.25781922e-03 9.99997442e-01 1.32797375e-04 -2.28712974e+01] [ 2.09782391e-03 -1.28060902e-04 9.99997791e-01 -4.94953722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.090371743 meters 0.03175449370530102 Centerline is valid? [True, True] Translation: X:366.20, Y:-22.87, Z:-4.95 [[ 9.99972223e-01 7.37628049e-03 -1.06958105e-03 3.66195623e+02] [-7.37621232e-03 9.99972793e-01 6.76706549e-05 -2.28653989e+01] [ 1.07005111e-03 -5.97793183e-05 9.99999426e-01 -4.94935141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120371743 meters 0.031658194328106015 Centerline is valid? [True, True] Translation: X:366.23, Y:-22.86, Z:-4.95 [[ 9.99953395e-01 9.61701176e-03 -8.48684558e-04 3.66225572e+02] [-9.61697006e-03 9.99953754e-01 5.32061008e-05 -2.28643655e+01] [ 8.49156993e-04 -4.50418472e-05 9.99999638e-01 -4.94977340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.150371743 meters 0.03016095439732574 Centerline is valid? [True, True] Translation: X:366.26, Y:-22.86, Z:-4.95 [[ 9.99885538e-01 1.51252236e-02 3.71479654e-04 3.66256794e+02] [-1.51252159e-02 9.99885607e-01 -2.35497185e-05 -2.28591283e+01] [-3.71793355e-04 1.79283129e-05 9.99999931e-01 -4.94993151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180371743 meters 0.027911308987039626 Centerline is valid? [True, True] Translation: X:366.29, Y:-22.85, Z:-4.95 [[ 9.99828430e-01 1.85122103e-02 6.39783833e-04 3.66287578e+02] [-1.85121880e-02 9.99828634e-01 -4.07260001e-05 -2.28521269e+01] [-6.40428124e-04 2.88752142e-05 9.99999795e-01 -4.94803024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.210371743 meters 0.027635622732732 Centerline is valid? [True, True] Translation: X:366.32, Y:-22.85, Z:-4.95 [[ 9.99729624e-01 2.31856365e-02 1.76188045e-03 3.66316470e+02] [-2.31854753e-02 9.99731174e-01 -1.11889819e-04 -2.28501221e+01] [-1.76400105e-03 7.10095307e-05 9.99998442e-01 -4.95074156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240371743 meters 0.02794469515673277 Centerline is valid? [True, True] Translation: X:366.35, Y:-22.85, Z:-4.95 [[ 9.99684463e-01 2.50616579e-02 1.69919256e-03 3.66345583e+02] [-2.50615107e-02 9.99685905e-01 -1.07837127e-04 -2.28492563e+01] [-1.70136143e-03 6.52187675e-05 9.99998551e-01 -4.95171155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.270371743 meters 0.025268855167297228 Centerline is valid? [True, True] Translation: X:366.38, Y:-22.84, Z:-4.95 [[ 9.99600615e-01 2.82533908e-02 5.97333902e-04 3.66375451e+02] [-2.82533728e-02 9.99600793e-01 -3.84798137e-05 -2.28389629e+01] [-5.98182627e-04 2.15877480e-05 9.99999821e-01 -4.95143783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300371743 meters 0.02762061104620476 Centerline is valid? [True, True] Translation: X:366.40, Y:-22.84, Z:-4.95 [[ 9.99566775e-01 2.94109886e-02 1.12075181e-03 3.66403027e+02] [-2.94109264e-02 9.99567403e-01 -7.19238689e-05 -2.28437658e+01] [-1.12238233e-03 3.89303605e-05 9.99999369e-01 -4.95379353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.330371743 meters 0.025680915108872923 Centerline is valid? [True, True] Translation: X:366.43, Y:-22.84, Z:-4.95 [[ 9.99556867e-01 2.96929382e-02 2.09716555e-03 3.66432211e+02] [-2.96927243e-02 9.99559065e-01 -1.33058764e-04 -2.28360394e+01] [-2.10019175e-03 7.07292423e-05 9.99997792e-01 -4.95174541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36037174300003 meters 0.02582325664318609 Centerline is valid? [True, True] Translation: X:366.46, Y:-22.84, Z:-4.95 [[ 9.99556869e-01 2.96375816e-02 2.77131447e-03 3.66461250e+02] [-2.96372094e-02 9.99560706e-01 -1.75300891e-04 -2.28360994e+01] [-2.77529255e-03 9.30891822e-05 9.99996145e-01 -4.95165425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.390371743 meters 0.027021286509790573 Centerline is valid? [True, True] Translation: X:366.49, Y:-22.84, Z:-4.95 [[ 9.99598321e-01 2.80739912e-02 3.87906660e-03 3.66490424e+02] [-2.80732528e-02 9.99605839e-01 -2.44683896e-04 -2.28350992e+01] [-3.88440687e-03 1.35687594e-04 9.99992446e-01 -4.95179745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.420371743 meters 0.02672227441969924 Centerline is valid? [True, True] Translation: X:366.52, Y:-22.83, Z:-4.95 [[ 9.99620086e-01 2.72663825e-02 4.02840903e-03 3.66519054e+02] [-2.72655808e-02 9.99628193e-01 -2.53789605e-04 -2.28342891e+01] [-4.03383116e-03 1.43856275e-04 9.99991854e-01 -4.95164343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.450371743 meters 0.027544013447899758 Centerline is valid? [True, True] Translation: X:366.55, Y:-22.83, Z:-4.95 [[ 9.99673648e-01 2.53289841e-02 3.32269517e-03 3.66548535e+02] [-2.53284295e-02 9.99679162e-01 -2.08868553e-04 -2.28336180e+01] [-3.32691955e-03 1.24641738e-04 9.99994458e-01 -4.95352598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.480371743 meters 0.02847973828537125 Centerline is valid? [True, True] Translation: X:366.58, Y:-22.84, Z:-4.95 [[ 9.99704695e-01 2.41574625e-02 2.63453464e-03 3.66577037e+02] [-2.41571092e-02 9.99708161e-01 -1.65825596e-04 -2.28358068e+01] [-2.63777170e-03 1.02133886e-04 9.99996516e-01 -4.95454599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.510371743 meters 0.029639652084123797 Centerline is valid? [True, True] Translation: X:366.61, Y:-22.84, Z:-4.96 [[ 9.99751467e-01 2.21770141e-02 2.27704926e-03 3.66605300e+02] [-2.21767462e-02 9.99754056e-01 -1.42830209e-04 -2.28373422e+01] [-2.27965678e-03 9.22971677e-05 9.99997397e-01 -4.95652223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.540371743 meters 0.02897042717557119 Centerline is valid? [True, True] Translation: X:366.63, Y:-22.84, Z:-4.96 [[ 9.99782914e-01 2.06953778e-02 2.41381377e-03 3.66634514e+02] [-2.06950709e-02 9.99785823e-01 -1.52050596e-04 -2.28369977e+01] [-2.41644353e-03 1.02063541e-04 9.99997075e-01 -4.95650276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.570371743 meters 0.031671618008687806 Centerline is valid? [True, True] Translation: X:366.66, Y:-22.84, Z:-4.96 [[ 9.99834410e-01 1.79306656e-02 3.10535371e-03 3.66662503e+02] [-1.79301460e-02 9.99839223e-01 -1.95077898e-04 -2.28417488e+01] [-3.10835231e-03 1.39366149e-04 9.99995159e-01 -4.95658783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.600371743 meters 0.029698988826145443 Centerline is valid? [True, True] Translation: X:366.69, Y:-22.84, Z:-4.96 [[ 9.99857436e-01 1.64017842e-02 4.01112406e-03 3.66692728e+02] [-1.64009088e-02 9.99865465e-01 -2.51027944e-04 -2.28382508e+01] [-4.01470173e-03 1.85206077e-04 9.99991924e-01 -4.95509799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.630371743 meters 0.030663744443081887 Centerline is valid? [True, True] Translation: X:366.72, Y:-22.84, Z:-4.96 [[ 9.99865711e-01 1.57528130e-02 4.51771685e-03 3.66721612e+02] [-1.57516962e-02 9.99875894e-01 -2.82669075e-04 -2.28414014e+01] [-4.52160901e-03 2.11469412e-04 9.99989755e-01 -4.95574286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.660371743 meters 0.030913414653100362 Centerline is valid? [True, True] Translation: X:366.75, Y:-22.84, Z:-4.96 [[ 9.99865709e-01 1.60014865e-02 3.53779151e-03 3.66751410e+02] [-1.60008041e-02 9.99871955e-01 -2.21123692e-04 -2.28424856e+01] [-3.54087682e-03 1.64486488e-04 9.99993718e-01 -4.95694484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.690371743 meters 0.03204117774266909 Centerline is valid? [True, True] Translation: X:366.78, Y:-22.85, Z:-4.96 [[ 9.99849605e-01 1.70756051e-02 3.03154628e-03 3.66779748e+02] [-1.70751085e-02 9.99854192e-01 -1.89640891e-04 -2.28464722e+01] [-3.03434249e-03 1.37848388e-04 9.99995387e-01 -4.95833045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.720371743 meters 0.029775179251497638 Centerline is valid? [True, True] Translation: X:366.81, Y:-22.84, Z:-4.96 [[ 9.99800515e-01 1.98450773e-02 2.25883414e-03 3.66809737e+02] [-1.98448089e-02 9.99803062e-01 -1.41166982e-04 -2.28403462e+01] [-2.26119076e-03 9.63126894e-05 9.99997439e-01 -4.95906372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.750371743 meters 0.030340507269702614 Centerline is valid? [True, True] Translation: X:366.84, Y:-22.84, Z:-4.96 [[ 9.99762501e-01 2.16797949e-02 2.22015893e-03 3.66837921e+02] [-2.16795394e-02 9.99764962e-01 -1.39105691e-04 -2.28409465e+01] [-2.22265289e-03 9.09406300e-05 9.99997526e-01 -4.95931501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.780371743 meters 0.02982715882035007 Centerline is valid? [True, True] Translation: X:366.87, Y:-22.84, Z:-4.96 [[ 9.99734239e-01 2.29026302e-02 2.63087046e-03 3.66866978e+02] [-2.29022766e-02 9.99737695e-01 -1.64449449e-04 -2.28400343e+01] [-2.63394669e-03 1.04152822e-04 9.99996526e-01 -4.95965726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.810371743 meters 0.029087980930157627 Centerline is valid? [True, True] Translation: X:366.90, Y:-22.84, Z:-4.96 [[ 9.99640694e-01 2.65276718e-02 3.84249094e-03 3.66897097e+02] [-2.65269482e-02 9.99648070e-01 -2.39166628e-04 -2.28369523e+01] [-3.84748319e-03 1.37151136e-04 9.99992589e-01 -4.95892699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.840371743 meters 0.029654506540741355 Centerline is valid? [True, True] Translation: X:366.93, Y:-22.84, Z:-4.96 [[ 9.99612865e-01 2.75314076e-02 4.01776849e-03 3.66925389e+02] [-2.75306245e-02 9.99620929e-01 -2.50115796e-04 -2.28373370e+01] [-4.02313152e-03 1.39407292e-04 9.99991897e-01 -4.95919264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.870371743 meters 0.02973689635645089 Centerline is valid? [True, True] Translation: X:366.95, Y:-22.84, Z:-4.96 [[ 9.99621370e-01 2.72898946e-02 3.51832282e-03 3.66953549e+02] [-2.72892920e-02 9.99627554e-01 -2.19164448e-04 -2.28368652e+01] [-3.52299341e-03 1.23068927e-04 9.99993787e-01 -4.96005557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.900371743 meters 0.02959671167653242 Centerline is valid? [True, True] Translation: X:366.98, Y:-22.84, Z:-4.96 [[ 9.99643216e-01 2.65134163e-02 3.23727745e-03 3.66982053e+02] [-2.65129036e-02 9.99648451e-01 -2.01182286e-04 -2.28358979e+01] [-3.24147342e-03 1.15280882e-04 9.99994740e-01 -4.96032398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.930371743 meters 0.029834094899115714 Centerline is valid? [True, True] Translation: X:367.01, Y:-22.84, Z:-4.96 [[ 9.99711049e-01 2.38442650e-02 3.04469712e-03 3.67011711e+02] [-2.38438008e-02 9.99715678e-01 -1.88653397e-04 -2.28360128e+01] [-3.04832975e-03 1.16001733e-04 9.99995347e-01 -4.96038951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.960371743 meters 0.03156255399397923 Centerline is valid? [True, True] Translation: X:367.04, Y:-22.84, Z:-4.96 [[ 9.99767975e-01 2.13000900e-02 3.20975346e-03 3.67039798e+02] [-2.12995603e-02 9.99773119e-01 -1.99128145e-04 -2.28402493e+01] [-3.21326667e-03 1.30715605e-04 9.99994829e-01 -4.96120497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.990371743 meters 0.033144278674180516 Centerline is valid? [True, True] Translation: X:367.07, Y:-22.84, Z:-4.96 [[ 9.99820056e-01 1.86727448e-02 3.34417650e-03 3.67067943e+02] [-1.86721569e-02 9.99825639e-01 -2.06960026e-04 -2.28448899e+01] [-3.34745792e-03 1.44479797e-04 9.99994387e-01 -4.96203995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.020371743 meters 0.033144278674180516 Centerline is valid? [True, True] Translation: X:367.10, Y:-22.85, Z:-4.96 [[ 9.99821346e-01 1.86035673e-02 3.34417669e-03 3.67096237e+02] [-1.86029790e-02 9.99826928e-01 -2.06957309e-04 -2.28465710e+01] [-3.34744806e-03 1.44708687e-04 9.99994387e-01 -4.96243815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.050371743 meters 0.033438163928619986 Centerline is valid? [True, True] Translation: X:367.13, Y:-22.85, Z:-4.96 [[ 9.99910870e-01 1.29074135e-02 3.41345806e-03 3.67126764e+02] [-1.29067706e-02 9.99916682e-01 -2.10317094e-04 -2.28468905e+01] [-3.41588830e-03 1.66241629e-04 9.99994152e-01 -4.96142245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.080371743 meters 0.03660735608523276 Centerline is valid? [True, True] Translation: X:367.16, Y:-22.85, Z:-4.96 [[ 9.99972559e-01 6.84101797e-03 2.84275674e-03 3.67156105e+02] [-6.84054727e-03 9.99976588e-01 -1.75271021e-04 -2.28515535e+01] [-2.84388921e-03 1.55820200e-04 9.99995944e-01 -4.96248261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11037174300003 meters 0.03753475069898327 Centerline is valid? [True, True] Translation: X:367.19, Y:-22.85, Z:-4.96 [[ 9.99988675e-01 3.92173895e-03 2.69629789e-03 3.67186359e+02] [-3.92130553e-03 9.99992298e-01 -1.66015312e-04 -2.28542108e+01] [-2.69692819e-03 1.55440424e-04 9.99996351e-01 -4.96315470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.140371743 meters 0.03893351579727598 Centerline is valid? [True, True] Translation: X:367.22, Y:-22.86, Z:-4.96 [[ 9.99995420e-01 -2.31692363e-03 1.94715844e-03 3.67217102e+02] [ 2.31716139e-03 9.99997308e-01 -1.19855570e-04 -2.28560009e+01] [-1.94687550e-03 1.24366901e-04 9.99998097e-01 -4.96425304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.170371743 meters 0.062090426823754576 Centerline is valid? [True, True] Translation: X:367.25, Y:-22.89, Z:-4.97 [[ 9.99992199e-01 -1.01016021e-03 3.81859544e-03 3.67245613e+02] [ 1.01106401e-03 9.99999461e-01 -2.34762689e-04 -2.28920383e+01] [-3.81835623e-03 2.38621702e-04 9.99992682e-01 -4.96959722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.200371743 meters 0.0429499004803626 Centerline is valid? [True, True] Translation: X:367.28, Y:-22.86, Z:-4.97 [[ 9.99945384e-01 -1.01925109e-02 2.31109479e-03 3.67277691e+02] [ 1.01928670e-02 9.99948041e-01 -1.42361107e-04 -2.28627517e+01] [-2.30952369e-03 1.65910014e-04 9.99997319e-01 -4.96502385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.230371743 meters 0.044928051331231095 Centerline is valid? [True, True] Translation: X:367.31, Y:-22.87, Z:-4.97 [[ 9.99905678e-01 -1.34114871e-02 2.96087322e-03 3.67308551e+02] [ 1.34120854e-02 9.99910037e-01 -1.82319975e-04 -2.28662588e+01] [-2.95816167e-03 2.22014262e-04 9.99995600e-01 -4.96535241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.260371743 meters 0.04346607121366362 Centerline is valid? [True, True] Translation: X:367.34, Y:-22.86, Z:-4.97 [[ 9.99814647e-01 -1.90620128e-02 2.70404192e-03 3.67339333e+02] [ 1.90625326e-02 9.99818280e-01 -1.66576931e-04 -2.28639496e+01] [-2.70037525e-03 2.18091942e-04 9.99996330e-01 -4.96518347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.290371743 meters 0.04456165490441837 Centerline is valid? [True, True] Translation: X:367.37, Y:-22.87, Z:-4.97 [[ 9.99763076e-01 -2.16716491e-02 2.03272273e-03 3.67370365e+02] [ 2.16719478e-02 9.99765128e-01 -1.25048292e-04 -2.28663571e+01] [-2.02953530e-03 1.69071726e-04 9.99997926e-01 -4.96615642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.320371743 meters 0.04889157853990159 Centerline is valid? [True, True] Translation: X:367.40, Y:-22.87, Z:-4.97 [[ 9.99676442e-01 -2.54342970e-02 3.28006623e-04 3.67399754e+02] [ 2.54343046e-02 9.99676496e-01 -1.91102079e-05 -2.28718673e+01] [-3.27414458e-04 2.74466450e-05 9.99999946e-01 -4.96878937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.350371743 meters 0.049736760968683895 Centerline is valid? [True, True] Translation: X:367.43, Y:-22.87, Z:-4.97 [[ 9.99646497e-01 -2.65794166e-02 -6.44039143e-04 3.67430773e+02] [ 2.65794481e-02 9.99646703e-01 4.05209566e-05 -2.28730444e+01] [ 6.42734582e-04 -5.76248373e-05 9.99999792e-01 -4.96989151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380371743 meters 0.050910880825785536 Centerline is valid? [True, True] Translation: X:367.46, Y:-22.87, Z:-4.97 [[ 9.99617773e-01 -2.76184125e-02 -1.23754651e-03 3.67461376e+02] [ 2.76185288e-02 9.99618533e-01 7.70026214e-05 -2.28731477e+01] [ 1.23494773e-03 -1.11152403e-04 9.99999231e-01 -4.97105998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.410371743 meters 0.050558782683151796 Centerline is valid? [True, True] Translation: X:367.49, Y:-22.87, Z:-4.97 [[ 9.99639775e-01 -2.68286074e-02 -7.38713798e-04 3.67493402e+02] [ 2.68286492e-02 9.99640046e-01 4.67212220e-05 -2.28725646e+01] [ 7.37194429e-04 -6.65230852e-05 9.99999726e-01 -4.97171442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440371743 meters 0.05083799027658726 Centerline is valid? [True, True] Translation: X:367.52, Y:-22.87, Z:-4.97 [[ 9.99662640e-01 -2.59698457e-02 -4.16212136e-04 3.67524600e+02] [ 2.59698589e-02 9.99662726e-01 2.62722688e-05 -2.28734812e+01] [ 4.15389472e-04 -3.70723760e-05 9.99999913e-01 -4.97165034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.470371743 meters 0.04953100295896337 Centerline is valid? [True, True] Translation: X:367.56, Y:-22.87, Z:-4.97 [[ 9.99708949e-01 -2.41250156e-02 -1.27175841e-05 3.67555436e+02] [ 2.41250156e-02 9.99708949e-01 7.87496115e-07 -2.28696686e+01] [ 1.26948839e-05 -1.09407881e-06 1.00000000e+00 -4.97145157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500371743 meters 0.04817757690412107 Centerline is valid? [True, True] Translation: X:367.59, Y:-22.87, Z:-4.97 [[ 9.99735128e-01 -2.30128940e-02 2.82164431e-04 3.67587589e+02] [ 2.30128996e-02 9.99735168e-01 -1.67278604e-05 -2.28676486e+01] [-2.81704748e-04 2.32168514e-05 9.99999960e-01 -4.97194654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.530371743 meters 0.04801173682545073 Centerline is valid? [True, True] Translation: X:367.62, Y:-22.87, Z:-4.97 [[ 9.99796946e-01 -2.01499116e-02 -2.20154886e-04 3.67617550e+02] [ 2.01499151e-02 9.99796970e-01 1.36443251e-05 -2.28657075e+01] [ 2.19835256e-04 -1.80776568e-05 9.99999976e-01 -4.97229784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560371743 meters 0.0478347535634754 Centerline is valid? [True, True] Translation: X:367.65, Y:-22.87, Z:-4.97 [[ 9.99816725e-01 -1.91439367e-02 -1.64350267e-04 3.67649177e+02] [ 1.91439388e-02 9.99816738e-01 1.06917103e-05 -2.28658026e+01] [ 1.64115466e-04 -1.38360622e-05 9.99999986e-01 -4.97292561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.590371743 meters 0.047559969810548684 Centerline is valid? [True, True] Translation: X:367.68, Y:-22.87, Z:-4.97 [[ 9.99863501e-01 -1.65213545e-02 -1.53918370e-04 3.67678698e+02] [ 1.65213561e-02 9.99863513e-01 9.29572487e-06 -2.28655400e+01] [ 1.53743784e-04 -1.18373962e-05 9.99999988e-01 -4.97362217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620371743 meters 0.04750215153751232 Centerline is valid? [True, True] Translation: X:367.71, Y:-22.87, Z:-4.97 [[ 9.99884076e-01 -1.52254415e-02 -1.45389763e-04 3.67710097e+02] [ 1.52254431e-02 9.99884086e-01 9.51047116e-06 -2.28666219e+01] [ 1.45228109e-04 -1.17229922e-05 9.99999989e-01 -4.97426154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.650371743 meters 0.043246538911854426 Centerline is valid? [True, True] Translation: X:367.74, Y:-22.86, Z:-4.97 [[ 9.99912113e-01 -1.32575488e-02 -5.31894623e-05 3.67742655e+02] [ 1.32575490e-02 9.99912115e-01 4.06916450e-06 -2.28597251e+01] [ 5.31308402e-05 -4.77396876e-06 9.99999999e-01 -4.97272454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680371743 meters 0.04749976317416508 Centerline is valid? [True, True] Translation: X:367.77, Y:-22.87, Z:-4.97 [[ 9.99912673e-01 -1.32033849e-02 -5.63305500e-04 3.67773138e+02] [ 1.32034071e-02 9.99912831e-01 3.57640388e-05 -2.28678112e+01] [ 5.62784191e-04 -4.31984675e-05 9.99999841e-01 -4.97442860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.710371743 meters 0.04161027892255714 Centerline is valid? [True, True] Translation: X:367.81, Y:-22.86, Z:-4.97 [[ 9.99913727e-01 -1.30928006e-02 -1.05669510e-03 3.67805472e+02] [ 1.30928791e-02 9.99914282e-01 6.73930442e-05 -2.28588083e+01] [ 1.05572216e-03 -8.12224113e-05 9.99999439e-01 -4.97366677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740371743 meters 0.042518378416767935 Centerline is valid? [True, True] Translation: X:367.84, Y:-22.86, Z:-4.98 [[ 9.99912836e-01 -1.29930309e-02 -2.34569084e-03 3.67836848e+02] [ 1.29934111e-02 9.99915571e-01 1.46932692e-04 -2.28609755e+01] [ 2.34358369e-03 -1.77398410e-04 9.99997238e-01 -4.97547895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.770371743 meters 0.04348804383430117 Centerline is valid? [True, True] Translation: X:367.87, Y:-22.86, Z:-4.98 [[ 9.99896045e-01 -1.41015900e-02 -3.00754725e-03 3.67867570e+02] [ 1.41022180e-02 9.99900541e-01 1.87704245e-04 -2.28633429e+01] [ 3.00460120e-03 -2.30097819e-04 9.99995460e-01 -4.97676007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800371743 meters 0.04237550585423263 Centerline is valid? [True, True] Translation: X:367.90, Y:-22.86, Z:-4.98 [[ 9.99893631e-01 -1.43192935e-02 -2.77225498e-03 3.67899864e+02] [ 1.43198307e-02 9.99897451e-01 1.74024793e-04 -2.28631132e+01] [ 2.76947878e-03 -2.13704504e-04 9.99996142e-01 -4.97698854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.830371743 meters 0.04327681277629528 Centerline is valid? [True, True] Translation: X:367.93, Y:-22.87, Z:-4.98 [[ 9.99881020e-01 -1.52305528e-02 -2.44450915e-03 3.67931775e+02] [ 1.52309739e-02 9.99883990e-01 1.53745956e-04 -2.28661688e+01] [ 2.44188392e-03 -1.90959918e-04 9.99997000e-01 -4.97729729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86037174300003 meters 0.044026758009210853 Centerline is valid? [True, True] Translation: X:367.96, Y:-22.87, Z:-4.98 [[ 9.99863201e-01 -1.64377486e-02 -1.83857145e-03 3.67962911e+02] [ 1.64379885e-02 9.99864880e-01 1.15441322e-04 -2.28677532e+01] [ 1.83642543e-03 -1.45647946e-04 9.99998303e-01 -4.97737796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.890371743 meters 0.04091089009997217 Centerline is valid? [True, True] Translation: X:367.99, Y:-22.86, Z:-4.98 [[ 9.99836932e-01 -1.80075653e-02 -1.35552957e-03 3.67994890e+02] [ 1.80076974e-02 9.99837845e-01 8.53194909e-05 -2.28635488e+01] [ 1.35377337e-03 -1.09715544e-04 9.99999078e-01 -4.97675937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.920371743 meters 0.04725567746198216 Centerline is valid? [True, True] Translation: X:368.03, Y:-22.88, Z:-4.98 [[ 9.99834625e-01 -1.81452945e-02 -1.21288694e-03 3.68025345e+02] [ 1.81454009e-02 9.99835356e-01 7.67305433e-05 -2.28759201e+01] [ 1.21129495e-03 -9.87261738e-05 9.99999262e-01 -4.97868213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.950371743 meters 0.04256010609406369 Centerline is valid? [True, True] Translation: X:368.06, Y:-22.87, Z:-4.98 [[ 9.99810466e-01 -1.93418605e-02 -2.21912699e-03 3.68057264e+02] [ 1.93422182e-02 9.99812912e-01 1.39843130e-04 -2.28704686e+01] [ 2.21600699e-03 -1.82739464e-04 9.99997528e-01 -4.97937562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.980371743 meters 0.043057680109433845 Centerline is valid? [True, True] Translation: X:368.09, Y:-22.87, Z:-4.98 [[ 9.99803536e-01 -1.96298613e-02 -2.74930273e-03 3.68089187e+02] [ 1.96304122e-02 9.99807290e-01 1.73532315e-04 -2.28730900e+01] [ 2.74536649e-03 -2.27468167e-04 9.99996206e-01 -4.98066445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.010371743 meters 0.04221434176410133 Centerline is valid? [True, True] Translation: X:368.12, Y:-22.87, Z:-4.98 [[ 9.99786482e-01 -2.03306639e-02 -3.69509967e-03 3.68120893e+02] [ 2.03316623e-02 9.99793263e-01 2.32829418e-04 -2.28729398e+01] [ 3.68960218e-03 -3.07907224e-04 9.99993146e-01 -4.98139595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.040371743 meters 0.044789504144230365 Centerline is valid? [True, True] Translation: X:368.15, Y:-22.88, Z:-4.98 [[ 9.99790376e-01 -2.00770511e-02 -4.01450339e-03 3.68151360e+02] [ 2.00782281e-02 9.99798380e-01 2.53107859e-04 -2.28785072e+01] [ 4.00861232e-03 -3.33658917e-04 9.99991910e-01 -4.98257259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.070371743 meters 0.0447107972150226 Centerline is valid? [True, True] Translation: X:368.18, Y:-22.88, Z:-4.98 [[ 9.99805620e-01 -1.93036803e-02 -4.01133687e-03 3.68182995e+02] [ 1.93048487e-02 9.99813612e-01 2.52776071e-04 -2.28798975e+01] [ 4.00570970e-03 -3.30165188e-04 9.99991923e-01 -4.98231793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.100371743 meters 0.045093626246290944 Centerline is valid? [True, True] Translation: X:368.21, Y:-22.88, Z:-4.98 [[ 9.99830398e-01 -1.80889467e-02 -3.45904890e-03 3.68213633e+02] [ 1.80898090e-02 9.99836342e-01 2.18169728e-04 -2.28818548e+01] [ 3.45453634e-03 -2.80706260e-04 9.99993994e-01 -4.98261851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.130371743 meters 0.04106135871302628 Centerline is valid? [True, True] Translation: X:368.25, Y:-22.88, Z:-4.98 [[ 9.99862045e-01 -1.63515505e-02 -2.91839773e-03 3.68245725e+02] [ 1.63521588e-02 9.99866277e-01 1.84696507e-04 -2.28776994e+01] [ 2.91498740e-03 -2.32393130e-04 9.99995724e-01 -4.98089610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.160371743 meters 0.0456215346643472 Centerline is valid? [True, True] Translation: X:368.28, Y:-22.89, Z:-4.98 [[ 9.99875427e-01 -1.55132811e-02 -2.91022642e-03 3.68275585e+02] [ 1.55138808e-02 9.99879636e-01 1.83620848e-04 -2.28859678e+01] [ 2.90702757e-03 -2.28746879e-04 9.99995748e-01 -4.98308661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.190371743 meters 0.04088678904095449 Centerline is valid? [True, True] Translation: X:368.31, Y:-22.88, Z:-4.98 [[ 9.99893285e-01 -1.43454250e-02 -2.76189517e-03 3.68307396e+02] [ 1.43459618e-02 9.99897076e-01 1.74647333e-04 -2.28796091e+01] [ 2.75910551e-03 -2.14250738e-04 9.99996171e-01 -4.98123562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.220371743 meters 0.04212892007376952 Centerline is valid? [True, True] Translation: X:368.34, Y:-22.88, Z:-4.98 [[ 9.99926346e-01 -1.17591373e-02 -3.00407955e-03 3.68337311e+02] [ 1.17597590e-02 9.99930834e-01 1.89385703e-04 -2.28819400e+01] [ 3.00164476e-03 -2.24699006e-04 9.99995470e-01 -4.98148357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.250371743 meters 0.040501972781210274 Centerline is valid? [True, True] Translation: X:368.37, Y:-22.88, Z:-4.98 [[ 9.99941791e-01 -1.04006793e-02 -2.87047047e-03 3.68368422e+02] [ 1.04012432e-02 9.99945889e-01 1.81593380e-04 -2.28816491e+01] [ 2.86842645e-03 -2.11439271e-04 9.99995864e-01 -4.98108856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.280371743 meters 0.03845288435957754 Centerline is valid? [True, True] Translation: X:368.40, Y:-22.88, Z:-4.98 [[ 9.99971894e-01 -6.99524685e-03 -2.69765417e-03 3.68399144e+02] [ 6.99573209e-03 9.99975515e-01 1.70482438e-04 -2.28806271e+01] [ 2.69639555e-03 -1.89349713e-04 9.99996347e-01 -4.98096458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.310371743 meters 0.03851529823217496 Centerline is valid? [True, True] Translation: X:368.43, Y:-22.88, Z:-4.98 [[ 9.99978630e-01 -5.86060011e-03 -2.89708782e-03 3.68430164e+02] [ 5.86115511e-03 9.99982807e-01 1.83119556e-04 -2.28826237e+01] [ 2.89596482e-03 -2.00095923e-04 9.99995787e-01 -4.98164884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.340371743 meters 0.03825619920011366 Centerline is valid? [True, True] Translation: X:368.46, Y:-22.89, Z:-4.98 [[ 9.99986896e-01 -3.40005178e-03 -3.82715698e-03 3.68459791e+02] [ 3.40100108e-03 9.99994187e-01 2.41561278e-04 -2.28857636e+01] [ 3.82631342e-03 -2.54574278e-04 9.99992647e-01 -4.98234766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.370371743 meters 0.038790663063047515 Centerline is valid? [True, True] Translation: X:368.49, Y:-22.89, Z:-4.98 [[ 9.99987721e-01 -2.87207659e-03 -4.03833646e-03 3.68490291e+02] [ 2.87312925e-03 9.99995840e-01 2.54890437e-04 -2.28886656e+01] [ 4.03758759e-03 -2.66489970e-04 9.99991813e-01 -4.98325207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.400371743 meters 0.03845003436475803 Centerline is valid? [True, True] Translation: X:368.52, Y:-22.89, Z:-4.98 [[ 9.99990946e-01 -1.83452394e-03 -3.83963732e-03 3.68520574e+02] [ 1.83546794e-03 9.99998286e-01 2.42349008e-04 -2.28911523e+01] [ 3.83918614e-03 -2.49394345e-04 9.99992599e-01 -4.98328684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.430371743 meters 0.037567239055283454 Centerline is valid? [True, True] Translation: X:368.55, Y:-22.89, Z:-4.98 [[ 9.99994620e-01 -3.18479369e-04 -3.26467428e-03 3.68550365e+02] [ 3.19151704e-04 9.99999928e-01 2.05423630e-04 -2.28926705e+01] [ 3.26460862e-03 -2.06464451e-04 9.99994650e-01 -4.98272602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.460371743 meters 0.03667120450255738 Centerline is valid? [True, True] Translation: X:368.58, Y:-22.89, Z:-4.98 [[ 9.99993728e-01 2.08017519e-03 -2.86642890e-03 3.68580405e+02] [-2.07966630e-03 9.99997821e-01 1.80504797e-04 -2.28941691e+01] [ 2.86679814e-03 -1.74542449e-04 9.99995875e-01 -4.98214979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.490371743 meters 0.037368148791448445 Centerline is valid? [True, True] Translation: X:368.61, Y:-22.90, Z:-4.98 [[ 9.99990831e-01 3.20175927e-03 -2.84359909e-03 3.68608616e+02] [-3.20126481e-03 9.99994860e-01 1.78420171e-04 -2.28980571e+01] [ 2.84415573e-03 -1.69315421e-04 9.99995941e-01 -4.98308602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.520371743 meters 0.03663950282706158 Centerline is valid? [True, True] Translation: X:368.64, Y:-22.90, Z:-4.98 [[ 9.99985400e-01 4.19919928e-03 -3.40105212e-03 3.68637924e+02] [-4.19850869e-03 9.99991164e-01 2.10168471e-04 -2.28986438e+01] [ 3.40190460e-03 -1.95886056e-04 9.99994194e-01 -4.98330932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.550371743 meters 0.035055049007609466 Centerline is valid? [True, True] Translation: X:368.67, Y:-22.90, Z:-4.98 [[ 9.99956243e-01 8.14817465e-03 -4.59560453e-03 3.68668128e+02] [-8.14693625e-03 9.99966772e-01 2.88130904e-04 -2.28978926e+01] [ 4.59779957e-03 -2.50678199e-04 9.99989399e-01 -4.98417580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.580371743 meters 0.03447409256039986 Centerline is valid? [True, True] Translation: X:368.70, Y:-22.90, Z:-4.99 [[ 9.99907454e-01 1.28774810e-02 -4.38789161e-03 3.68697381e+02] [-1.28763982e-02 9.99917058e-01 2.74917836e-04 -2.28999030e+01] [ 4.39106792e-03 -2.18392154e-04 9.99990335e-01 -4.98534180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61037174300003 meters 0.03352846403927743 Centerline is valid? [True, True] Translation: X:368.73, Y:-22.90, Z:-4.99 [[ 9.99880606e-01 1.47810768e-02 -4.50491658e-03 3.68726716e+02] [-1.47799578e-02 9.99890731e-01 2.81573024e-04 -2.29008995e+01] [ 4.50858628e-03 -2.14956928e-04 9.99989813e-01 -4.98532722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.640371743 meters 0.03336392116930177 Centerline is valid? [True, True] Translation: X:368.75, Y:-22.90, Z:-4.99 [[ 9.99853435e-01 1.66443814e-02 -4.00901484e-03 3.68754624e+02] [-1.66435141e-02 9.99861456e-01 2.49624651e-04 -2.29038176e+01] [ 4.01261426e-03 -1.82863970e-04 9.99991933e-01 -4.98656270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.670371743 meters 0.03240065096493313 Centerline is valid? [True, True] Translation: X:368.78, Y:-22.91, Z:-4.99 [[ 9.99787287e-01 2.04868602e-02 -2.38096483e-03 3.68784051e+02] [-2.04865647e-02 9.99790117e-01 1.48413545e-04 -2.29070842e+01] [ 2.38350563e-03 -9.96041854e-05 9.99997154e-01 -4.98613720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.700371743 meters 0.03191914356428799 Centerline is valid? [True, True] Translation: X:368.81, Y:-22.91, Z:-4.99 [[ 9.99746774e-01 2.24403543e-02 -1.67883095e-03 3.68813292e+02] [-2.24402111e-02 9.99748181e-01 1.04141600e-04 -2.29083658e+01] [ 1.68074517e-03 -6.64419079e-05 9.99998585e-01 -4.98576972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.730371743 meters 0.03146936474683385 Centerline is valid? [True, True] Translation: X:368.84, Y:-22.91, Z:-4.99 [[ 9.99654474e-01 2.62573090e-02 -1.21885642e-03 3.68842127e+02] [-2.62572363e-02 9.99655216e-01 7.56143134e-05 -2.29130817e+01] [ 1.22042160e-03 -4.35843857e-05 9.99999254e-01 -4.98625503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.760371743 meters 0.03130426411065763 Centerline is valid? [True, True] Translation: X:368.87, Y:-22.92, Z:-4.99 [[ 9.99611119e-01 2.78306278e-02 -1.75122050e-03 3.68871207e+02] [-2.78304808e-02 9.99612651e-01 1.08245472e-04 -2.29158107e+01] [ 1.75355470e-03 -5.94660692e-05 9.99998461e-01 -4.98691472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.790371743 meters 0.02993154260761134 Centerline is valid? [True, True] Translation: X:368.90, Y:-22.92, Z:-4.99 [[ 9.99518649e-01 3.09826053e-02 -1.59667880e-03 3.68900401e+02] [-3.09824871e-02 9.99519923e-01 9.87347613e-05 -2.29177518e+01] [ 1.59897133e-03 -4.92181549e-05 9.99998720e-01 -4.98663994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.820371743 meters 0.030363407023390066 Centerline is valid? [True, True] Translation: X:368.93, Y:-22.92, Z:-4.99 [[ 9.99487886e-01 3.19531109e-02 -1.72175506e-03 3.68928128e+02] [-3.19529759e-02 9.99489368e-01 1.05861878e-04 -2.29230575e+01] [ 1.72425849e-03 -5.07924670e-05 9.99998512e-01 -4.98777921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.850371743 meters 0.029435563700351514 Centerline is valid? [True, True] Translation: X:368.96, Y:-22.93, Z:-4.99 [[ 9.99439216e-01 3.34833223e-02 -3.48137789e-04 3.68956563e+02] [-3.34833171e-02 9.99439276e-01 2.06206617e-05 -2.29276182e+01] [ 3.48633028e-04 -8.95228992e-06 9.99999939e-01 -4.98691603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880371743 meters 0.029693065531296543 Centerline is valid? [True, True] Translation: X:368.99, Y:-22.93, Z:-4.99 [[ 9.99424020e-01 3.39356397e-02 2.51473322e-05 3.68985346e+02] [-3.39356396e-02 9.99424020e-01 -2.58406057e-06 -2.29311790e+01] [-2.52205399e-05 1.72918141e-06 1.00000000e+00 -4.98653167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.910371743 meters 0.029693065531296543 Centerline is valid? [True, True] Translation: X:369.01, Y:-22.93, Z:-4.99 [[ 9.99427714e-01 3.38266848e-02 2.51159650e-05 3.69012784e+02] [-3.38266847e-02 9.99427714e-01 -3.09059173e-06 -2.29327957e+01] [-2.52061363e-05 2.23923321e-06 1.00000000e+00 -4.98691788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940371743 meters 0.02995710640864405 Centerline is valid? [True, True] Translation: X:369.04, Y:-22.94, Z:-4.99 [[ 9.99434695e-01 3.36191337e-02 2.08584322e-04 3.69040688e+02] [-3.36191315e-02 9.99434717e-01 -1.41776029e-05 -2.29369592e+01] [-2.08943051e-04 7.15716452e-06 9.99999978e-01 -4.98702638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.970371743 meters 0.029650305481377474 Centerline is valid? [True, True] Translation: X:369.07, Y:-22.94, Z:-4.99 [[ 9.99442218e-01 3.33954138e-02 3.78405932e-06 3.69068886e+02] [-3.33954138e-02 9.99442218e-01 -1.24341506e-06 -2.29429467e+01] [-3.82347334e-06 1.11635130e-06 1.00000000e+00 -4.98728821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000371743 meters 0.02991183407476506 Centerline is valid? [True, True] Translation: X:369.10, Y:-22.95, Z:-4.99 [[ 9.99476393e-01 3.23484913e-02 -7.18285070e-04 3.69096679e+02] [-3.23484687e-02 9.99476650e-01 4.30862388e-05 -2.29507355e+01] [ 7.19302930e-04 -1.98282564e-05 9.99999741e-01 -4.98860706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.030371743 meters 0.03096026560713982 Centerline is valid? [True, True] Translation: X:369.12, Y:-22.96, Z:-4.99 [[ 9.99532301e-01 3.05664131e-02 -9.34656400e-04 3.69124230e+02] [-3.05663737e-02 9.99532738e-01 5.63863324e-05 -2.29565337e+01] [ 9.35943198e-04 -2.77909037e-05 9.99999562e-01 -4.99007335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060371743 meters 0.031156408608654967 Centerline is valid? [True, True] Translation: X:369.15, Y:-22.96, Z:-4.99 [[ 9.99637491e-01 2.69187442e-02 -5.16966486e-04 3.69153894e+02] [-2.69187316e-02 9.99637625e-01 3.13548239e-05 -2.29627879e+01] [ 5.17623182e-04 -1.74273754e-05 9.99999866e-01 -4.98920928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.090371743 meters 0.03196097704735887 Centerline is valid? [True, True] Translation: X:369.18, Y:-22.97, Z:-4.99 [[ 9.99698388e-01 2.45581007e-02 -1.81281493e-04 3.69182593e+02] [-2.45580993e-02 9.99698404e-01 1.01733067e-05 -2.29679173e+01] [ 1.81476656e-04 -5.71830942e-06 9.99999984e-01 -4.98931280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120371743 meters 0.03302769495150105 Centerline is valid? [True, True] Translation: X:369.21, Y:-22.97, Z:-4.99 [[ 9.99764925e-01 2.16815510e-02 7.72841879e-05 3.69210325e+02] [-2.16815506e-02 9.99764928e-01 -5.72560539e-06 -2.29731194e+01] [-7.73901609e-05 4.04861842e-06 9.99999997e-01 -4.98914336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.150371743 meters 0.03340692162246985 Centerline is valid? [True, True] Translation: X:369.24, Y:-22.98, Z:-4.99 [[ 9.99869947e-01 1.60872222e-02 1.13623241e-03 3.69240517e+02] [-1.60871532e-02 9.99870591e-01 -6.98402001e-05 -2.29799483e+01] [-1.13720890e-03 5.15523724e-05 9.99999352e-01 -4.98865409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180371743 meters 0.033696420380522375 Centerline is valid? [True, True] Translation: X:369.27, Y:-22.98, Z:-4.99 [[ 9.99946733e-01 1.02542531e-02 1.17556058e-03 3.69270743e+02] [-1.02541751e-02 9.99947422e-01 -7.23035813e-05 -2.29839156e+01] [-1.17624019e-03 6.02453258e-05 9.99999306e-01 -4.98760047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.210371743 meters 0.03407094980205311 Centerline is valid? [True, True] Translation: X:369.30, Y:-22.99, Z:-4.99 [[ 9.99975146e-01 6.92190603e-03 1.33933629e-03 3.69300688e+02] [-6.92180164e-03 9.99976041e-01 -8.25541786e-05 -2.29876242e+01] [-1.33987563e-03 7.32815067e-05 9.99999100e-01 -4.98759093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240371743 meters 0.037999063994586024 Centerline is valid? [True, True] Translation: X:369.33, Y:-23.00, Z:-4.99 [[ 9.99999845e-01 1.39520928e-04 5.38160417e-04 3.69329049e+02] [-1.39502907e-04 9.99999990e-01 -3.35219150e-05 -2.29968545e+01] [-5.38165089e-04 3.34468348e-05 9.99999855e-01 -4.98906399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.270371743 meters 0.03939312546762772 Centerline is valid? [True, True] Translation: X:369.36, Y:-23.00, Z:-4.99 [[ 9.99995970e-01 -2.82249065e-03 3.04471495e-04 3.69359337e+02] [ 2.82249648e-03 9.99996017e-01 -1.86977828e-05 -2.30009070e+01] [-3.04417508e-04 1.95570772e-05 9.99999953e-01 -4.98892359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300371743 meters 0.03668196895410722 Centerline is valid? [True, True] Translation: X:369.39, Y:-23.00, Z:-4.99 [[ 9.99981258e-01 -6.05429987e-03 9.10774460e-04 3.69390193e+02] [ 6.05435309e-03 9.99981671e-01 -5.56856547e-05 -2.29982467e+01] [-9.10420629e-04 6.11987612e-05 9.99999584e-01 -4.98749290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.330371743 meters 0.04742089066110382 Centerline is valid? [True, True] Translation: X:369.42, Y:-23.02, Z:-4.99 [[ 9.99917951e-01 -1.26637067e-02 1.92920936e-03 3.69418213e+02] [ 1.26639596e-02 9.99919802e-01 -1.18923723e-04 -2.30161677e+01] [-1.92754863e-03 1.43345395e-04 9.99998132e-01 -4.98920855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36037174300003 meters 0.03999349214380471 Centerline is valid? [True, True] Translation: X:369.45, Y:-23.01, Z:-4.99 [[ 9.99803429e-01 -1.96091533e-02 2.92984703e-03 3.69449697e+02] [ 1.96097641e-02 9.99807694e-01 -1.79868923e-04 -2.30058516e+01] [-2.92575653e-03 2.37287175e-04 9.99995692e-01 -4.98601097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.390371743 meters 0.04275916884969249 Centerline is valid? [True, True] Translation: X:369.48, Y:-23.01, Z:-4.99 [[ 9.99738060e-01 -2.27081080e-02 2.85540168e-03 3.69479574e+02] [ 2.27087005e-02 9.99742109e-01 -1.75250832e-04 -2.30113445e+01] [-2.85068568e-03 2.40047388e-04 9.99995908e-01 -4.98651227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.420371743 meters 0.04562192946114493 Centerline is valid? [True, True] Translation: X:369.51, Y:-23.02, Z:-4.99 [[ 9.99582088e-01 -2.88635051e-02 1.59634773e-03 3.69510007e+02] [ 2.88636979e-02 9.99583352e-01 -9.79229314e-05 -2.30154007e+01] [-1.59285622e-03 1.43958507e-04 9.99998721e-01 -4.98738858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.450371743 meters 0.04575165900411109 Centerline is valid? [True, True] Translation: X:369.54, Y:-23.02, Z:-4.99 [[ 9.99512831e-01 -3.11719782e-02 1.55173993e-03 3.69541380e+02] [ 3.11721626e-02 9.99514026e-01 -9.48217183e-05 -2.30168169e+01] [-1.54803004e-03 1.43146614e-04 9.99998792e-01 -4.98809041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.480371743 meters 0.047278172258874256 Centerline is valid? [True, True] Translation: X:369.57, Y:-23.02, Z:-4.99 [[ 9.99428279e-01 -3.37852741e-02 1.29271544e-03 3.69571406e+02] [ 3.37854048e-02 9.99429107e-01 -7.93632175e-05 -2.30204376e+01] [-1.28929613e-03 1.22992758e-04 9.99999161e-01 -4.98876661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.510371743 meters 0.04795999404430453 Centerline is valid? [True, True] Translation: X:369.60, Y:-23.02, Z:-4.99 [[ 9.99271348e-01 -3.81333917e-02 1.61771044e-03 3.69602603e+02] [ 3.81336015e-02 9.99272645e-01 -9.90245757e-05 -2.30207415e+01] [-1.61275764e-03 1.60641546e-04 9.99998687e-01 -4.98868417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.540371743 meters 0.050806196661164864 Centerline is valid? [True, True] Translation: X:369.63, Y:-23.03, Z:-4.99 [[ 9.99204286e-01 -3.98389826e-02 1.91083244e-03 3.69632607e+02] [ 3.98392789e-02 9.99206094e-01 -1.17256722e-04 -2.30256058e+01] [-1.90464403e-03 1.93289605e-04 9.99998167e-01 -4.98927521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.570371743 meters 0.053705538161629394 Centerline is valid? [True, True] Translation: X:369.66, Y:-23.03, Z:-4.99 [[ 9.99095598e-01 -4.24732582e-02 2.00214929e-03 3.69661848e+02] [ 4.24735889e-02 9.99097582e-01 -1.22896306e-04 -2.30282096e+01] [-1.99512271e-03 2.07823624e-04 9.99997988e-01 -4.98951386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.600371743 meters 0.05290552136170634 Centerline is valid? [True, True] Translation: X:369.69, Y:-23.03, Z:-4.99 [[ 9.99059477e-01 -4.33315437e-02 1.59335903e-03 3.69693731e+02] [ 4.33317535e-02 9.99060734e-01 -9.73326166e-05 -2.30274700e+01] [-1.58764487e-03 1.66284114e-04 9.99998726e-01 -4.98976036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.630371743 meters 0.05449018763110451 Centerline is valid? [True, True] Translation: X:369.73, Y:-23.03, Z:-4.99 [[ 9.99009548e-01 -4.44784418e-02 1.26167812e-03 3.69725011e+02] [ 4.44785744e-02 9.99010336e-01 -7.72218402e-05 -2.30277570e+01] [-1.25699478e-03 1.33263000e-04 9.99999201e-01 -4.99070109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.660371743 meters 0.05479203547778881 Centerline is valid? [True, True] Translation: X:369.76, Y:-23.03, Z:-4.99 [[ 9.98999641e-01 -4.46979268e-02 1.34647386e-03 3.69756848e+02] [ 4.46980775e-02 9.99000538e-01 -8.20264189e-05 -2.30282303e+01] [-1.34146170e-03 1.42129156e-04 9.99999090e-01 -4.99169421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.690371743 meters 0.05481265869140902 Centerline is valid? [True, True] Translation: X:369.79, Y:-23.03, Z:-4.99 [[ 9.98946523e-01 -4.58774597e-02 1.05052607e-03 3.69788515e+02] [ 4.58775524e-02 9.98947069e-01 -6.43260591e-05 -2.30270568e+01] [-1.04646882e-03 1.12453858e-04 9.99999446e-01 -4.99291987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.720371743 meters 0.05341624748167483 Centerline is valid? [True, True] Translation: X:369.82, Y:-23.03, Z:-4.99 [[ 9.98968642e-01 -4.53891008e-02 1.21706391e-03 3.69821212e+02] [ 4.53892244e-02 9.98969375e-01 -7.41655873e-05 -2.30261013e+01] [-1.21244327e-03 1.29330683e-04 9.99999257e-01 -4.99277940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.750371743 meters 0.053198846279844954 Centerline is valid? [True, True] Translation: X:369.85, Y:-23.02, Z:-4.99 [[ 9.98931804e-01 -4.61997898e-02 9.11695968e-04 3.69853372e+02] [ 4.61998594e-02 9.98932215e-01 -5.53581884e-05 -2.30236600e+01] [-9.08164936e-04 9.74192805e-05 9.99999583e-01 -4.99348769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.780371743 meters 0.050622582566110456 Centerline is valid? [True, True] Translation: X:369.89, Y:-23.02, Z:-4.99 [[ 9.98931103e-01 -4.62196451e-02 6.29408512e-04 3.69885371e+02] [ 4.62196777e-02 9.98931299e-01 -3.73038841e-05 -2.30202076e+01] [-6.27011690e-04 6.63550687e-05 9.99999801e-01 -4.99331526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.810371743 meters 0.05517122093317456 Centerline is valid? [True, True] Translation: X:369.92, Y:-23.03, Z:-5.00 [[ 9.98940133e-01 -4.60280840e-02 -1.63753741e-04 3.69916940e+02] [ 4.60280864e-02 9.98940146e-01 1.15078665e-05 -2.30255213e+01] [ 1.63050500e-04 -1.90329410e-05 9.99999987e-01 -4.99506348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.840371743 meters 0.055571022913148645 Centerline is valid? [True, True] Translation: X:369.95, Y:-23.03, Z:-5.00 [[ 9.98952620e-01 -4.57543079e-02 -4.55051333e-04 3.69949427e+02] [ 4.57543259e-02 9.98952722e-01 2.93223682e-05 -2.30272627e+01] [ 4.53233142e-04 -5.01122235e-05 9.99999896e-01 -4.99604331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.870371743 meters 0.055979363279825015 Centerline is valid? [True, True] Translation: X:369.98, Y:-23.03, Z:-5.00 [[ 9.98922028e-01 -4.64016330e-02 -1.29284187e-03 3.69981406e+02] [ 4.64017769e-02 9.98922854e-01 8.15042219e-05 -2.30276395e+01] [ 1.28766737e-03 -1.41406523e-04 9.99999161e-01 -4.99740248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.900371743 meters 0.05577224921511927 Centerline is valid? [True, True] Translation: X:370.01, Y:-23.03, Z:-5.00 [[ 9.98891764e-01 -4.70509671e-02 -1.20391095e-03 3.70013690e+02] [ 4.70510926e-02 9.98892481e-01 7.60610626e-05 -2.30272067e+01] [ 1.19899885e-03 -1.32622095e-04 9.99999272e-01 -4.99764267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.930371743 meters 0.05306003889948033 Centerline is valid? [True, True] Translation: X:370.05, Y:-23.02, Z:-5.00 [[ 9.98844041e-01 -4.80661755e-02 -4.73843026e-04 3.70046059e+02] [ 4.80661954e-02 9.98844152e-01 3.06290511e-05 -2.30223553e+01] [ 4.71823114e-04 -5.33694766e-05 9.99999887e-01 -4.99677854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.960371743 meters 0.05676033511163745 Centerline is valid? [True, True] Translation: X:370.08, Y:-23.03, Z:-5.00 [[ 9.98844073e-01 -4.80672945e-02 -2.32428761e-04 3.70077335e+02] [ 4.80672993e-02 9.98844099e-01 1.53088126e-05 -2.30288335e+01] [ 2.31424243e-04 -2.64633395e-05 9.99999973e-01 -4.99758782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.990371743 meters 0.053905181616278344 Centerline is valid? [True, True] Translation: X:370.11, Y:-23.03, Z:-5.00 [[ 9.98879472e-01 -4.73231088e-02 -5.69468701e-04 3.70109490e+02] [ 4.73231373e-02 9.98879632e-01 3.66654441e-05 -2.30250933e+01] [ 5.67095563e-04 -6.35734049e-05 9.99999837e-01 -4.99700396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.020371743 meters 0.054708864169344014 Centerline is valid? [True, True] Translation: X:370.14, Y:-23.03, Z:-5.00 [[ 9.98833632e-01 -4.82753531e-02 -9.30333421e-04 3.70142002e+02] [ 4.82754290e-02 9.98834060e-01 5.92829157e-05 -2.30253067e+01] [ 9.26386804e-04 -1.04126015e-04 9.99999565e-01 -4.99858659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.050371743 meters 0.05190764876588191 Centerline is valid? [True, True] Translation: X:370.17, Y:-23.02, Z:-5.00 [[ 9.98881885e-01 -4.72660619e-02 -9.48538529e-04 3.70173800e+02] [ 4.72661399e-02 9.98882330e-01 5.99516350e-05 -2.30190981e+01] [ 9.44644697e-04 -1.04718357e-04 9.99999548e-01 -4.99815607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.080371743 meters 0.05161721320543222 Centerline is valid? [True, True] Translation: X:370.21, Y:-23.02, Z:-5.00 [[ 9.98943577e-01 -4.59382871e-02 -1.18465156e-03 3.70205677e+02] [ 4.59384081e-02 9.98944271e-01 7.50733521e-05 -2.30188408e+01] [ 1.17995214e-03 -1.29415050e-04 9.99999295e-01 -4.99778449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11037174300003 meters 0.0518040365863212 Centerline is valid? [True, True] Translation: X:370.24, Y:-23.02, Z:-5.00 [[ 9.99087425e-01 -4.27039773e-02 -8.29479596e-04 3.70235548e+02] [ 4.27040348e-02 9.99087765e-01 5.17123603e-05 -2.30158079e+01] [ 8.26514592e-04 -8.70872944e-05 9.99999655e-01 -4.99740119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.140371743 meters 0.05343257001271986 Centerline is valid? [True, True] Translation: X:370.27, Y:-23.02, Z:-5.00 [[ 9.99192149e-01 -4.01845449e-02 -5.01807138e-04 3.70265082e+02] [ 4.01845656e-02 9.99192274e-01 3.12686614e-05 -2.30177904e+01] [ 5.00145298e-04 -5.14083028e-05 9.99999874e-01 -4.99806074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.170371743 meters 0.05328103130366248 Centerline is valid? [True, True] Translation: X:370.29, Y:-23.01, Z:-5.00 [[ 9.99373752e-01 -3.53680304e-02 -1.09804010e-03 3.70294988e+02] [ 3.53681271e-02 9.99374350e-01 6.87773577e-05 -2.30141014e+01] [ 1.09492059e-03 -1.07569908e-04 9.99999395e-01 -4.99947613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.200371743 meters 0.04733735997984022 Centerline is valid? [True, True] Translation: X:370.33, Y:-23.00, Z:-5.00 [[ 9.99474058e-01 -3.23923183e-02 -1.53135870e-03 3.70326288e+02] [ 3.23925031e-02 9.99475221e-01 9.60265104e-05 -2.30048704e+01] [ 1.52744455e-03 -1.45580547e-04 9.99998823e-01 -4.99882561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.230371743 meters 0.04464766663262732 Centerline is valid? [True, True] Translation: X:370.36, Y:-23.00, Z:-5.00 [[ 9.99634711e-01 -2.69031837e-02 -2.58136241e-03 3.70357437e+02] [ 2.69036911e-02 9.99638017e-01 1.62045335e-04 -2.29974024e+01] [ 2.57606847e-03 -2.31434318e-04 9.99996655e-01 -4.99960610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.260371743 meters 0.045938050370414756 Centerline is valid? [True, True] Translation: X:370.39, Y:-23.00, Z:-5.00 [[ 9.99692639e-01 -2.45806331e-02 -3.22810158e-03 3.70387669e+02] [ 2.45814137e-02 9.99697811e-01 2.02343590e-04 -2.29983747e+01] [ 3.22215235e-03 -2.81632698e-04 9.99994769e-01 -5.00095613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.290371743 meters 0.04183347811882195 Centerline is valid? [True, True] Translation: X:370.42, Y:-22.99, Z:-5.00 [[ 9.99792970e-01 -1.99711395e-02 -3.89483833e-03 3.70418489e+02] [ 1.99722410e-02 9.99800505e-01 2.44117765e-04 -2.29889928e+01] [ 3.88918601e-03 -3.21855875e-04 9.99992385e-01 -4.99958348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.320371743 meters 0.04391370696391747 Centerline is valid? [True, True] Translation: X:370.45, Y:-22.99, Z:-5.00 [[ 9.99842941e-01 -1.74254521e-02 -3.23215571e-03 3.70447805e+02] [ 1.74261965e-02 9.99848132e-01 2.02272046e-04 -2.29921385e+01] [ 3.22814016e-03 -2.58564458e-04 9.99994756e-01 -5.00120889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.350371743 meters 0.044489993754670124 Centerline is valid? [True, True] Translation: X:370.48, Y:-22.99, Z:-5.00 [[ 9.99899607e-01 -1.35037875e-02 -4.29234220e-03 3.70477968e+02] [ 1.35050660e-02 9.99908766e-01 2.69006863e-04 -2.29911099e+01] [ 4.28831798e-03 -3.26948221e-04 9.99990752e-01 -5.00149615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380371743 meters 0.04007635132491555 Centerline is valid? [True, True] Translation: X:370.51, Y:-22.98, Z:-5.00 [[ 9.99918134e-01 -1.19679523e-02 -4.52692963e-03 3.70510211e+02] [ 1.19693633e-02 9.99928324e-01 2.84719142e-04 -2.29835854e+01] [ 4.52319766e-03 -3.38880298e-04 9.99989713e-01 -5.00060199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.410371743 meters 0.03991960018239552 Centerline is valid? [True, True] Translation: X:370.54, Y:-22.98, Z:-5.00 [[ 9.99935731e-01 -1.02065518e-02 -4.93562047e-03 3.70542298e+02] [ 1.02082087e-02 9.99947847e-01 3.10626363e-04 -2.29831442e+01] [ 4.93219264e-03 -3.60990243e-04 9.99987772e-01 -5.00089893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440371743 meters 0.03959736854965611 Centerline is valid? [True, True] Translation: X:370.57, Y:-22.98, Z:-5.00 [[ 9.99967874e-01 -6.78512282e-03 -4.26757467e-03 3.70572295e+02] [ 6.78632700e-03 9.99976937e-01 2.67752470e-04 -2.29820326e+01] [ 4.26565951e-03 -2.96705026e-04 9.99990858e-01 -5.00094341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.470371743 meters 0.0391297246127919 Centerline is valid? [True, True] Translation: X:370.60, Y:-22.98, Z:-5.00 [[ 9.99974722e-01 -5.64517750e-03 -4.32300081e-03 3.70603270e+02] [ 5.64640452e-03 9.99984022e-01 2.71683779e-04 -2.29817322e+01] [ 4.32139803e-03 -2.96086322e-04 9.99990619e-01 -5.00077305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500371743 meters 0.03810928795184195 Centerline is valid? [True, True] Translation: X:370.63, Y:-22.98, Z:-5.00 [[ 9.99990668e-01 -2.30477962e-03 -3.65403767e-03 3.70634224e+02] [ 2.30563402e-03 9.99997316e-01 2.29630568e-04 -2.29794636e+01] [ 3.65349862e-03 -2.38053299e-04 9.99993298e-01 -5.00061329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.530371743 meters 0.037395870884410695 Centerline is valid? [True, True] Translation: X:370.66, Y:-22.98, Z:-5.00 [[ 9.99993805e-01 -7.06146977e-04 -3.44827190e-03 3.70664745e+02] [ 7.06897871e-04 9.99999727e-01 2.16545587e-04 -2.29788391e+01] [ 3.44811805e-03 -2.18981822e-04 9.99994031e-01 -5.00095354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560371743 meters 0.03694374807865434 Centerline is valid? [True, True] Translation: X:370.69, Y:-22.98, Z:-5.00 [[ 9.99986278e-01 3.30859798e-03 -4.06163239e-03 3.70694063e+02] [-3.30759107e-03 9.99994498e-01 2.54599323e-04 -2.29769680e+01] [ 4.06245241e-03 -2.41161610e-04 9.99991719e-01 -5.00123170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.590371743 meters 0.03675412935188693 Centerline is valid? [True, True] Translation: X:370.72, Y:-22.98, Z:-5.00 [[ 9.99964110e-01 7.47598640e-03 -3.98592836e-03 3.70723705e+02] [-7.47504997e-03 9.99972030e-01 2.49780543e-04 -2.29758897e+01] [ 3.98768423e-03 -2.19976565e-04 9.99992025e-01 -5.00230362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620371743 meters 0.033833370685558195 Centerline is valid? [True, True] Translation: X:370.75, Y:-22.97, Z:-5.00 [[ 9.99955578e-01 8.49804648e-03 -4.07750142e-03 3.70753130e+02] [-8.49707912e-03 9.99963867e-01 2.54508743e-04 -2.29707786e+01] [ 4.07951691e-03 -2.19850585e-04 9.99991655e-01 -5.00111926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.650371743 meters 0.03459606822413181 Centerline is valid? [True, True] Translation: X:370.78, Y:-22.97, Z:-5.00 [[ 9.99947909e-01 9.54088748e-03 -3.62652375e-03 3.70780966e+02] [-9.54013166e-03 9.99954466e-01 2.25657384e-04 -2.29730855e+01] [ 3.62851159e-03 -1.91048115e-04 9.99993399e-01 -5.00198908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680371743 meters 0.032655288309542826 Centerline is valid? [True, True] Translation: X:370.81, Y:-22.97, Z:-5.00 [[ 9.99930715e-01 1.13384016e-02 -3.16305114e-03 3.70809919e+02] [-1.13378361e-02 9.99935705e-01 1.96659462e-04 -2.29700817e+01] [ 3.16507758e-03 -1.60783681e-04 9.99994978e-01 -5.00151502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.710371743 meters 0.03356678949692654 Centerline is valid? [True, True] Translation: X:370.84, Y:-22.97, Z:-5.00 [[ 9.99925419e-01 1.15769685e-02 -3.88988170e-03 3.70837635e+02] [-1.15761165e-02 9.99932965e-01 2.41478836e-04 -2.29727897e+01] [ 3.89241653e-03 -1.96431102e-04 9.99992405e-01 -5.00266566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740371743 meters 0.033215276520115494 Centerline is valid? [True, True] Translation: X:370.87, Y:-22.97, Z:-5.00 [[ 9.99916635e-01 1.21723466e-02 -4.30787093e-03 3.70866470e+02] [-1.21713067e-02 9.99925891e-01 2.67521323e-04 -2.29734624e+01] [ 4.31080805e-03 -2.15066603e-04 9.99990685e-01 -5.00279198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.770371743 meters 0.033701159952481685 Centerline is valid? [True, True] Translation: X:370.89, Y:-22.98, Z:-5.00 [[ 9.99907874e-01 1.28306506e-02 -4.42921692e-03 3.70893828e+02] [-1.28295605e-02 9.99917660e-01 2.74436200e-04 -2.29758618e+01] [ 4.43237341e-03 -2.17586010e-04 9.99990153e-01 -5.00356118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800371743 meters 0.0341486272204758 Centerline is valid? [True, True] Translation: X:370.92, Y:-22.98, Z:-5.00 [[ 9.99911781e-01 1.25869658e-02 -4.24244018e-03 3.70922199e+02] [-1.25859640e-02 9.99920759e-01 2.62763678e-04 -2.29781149e+01] [ 4.24541140e-03 -2.09345298e-04 9.99990966e-01 -5.00449830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.830371743 meters 0.0341486272204758 Centerline is valid? [True, True] Translation: X:370.95, Y:-22.98, Z:-5.00 [[ 9.99912688e-01 1.25146855e-02 -4.24245926e-03 3.70950495e+02] [-1.25136843e-02 9.99921666e-01 2.62456045e-04 -2.29798144e+01] [ 4.24541148e-03 -2.09344334e-04 9.99990966e-01 -5.00489670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86037174300003 meters 0.03340139812653912 Centerline is valid? [True, True] Translation: X:370.98, Y:-22.98, Z:-5.00 [[ 9.99919689e-01 1.22911685e-02 -3.08920526e-03 3.70979673e+02] [-1.22906381e-02 9.99924449e-01 1.90598257e-04 -2.29812297e+01] [ 3.09131454e-03 -1.52614646e-04 9.99995210e-01 -5.00436106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.890371743 meters 0.033518093193289786 Centerline is valid? [True, True] Translation: X:371.01, Y:-22.98, Z:-5.00 [[ 9.99933214e-01 1.13813438e-02 -2.00810451e-03 3.71007945e+02] [-1.13811199e-02 9.99935225e-01 1.22917523e-04 -2.29831219e+01] [ 2.00937340e-03 -1.00054836e-04 9.99997976e-01 -5.00377016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.920371743 meters 0.03357710583496803 Centerline is valid? [True, True] Translation: X:371.04, Y:-22.99, Z:-5.00 [[ 9.99934871e-01 1.12362757e-02 -1.99979354e-03 3.71036949e+02] [-1.12360528e-02 9.99936866e-01 1.22659016e-04 -2.29850456e+01] [ 2.00104551e-03 -1.00181242e-04 9.99997993e-01 -5.00419478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.950371743 meters 0.03398374028133453 Centerline is valid? [True, True] Translation: X:371.06, Y:-22.99, Z:-5.00 [[ 9.99942185e-01 1.05491319e-02 -2.08371738e-03 3.71064622e+02] [-1.05488893e-02 9.99944351e-01 1.27410989e-04 -2.29898882e+01] [ 2.08494550e-03 -1.05422719e-04 9.99997821e-01 -5.00469125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.980371743 meters 0.03679882921636805 Centerline is valid? [True, True] Translation: X:371.09, Y:-23.00, Z:-5.01 [[ 9.99957421e-01 8.92922963e-03 -2.32918795e-03 3.71092253e+02] [-8.92892146e-03 9.99960126e-01 1.42672756e-04 -2.29986938e+01] [ 2.33036904e-03 -1.21869544e-04 9.99997277e-01 -5.00707662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.010371743 meters 0.034332504654560086 Centerline is valid? [True, True] Translation: X:371.12, Y:-23.00, Z:-5.01 [[ 9.99963615e-01 8.23050285e-03 -2.24222059e-03 3.71120993e+02] [-8.23021600e-03 9.99966122e-01 1.37127312e-04 -2.29955566e+01] [ 2.24327325e-03 -1.18668363e-04 9.99997477e-01 -5.00589039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.040371743 meters 0.03394894960002417 Centerline is valid? [True, True] Translation: X:371.15, Y:-23.00, Z:-5.01 [[ 9.99967702e-01 7.64987719e-03 -2.46459039e-03 3.71149382e+02] [-7.64952909e-03 9.99970731e-01 1.50635273e-04 -2.29973822e+01] [ 2.46567060e-03 -1.31777451e-04 9.99996952e-01 -5.00572710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.070371743 meters 0.03441410925915561 Centerline is valid? [True, True] Translation: X:371.18, Y:-23.00, Z:-5.01 [[ 9.99977474e-01 6.29115057e-03 -2.33922856e-03 3.71177851e+02] [-6.29083380e-03 9.99980202e-01 1.42749948e-04 -2.30016484e+01] [ 2.34008030e-03 -1.28031034e-04 9.99997254e-01 -5.00623871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.100371743 meters 0.03473157691127029 Centerline is valid? [True, True] Translation: X:371.21, Y:-23.00, Z:-5.01 [[ 9.99980577e-01 5.78227591e-03 -2.32596198e-03 3.71206800e+02] [-5.78196178e-03 9.99983274e-01 1.41756442e-04 -2.30039053e+01] [ 2.32674276e-03 -1.28305066e-04 9.99997285e-01 -5.00683308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.130371743 meters 0.03425187756780696 Centerline is valid? [True, True] Translation: X:371.24, Y:-23.01, Z:-5.01 [[ 9.99982789e-01 5.24629797e-03 -2.62659713e-03 3.71235373e+02] [-5.24589572e-03 9.99986227e-01 1.60014172e-04 -2.30067218e+01] [ 2.62740044e-03 -1.46232564e-04 9.99996538e-01 -5.00676129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.160371743 meters 0.0355637603620762 Centerline is valid? [True, True] Translation: X:371.26, Y:-23.01, Z:-5.01 [[ 9.99984074e-01 4.78432159e-03 -2.99363819e-03 3.71264220e+02] [-4.78379625e-03 9.99988541e-01 1.82623541e-04 -2.30112461e+01] [ 2.99447762e-03 -1.68299677e-04 9.99995502e-01 -5.00815045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.190371743 meters 0.03497735435765091 Centerline is valid? [True, True] Translation: X:371.29, Y:-23.01, Z:-5.01 [[ 9.99984483e-01 4.96900785e-03 -2.51842516e-03 3.71292656e+02] [-4.96863806e-03 9.99987645e-01 1.53071328e-04 -2.30131894e+01] [ 2.51915465e-03 -1.40555810e-04 9.99996817e-01 -5.00841300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.220371743 meters 0.035904510283946235 Centerline is valid? [True, True] Translation: X:371.32, Y:-23.02, Z:-5.01 [[ 9.99985424e-01 4.66356777e-03 -2.72065942e-03 3.71321484e+02] [-4.66313454e-03 9.99989114e-01 1.65560953e-04 -2.30163168e+01] [ 2.72140191e-03 -1.52871739e-04 9.99996285e-01 -5.00928572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.250371743 meters 0.03505654029943337 Centerline is valid? [True, True] Translation: X:371.35, Y:-23.02, Z:-5.01 [[ 9.99986515e-01 4.60684351e-03 -2.39715895e-03 3.71350165e+02] [-4.60650831e-03 9.99989379e-01 1.45338277e-04 -2.30170748e+01] [ 2.39780304e-03 -1.34293784e-04 9.99997116e-01 -5.00895303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.280371743 meters 0.03598066965120166 Centerline is valid? [True, True] Translation: X:371.38, Y:-23.02, Z:-5.01 [[ 9.99986518e-01 4.41491513e-03 -2.73369863e-03 3.71378255e+02] [-4.41447777e-03 9.99990242e-01 1.66002573e-04 -2.30215569e+01] [ 2.73440485e-03 -1.53932483e-04 9.99996250e-01 -5.00999211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.310371743 meters 0.0344862102870858 Centerline is valid? [True, True] Translation: X:371.41, Y:-23.02, Z:-5.01 [[ 9.99988207e-01 3.74060755e-03 -3.09723700e-03 3.71407349e+02] [-3.74004416e-03 9.99992988e-01 1.87673928e-04 -2.30219699e+01] [ 3.09791730e-03 -1.76087911e-04 9.99995186e-01 -5.01005474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.340371743 meters 0.035625548714264293 Centerline is valid? [True, True] Translation: X:371.44, Y:-23.03, Z:-5.01 [[ 9.99988602e-01 3.10495867e-03 -3.62700388e-03 3.71436091e+02] [-3.10418041e-03 9.99995158e-01 2.20183590e-04 -2.30258141e+01] [ 3.62766997e-03 -2.08922206e-04 9.99993398e-01 -5.01127177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.370371743 meters 0.034439303575977256 Centerline is valid? [True, True] Translation: X:371.46, Y:-23.03, Z:-5.01 [[ 9.99990319e-01 2.28711228e-03 -3.75902606e-03 3.71464861e+02] [-2.28627310e-03 9.99997361e-01 2.27526140e-04 -2.30257460e+01] [ 3.75953652e-03 -2.18929778e-04 9.99992909e-01 -5.01108189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.400371743 meters 0.03518492400661049 Centerline is valid? [True, True] Translation: X:371.49, Y:-23.03, Z:-5.01 [[ 9.99992608e-01 8.88649235e-04 -3.74089938e-03 3.71493084e+02] [-8.87808166e-04 9.99999580e-01 2.26485227e-04 -2.30314740e+01] [ 3.74109907e-03 -2.23162352e-04 9.99992977e-01 -5.01098741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.430371743 meters 0.03634857563619223 Centerline is valid? [True, True] Translation: X:371.52, Y:-23.04, Z:-5.01 [[ 9.99993424e-01 -1.14920484e-03 -3.43955029e-03 3.71522998e+02] [ 1.14992925e-03 9.99999317e-01 2.08641335e-04 -2.30361882e+01] [ 3.43930817e-03 -2.12595203e-04 9.99994063e-01 -5.01087378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.460371743 meters 0.03770354054303302 Centerline is valid? [True, True] Translation: X:371.55, Y:-23.04, Z:-5.01 [[ 9.99991318e-01 -2.17016408e-03 -3.55722315e-03 3.71551812e+02] [ 2.17094399e-03 9.99997620e-01 2.15401000e-04 -2.30411891e+01] [ 3.55674723e-03 -2.23121662e-04 9.99993650e-01 -5.01200013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.490371743 meters 0.03751876142597327 Centerline is valid? [True, True] Translation: X:371.58, Y:-23.04, Z:-5.01 [[ 9.99989747e-01 -3.16705385e-03 -3.23666565e-03 3.71581835e+02] [ 3.16770669e-03 9.99994963e-01 1.96594373e-04 -2.30437121e+01] [ 3.23602672e-03 -2.06845165e-04 9.99994743e-01 -5.01237759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.520371743 meters 0.03893302821461938 Centerline is valid? [True, True] Translation: X:371.61, Y:-23.05, Z:-5.01 [[ 9.99978448e-01 -5.39300150e-03 -3.74410784e-03 3.71611018e+02] [ 5.39388946e-03 9.99985427e-01 2.27103048e-04 -2.30500063e+01] [ 3.74282851e-03 -2.47293458e-04 9.99992965e-01 -5.01303428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.550371743 meters 0.040305499132215664 Centerline is valid? [True, True] Translation: X:371.64, Y:-23.06, Z:-5.01 [[ 9.99954947e-01 -8.56735062e-03 -4.08709020e-03 3.71641256e+02] [ 8.56843576e-03 9.99963260e-01 2.48068068e-04 -2.30562507e+01] [ 4.08481475e-03 -2.83076862e-04 9.99991617e-01 -5.01424092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.580371743 meters 0.03944112783030528 Centerline is valid? [True, True] Translation: X:371.67, Y:-23.06, Z:-5.01 [[ 9.99944504e-01 -9.72566874e-03 -4.04971209e-03 3.71672203e+02] [ 9.72674626e-03 9.99952664e-01 2.46462627e-04 -2.30586472e+01] [ 4.04712337e-03 -2.85839471e-04 9.99991770e-01 -5.01365039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61037174300003 meters 0.04197506959376657 Centerline is valid? [True, True] Translation: X:371.70, Y:-23.07, Z:-5.01 [[ 9.99915690e-01 -1.22987236e-02 -4.16578412e-03 3.71701438e+02] [ 1.22998838e-02 9.99924322e-01 2.52997378e-04 -2.30657490e+01] [ 4.16235731e-03 -3.04214709e-04 9.99991291e-01 -5.01428287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.640371743 meters 0.04050899578503356 Centerline is valid? [True, True] Translation: X:371.73, Y:-23.07, Z:-5.01 [[ 9.99900006e-01 -1.35583458e-02 -4.01872201e-03 3.71732774e+02] [ 1.35594383e-02 9.99908037e-01 2.44733963e-04 -2.30659957e+01] [ 4.01503425e-03 -2.99201104e-04 9.99991895e-01 -5.01321589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.670371743 meters 0.041285893804657824 Centerline is valid? [True, True] Translation: X:371.76, Y:-23.07, Z:-5.01 [[ 9.99876075e-01 -1.51610523e-02 -4.23988048e-03 3.71763805e+02] [ 1.51622833e-02 9.99885013e-01 2.58327510e-04 -2.30699430e+01] [ 4.23547643e-03 -3.22581766e-04 9.99990978e-01 -5.01407657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.700371743 meters 0.0425043221192376 Centerline is valid? [True, True] Translation: X:371.79, Y:-23.08, Z:-5.01 [[ 9.99815093e-01 -1.85218841e-02 -5.16917035e-03 3.71793749e+02] [ 1.85237555e-02 9.99828371e-01 3.14380460e-04 -2.30752866e+01] [ 5.16246025e-03 -4.10074777e-04 9.99986590e-01 -5.01434127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.730371743 meters 0.043278676632357134 Centerline is valid? [True, True] Translation: X:371.82, Y:-23.08, Z:-5.01 [[ 9.99751515e-01 -2.16196349e-02 -5.43142229e-03 3.71824664e+02] [ 2.16217486e-02 9.99766168e-01 3.30729658e-04 -2.30796182e+01] [ 5.42300199e-03 -4.48084324e-04 9.99985195e-01 -5.01440772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.760371743 meters 0.042115708594834544 Centerline is valid? [True, True] Translation: X:371.86, Y:-23.08, Z:-5.01 [[ 9.99712066e-01 -2.33349637e-02 -5.59154351e-03 3.71855998e+02] [ 2.33372327e-02 9.99727592e-01 3.40888264e-04 -2.30801777e+01] [ 5.58206571e-03 -4.71281263e-04 9.99984309e-01 -5.01433022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.790371743 meters 0.04566782093422827 Centerline is valid? [True, True] Translation: X:371.89, Y:-23.09, Z:-5.02 [[ 9.99628117e-01 -2.66652397e-02 -5.70901490e-03 3.71885200e+02] [ 2.66676580e-02 9.99644294e-01 3.47861330e-04 -2.30887931e+01] [ 5.69770836e-03 -4.99978022e-04 9.99983643e-01 -5.01547585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.820371743 meters 0.04654600737201148 Centerline is valid? [True, True] Translation: X:371.92, Y:-23.09, Z:-5.02 [[ 9.99564174e-01 -2.89122496e-02 -5.96186153e-03 3.71916162e+02] [ 2.89149270e-02 9.99581810e-01 3.63375356e-04 -2.30919483e+01] [ 5.94886234e-03 -5.35603778e-04 9.99982162e-01 -5.01646926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.850371743 meters 0.04566782662537833 Centerline is valid? [True, True] Translation: X:371.95, Y:-23.09, Z:-5.02 [[ 9.99469624e-01 -3.20233773e-02 -5.91384743e-03 3.71946631e+02] [ 3.20260648e-02 9.99486969e-01 3.60267500e-04 -2.30935148e+01] [ 5.89927646e-03 -5.49473684e-04 9.99982448e-01 -5.01526245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880371743 meters 0.04515789900378659 Centerline is valid? [True, True] Translation: X:371.98, Y:-23.09, Z:-5.02 [[ 9.99413015e-01 -3.38238245e-02 -5.43826829e-03 3.71978152e+02] [ 3.38261273e-02 9.99427678e-01 3.31987989e-04 -2.30949791e+01] [ 5.42392675e-03 -5.15748672e-04 9.99985157e-01 -5.01502656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.910371743 meters 0.05019405127289938 Centerline is valid? [True, True] Translation: X:372.01, Y:-23.10, Z:-5.02 [[ 9.99311327e-01 -3.66761777e-02 -5.63299265e-03 3.72007234e+02] [ 3.66786924e-02 9.99327051e-01 3.43721805e-04 -2.31040036e+01] [ 5.61659553e-03 -5.50095898e-04 9.99984075e-01 -5.01631732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940371743 meters 0.05083570756469019 Centerline is valid? [True, True] Translation: X:372.04, Y:-23.11, Z:-5.02 [[ 9.99277489e-01 -3.74391569e-02 -6.54293070e-03 3.72038927e+02] [ 3.74425769e-02 9.99298700e-01 4.00946936e-04 -2.31064917e+01] [ 6.52333103e-03 -6.45641433e-04 9.99978514e-01 -5.01673561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.970371743 meters 0.04940383801638856 Centerline is valid? [True, True] Translation: X:372.07, Y:-23.11, Z:-5.02 [[ 9.99223977e-01 -3.87505570e-02 -7.05957612e-03 3.72070219e+02] [ 3.87545679e-02 9.99248666e-01 4.32182019e-04 -2.31051145e+01] [ 7.03752472e-03 -7.05437458e-04 9.99974987e-01 -5.01676917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000371743 meters 0.0513905471828206 Centerline is valid? [True, True] Translation: X:372.10, Y:-23.11, Z:-5.02 [[ 9.99212537e-01 -3.89949663e-02 -7.32786061e-03 3.72100946e+02] [ 3.89993056e-02 9.99239136e-01 4.50160531e-04 -2.31092086e+01] [ 7.30473111e-03 -7.35587521e-04 9.99973050e-01 -5.01777769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.030371743 meters 0.04938746330414659 Centerline is valid? [True, True] Translation: X:372.13, Y:-23.11, Z:-5.02 [[ 9.99187384e-01 -3.96036181e-02 -7.49164740e-03 3.72133292e+02] [ 3.96081711e-02 9.99215182e-01 4.60299129e-04 -2.31057560e+01] [ 7.46753831e-03 -7.56655535e-04 9.99971831e-01 -5.01742485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060371743 meters 0.05067274496816918 Centerline is valid? [True, True] Translation: X:372.16, Y:-23.11, Z:-5.02 [[ 9.99179337e-01 -3.97403719e-02 -7.83296621e-03 3.72164403e+02] [ 3.97453543e-02 9.99209725e-01 4.81392570e-04 -2.31082627e+01] [ 7.80764530e-03 -7.92321527e-04 9.99969206e-01 -5.01792842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.090371743 meters 0.051172395990148486 Centerline is valid? [True, True] Translation: X:372.20, Y:-23.11, Z:-5.02 [[ 9.99150314e-01 -4.03385065e-02 -8.45307441e-03 3.72196042e+02] [ 4.03443337e-02 9.99185701e-01 5.19907426e-04 -2.31081737e+01] [ 8.42521879e-03 -8.60499322e-04 9.99964137e-01 -5.01828225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120371743 meters 0.04926920962593462 Centerline is valid? [True, True] Translation: X:372.23, Y:-23.11, Z:-5.02 [[ 9.99154993e-01 -4.01671731e-02 -8.71194271e-03 3.72228458e+02] [ 4.01733641e-02 9.99192580e-01 5.36737683e-04 -2.31058510e+01] [ 8.68334929e-03 -8.86272182e-04 9.99961906e-01 -5.01807850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.150371743 meters 0.05282953024391742 Centerline is valid? [True, True] Translation: X:372.26, Y:-23.11, Z:-5.02 [[ 9.99170772e-01 -3.97594270e-02 -8.77245419e-03 3.72259767e+02] [ 3.97657056e-02 9.99208884e-01 5.42381745e-04 -2.31120850e+01] [ 8.74394938e-03 -8.90774818e-04 9.99961374e-01 -5.01920046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180371743 meters 0.04785483363416744 Centerline is valid? [True, True] Translation: X:372.29, Y:-23.10, Z:-5.02 [[ 9.99141251e-01 -4.05204231e-02 -8.65196578e-03 3.72292234e+02] [ 4.05265580e-02 9.99178318e-01 5.34855860e-04 -2.31046037e+01] [ 8.62318403e-03 -8.85030946e-04 9.99962428e-01 -5.01782389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.210371743 meters 0.04915313654951959 Centerline is valid? [True, True] Translation: X:372.32, Y:-23.11, Z:-5.02 [[ 9.99116767e-01 -4.10718270e-02 -8.87640588e-03 3.72324621e+02] [ 4.10783114e-02 9.99155779e-01 5.49368651e-04 -2.31062893e+01] [ 8.84634865e-03 -9.13511196e-04 9.99960453e-01 -5.01859009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240371743 meters 0.05058382091202477 Centerline is valid? [True, True] Translation: X:372.35, Y:-23.11, Z:-5.02 [[ 9.99062994e-01 -4.23091078e-02 -9.11445029e-03 3.72354821e+02] [ 4.23159897e-02 9.99104118e-01 5.63443474e-04 -2.31072428e+01] [ 9.08244603e-03 -9.48602509e-04 9.99958304e-01 -5.01806732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.270371743 meters 0.052115417568353875 Centerline is valid? [True, True] Translation: X:372.39, Y:-23.11, Z:-5.02 [[ 9.99045606e-01 -4.27568616e-02 -8.92906156e-03 3.72385472e+02] [ 4.27635083e-02 9.99085069e-01 5.54711093e-04 -2.31096208e+01] [ 8.89717437e-03 -9.36019678e-04 9.99959981e-01 -5.01879021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300371743 meters 0.052846794759220925 Centerline is valid? [True, True] Translation: X:372.42, Y:-23.11, Z:-5.02 [[ 9.99000084e-01 -4.36941223e-02 -9.46864696e-03 3.72417340e+02] [ 4.37016323e-02 9.99044455e-01 5.87598238e-04 -2.31105806e+01] [ 9.43392465e-03 -1.00080602e-03 9.99954999e-01 -5.01901604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.330371743 meters 0.05396818195444615 Centerline is valid? [True, True] Translation: X:372.45, Y:-23.11, Z:-5.02 [[ 9.98963424e-01 -4.44818969e-02 -9.66639144e-03 3.72449084e+02] [ 4.44897654e-02 9.99009660e-01 6.00388689e-04 -2.31125933e+01] [ 9.63011200e-03 -1.02982183e-03 9.99953099e-01 -5.02018268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36037174300003 meters 0.051160892674977726 Centerline is valid? [True, True] Translation: X:372.48, Y:-23.11, Z:-5.02 [[ 9.98905726e-01 -4.55346029e-02 -1.06747381e-02 3.72480798e+02] [ 4.55442589e-02 9.98962102e-01 6.63097718e-04 -2.31066043e+01] [ 1.06334650e-02 -1.14854515e-03 9.99942803e-01 -5.01872312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.390371743 meters 0.051034677069795385 Centerline is valid? [True, True] Translation: X:372.51, Y:-23.11, Z:-5.02 [[ 9.98852633e-01 -4.66934812e-02 -1.06365812e-02 3.72511756e+02] [ 4.67031325e-02 9.98908595e-01 6.60663895e-04 -2.31077124e+01] [ 1.05941237e-02 -1.15666753e-03 9.99943212e-01 -5.01863439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.420371743 meters 0.049729557519206456 Centerline is valid? [True, True] Translation: X:372.54, Y:-23.10, Z:-5.02 [[ 9.98791095e-01 -4.80145208e-02 -1.05335130e-02 3.72543130e+02] [ 4.80240607e-02 9.98845965e-01 6.54470513e-04 -2.31036819e+01] [ 1.04899329e-02 -1.15954139e-03 9.99944307e-01 -5.01794273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.450371743 meters 0.05153537308798658 Centerline is valid? [True, True] Translation: X:372.57, Y:-23.11, Z:-5.02 [[ 9.98754817e-01 -4.87201362e-02 -1.07314336e-02 3.72574258e+02] [ 4.87300906e-02 9.98811760e-01 6.67910720e-04 -2.31067246e+01] [ 1.06861414e-02 -1.19002278e-03 9.99942193e-01 -5.01901152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.480371743 meters 0.05151168111300543 Centerline is valid? [True, True] Translation: X:372.61, Y:-23.11, Z:-5.02 [[ 9.98673149e-01 -5.04930688e-02 -1.01188350e-02 3.72605322e+02] [ 5.05020059e-02 9.98723761e-01 6.29486303e-04 -2.31063430e+01] [ 1.00741363e-02 -1.13967254e-03 9.99948605e-01 -5.01715944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.510371743 meters 0.05553627433527316 Centerline is valid? [True, True] Translation: X:372.64, Y:-23.11, Z:-5.02 [[ 9.98567027e-01 -5.25524680e-02 -1.01059313e-02 3.72635266e+02] [ 5.25614837e-02 9.98617492e-01 6.28408499e-04 -2.31125733e+01] [ 1.00589354e-02 -1.15869075e-03 9.99948736e-01 -5.01769788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.540371743 meters 0.05235854673819999 Centerline is valid? [True, True] Translation: X:372.67, Y:-23.11, Z:-5.02 [[ 9.98449666e-01 -5.45894772e-02 -1.08744179e-02 3.72666634e+02] [ 5.46000369e-02 9.98508076e-01 6.76338309e-04 -2.31085147e+01] [ 1.08212731e-02 -1.26903338e-03 9.99940643e-01 -5.01615999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.570371743 meters 0.05512806609088115 Centerline is valid? [True, True] Translation: X:372.70, Y:-23.11, Z:-5.02 [[ 9.98210019e-01 -5.85820854e-02 -1.20373694e-02 3.72695778e+02] [ 5.85953036e-02 9.98281539e-01 7.48069449e-04 -2.31129964e+01] [ 1.19728602e-02 -1.45206373e-03 9.99927268e-01 -5.01730418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.600371743 meters 0.055498887808272536 Centerline is valid? [True, True] Translation: X:372.73, Y:-23.11, Z:-5.02 [[ 9.97987765e-01 -6.20681303e-02 -1.29602163e-02 3.72726778e+02] [ 6.20837594e-02 9.98070617e-01 8.06713628e-04 -2.31143678e+01] [ 1.28851398e-02 -1.60970928e-03 9.99915687e-01 -5.01737849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.630371743 meters 0.05546919008483872 Centerline is valid? [True, True] Translation: X:372.76, Y:-23.12, Z:-5.02 [[ 9.97914934e-01 -6.31637588e-02 -1.32711727e-02 3.72757938e+02] [ 6.31802492e-02 9.98001790e-01 8.26591516e-04 -2.31152217e+01] [ 1.31924434e-02 -1.66334401e-03 9.99911592e-01 -5.01782192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.660371743 meters 0.055980969172736594 Centerline is valid? [True, True] Translation: X:372.79, Y:-23.12, Z:-5.02 [[ 9.97869675e-01 -6.38809597e-02 -1.32413745e-02 3.72789943e+02] [ 6.38974588e-02 9.97956127e-01 8.26303088e-04 -2.31175664e+01] [ 1.31615257e-02 -1.67063297e-03 9.99911988e-01 -5.01824379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.690371743 meters 0.060754107577126445 Centerline is valid? [True, True] Translation: X:372.82, Y:-23.12, Z:-5.02 [[ 9.97938609e-01 -6.27709450e-02 -1.33544365e-02 3.72819667e+02] [ 6.27876566e-02 9.98026559e-01 8.35412028e-04 -2.31236976e+01] [ 1.32756427e-02 -1.67218369e-03 9.99910477e-01 -5.01902480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.720371743 meters 0.060754107577126445 Centerline is valid? [True, True] Translation: X:372.85, Y:-23.13, Z:-5.02 [[ 9.97945691e-01 -6.26582802e-02 -1.33543436e-02 3.72852396e+02] [ 6.26750014e-02 9.98033639e-01 8.36896792e-04 -2.31258342e+01] [ 1.32756456e-02 -1.67216105e-03 9.99910477e-01 -5.01948508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.750371743 meters 0.06242614173853546 Centerline is valid? [True, True] Translation: X:372.88, Y:-23.13, Z:-5.02 [[ 9.97881601e-01 -6.37253683e-02 -1.30915299e-02 3.72882565e+02] [ 6.37415144e-02 9.97966106e-01 8.19374441e-04 -2.31299738e+01] [ 1.30126881e-02 -1.65211262e-03 9.99913967e-01 -5.02097003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.780371743 meters 0.05799356530155247 Centerline is valid? [True, True] Translation: X:372.91, Y:-23.12, Z:-5.02 [[ 9.97947157e-01 -6.27008032e-02 -1.30415420e-02 3.72914506e+02] [ 6.27167502e-02 9.98031032e-01 8.17020731e-04 -2.31235247e+01] [ 1.29646357e-02 -1.63326664e-03 9.99914622e-01 -5.01996886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.810371743 meters 0.06140102625817428 Centerline is valid? [True, True] Translation: X:372.94, Y:-23.13, Z:-5.02 [[ 9.98036151e-01 -6.12181809e-02 -1.32730808e-02 3.72944436e+02] [ 6.12346037e-02 9.98123052e-01 8.34067790e-04 -2.31297127e+01] [ 1.31971078e-02 -1.64520165e-03 9.99911561e-01 -5.02104937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.840371743 meters 0.06128687225393673 Centerline is valid? [True, True] Translation: X:372.98, Y:-23.13, Z:-5.02 [[ 9.98137459e-01 -5.95553275e-02 -1.32202535e-02 3.72975023e+02] [ 5.95714620e-02 9.98223699e-01 8.29670109e-04 -2.31308341e+01] [ 1.31473591e-02 -1.61567465e-03 9.99912264e-01 -5.02125016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.870371743 meters 0.059413324063609524 Centerline is valid? [True, True] Translation: X:373.01, Y:-23.13, Z:-5.02 [[ 9.98397439e-01 -5.51007027e-02 -1.29021652e-02 3.73005600e+02] [ 5.51157029e-02 9.98479646e-01 8.09664305e-04 -2.31276997e+01] [ 1.28379363e-02 -1.51947867e-03 9.99916436e-01 -5.02085578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.900371743 meters 0.05638795435698731 Centerline is valid? [True, True] Translation: X:373.04, Y:-23.12, Z:-5.02 [[ 9.98531824e-01 -5.26424971e-02 -1.27657376e-02 3.73036151e+02] [ 5.26569840e-02 9.98612337e-01 8.01139513e-04 -2.31237252e+01] [ 1.27058491e-02 -1.47216854e-03 9.99918194e-01 -5.02093513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.930371743 meters 0.05627496150913584 Centerline is valid? [True, True] Translation: X:373.07, Y:-23.12, Z:-5.02 [[ 9.98873838e-01 -4.57368877e-02 -1.26171997e-02 3.73066142e+02] [ 4.57504924e-02 9.98952584e-01 7.91595912e-04 -2.31232780e+01] [ 1.25677791e-02 -1.36794755e-03 9.99920087e-01 -5.02225487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.960371743 meters 0.0550709980270561 Centerline is valid? [True, True] Translation: X:373.10, Y:-23.12, Z:-5.02 [[ 9.99220844e-01 -3.73779796e-02 -1.26724669e-02 3.73095468e+02] [ 3.73910335e-02 9.99300395e-01 7.94655037e-04 -2.31207863e+01] [ 1.26338986e-02 -1.26787251e-03 9.99919385e-01 -5.02362296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.990371743 meters 0.05325461621630144 Centerline is valid? [True, True] Translation: X:373.13, Y:-23.12, Z:-5.02 [[ 9.99367412e-01 -3.31780196e-02 -1.28060420e-02 3.73125911e+02] [ 3.31910113e-02 9.99448704e-01 8.03247922e-04 -2.31188487e+01] [ 1.27723319e-02 -1.22778528e-03 9.99917677e-01 -5.02365125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.020371743 meters 0.04581092765681986 Centerline is valid? [True, True] Translation: X:373.16, Y:-23.11, Z:-5.02 [[ 9.99611569e-01 -2.46324757e-02 -1.30365818e-02 3.73157151e+02] [ 2.46452169e-02 9.99695926e-01 8.17569486e-04 -2.31067088e+01] [ 1.30124790e-02 -1.13854130e-03 9.99914686e-01 -5.02172457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.050371743 meters 0.042922688241938414 Centerline is valid? [True, True] Translation: X:373.19, Y:-23.10, Z:-5.02 [[ 9.99718433e-01 -1.99086206e-02 -1.29113331e-02 3.73188349e+02] [ 1.99207316e-02 9.99801234e-01 8.10072976e-04 -2.31030756e+01] [ 1.28926393e-02 -1.06704809e-03 9.99916317e-01 -5.02072075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.080371743 meters 0.04274769571538057 Centerline is valid? [True, True] Translation: X:373.22, Y:-23.10, Z:-5.02 [[ 9.99861304e-01 -1.09575990e-02 -1.25421057e-02 3.73217626e+02] [ 1.09683184e-02 9.99939537e-01 7.86204565e-04 -2.31023068e+01] [ 1.25327324e-02 -9.23661330e-04 9.99921036e-01 -5.02186569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11037174300003 meters 0.03759496225845065 Centerline is valid? [True, True] Translation: X:373.25, Y:-23.09, Z:-5.02 [[ 9.99893761e-01 -7.30831454e-03 -1.26116729e-02 3.73248474e+02] [ 7.31886540e-03 9.99972904e-01 7.90644066e-04 -2.30943599e+01] [ 1.26055529e-02 -8.82863205e-04 9.99920157e-01 -5.01966129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.140371743 meters 0.037222760497016796 Centerline is valid? [True, True] Translation: X:373.28, Y:-23.09, Z:-5.02 [[ 9.99929178e-01 7.95894949e-04 -1.18745836e-02 3.73278332e+02] [-7.87115871e-04 9.99999413e-01 7.43971849e-04 -2.30944011e+01] [ 1.18751687e-02 -7.34572487e-04 9.99929218e-01 -5.02112465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.170371743 meters 0.0349273045686061 Centerline is valid? [True, True] Translation: X:373.31, Y:-23.09, Z:-5.02 [[ 9.99929135e-01 4.10252341e-03 -1.11756514e-02 3.73308307e+02] [-4.09495517e-03 9.99991371e-01 7.00006596e-04 -2.30914311e+01] [ 1.11784268e-02 -6.54193198e-04 9.99937305e-01 -5.02069550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.200371743 meters 0.032779518307229846 Centerline is valid? [True, True] Translation: X:373.34, Y:-23.09, Z:-5.02 [[ 9.99879495e-01 1.02441761e-02 -1.16641119e-02 3.73339352e+02] [-1.02363462e-02 9.99947340e-01 7.30785705e-04 -2.30878466e+01] [ 1.16709839e-02 -6.11299756e-04 9.99931705e-01 -5.01991350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.230371743 meters 0.03354265415684783 Centerline is valid? [True, True] Translation: X:373.37, Y:-23.09, Z:-5.02 [[ 9.99855396e-01 1.27559962e-02 -1.12459783e-02 3.73367604e+02] [-1.27488915e-02 9.99918482e-01 7.03219003e-04 -2.30908600e+01] [ 1.12540319e-02 -5.59743556e-04 9.99936515e-01 -5.02180962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.260371743 meters 0.03174656043933901 Centerline is valid? [True, True] Translation: X:373.40, Y:-23.09, Z:-5.02 [[ 9.99819720e-01 1.52549890e-02 -1.13054095e-02 3.73396926e+02] [-1.52479754e-02 9.99883493e-01 7.06318633e-04 -2.30890305e+01] [ 1.13148673e-02 -5.33806691e-04 9.99935842e-01 -5.02055841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.290371743 meters 0.03152801660889319 Centerline is valid? [True, True] Translation: X:373.43, Y:-23.09, Z:-5.02 [[ 9.99765044e-01 1.88970958e-02 -1.06186653e-02 3.73425316e+02] [-1.88911203e-02 9.99821327e-01 6.62769796e-04 -2.30915711e+01] [ 1.06292924e-02 -4.62015592e-04 9.99943401e-01 -5.02120880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.320371743 meters 0.03078368306716136 Centerline is valid? [True, True] Translation: X:373.45, Y:-23.09, Z:-5.02 [[ 9.99737041e-01 2.05800798e-02 -1.01148095e-02 3.73454330e+02] [-2.05747545e-02 9.99788119e-01 6.30265703e-04 -2.30931166e+01] [ 1.01256372e-02 -4.21990247e-04 9.99948645e-01 -5.02109536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.350371743 meters 0.030796751352374554 Centerline is valid? [True, True] Translation: X:373.48, Y:-23.10, Z:-5.02 [[ 9.99686155e-01 2.33238089e-02 -9.14284956e-03 3.73483129e+02] [-2.33195717e-02 9.99727899e-01 5.69790733e-04 -2.30973409e+01] [ 9.15365148e-03 -3.56404571e-04 9.99958041e-01 -5.02243020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380371743 meters 0.03017094832780007 Centerline is valid? [True, True] Translation: X:373.51, Y:-23.10, Z:-5.02 [[ 9.99643842e-01 2.50560660e-02 -9.18596142e-03 3.73512237e+02] [-2.50518729e-02 9.99685989e-01 5.71272683e-04 -2.30986757e+01] [ 9.19739078e-03 -3.40943682e-04 9.99957645e-01 -5.02244686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.410371743 meters 0.030215750406043768 Centerline is valid? [True, True] Translation: X:373.54, Y:-23.10, Z:-5.02 [[ 9.99625612e-01 2.57411919e-02 -9.27507380e-03 3.73540485e+02] [-2.57369526e-02 9.99668584e-01 5.76148678e-04 -2.31021736e+01] [ 9.28683064e-03 -3.37220840e-04 9.99956820e-01 -5.02332752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440371743 meters 0.031369470392427205 Centerline is valid? [True, True] Translation: X:373.57, Y:-23.11, Z:-5.03 [[ 9.99593342e-01 2.69972219e-02 -9.18153668e-03 3.73568437e+02] [-2.69931268e-02 9.99635457e-01 5.69664620e-04 -2.31083697e+01] [ 9.19356897e-03 -3.21594577e-04 9.99957687e-01 -5.02590801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.470371743 meters 0.030360053908689705 Centerline is valid? [True, True] Translation: X:373.60, Y:-23.11, Z:-5.03 [[ 9.99613834e-01 2.62990229e-02 -8.97459917e-03 3.73597336e+02] [-2.62950883e-02 9.99654070e-01 5.56145651e-04 -2.31108490e+01] [ 8.98612067e-03 -3.19943009e-04 9.99959573e-01 -5.02609524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500371743 meters 0.030559790958490627 Centerline is valid? [True, True] Translation: X:373.63, Y:-23.11, Z:-5.03 [[ 9.99613768e-01 2.63628344e-02 -8.79296948e-03 3.73626366e+02] [-2.63590658e-02 9.99652391e-01 5.44232256e-04 -2.31149325e+01] [ 8.80426047e-03 -3.12247596e-04 9.99961193e-01 -5.02712992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.530371743 meters 0.031078342658367886 Centerline is valid? [True, True] Translation: X:373.65, Y:-23.12, Z:-5.03 [[ 9.99644813e-01 2.52994809e-02 -8.37759036e-03 3.73654073e+02] [-2.52960315e-02 9.99679870e-01 5.17473508e-04 -2.31226110e+01] [ 8.38800025e-03 -3.05369919e-04 9.99964773e-01 -5.02878753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560371743 meters 0.03157305071267004 Centerline is valid? [True, True] Translation: X:373.68, Y:-23.13, Z:-5.03 [[ 9.99674017e-01 2.43267773e-02 -7.75032256e-03 3.73682828e+02] [-2.43237988e-02 9.99704018e-01 4.78351260e-04 -2.31269060e+01] [ 7.75966535e-03 -2.89678039e-04 9.99969851e-01 -5.02961442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.590371743 meters 0.031425414458640534 Centerline is valid? [True, True] Translation: X:373.71, Y:-23.13, Z:-5.03 [[ 9.99736974e-01 2.17749239e-02 -7.19974838e-03 3.73711853e+02] [-2.17722891e-02 9.99762857e-01 4.44142053e-04 -2.31325651e+01] [ 7.20771217e-03 -2.87270229e-04 9.99973983e-01 -5.02903557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620371743 meters 0.03313138597493049 Centerline is valid? [True, True] Translation: X:373.74, Y:-23.14, Z:-5.03 [[ 9.99782543e-01 1.96181535e-02 -7.07073933e-03 3.73739259e+02] [-1.96155710e-02 9.99807502e-01 4.34421829e-04 -2.31396799e+01] [ 7.07790077e-03 -2.95630772e-04 9.99974908e-01 -5.03142881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.650371743 meters 0.033155548999123645 Centerline is valid? [True, True] Translation: X:373.77, Y:-23.14, Z:-5.03 [[ 9.99824906e-01 1.73526164e-02 -7.00321632e-03 3.73768465e+02] [-1.73500211e-02 9.99849384e-01 4.31173667e-04 -2.31433116e+01] [ 7.00964351e-03 -3.09592220e-04 9.99975384e-01 -5.03164292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680371743 meters 0.03345375181770605 Centerline is valid? [True, True] Translation: X:373.80, Y:-23.15, Z:-5.03 [[ 9.99901217e-01 1.21884800e-02 -6.99982318e-03 3.73798495e+02] [-1.21857601e-02 9.99925658e-01 4.31087553e-04 -2.31511385e+01] [ 7.00455710e-03 -3.45746803e-04 9.99975408e-01 -5.03230455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.710371743 meters 0.03461559617906566 Centerline is valid? [True, True] Translation: X:373.83, Y:-23.16, Z:-5.03 [[ 9.99954793e-01 6.31821630e-03 -7.10582135e-03 3.73828366e+02] [-6.31526391e-03 9.99979963e-01 4.37850706e-04 -2.31591461e+01] [ 7.10844541e-03 -3.92955775e-04 9.99974657e-01 -5.03248538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740371743 meters 0.03613245836214384 Centerline is valid? [True, True] Translation: X:373.86, Y:-23.17, Z:-5.03 [[ 9.99967049e-01 3.02929620e-03 -7.53157526e-03 3.73857154e+02] [-3.02589225e-03 9.99995315e-01 4.63310222e-04 -2.31661178e+01] [ 7.53294348e-03 -4.40505220e-04 9.99971530e-01 -5.03314952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.770371743 meters 0.03759383883011702 Centerline is valid? [True, True] Translation: X:373.89, Y:-23.17, Z:-5.03 [[ 9.99967152e-01 -3.00665511e-03 -7.52696274e-03 3.73887300e+02] [ 3.01022922e-03 9.99995362e-01 4.63557617e-04 -2.31739373e+01] [ 7.52553407e-03 -4.86200274e-04 9.99971565e-01 -5.03405572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800371743 meters 0.03973866612373878 Centerline is valid? [True, True] Translation: X:373.92, Y:-23.18, Z:-5.04 [[ 9.99955793e-01 -5.71637770e-03 -7.46557210e-03 3.73916250e+02] [ 5.71996592e-03 9.99983535e-01 4.59372390e-04 -2.31825213e+01] [ 7.46282324e-03 -5.02054901e-04 9.99972027e-01 -5.03525373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.830371743 meters 0.041609882416614875 Centerline is valid? [True, True] Translation: X:373.95, Y:-23.19, Z:-5.04 [[ 9.99907995e-01 -1.16483586e-02 -6.95106114e-03 3.73946152e+02] [ 1.16516139e-02 9.99932026e-01 4.27995532e-04 -2.31915304e+01] [ 6.94560320e-03 -5.08947235e-04 9.99975749e-01 -5.03576281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86037174300003 meters 0.04337955459376218 Centerline is valid? [True, True] Translation: X:373.98, Y:-23.20, Z:-5.04 [[ 9.99877846e-01 -1.43431072e-02 -6.21030126e-03 3.73975508e+02] [ 1.43457644e-02 9.99897021e-01 3.83534034e-04 -2.31977029e+01] [ 6.20416066e-03 -4.72578703e-04 9.99980642e-01 -5.03608107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.890371743 meters 0.04566662094940778 Centerline is valid? [True, True] Translation: X:374.01, Y:-23.20, Z:-5.04 [[ 9.99788612e-01 -1.95880260e-02 -6.24821867e-03 3.74005907e+02] [ 1.95908171e-02 9.99808007e-01 3.85805572e-04 -2.32043644e+01] [ 6.23946188e-03 -5.08131727e-04 9.99980405e-01 -5.03603551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.920371743 meters 0.04659817800809479 Centerline is valid? [True, True] Translation: X:374.04, Y:-23.21, Z:-5.04 [[ 9.99754322e-01 -2.13965055e-02 -5.78665984e-03 3.74036749e+02] [ 2.13989288e-02 9.99770953e-01 3.57180520e-04 -2.32088758e+01] [ 5.77769200e-03 -4.80921091e-04 9.99983193e-01 -5.03604246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.950371743 meters 0.049103526792491026 Centerline is valid? [True, True] Translation: X:374.07, Y:-23.22, Z:-5.04 [[ 9.99643667e-01 -2.61835367e-02 -5.19241106e-03 3.74067806e+02] [ 2.61855537e-02 9.99657048e-01 3.20840626e-04 -2.32162001e+01] [ 5.18222957e-03 -4.56692459e-04 9.99986468e-01 -5.03701778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.980371743 meters 0.04661936821105129 Centerline is valid? [True, True] Translation: X:374.10, Y:-23.21, Z:-5.04 [[ 9.99587976e-01 -2.81765908e-02 -5.47337746e-03 3.74098702e+02] [ 2.81788612e-02 9.99602840e-01 3.38125587e-04 -2.32146191e+01] [ 5.46167643e-03 -4.92219815e-04 9.99984964e-01 -5.03601922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.010371743 meters 0.04979068820178098 Centerline is valid? [True, True] Translation: X:374.13, Y:-23.22, Z:-5.04 [[ 9.99475986e-01 -3.18316922e-02 -5.87342598e-03 3.74127989e+02] [ 3.18343659e-02 9.99493092e-01 3.62262977e-04 -2.32214966e+01] [ 5.85891725e-03 -5.49049938e-04 9.99982686e-01 -5.03698812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.040371743 meters 0.05094642468306839 Centerline is valid? [True, True] Translation: X:374.16, Y:-23.22, Z:-5.04 [[ 9.99405369e-01 -3.40511759e-02 -5.42451175e-03 3.74158573e+02] [ 3.40534918e-02 9.99419955e-01 3.35121024e-04 -2.32247173e+01] [ 5.40995402e-03 -5.19645317e-04 9.99985231e-01 -5.03753355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.070371743 meters 0.04633145598538089 Centerline is valid? [True, True] Translation: X:374.19, Y:-23.22, Z:-5.04 [[ 9.99296825e-01 -3.70646345e-02 -5.66288879e-03 3.74190009e+02] [ 3.70672052e-02 9.99312714e-01 3.49649320e-04 -2.32185400e+01] [ 5.64603714e-03 -5.59310916e-04 9.99983905e-01 -5.03615499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.100371743 meters 0.05700747511309986 Centerline is valid? [True, True] Translation: X:374.22, Y:-23.24, Z:-5.04 [[ 9.99244953e-01 -3.84557496e-02 -5.53880191e-03 3.74219380e+02] [ 3.84582319e-02 9.99260150e-01 3.42311803e-04 -2.32364593e+01] [ 5.52154017e-03 -5.55065870e-04 9.99984602e-01 -5.03939229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.130371743 meters 0.04759802172513055 Centerline is valid? [True, True] Translation: X:374.25, Y:-23.22, Z:-5.04 [[ 9.99197264e-01 -3.96149854e-02 -5.95654616e-03 3.74251058e+02] [ 3.96178772e-02 9.99214836e-01 3.68223620e-04 -2.32235338e+01] [ 5.93728212e-03 -6.03913748e-04 9.99982192e-01 -5.03727238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.160371743 meters 0.04825703687356413 Centerline is valid? [True, True] Translation: X:374.28, Y:-23.23, Z:-5.04 [[ 9.99115084e-01 -4.15320759e-02 -6.64347460e-03 3.74282467e+02] [ 4.15357183e-02 9.99136935e-01 4.11175852e-04 -2.32251384e+01] [ 6.62066386e-03 -6.86753485e-04 9.99977847e-01 -5.03815386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.190371743 meters 0.04764347517660656 Centerline is valid? [True, True] Translation: X:374.31, Y:-23.23, Z:-5.04 [[ 9.99112231e-01 -4.15351575e-02 -7.04141278e-03 3.74314591e+02] [ 4.15392567e-02 9.99136777e-01 4.36854366e-04 -2.32259104e+01] [ 7.01718965e-03 -7.28961593e-04 9.99975114e-01 -5.03800847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.220371743 meters 0.047695201265879096 Centerline is valid? [True, True] Translation: X:374.35, Y:-23.23, Z:-5.04 [[ 9.99105287e-01 -4.17730173e-02 -6.60612791e-03 3.74347235e+02] [ 4.17766343e-02 9.99126891e-01 4.10422336e-04 -2.32257502e+01] [ 6.58321546e-03 -6.86036916e-04 9.99978095e-01 -5.03846305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.250371743 meters 0.04942574301252477 Centerline is valid? [True, True] Translation: X:374.38, Y:-23.23, Z:-5.04 [[ 9.99134077e-01 -4.10481231e-02 -6.79328512e-03 3.74378035e+02] [ 4.10519319e-02 9.99156925e-01 4.22132959e-04 -2.32287333e+01] [ 6.77023011e-03 -7.00644902e-04 9.99976836e-01 -5.03931869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.280371743 meters 0.05367583425024457 Centerline is valid? [True, True] Translation: X:374.41, Y:-23.23, Z:-5.04 [[ 9.99227865e-01 -3.87443400e-02 -6.52296485e-03 3.74407644e+02] [ 3.87477982e-02 9.99248940e-01 4.04567133e-04 -2.32341013e+01] [ 6.50239103e-03 -6.57005279e-04 9.99978643e-01 -5.04106029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.310371743 meters 0.053950354870762024 Centerline is valid? [True, True] Translation: X:374.44, Y:-23.24, Z:-5.04 [[ 9.99266258e-01 -3.77115724e-02 -6.69203602e-03 3.74437999e+02] [ 3.77151917e-02 9.99288443e-01 4.15428396e-04 -2.32355430e+01] [ 6.67160780e-03 -6.67515000e-04 9.99977522e-01 -5.04188074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.340371743 meters 0.04672183579596463 Centerline is valid? [True, True] Translation: X:374.47, Y:-23.22, Z:-5.04 [[ 9.99365414e-01 -3.49019448e-02 -7.11502814e-03 3.74469299e+02] [ 3.49059649e-02 9.99390504e-01 4.41590439e-04 -2.32233324e+01] [ 7.09527919e-03 -6.89667134e-04 9.99974590e-01 -5.04036794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.370371743 meters 0.04597864735798135 Centerline is valid? [True, True] Translation: X:374.50, Y:-23.22, Z:-5.04 [[ 9.99410772e-01 -3.33989265e-02 -7.91331274e-03 3.74500526e+02] [ 3.34038583e-02 9.99441814e-01 4.91840110e-04 -2.32221922e+01] [ 7.89246871e-03 -7.55885482e-04 9.99968568e-01 -5.04056428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.400371743 meters 0.04801768717683021 Centerline is valid? [True, True] Translation: X:374.53, Y:-23.22, Z:-5.04 [[ 9.99535339e-01 -2.94565515e-02 -7.83696969e-03 3.74529974e+02] [ 2.94612610e-02 9.99565805e-01 4.86137690e-04 -2.32236490e+01] [ 7.81924697e-03 -7.16798810e-04 9.99969172e-01 -5.04176265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.430371743 meters 0.04299662490747932 Centerline is valid? [True, True] Translation: X:374.56, Y:-23.22, Z:-5.04 [[ 9.99604059e-01 -2.70991395e-02 -7.57372683e-03 3.74561701e+02] [ 2.71034759e-02 9.99632523e-01 4.70483527e-04 -2.32159136e+01] [ 7.55819396e-03 -6.75571566e-04 9.99971208e-01 -5.03995640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.460371743 meters 0.04752225072702979 Centerline is valid? [True, True] Translation: X:374.59, Y:-23.22, Z:-5.04 [[ 9.99763223e-01 -2.06099899e-02 -6.98038194e-03 3.74590799e+02] [ 2.06135124e-02 9.99787425e-01 4.33048647e-04 -2.32192996e+01] [ 6.96997296e-03 -5.76836301e-04 9.99975543e-01 -5.04064017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.490371743 meters 0.04302489655134485 Centerline is valid? [True, True] Translation: X:374.62, Y:-23.21, Z:-5.04 [[ 9.99781206e-01 -1.95273551e-02 -7.49820849e-03 3.74623274e+02] [ 1.95314030e-02 9.99809135e-01 4.66995279e-04 -2.32124288e+01] [ 7.48765816e-03 -6.13343635e-04 9.99971779e-01 -5.03985028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.520371743 meters 0.041946788283180075 Centerline is valid? [True, True] Translation: X:374.65, Y:-23.21, Z:-5.04 [[ 9.99819559e-01 -1.71488219e-02 -8.17107624e-03 3.74654679e+02] [ 1.71535441e-02 9.99852738e-01 5.08187310e-04 -2.32091365e+01] [ 8.16115813e-03 -6.48258529e-04 9.99966487e-01 -5.04012729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.550371743 meters 0.060697792391690486 Centerline is valid? [True, True] Translation: X:374.68, Y:-23.24, Z:-5.05 [[ 9.99958503e-01 -7.72441328e-03 -4.82966478e-03 3.74682811e+02] [ 7.72595411e-03 9.99970109e-01 3.00457735e-04 -2.32350262e+01] [ 4.82719956e-03 -3.37759035e-04 9.99988292e-01 -5.04745074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.580371743 meters 0.03905422613728534 Centerline is valid? [True, True] Translation: X:374.72, Y:-23.20, Z:-5.04 [[ 9.99932422e-01 -7.97888643e-03 -8.45515434e-03 3.74716275e+02] [ 7.98361886e-03 9.99967992e-01 5.26103801e-04 -2.31977101e+01] [ 8.45068599e-03 -5.93570978e-04 9.99964116e-01 -5.03958407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61037174300003 meters 0.03790556777097274 Centerline is valid? [True, True] Translation: X:374.75, Y:-23.19, Z:-5.04 [[ 9.99941171e-01 -6.98403739e-03 -8.29927805e-03 3.74747476e+02] [ 6.98856416e-03 9.99975446e-01 5.16565891e-04 -2.31944215e+01] [ 8.29546655e-03 -5.74535539e-04 9.99965427e-01 -5.03907887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.640371743 meters 0.03790556777097274 Centerline is valid? [True, True] Translation: X:374.78, Y:-23.20, Z:-5.04 [[ 9.99941171e-01 -6.98403375e-03 -8.29929409e-03 3.74777495e+02] [ 6.98855839e-03 9.99975446e-01 5.16308046e-04 -2.31962889e+01] [ 8.29548440e-03 -5.74277773e-04 9.99965427e-01 -5.03950122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.670371743 meters 0.036529663513174174 Centerline is valid? [True, True] Translation: X:374.81, Y:-23.19, Z:-5.04 [[ 9.99959233e-01 -5.72456793e-03 -6.98301793e-03 3.74808932e+02] [ 5.72774330e-03 9.99983502e-01 4.34813507e-04 -2.31911285e+01] [ 6.98041360e-03 -4.74792715e-04 9.99975524e-01 -5.03843543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.700371743 meters 0.037302762882422444 Centerline is valid? [True, True] Translation: X:374.84, Y:-23.19, Z:-5.04 [[ 9.99956686e-01 -5.94844764e-03 -7.15834462e-03 3.74838915e+02] [ 5.95179731e-03 9.99982188e-01 4.46726738e-04 -2.31920713e+01] [ 7.15555978e-03 -4.89312404e-04 9.99974279e-01 -5.03878781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.730371743 meters 0.038853247585116324 Centerline is valid? [True, True] Translation: X:374.87, Y:-23.19, Z:-5.04 [[ 9.99950070e-01 -6.46624544e-03 -7.61874805e-03 3.74869240e+02] [ 6.47005105e-03 9.99978956e-01 4.74963802e-04 -2.31936339e+01] [ 7.61551649e-03 -5.24233776e-04 9.99970864e-01 -5.03955447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.760371743 meters 0.03931787387846096 Centerline is valid? [True, True] Translation: X:374.90, Y:-23.19, Z:-5.04 [[ 9.99925713e-01 -9.22805279e-03 -7.96307701e-03 3.74899970e+02] [ 9.23229837e-03 9.99957258e-01 4.96562589e-04 -2.31921451e+01] [ 7.95815435e-03 -5.70043204e-04 9.99968171e-01 -5.03953880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.790371743 meters 0.04056198442660657 Centerline is valid? [True, True] Translation: X:374.93, Y:-23.19, Z:-5.04 [[ 9.99911063e-01 -1.08168358e-02 -7.80141469e-03 3.74931503e+02] [ 1.08209631e-02 9.99941333e-01 4.87021597e-04 -2.31944075e+01] [ 7.79568897e-03 -5.71397103e-04 9.99969450e-01 -5.04008792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.820371743 meters 0.043263362536867266 Centerline is valid? [True, True] Translation: X:374.96, Y:-23.20, Z:-5.04 [[ 9.99861332e-01 -1.51322953e-02 -6.95195608e-03 3.74960911e+02] [ 1.51356711e-02 9.99885355e-01 4.33228653e-04 -2.31972781e+01] [ 6.94460333e-03 -5.38391098e-04 9.99975741e-01 -5.03997931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.850371743 meters 0.042737852463359635 Centerline is valid? [True, True] Translation: X:374.99, Y:-23.20, Z:-5.04 [[ 9.99818743e-01 -1.78550430e-02 -6.60898348e-03 3.74992104e+02] [ 1.78581568e-02 9.99840445e-01 4.12429435e-04 -2.31962085e+01] [ 6.60056505e-03 -5.30378943e-04 9.99978075e-01 -5.03937055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880371743 meters 0.044551886500119695 Centerline is valid? [True, True] Translation: X:375.02, Y:-23.20, Z:-5.04 [[ 9.99736864e-01 -2.21319158e-02 -6.03160307e-03 3.75022284e+02] [ 2.21345856e-02 9.99754929e-01 3.76227428e-04 -2.31984154e+01] [ 6.02179827e-03 -5.09635463e-04 9.99981739e-01 -5.03929398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.910371743 meters 0.04465002130128621 Centerline is valid? [True, True] Translation: X:375.05, Y:-23.20, Z:-5.04 [[ 9.99650796e-01 -2.56540979e-02 -6.33664528e-03 3.75052852e+02] [ 2.56571149e-02 9.99670724e-01 3.95272672e-04 -2.31973539e+01] [ 6.32441841e-03 -5.57714677e-04 9.99979845e-01 -5.04001148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940371743 meters 0.048558200853321284 Centerline is valid? [True, True] Translation: X:375.08, Y:-23.20, Z:-5.04 [[ 9.99627944e-01 -2.64220604e-02 -6.77118093e-03 3.75083382e+02] [ 2.64255405e-02 9.99650694e-01 4.24994942e-04 -2.32037155e+01] [ 6.75758648e-03 -6.03768936e-04 9.99976985e-01 -5.04183986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.970371743 meters 0.0415834544603093 Centerline is valid? [True, True] Translation: X:375.12, Y:-23.19, Z:-5.04 [[ 9.99616577e-01 -2.67968894e-02 -6.97320604e-03 3.75115826e+02] [ 2.68005849e-02 9.99640704e-01 4.37033288e-04 -2.31926989e+01] [ 6.95898947e-03 -6.23751720e-04 9.99975591e-01 -5.03994208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000371743 meters 0.043971696991254756 Centerline is valid? [True, True] Translation: X:375.15, Y:-23.19, Z:-5.04 [[ 9.99620741e-01 -2.66659856e-02 -6.87745054e-03 3.75147413e+02] [ 2.66695799e-02 9.99644210e-01 4.31427796e-04 -2.31942704e+01] [ 6.86349917e-03 -6.14682889e-04 9.99976257e-01 -5.04129098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.030371743 meters 0.04472090954749875 Centerline is valid? [True, True] Translation: X:375.18, Y:-23.20, Z:-5.04 [[ 9.99653728e-01 -2.54978576e-02 -6.50263750e-03 3.75177928e+02] [ 2.55010560e-02 9.99674711e-01 4.09416651e-04 -2.31953920e+01] [ 6.49008301e-03 -5.75099004e-04 9.99978774e-01 -5.04196660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060371743 meters 0.04239521504867276 Centerline is valid? [True, True] Translation: X:375.21, Y:-23.19, Z:-5.04 [[ 9.99735868e-01 -2.22097334e-02 -5.90941827e-03 3.75208569e+02] [ 2.22123101e-02 9.99753207e-01 3.70756385e-04 -2.31893272e+01] [ 5.89972547e-03 -5.01920288e-04 9.99982471e-01 -5.04156263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.090371743 meters 0.04323527081970371 Centerline is valid? [True, True] Translation: X:375.24, Y:-23.19, Z:-5.04 [[ 9.99786389e-01 -1.98527276e-02 -5.74861128e-03 3.75238707e+02] [ 1.98551269e-02 9.99802803e-01 3.60605459e-04 -2.31901782e+01] [ 5.74031866e-03 -4.74667836e-04 9.99983412e-01 -5.04202643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120371743 meters 0.041556127836383 Centerline is valid? [True, True] Translation: X:375.27, Y:-23.18, Z:-5.04 [[ 9.99889888e-01 -1.38084308e-02 -5.43504394e-03 3.75268982e+02] [ 1.38104866e-02 9.99904573e-01 3.40894183e-04 -2.31848970e+01] [ 5.42981808e-03 -4.15917247e-04 9.99985172e-01 -5.04237549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.150371743 meters 0.036113259025964364 Centerline is valid? [True, True] Translation: X:375.30, Y:-23.17, Z:-5.04 [[ 9.99953562e-01 -7.43995736e-03 -6.12548663e-03 3.75300823e+02] [ 7.44245206e-03 9.99972231e-01 3.84572286e-04 -2.31733613e+01] [ 6.12245533e-03 -4.30143067e-04 9.99981165e-01 -5.04111174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180371743 meters 0.036878659745707615 Centerline is valid? [True, True] Translation: X:375.33, Y:-23.17, Z:-5.04 [[ 9.99976137e-01 -3.90286564e-03 -5.70033087e-03 3.75330627e+02] [ 3.90496743e-03 9.99992312e-01 3.57630753e-04 -2.31745560e+01] [ 5.69889126e-03 -3.79881825e-04 9.99983689e-01 -5.04224499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.210371743 meters 0.03853401725162229 Centerline is valid? [True, True] Translation: X:375.36, Y:-23.18, Z:-5.04 [[ 9.99983045e-01 -8.46006463e-04 -5.76150853e-03 3.75360677e+02] [ 8.48103213e-04 9.99999575e-01 3.61490412e-04 -2.31770989e+01] [ 5.76120025e-03 -3.66370637e-04 9.99983337e-01 -5.04391917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240371743 meters 0.03510465608398813 Centerline is valid? [True, True] Translation: X:375.39, Y:-23.17, Z:-5.04 [[ 9.99981465e-01 1.90802498e-03 -5.78180392e-03 3.75390920e+02] [-1.90596345e-03 9.99998118e-01 3.62043567e-04 -2.31705683e+01] [ 5.78248383e-03 -3.51016950e-04 9.99983220e-01 -5.04291875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.270371743 meters 0.033577208342798114 Centerline is valid? [True, True] Translation: X:375.42, Y:-23.17, Z:-5.04 [[ 9.99955280e-01 7.51410719e-03 -5.74256756e-03 3.75422188e+02] [-7.51216106e-03 9.99971718e-01 3.60389376e-04 -2.31659905e+01] [ 5.74511316e-03 -3.17234167e-04 9.99983446e-01 -5.04276538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300371743 meters 0.03286805765752713 Centerline is valid? [True, True] Translation: X:375.45, Y:-23.16, Z:-5.04 [[ 9.99916343e-01 1.17230087e-02 -5.46601773e-03 3.75451348e+02] [-1.17213131e-02 9.99931245e-01 3.42144010e-04 -2.31648621e+01] [ 5.46965287e-03 -2.78046482e-04 9.99985003e-01 -5.04359572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.330371743 meters 0.03184020392724662 Centerline is valid? [True, True] Translation: X:375.48, Y:-23.16, Z:-5.04 [[ 9.99901398e-01 1.28167870e-02 -5.73790653e-03 3.75480131e+02] [-1.28149418e-02 9.99917821e-01 3.58244387e-04 -2.31631975e+01] [ 5.74202654e-03 -2.84678126e-04 9.99983474e-01 -5.04359930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36037174300003 meters 0.031886454828318006 Centerline is valid? [True, True] Translation: X:375.51, Y:-23.16, Z:-5.04 [[ 9.99887223e-01 1.38947627e-02 -5.69893088e-03 3.75507525e+02] [-1.38929643e-02 9.99903425e-01 3.55045989e-04 -2.31646664e+01] [ 5.70331378e-03 -2.75830905e-04 9.99983698e-01 -5.04446950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.390371743 meters 0.031593070675173376 Centerline is valid? [True, True] Translation: X:375.54, Y:-23.17, Z:-5.05 [[ 9.99876775e-01 1.44790675e-02 -6.06557706e-03 3.75536028e+02] [-1.44770416e-02 9.99895131e-01 3.77782095e-04 -2.31655998e+01] [ 6.07041090e-03 -2.89923932e-04 9.99981533e-01 -5.04516504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.420371743 meters 0.03231972370365962 Centerline is valid? [True, True] Translation: X:375.56, Y:-23.17, Z:-5.05 [[ 9.99882982e-01 1.40999009e-02 -5.93428386e-03 3.75563831e+02] [-1.40979598e-02 9.99900551e-01 3.68805843e-04 -2.31689166e+01] [ 5.93889382e-03 -2.85101390e-04 9.99982324e-01 -5.04588642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.450371743 meters 0.03290704046977291 Centerline is valid? [True, True] Translation: X:375.59, Y:-23.17, Z:-5.05 [[ 9.99910044e-01 1.25307838e-02 -4.78370172e-03 3.75592400e+02] [-1.25295061e-02 9.99921459e-01 2.96979177e-04 -2.31732598e+01] [ 4.78704738e-03 -2.37015042e-04 9.99988514e-01 -5.04531986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.480371743 meters 0.03146195599623081 Centerline is valid? [True, True] Translation: X:375.62, Y:-23.17, Z:-5.04 [[ 9.99930723e-01 1.07504840e-02 -4.79340110e-03 3.75621708e+02] [-1.07491809e-02 9.99942182e-01 2.97533539e-04 -2.31730448e+01] [ 4.79632258e-03 -2.45987791e-04 9.99988467e-01 -5.04386892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.510371743 meters 0.03322686971922433 Centerline is valid? [True, True] Translation: X:375.65, Y:-23.18, Z:-5.04 [[ 9.99965551e-01 7.25094117e-03 -4.03980300e-03 3.75650403e+02] [-7.24998505e-03 9.99973687e-01 2.51269627e-04 -2.31822340e+01] [ 4.04151864e-03 -2.21972459e-04 9.99991808e-01 -5.04488800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.540371743 meters 0.03363842600856454 Centerline is valid? [True, True] Translation: X:375.68, Y:-23.19, Z:-5.05 [[ 9.99979592e-01 4.85330444e-03 -4.15456717e-03 3.75679536e+02] [-4.85227625e-03 9.99988194e-01 2.57526948e-04 -2.31864396e+01] [ 4.15576798e-03 -2.37362585e-04 9.99991337e-01 -5.04551380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.570371743 meters 0.03346835178789708 Centerline is valid? [True, True] Translation: X:375.71, Y:-23.19, Z:-5.05 [[ 9.99990949e-01 1.01408733e-03 -4.13203718e-03 3.75709580e+02] [-1.01303585e-03 9.99999454e-01 2.56554682e-04 -2.31915791e+01] [ 4.13229509e-03 -2.52366458e-04 9.99991430e-01 -5.04545894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.600371743 meters 0.035201348506187766 Centerline is valid? [True, True] Translation: X:375.74, Y:-23.20, Z:-5.05 [[ 9.99988747e-01 -6.84917927e-04 -4.69435492e-03 3.75738346e+02] [ 6.86291855e-04 9.99999722e-01 2.91072047e-04 -2.31988217e+01] [ 4.69415425e-03 -2.94290470e-04 9.99988939e-01 -5.04707365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.630371743 meters 0.03610913030847242 Centerline is valid? [True, True] Translation: X:375.77, Y:-23.21, Z:-5.05 [[ 9.99976279e-01 -4.23456786e-03 -5.43234892e-03 3.75767953e+02] [ 4.23646147e-03 9.99990969e-01 3.37120724e-04 -2.32070528e+01] [ 5.43087230e-03 -3.60126664e-04 9.99985188e-01 -5.04789233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.660371743 meters 0.03545126896548103 Centerline is valid? [True, True] Translation: X:375.80, Y:-23.21, Z:-5.05 [[ 9.99966603e-01 -6.06884365e-03 -5.47373364e-03 3.75798589e+02] [ 6.07079482e-03 9.99981515e-01 3.39915394e-04 -2.32098956e+01] [ 5.47156956e-03 -3.73133956e-04 9.99984961e-01 -5.04783151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.690371743 meters 0.03718998453881443 Centerline is valid? [True, True] Translation: X:375.83, Y:-23.22, Z:-5.05 [[ 9.99957873e-01 -7.59423354e-03 -5.15560620e-03 3.75829046e+02] [ 7.59598837e-03 9.99971099e-01 3.20876209e-04 -2.32165845e+01] [ 5.15302038e-03 -3.60024616e-04 9.99986658e-01 -5.04901923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.720371743 meters 0.04182280834810754 Centerline is valid? [True, True] Translation: X:375.86, Y:-23.23, Z:-5.05 [[ 9.99930307e-01 -1.05050672e-02 -5.38749941e-03 3.75858272e+02] [ 1.05070295e-02 9.99944743e-01 3.36057391e-04 -2.32298850e+01] [ 5.38367141e-03 -3.92640585e-04 9.99985431e-01 -5.05046718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.750371743 meters 0.04037211825801805 Centerline is valid? [True, True] Translation: X:375.89, Y:-23.23, Z:-5.05 [[ 9.99907067e-01 -1.22513399e-02 -5.98012159e-03 3.75889639e+02] [ 1.22537869e-02 9.99924850e-01 3.72709385e-04 -2.32314064e+01] [ 5.97510600e-03 -4.45953883e-04 9.99982049e-01 -5.05008408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.780371743 meters 0.041955055161942784 Centerline is valid? [True, True] Translation: X:375.92, Y:-23.24, Z:-5.05 [[ 9.99874392e-01 -1.44745384e-02 -6.45655704e-03 3.75919097e+02] [ 1.44774432e-02 9.99895115e-01 4.03388653e-04 -2.32400430e+01] [ 6.45004098e-03 -4.96812422e-04 9.99979075e-01 -5.05121179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.810371743 meters 0.04291615245478629 Centerline is valid? [True, True] Translation: X:375.95, Y:-23.24, Z:-5.05 [[ 9.99849603e-01 -1.58792628e-02 -6.97286739e-03 3.75950494e+02] [ 1.58826821e-02 9.99873768e-01 4.35264971e-04 -2.32449715e+01] [ 6.96507550e-03 -5.45947344e-04 9.99975595e-01 -5.05232328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.840371743 meters 0.0441222806496681 Centerline is valid? [True, True] Translation: X:375.98, Y:-23.25, Z:-5.05 [[ 9.99832305e-01 -1.69042606e-02 -7.04331236e-03 3.75981716e+02] [ 1.69077790e-02 9.99856956e-01 4.40283226e-04 -2.32505047e+01] [ 7.03486220e-03 -5.59296162e-04 9.99975099e-01 -5.05378589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.870371743 meters 0.045050988910684 Centerline is valid? [True, True] Translation: X:376.01, Y:-23.26, Z:-5.05 [[ 9.99826510e-01 -1.71107541e-02 -7.36011131e-03 3.76013850e+02] [ 1.71146070e-02 9.99853428e-01 4.60814035e-04 -2.32568468e+01] [ 7.35114765e-03 -5.86699501e-04 9.99972808e-01 -5.05442800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.900371743 meters 0.04245735300467959 Centerline is valid? [True, True] Translation: X:376.05, Y:-23.26, Z:-5.05 [[ 9.99825645e-01 -1.69124749e-02 -7.91509256e-03 3.76045833e+02] [ 1.69169287e-02 9.99856775e-01 4.96089436e-04 -2.32554793e+01] [ 7.90556883e-03 -6.29901997e-04 9.99968552e-01 -5.05352477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.930371743 meters 0.04567020847598908 Centerline is valid? [True, True] Translation: X:376.08, Y:-23.26, Z:-5.06 [[ 9.99859476e-01 -1.46683047e-02 -8.11593948e-03 3.76075560e+02] [ 1.46729056e-02 9.99892218e-01 5.07632973e-04 -2.32634380e+01] [ 8.10761861e-03 -6.26646052e-04 9.99966936e-01 -5.05550185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.960371743 meters 0.038529178866679455 Centerline is valid? [True, True] Translation: X:376.11, Y:-23.25, Z:-5.05 [[ 9.99878699e-01 -1.31216198e-02 -8.39105055e-03 3.76107489e+02] [ 1.31264908e-02 9.99913706e-01 5.25685857e-04 -2.32543925e+01] [ 8.38342860e-03 -6.35767139e-04 9.99964656e-01 -5.05255963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.990371743 meters 0.038069052012003265 Centerline is valid? [True, True] Translation: X:376.14, Y:-23.26, Z:-5.05 [[ 9.99898550e-01 -1.13899169e-02 -8.55328020e-03 3.76139240e+02] [ 1.13949213e-02 9.99934932e-01 5.36582367e-04 -2.32555850e+01] [ 8.54661203e-03 -6.33991886e-04 9.99963276e-01 -5.05281093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.020371743 meters 0.0377512405441933 Centerline is valid? [True, True] Translation: X:376.17, Y:-23.26, Z:-5.05 [[ 9.99929454e-01 -8.07237876e-03 -8.71338946e-03 3.76169423e+02] [ 8.07744000e-03 9.99967228e-01 5.45822009e-04 -2.32574675e+01] [ 8.70869782e-03 -6.16165384e-04 9.99961889e-01 -5.05400605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.050371743 meters 0.03729931391303394 Centerline is valid? [True, True] Translation: X:376.20, Y:-23.26, Z:-5.05 [[ 9.99940340e-01 -6.48554699e-03 -8.78940017e-03 3.76200285e+02] [ 6.49063962e-03 9.99978784e-01 5.51004848e-04 -2.32585998e+01] [ 8.78564013e-03 -6.08020805e-04 9.99961221e-01 -5.05378144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.080371743 meters 0.03651236660848163 Centerline is valid? [True, True] Translation: X:376.23, Y:-23.26, Z:-5.05 [[ 9.99966081e-01 -3.31789943e-03 -7.53849484e-03 3.76231262e+02] [ 3.32155499e-03 9.99994372e-01 4.72451439e-04 -2.32592244e+01] [ 7.53688487e-03 -4.97474939e-04 9.99971474e-01 -5.05426843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11037174300003 meters 0.03685666443459211 Centerline is valid? [True, True] Translation: X:376.26, Y:-23.26, Z:-5.05 [[ 9.99971799e-01 -1.40159396e-03 -7.37814707e-03 3.76260768e+02] [ 1.40504044e-03 9.99998906e-01 4.61957279e-04 -2.32614401e+01] [ 7.37749152e-03 -4.72310846e-04 9.99972674e-01 -5.05437636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.140371743 meters 0.03505779759254732 Centerline is valid? [True, True] Translation: X:376.29, Y:-23.26, Z:-5.05 [[ 9.99970282e-01 2.13200775e-03 -7.40876281e-03 3.76290899e+02] [-2.12863023e-03 9.99997627e-01 4.63737338e-04 -2.32590072e+01] [ 7.40973392e-03 -4.47953040e-04 9.99972447e-01 -5.05379570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.170371743 meters 0.034805548654738984 Centerline is valid? [True, True] Translation: X:376.32, Y:-23.26, Z:-5.05 [[ 9.99961878e-01 4.20276980e-03 -7.65376882e-03 3.76320696e+02] [-4.19922963e-03 9.99991069e-01 4.78549913e-04 -2.32602527e+01] [ 7.65571170e-03 -4.46391737e-04 9.99970595e-01 -5.05482084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.200371743 meters 0.03452486134282464 Centerline is valid? [True, True] Translation: X:376.35, Y:-23.26, Z:-5.06 [[ 9.99951396e-01 5.92629768e-03 -7.87935987e-03 3.76349721e+02] [-5.92260742e-03 9.99982340e-01 4.91595655e-04 -2.32608112e+01] [ 7.88213406e-03 -4.44905407e-04 9.99968837e-01 -5.05573081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.230371743 meters 0.032361653915526915 Centerline is valid? [True, True] Translation: X:376.38, Y:-23.26, Z:-5.06 [[ 9.99912916e-01 9.57478558e-03 -9.08207397e-03 3.76380147e+02] [-9.57002604e-03 9.99954045e-01 5.67373972e-04 -2.32566621e+01] [ 9.08708909e-03 -4.80408878e-04 9.99958596e-01 -5.05565268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.260371743 meters 0.03314052918507787 Centerline is valid? [True, True] Translation: X:376.41, Y:-23.26, Z:-5.06 [[ 9.99886738e-01 1.13996361e-02 -9.82646866e-03 3.76407983e+02] [-1.13941710e-02 9.99934897e-01 6.11968328e-04 -2.32591506e+01] [ 9.83280514e-03 -4.99934552e-04 9.99951532e-01 -5.05680673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.290371743 meters 0.03224089803363676 Centerline is valid? [True, True] Translation: X:376.44, Y:-23.26, Z:-5.06 [[ 9.99840976e-01 1.45860648e-02 -1.02601373e-02 3.76437675e+02] [-1.45802691e-02 9.99893498e-01 6.39447116e-04 -2.32572094e+01] [ 1.02683716e-02 -4.89749865e-04 9.99947159e-01 -5.05593732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.320371743 meters 0.031152828412840602 Centerline is valid? [True, True] Translation: X:376.47, Y:-23.26, Z:-5.06 [[ 9.99823551e-01 1.61604315e-02 -9.57638164e-03 3.76466961e+02] [-1.61554625e-02 9.99869314e-01 5.96016511e-04 -2.32562654e+01] [ 9.58476203e-03 -4.41200471e-04 9.99953968e-01 -5.05549680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.350371743 meters 0.03091774717768144 Centerline is valid? [True, True] Translation: X:376.50, Y:-23.26, Z:-5.06 [[ 9.99799777e-01 1.71648339e-02 -1.02846660e-02 3.76495562e+02] [-1.71591654e-02 9.99852566e-01 6.39154452e-04 -2.32564727e+01] [ 1.02941206e-02 -4.62550195e-04 9.99946907e-01 -5.05544936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380371743 meters 0.031328844638790314 Centerline is valid? [True, True] Translation: X:376.52, Y:-23.26, Z:-5.06 [[ 9.99761784e-01 1.93436529e-02 -1.01093694e-02 3.76523238e+02] [-1.93382990e-02 9.99812801e-01 6.27083269e-04 -2.32572379e+01] [ 1.01196070e-02 -4.31435879e-04 9.99948702e-01 -5.05686133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.410371743 meters 0.030065409411632972 Centerline is valid? [True, True] Translation: X:376.55, Y:-23.25, Z:-5.05 [[ 9.99753239e-01 2.01662994e-02 -9.31571190e-03 3.76551925e+02] [-2.01617940e-02 9.99796564e-01 5.77302127e-04 -2.32542934e+01] [ 9.32545879e-03 -3.89338206e-04 9.99956441e-01 -5.05467384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440371743 meters 0.030792659955176566 Centerline is valid? [True, True] Translation: X:376.58, Y:-23.26, Z:-5.06 [[ 9.99752444e-01 2.01217797e-02 -9.49550275e-03 3.76578862e+02] [-2.01171253e-02 9.99797459e-01 5.85430754e-04 -2.32563746e+01] [ 9.50535942e-03 -3.94263608e-04 9.99954745e-01 -5.05525985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.470371743 meters 0.03064347263227517 Centerline is valid? [True, True] Translation: X:376.61, Y:-23.26, Z:-5.05 [[ 9.99759245e-01 2.00793847e-02 -8.84704558e-03 3.76607948e+02] [-2.00753375e-02 9.99798321e-01 5.46049416e-04 -2.32571328e+01] [ 8.85622565e-03 -3.68310526e-04 9.99960715e-01 -5.05468278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500371743 meters 0.030177691952932885 Centerline is valid? [True, True] Translation: X:376.64, Y:-23.26, Z:-5.05 [[ 9.99778919e-01 1.93643191e-02 -8.19367902e-03 3.76637084e+02] [-1.93608293e-02 9.99812434e-01 5.05030868e-04 -2.32576988e+01] [ 8.20192174e-03 -3.46282795e-04 9.99966304e-01 -5.05447030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.530371743 meters 0.030177691952932885 Centerline is valid? [True, True] Translation: X:376.66, Y:-23.26, Z:-5.05 [[ 9.99781039e-01 1.92545129e-02 -8.19376610e-03 3.76664524e+02] [-1.92510309e-02 9.99814555e-01 5.03618821e-04 -2.32593064e+01] [ 8.20194354e-03 -3.45770104e-04 9.99966304e-01 -5.05485669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560371743 meters 0.03123951638122952 Centerline is valid? [True, True] Translation: X:376.69, Y:-23.26, Z:-5.06 [[ 9.99793030e-01 1.87278069e-02 -7.94772326e-03 3.76692139e+02] [-1.87245248e-02 9.99824562e-01 4.87174309e-04 -2.32632474e+01] [ 7.95545264e-03 -3.38256137e-04 9.99968298e-01 -5.05608635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.590371743 meters 0.030828069510325108 Centerline is valid? [True, True] Translation: X:376.72, Y:-23.26, Z:-5.06 [[ 9.99827163e-01 1.64819356e-02 -8.60169721e-03 3.76721390e+02] [-1.64780021e-02 9.99864089e-01 5.27963949e-04 -2.32631576e+01] [ 8.60923001e-03 -3.86133913e-04 9.99962865e-01 -5.05551634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620371743 meters 0.03140729105933532 Centerline is valid? [True, True] Translation: X:376.75, Y:-23.27, Z:-5.06 [[ 9.99850214e-01 1.50157252e-02 -8.60681272e-03 3.76750040e+02] [-1.50117405e-02 9.99887178e-01 5.27396461e-04 -2.32658174e+01] [ 8.61376092e-03 -3.98114226e-04 9.99962822e-01 -5.05579037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.650371743 meters 0.031898375482201174 Centerline is valid? [True, True] Translation: X:376.78, Y:-23.27, Z:-5.06 [[ 9.99871931e-01 1.34080768e-02 -8.73754016e-03 3.76778739e+02] [-1.34039142e-02 9.99910021e-01 5.34796091e-04 -2.32688478e+01] [ 8.74392454e-03 -4.17610361e-04 9.99961684e-01 -5.05653369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680371743 meters 0.032433379769270715 Centerline is valid? [True, True] Translation: X:376.81, Y:-23.27, Z:-5.06 [[ 9.99914865e-01 9.72087706e-03 -8.70441212e-03 3.76808663e+02] [-9.71660137e-03 9.99952650e-01 5.33364883e-04 -2.32722369e+01] [ 8.70918475e-03 -4.48742172e-04 9.99961974e-01 -5.05641654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.710371743 meters 0.03322347622800128 Centerline is valid? [True, True] Translation: X:376.84, Y:-23.28, Z:-5.06 [[ 9.99934598e-01 7.83081267e-03 -8.33537834e-03 3.76837154e+02] [-7.82683775e-03 9.99969240e-01 5.09387909e-04 -2.32759407e+01] [ 8.33911087e-03 -4.44114940e-04 9.99965130e-01 -5.05711091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740371743 meters 0.03300921114902675 Centerline is valid? [True, True] Translation: X:376.87, Y:-23.28, Z:-5.06 [[ 9.99963159e-01 4.09944075e-03 -7.54160067e-03 3.76867158e+02] [-4.09607721e-03 9.99991505e-01 4.61390264e-04 -2.32778505e+01] [ 7.54342804e-03 -4.30482287e-04 9.99971455e-01 -5.05583964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.770371743 meters 0.034906265654513706 Centerline is valid? [True, True] Translation: X:376.89, Y:-23.28, Z:-5.06 [[ 9.99974459e-01 2.81771594e-03 -6.56818912e-03 3.76894793e+02] [-2.81514947e-03 9.99995957e-01 3.99954909e-04 -2.32837762e+01] [ 6.56928953e-03 -3.81454259e-04 9.99978349e-01 -5.05708832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800371743 meters 0.034966706402080244 Centerline is valid? [True, True] Translation: X:376.93, Y:-23.29, Z:-5.06 [[ 9.99975336e-01 -1.13529774e-03 -6.93096555e-03 3.76925329e+02] [ 1.13826074e-03 9.99999262e-01 4.23572461e-04 -2.32858642e+01] [ 6.93047956e-03 -4.31451261e-04 9.99975891e-01 -5.05649457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.830371743 meters 0.03590266966918502 Centerline is valid? [True, True] Translation: X:376.95, Y:-23.29, Z:-5.06 [[ 9.99972553e-01 -2.75912078e-03 -6.87610707e-03 3.76954860e+02] [ 2.76207000e-03 9.99996098e-01 4.19449391e-04 -2.32895967e+01] [ 6.87492293e-03 -4.38430168e-04 9.99976271e-01 -5.05718755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86037174300003 meters 0.03759871986726675 Centerline is valid? [True, True] Translation: X:376.98, Y:-23.29, Z:-5.06 [[ 9.99948886e-01 -6.72662562e-03 -7.54836000e-03 3.76984523e+02] [ 6.73029593e-03 9.99977245e-01 4.60943150e-04 -2.32945627e+01] [ 7.54508765e-03 -5.11722286e-04 9.99971404e-01 -5.05836971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.890371743 meters 0.038315462113951725 Centerline is valid? [True, True] Translation: X:377.02, Y:-23.30, Z:-5.06 [[ 9.99937607e-01 -8.51480503e-03 -7.23056202e-03 3.77015278e+02] [ 8.51822245e-03 9.99963622e-01 4.41969969e-04 -2.32980066e+01] [ 7.22653569e-03 -5.03533929e-04 9.99973761e-01 -5.05934558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.920371743 meters 0.03730424540172893 Centerline is valid? [True, True] Translation: X:377.05, Y:-23.30, Z:-5.06 [[ 9.99918622e-01 -1.01269284e-02 -7.75846382e-03 3.77046057e+02] [ 1.01309124e-02 9.99948568e-01 4.74368898e-04 -2.32985711e+01] [ 7.75326089e-03 -5.52930613e-04 9.99969790e-01 -5.05940530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.950371743 meters 0.03919441716841164 Centerline is valid? [True, True] Translation: X:377.08, Y:-23.30, Z:-5.06 [[ 9.99887900e-01 -1.27837854e-02 -7.79500953e-03 3.77075674e+02] [ 1.27878974e-02 9.99918117e-01 4.77906112e-04 -2.33030766e+01] [ 7.78826181e-03 -5.77534320e-04 9.99969504e-01 -5.06030744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.980371743 meters 0.04097386266736502 Centerline is valid? [True, True] Translation: X:377.11, Y:-23.31, Z:-5.06 [[ 9.99850788e-01 -1.51637822e-02 -8.27417390e-03 3.77105290e+02] [ 1.51685010e-02 9.99884823e-01 5.07840013e-04 -2.33070850e+01] [ 8.26552012e-03 -6.33271052e-04 9.99965639e-01 -5.06077714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.010371743 meters 0.03951479946100473 Centerline is valid? [True, True] Translation: X:377.14, Y:-23.31, Z:-5.06 [[ 9.99841616e-01 -1.57669185e-02 -8.25508324e-03 3.77138016e+02] [ 1.57716411e-02 9.99875491e-01 5.07300990e-04 -2.33062092e+01] [ 8.24605684e-03 -6.37416852e-04 9.99965798e-01 -5.06023824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.040371743 meters 0.040976233451492136 Centerline is valid? [True, True] Translation: X:377.17, Y:-23.31, Z:-5.06 [[ 9.99834270e-01 -1.62763426e-02 -8.15558713e-03 3.77169042e+02] [ 1.62809706e-02 9.99867331e-01 5.01384901e-04 -2.33102292e+01] [ 8.14634442e-03 -6.34082680e-04 9.99966617e-01 -5.06093432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.070371743 meters 0.04299730880378601 Centerline is valid? [True, True] Translation: X:377.20, Y:-23.31, Z:-5.06 [[ 9.99819742e-01 -1.77182504e-02 -6.82255123e-03 3.77199684e+02] [ 1.77215360e-02 9.99842872e-01 4.21425874e-04 -2.33149252e+01] [ 6.81401229e-03 -5.42255996e-04 9.99976637e-01 -5.06129268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.100371743 meters 0.04290967243246558 Centerline is valid? [True, True] Translation: X:377.23, Y:-23.32, Z:-5.06 [[ 9.99811036e-01 -1.81715232e-02 -6.90560215e-03 3.77232125e+02] [ 1.81748980e-02 9.99834732e-01 4.26268891e-04 -2.33161816e+01] [ 6.89671492e-03 -5.51696957e-04 9.99976065e-01 -5.06126303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.130371743 meters 0.04195629297972958 Centerline is valid? [True, True] Translation: X:377.26, Y:-23.32, Z:-5.06 [[ 9.99811496e-01 -1.84225695e-02 -6.13036863e-03 3.77264524e+02] [ 1.84252374e-02 9.99830169e-01 3.78989725e-04 -2.33155717e+01] [ 6.12234554e-03 -4.91871781e-04 9.99981137e-01 -5.06078806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.160371743 meters 0.04171447647540883 Centerline is valid? [True, True] Translation: X:377.30, Y:-23.32, Z:-5.06 [[ 9.99819730e-01 -1.79458174e-02 -6.20122545e-03 3.77296276e+02] [ 1.79485409e-02 9.99838838e-01 3.83807781e-04 -2.33165778e+01] [ 6.19333831e-03 -4.95041541e-04 9.99980699e-01 -5.06097781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.190371743 meters 0.04154914154333778 Centerline is valid? [True, True] Translation: X:377.33, Y:-23.32, Z:-5.06 [[ 9.99840657e-01 -1.70119382e-02 -5.40873463e-03 3.77328402e+02] [ 1.70139992e-02 9.99855195e-01 3.35262803e-04 -2.33166696e+01] [ 5.40224795e-03 -4.27233587e-04 9.99985316e-01 -5.06135784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.220371743 meters 0.04152077025969096 Centerline is valid? [True, True] Translation: X:377.36, Y:-23.32, Z:-5.06 [[ 9.99854701e-01 -1.59372927e-02 -6.04813551e-03 3.77360459e+02] [ 1.59398522e-02 9.99872882e-01 3.75224544e-04 -2.33174333e+01] [ 6.04138662e-03 -4.71576410e-04 9.99981639e-01 -5.06186480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.250371743 meters 0.04208406459107725 Centerline is valid? [True, True] Translation: X:377.39, Y:-23.32, Z:-5.06 [[ 9.99866868e-01 -1.49620023e-02 -6.51038590e-03 3.77391149e+02] [ 1.49649476e-02 9.99887937e-01 4.03916733e-04 -2.33197821e+01] [ 6.50361292e-03 -5.01290543e-04 9.99978726e-01 -5.06280360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.280371743 meters 0.041339572156917644 Centerline is valid? [True, True] Translation: X:377.42, Y:-23.32, Z:-5.06 [[ 9.99899191e-01 -1.24249415e-02 -6.87237221e-03 3.77422063e+02] [ 1.24281609e-02 9.99922677e-01 4.25948306e-04 -2.33178695e+01] [ 6.86654844e-03 -5.11316314e-04 9.99976294e-01 -5.06400469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.310371743 meters 0.04074009205077612 Centerline is valid? [True, True] Translation: X:377.45, Y:-23.32, Z:-5.06 [[ 9.99910952e-01 -1.13871028e-02 -6.95855467e-03 3.77453954e+02] [ 1.13903846e-02 9.99935034e-01 4.32166187e-04 -2.33172611e+01] [ 6.95318148e-03 -5.11388317e-04 9.99975696e-01 -5.06415350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.340371743 meters 0.03737269599068693 Centerline is valid? [True, True] Translation: X:377.48, Y:-23.31, Z:-5.06 [[ 9.99946239e-01 -8.15946561e-03 -6.39866380e-03 3.77484829e+02] [ 8.16217029e-03 9.99966610e-01 3.96693914e-04 -2.33109260e+01] [ 6.39521334e-03 -4.48899571e-04 9.99979450e-01 -5.06243100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.370371743 meters 0.03754748896658548 Centerline is valid? [True, True] Translation: X:377.51, Y:-23.31, Z:-5.06 [[ 9.99960790e-01 -6.76654883e-03 -5.71250901e-03 3.77514819e+02] [ 6.76868402e-03 9.99977029e-01 3.54523773e-04 -2.33121926e+01] [ 5.70997889e-03 -3.93176041e-04 9.99983621e-01 -5.06266815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.400371743 meters 0.036896607078936786 Centerline is valid? [True, True] Translation: X:377.55, Y:-23.31, Z:-5.06 [[ 9.99970355e-01 -5.68301837e-03 -5.19551493e-03 3.77546284e+02] [ 5.68477245e-03 9.99983789e-01 3.22909323e-04 -2.33116367e+01] [ 5.19359561e-03 -3.52435070e-04 9.99986451e-01 -5.06269694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.430371743 meters 0.03491131250292037 Centerline is valid? [True, True] Translation: X:377.58, Y:-23.31, Z:-5.06 [[ 9.99984407e-01 -3.64628081e-03 -4.22963811e-03 3.77577153e+02] [ 3.64742340e-03 9.99993314e-01 2.62458926e-04 -2.33083695e+01] [ 4.22865283e-03 -2.77882115e-04 9.99991021e-01 -5.06159741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.460371743 meters 0.040673647807029305 Centerline is valid? [True, True] Translation: X:377.61, Y:-23.32, Z:-5.06 [[ 9.99990775e-01 -2.94013868e-03 -3.13125278e-03 3.77606783e+02] [ 2.94076243e-03 9.99995657e-01 1.94618203e-04 -2.33195385e+01] [ 3.13066698e-03 -2.03824678e-04 9.99995079e-01 -5.06463959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.490371743 meters 0.03549727592930306 Centerline is valid? [True, True] Translation: X:377.64, Y:-23.31, Z:-5.06 [[ 9.99989429e-01 -3.17458573e-03 -3.32617324e-03 3.77637772e+02] [ 3.17528994e-03 9.99994937e-01 2.06458249e-04 -2.33114950e+01] [ 3.32550098e-03 -2.17017631e-04 9.99994447e-01 -5.06351418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.520371743 meters 0.036209116803013426 Centerline is valid? [True, True] Translation: X:377.67, Y:-23.31, Z:-5.06 [[ 9.99989155e-01 -3.26933562e-03 -3.31696081e-03 3.77668429e+02] [ 3.27003751e-03 9.99994632e-01 2.06204411e-04 -2.33143914e+01] [ 3.31626886e-03 -2.17048761e-04 9.99994478e-01 -5.06420810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.550371743 meters 0.03649535353644397 Centerline is valid? [True, True] Translation: X:377.70, Y:-23.32, Z:-5.07 [[ 9.99984303e-01 -4.09154651e-03 -3.82790425e-03 3.77699263e+02] [ 4.09248740e-03 9.99991597e-01 2.37996449e-04 -2.33163788e+01] [ 3.82689831e-03 -2.53658363e-04 9.99992645e-01 -5.06517239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.580371743 meters 0.03777325148328794 Centerline is valid? [True, True] Translation: X:377.73, Y:-23.32, Z:-5.07 [[ 9.99970996e-01 -6.00490136e-03 -4.68500705e-03 3.77730694e+02] [ 6.00633338e-03 9.99981919e-01 2.91650369e-04 -2.33199251e+01] [ 4.68317101e-03 -3.19781624e-04 9.99988983e-01 -5.06690198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61037174300003 meters 0.03627629713032564 Centerline is valid? [True, True] Translation: X:377.76, Y:-23.32, Z:-5.07 [[ 9.99964249e-01 -6.98610068e-03 -4.76389064e-03 3.77762528e+02] [ 6.98759328e-03 9.99975542e-01 2.96743497e-04 -2.33191568e+01] [ 4.76170104e-03 -3.30021018e-04 9.99988609e-01 -5.06670598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.640371743 meters 0.037755793805138466 Centerline is valid? [True, True] Translation: X:377.79, Y:-23.32, Z:-5.07 [[ 9.99949369e-01 -9.13134897e-03 -4.22814815e-03 3.77793906e+02] [ 9.13254470e-03 9.99958263e-01 2.63581502e-04 -2.33227385e+01] [ 4.22556482e-03 -3.02181908e-04 9.99991027e-01 -5.06752639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.670371743 meters 0.03718528759154034 Centerline is valid? [True, True] Translation: X:377.83, Y:-23.32, Z:-5.07 [[ 9.99948037e-01 -9.41232263e-03 -3.91553968e-03 3.77825664e+02] [ 9.41335360e-03 9.99955663e-01 2.44953835e-04 -2.33234621e+01] [ 3.91306050e-03 -2.81799466e-04 9.99992304e-01 -5.06789789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.700371743 meters 0.037955703513080676 Centerline is valid? [True, True] Translation: X:377.86, Y:-23.33, Z:-5.07 [[ 9.99941261e-01 -9.69374796e-03 -4.84828743e-03 3.77857302e+02] [ 9.69533072e-03 9.99952953e-01 3.03060674e-04 -2.33254971e+01] [ 4.84512154e-03 -3.50048623e-04 9.99988201e-01 -5.06904880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.730371743 meters 0.03837599239523172 Centerline is valid? [True, True] Translation: X:377.89, Y:-23.33, Z:-5.07 [[ 9.99949797e-01 -8.70970705e-03 -4.95422782e-03 3.77888950e+02] [ 8.71135068e-03 9.99962007e-01 3.10280295e-04 -2.33276576e+01] [ 4.95133715e-03 -3.53422734e-04 9.99987680e-01 -5.06975236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.760371743 meters 0.03744398252362761 Centerline is valid? [True, True] Translation: X:377.92, Y:-23.33, Z:-5.07 [[ 9.99971477e-01 -6.15540512e-03 -4.37667114e-03 3.77919880e+02] [ 6.15666100e-03 9.99981010e-01 2.73533864e-04 -2.33258859e+01] [ 4.37490431e-03 -3.00471743e-04 9.99990385e-01 -5.06970845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.790371743 meters 0.03740328772161023 Centerline is valid? [True, True] Translation: X:377.95, Y:-23.33, Z:-5.07 [[ 9.99981626e-01 -4.48840527e-03 -4.07463144e-03 3.77951242e+02] [ 4.48948173e-03 9.99989890e-01 2.55079133e-04 -2.33267766e+01] [ 4.07344535e-03 -2.73367429e-04 9.99991666e-01 -5.07026153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.820371743 meters 0.036279980157275835 Centerline is valid? [True, True] Translation: X:377.98, Y:-23.33, Z:-5.07 [[ 9.99991484e-01 -2.03193225e-03 -3.59223915e-03 3.77981907e+02] [ 2.03275151e-03 9.99997909e-01 2.24429448e-04 -2.33263561e+01] [ 3.59177562e-03 -2.31729666e-04 9.99993523e-01 -5.07012722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.850371743 meters 0.034230444877314525 Centerline is valid? [True, True] Translation: X:378.01, Y:-23.32, Z:-5.07 [[ 9.99987834e-01 3.37652662e-03 -3.59599566e-03 3.78013156e+02] [-3.37574105e-03 9.99994277e-01 2.24503428e-04 -2.33222899e+01] [ 3.59673312e-03 -2.12361547e-04 9.99993509e-01 -5.07004206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880371743 meters 0.03499093472053903 Centerline is valid? [True, True] Translation: X:378.04, Y:-23.32, Z:-5.07 [[ 9.99971925e-01 6.53927472e-03 -3.65884267e-03 3.78042202e+02] [-6.53848442e-03 9.99978598e-01 2.27917198e-04 -2.33246108e+01] [ 3.66025478e-03 -2.03987513e-04 9.99993280e-01 -5.07151148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.910371743 meters 0.032577814034784804 Centerline is valid? [True, True] Translation: X:378.07, Y:-23.32, Z:-5.07 [[ 9.99915474e-01 1.25406427e-02 -3.43184319e-03 3.78073508e+02] [-1.25399802e-02 9.99921348e-01 2.14514877e-04 -2.33189913e+01] [ 3.43426343e-03 -1.71461499e-04 9.99994088e-01 -5.07159701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940371743 meters 0.03203673026389353 Centerline is valid? [True, True] Translation: X:378.10, Y:-23.32, Z:-5.07 [[ 9.99871736e-01 1.56685619e-02 -3.31779815e-03 3.78103267e+02] [-1.56679625e-02 9.99877229e-01 2.06569528e-04 -2.33188743e+01] [ 3.32062747e-03 -1.54559895e-04 9.99994475e-01 -5.07172532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.970371743 meters 0.030717219736155918 Centerline is valid? [True, True] Translation: X:378.13, Y:-23.32, Z:-5.07 [[ 9.99837735e-01 1.78141675e-02 -2.67570562e-03 3.78132517e+02] [-1.78137875e-02 9.99841308e-01 1.65789252e-04 -2.33167428e+01] [ 2.67823440e-03 -1.18097899e-04 9.99996407e-01 -5.07104137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000371743 meters 0.02986385510638949 Centerline is valid? [True, True] Translation: X:378.16, Y:-23.32, Z:-5.07 [[ 9.99787936e-01 2.05203555e-02 -1.73152806e-03 3.78162585e+02] [-2.05201998e-02 9.99789433e-01 1.07656599e-04 -2.33155901e+01] [ 1.73337260e-03 -7.21024676e-05 9.99998495e-01 -5.07139552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.030371743 meters 0.02996992779266902 Centerline is valid? [True, True] Translation: X:378.19, Y:-23.32, Z:-5.07 [[ 9.99782811e-01 2.07739359e-02 -1.66542556e-03 3.78190108e+02] [-2.07737941e-02 9.99784196e-01 1.02386452e-04 -2.33176696e+01] [ 1.66719312e-03 -6.77670071e-05 9.99998608e-01 -5.07282033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060371743 meters 0.030164745541295425 Centerline is valid? [True, True] Translation: X:378.22, Y:-23.32, Z:-5.07 [[ 9.99800788e-01 1.98695990e-02 -1.89312454e-03 3.78219116e+02] [-1.98694137e-02 9.99802577e-01 1.16670111e-04 -2.33198746e+01] [ 1.89506898e-03 -7.90315938e-05 9.99998201e-01 -5.07388966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.090371743 meters 0.03086414822030706 Centerline is valid? [True, True] Translation: X:378.25, Y:-23.32, Z:-5.07 [[ 9.99836358e-01 1.79375930e-02 -2.34517613e-03 3.78246995e+02] [-1.79373030e-02 9.99839103e-01 1.44609565e-04 -2.33231801e+01] [ 2.34739275e-03 -1.02519766e-04 9.99997240e-01 -5.07474721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120371743 meters 0.032332639162822925 Centerline is valid? [True, True] Translation: X:378.28, Y:-23.33, Z:-5.08 [[ 9.99913171e-01 1.28280897e-02 -3.01511540e-03 3.78277245e+02] [-1.28275839e-02 9.99917706e-01 1.87043279e-04 -2.33284442e+01] [ 3.01726668e-03 -1.48350392e-04 9.99995437e-01 -5.07624620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.150371743 meters 0.03420842034210039 Centerline is valid? [True, True] Translation: X:378.30, Y:-23.33, Z:-5.08 [[ 9.99949085e-01 9.76085329e-03 -2.55989681e-03 3.78304951e+02] [-9.76048136e-03 9.99952353e-01 1.57746074e-04 -2.33349041e+01] [ 2.56131458e-03 -1.32752217e-04 9.99996711e-01 -5.07745499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180371743 meters 0.03593550646617496 Centerline is valid? [True, True] Translation: X:378.33, Y:-23.34, Z:-5.08 [[ 9.99976829e-01 6.30455154e-03 -2.56790597e-03 3.78334998e+02] [-6.30416410e-03 9.99980116e-01 1.58944290e-04 -2.33400844e+01] [ 2.56885698e-03 -1.42752107e-04 9.99996690e-01 -5.07814945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.210371743 meters 0.035034802959613615 Centerline is valid? [True, True] Translation: X:378.37, Y:-23.34, Z:-5.08 [[ 9.99995857e-01 -7.34891185e-04 -2.78319861e-03 3.78365585e+02] [ 7.35374293e-04 9.99999715e-01 1.72560852e-04 -2.33410815e+01] [ 2.78307101e-03 -1.74606830e-04 9.99996112e-01 -5.07740062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240371743 meters 0.03526203675461598 Centerline is valid? [True, True] Translation: X:378.40, Y:-23.34, Z:-5.08 [[ 9.99988954e-01 -3.86708302e-03 -2.67153559e-03 3.78395234e+02] [ 3.86753874e-03 9.99992507e-01 1.65436886e-04 -2.33441997e+01] [ 2.67087582e-03 -1.75767326e-04 9.99996418e-01 -5.07797818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.270371743 meters 0.0368432992116949 Centerline is valid? [True, True] Translation: X:378.43, Y:-23.35, Z:-5.08 [[ 9.99947570e-01 -9.53603898e-03 -3.73114586e-03 3.78426324e+02] [ 9.53696997e-03 9.99954495e-01 2.31803978e-04 -2.33491506e+01] [ 3.72876558e-03 -2.67375650e-04 9.99993012e-01 -5.07860967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300371743 meters 0.037896295085176286 Centerline is valid? [True, True] Translation: X:378.46, Y:-23.35, Z:-5.08 [[ 9.99926395e-01 -1.15387296e-02 -3.74995168e-03 3.78457015e+02] [ 1.15396837e-02 9.99933389e-01 2.32870406e-04 -2.33528846e+01] [ 3.74701486e-03 -2.76126522e-04 9.99992942e-01 -5.07942469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.330371743 meters 0.03933617798387527 Centerline is valid? [True, True] Translation: X:378.49, Y:-23.36, Z:-5.08 [[ 9.99898997e-01 -1.35889876e-02 -4.16344776e-03 3.78488123e+02] [ 1.35901828e-02 9.99907616e-01 2.58927608e-04 -2.33567552e+01] [ 4.15954455e-03 -3.15483472e-04 9.99991299e-01 -5.08013055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36037174300003 meters 0.03996411613555763 Centerline is valid? [True, True] Translation: X:378.52, Y:-23.36, Z:-5.08 [[ 9.99873315e-01 -1.56146710e-02 -3.08800199e-03 3.78519485e+02] [ 1.56153389e-02 9.99878055e-01 1.92292373e-04 -2.33597130e+01] [ 3.08462284e-03 -2.40488210e-04 9.99995214e-01 -5.08006965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.390371743 meters 0.041345993453605186 Centerline is valid? [True, True] Translation: X:378.55, Y:-23.36, Z:-5.08 [[ 9.99847388e-01 -1.72121832e-02 -2.99023432e-03 3.78549640e+02] [ 1.72128161e-02 9.99851831e-01 1.86015463e-04 -2.33625206e+01] [ 2.98658953e-03 -2.37457428e-04 9.99995512e-01 -5.08117161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.420371743 meters 0.041235760366127465 Centerline is valid? [True, True] Translation: X:378.58, Y:-23.36, Z:-5.08 [[ 9.99850969e-01 -1.69822603e-02 -3.10534913e-03 3.78581924e+02] [ 1.69829448e-02 9.99855761e-01 1.94159047e-04 -2.33636373e+01] [ 3.10160396e-03 -2.46868084e-04 9.99995160e-01 -5.08157260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.450371743 meters 0.041235760366127465 Centerline is valid? [True, True] Translation: X:378.61, Y:-23.37, Z:-5.08 [[ 9.99852197e-01 -1.69097758e-02 -3.10533517e-03 3.78613656e+02] [ 1.69104606e-02 9.99856989e-01 1.94382762e-04 -2.33656717e+01] [ 3.10160411e-03 -2.46866680e-04 9.99995160e-01 -5.08201884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.480371743 meters 0.04133913386672486 Centerline is valid? [True, True] Translation: X:378.65, Y:-23.37, Z:-5.08 [[ 9.99858165e-01 -1.65575942e-02 -3.08150993e-03 3.78646094e+02] [ 1.65582676e-02 9.99862884e-01 1.93120569e-04 -2.33671071e+01] [ 3.07788979e-03 -2.44117644e-04 9.99995233e-01 -5.08275912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.510371743 meters 0.03922130893637284 Centerline is valid? [True, True] Translation: X:378.68, Y:-23.36, Z:-5.08 [[ 9.99876085e-01 -1.53657898e-02 -3.42146504e-03 3.78678457e+02] [ 1.53666135e-02 9.99881904e-01 2.14586385e-04 -2.33636025e+01] [ 3.41776369e-03 -2.67136126e-04 9.99994124e-01 -5.08308516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.540371743 meters 0.0405072606311065 Centerline is valid? [True, True] Translation: X:378.71, Y:-23.36, Z:-5.08 [[ 9.99885832e-01 -1.46507040e-02 -3.69866643e-03 3.78709754e+02] [ 1.46516612e-02 9.99892632e-01 2.31826996e-04 -2.33641413e+01] [ 3.69487288e-03 -2.85992136e-04 9.99993133e-01 -5.08476708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.570371743 meters 0.04023086052343125 Centerline is valid? [True, True] Translation: X:378.74, Y:-23.36, Z:-5.09 [[ 9.99895946e-01 -1.39762964e-02 -3.57206363e-03 3.78742274e+02] [ 1.39771868e-02 9.99902289e-01 2.24431049e-04 -2.33641877e+01] [ 3.56857788e-03 -2.74335097e-04 9.99993595e-01 -5.08503951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.600371743 meters 0.0391015088373873 Centerline is valid? [True, True] Translation: X:378.77, Y:-23.36, Z:-5.08 [[ 9.99905244e-01 -1.33649217e-02 -3.29892180e-03 3.78774519e+02] [ 1.33656789e-02 9.99910654e-01 2.07597302e-04 -2.33626146e+01] [ 3.29585254e-03 -2.51669960e-04 9.99994537e-01 -5.08457948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.630371743 meters 0.03844367520064932 Centerline is valid? [True, True] Translation: X:378.81, Y:-23.36, Z:-5.08 [[ 9.99919296e-01 -1.25246773e-02 -2.12947665e-03 3.78807575e+02] [ 1.25249926e-02 9.99921550e-01 1.34825108e-04 -2.33596452e+01] [ 2.12762095e-03 -1.61485906e-04 9.99997724e-01 -5.08437571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.660371743 meters 0.0387919950807276 Centerline is valid? [True, True] Translation: X:378.84, Y:-23.36, Z:-5.08 [[ 9.99923939e-01 -1.21786342e-02 -1.94873997e-03 3.78839411e+02] [ 1.21788976e-02 9.99925827e-01 1.23372613e-04 -2.33603075e+01] [ 1.94709292e-03 -1.47096734e-04 9.99998094e-01 -5.08493466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.690371743 meters 0.03798724012834848 Centerline is valid? [True, True] Translation: X:378.87, Y:-23.36, Z:-5.09 [[ 9.99923072e-01 -1.23300945e-02 -1.34856245e-03 3.78872099e+02] [ 1.23302214e-02 9.99923976e-01 8.58058191e-05 -2.33591696e+01] [ 1.34740194e-03 -1.02427292e-04 9.99999087e-01 -5.08514874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.720371743 meters 0.041162585447770926 Centerline is valid? [True, True] Translation: X:378.90, Y:-23.36, Z:-5.09 [[ 9.99918295e-01 -1.27649779e-02 -6.77505732e-04 3.78903235e+02] [ 1.27650102e-02 9.99918523e-01 4.33978312e-05 -2.33633186e+01] [ 6.76896558e-04 -5.20426529e-05 9.99999770e-01 -5.08630493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.750371743 meters 0.040582029817766756 Centerline is valid? [True, True] Translation: X:378.94, Y:-23.36, Z:-5.09 [[ 9.99906050e-01 -1.36471839e-02 -1.28271496e-03 3.78935651e+02] [ 1.36473000e-02 9.99906868e-01 8.18048370e-05 -2.33620783e+01] [ 1.28147910e-03 -9.93027474e-05 9.99999174e-01 -5.08665471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.780371743 meters 0.04031371482802928 Centerline is valid? [True, True] Translation: X:378.97, Y:-23.36, Z:-5.09 [[ 9.99891182e-01 -1.46867435e-02 -1.38734335e-03 3.78968391e+02] [ 1.46868804e-02 9.99892138e-01 8.85024330e-05 -2.33596614e+01] [ 1.38589390e-03 -1.08868548e-04 9.99999034e-01 -5.08748419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.810371743 meters 0.041558390925592 Centerline is valid? [True, True] Translation: X:379.00, Y:-23.36, Z:-5.09 [[ 9.99888577e-01 -1.48925709e-02 -1.02191068e-03 3.78999203e+02] [ 1.48926453e-02 9.99889096e-01 6.52547860e-05 -2.33619769e+01] [ 1.02082554e-03 -8.04664684e-05 9.99999476e-01 -5.08819876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.840371743 meters 0.04038746981220661 Centerline is valid? [True, True] Translation: X:379.03, Y:-23.36, Z:-5.09 [[ 9.99879941e-01 -1.54943321e-02 -1.70823990e-04 3.79032002e+02] [ 1.54943343e-02 9.99879956e-01 1.18180402e-05 -2.33583408e+01] [ 1.70620370e-04 -1.44634253e-05 9.99999985e-01 -5.08816864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.870371743 meters 0.04098445138350003 Centerline is valid? [True, True] Translation: X:379.06, Y:-23.36, Z:-5.09 [[ 9.99881297e-01 -1.53996672e-02 4.91166227e-04 3.79063297e+02] [ 1.53996839e-02 9.99881417e-01 -3.02965767e-05 -2.33593459e+01] [-4.90641427e-04 3.78567851e-05 9.99999879e-01 -5.08860757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.900371743 meters 0.04134511394046042 Centerline is valid? [True, True] Translation: X:379.10, Y:-23.36, Z:-5.09 [[ 9.99882665e-01 -1.52754427e-02 1.14769192e-03 3.79095575e+02] [ 1.52755349e-02 9.99883320e-01 -7.16507506e-05 -2.33597404e+01] [-1.14646351e-03 8.91739515e-05 9.99999339e-01 -5.08876896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.930371743 meters 0.04033538747255039 Centerline is valid? [True, True] Translation: X:379.13, Y:-23.36, Z:-5.09 [[ 9.99899680e-01 -1.40916965e-02 1.43320218e-03 3.79127858e+02] [ 1.40918400e-02 9.99900701e-01 -9.00514476e-05 -2.33551780e+01] [-1.43179088e-03 1.10238869e-04 9.99998969e-01 -5.08854899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.960371743 meters 0.039365828994338464 Centerline is valid? [True, True] Translation: X:379.16, Y:-23.35, Z:-5.09 [[ 9.99913440e-01 -1.31003135e-02 1.22206605e-03 3.79159930e+02] [ 1.31004167e-02 9.99914183e-01 -7.64994506e-05 -2.33526835e+01] [-1.22095901e-03 9.25024034e-05 9.99999250e-01 -5.08887185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.990371743 meters 0.03837200317121017 Centerline is valid? [True, True] Translation: X:379.19, Y:-23.35, Z:-5.09 [[ 9.99949553e-01 -9.95293957e-03 1.35296652e-03 3.79191003e+02] [ 9.95306445e-03 9.99950463e-01 -8.55998979e-05 -2.33483125e+01] [-1.35204753e-03 9.90617426e-05 9.99999081e-01 -5.08972330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.020371743 meters 0.038225284272206735 Centerline is valid? [True, True] Translation: X:379.22, Y:-23.35, Z:-5.09 [[ 9.99968535e-01 -7.80123038e-03 1.43852052e-03 3.79221999e+02] [ 7.80136908e-03 9.99969565e-01 -9.08273215e-05 -2.33477878e+01] [-1.43776818e-03 1.02046893e-04 9.99998961e-01 -5.09096076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.050371743 meters 0.03507471707637478 Centerline is valid? [True, True] Translation: X:379.25, Y:-23.34, Z:-5.09 [[ 9.99984160e-01 -5.50232346e-03 1.18503048e-03 3.79253806e+02] [ 5.50241590e-03 9.99984859e-01 -7.47607068e-05 -2.33421316e+01] [-1.18460118e-03 8.12800532e-05 9.99999295e-01 -5.09107885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.080371743 meters 0.03367194318430747 Centerline is valid? [True, True] Translation: X:379.28, Y:-23.34, Z:-5.09 [[ 9.99998655e-01 -1.25908453e-03 1.05087252e-03 3.79284947e+02] [ 1.25915533e-03 9.99999205e-01 -6.67185327e-05 -2.33370422e+01] [-1.05078768e-03 6.80416547e-05 9.99999446e-01 -5.09195018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11037174300003 meters 0.034106913065487285 Centerline is valid? [True, True] Translation: X:379.32, Y:-23.34, Z:-5.09 [[ 9.99999042e-01 8.68136348e-04 1.07822501e-03 3.79315721e+02] [-8.68063505e-04 9.99999621e-01 -6.80241412e-05 -2.33371987e+01] [-1.07828366e-03 6.70881082e-05 9.99999416e-01 -5.09247748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.140371743 meters 0.03230925183008234 Centerline is valid? [True, True] Translation: X:379.35, Y:-23.33, Z:-5.09 [[ 9.99981963e-01 5.75507263e-03 1.71810869e-03 3.79346336e+02] [-5.75489337e-03 9.99983435e-01 -1.09260211e-04 -2.33317766e+01] [-1.71870903e-03 9.93707080e-05 9.99998518e-01 -5.09227905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.170371743 meters 0.031986241580446176 Centerline is valid? [True, True] Translation: X:379.38, Y:-23.33, Z:-5.09 [[ 9.99964738e-01 8.18436300e-03 1.88126258e-03 3.79376060e+02] [-8.18415164e-03 9.99966502e-01 -1.20024423e-04 -2.33307583e+01] [-1.88218188e-03 1.04623652e-04 9.99998223e-01 -5.09296997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.200371743 meters 0.030933207345548434 Centerline is valid? [True, True] Translation: X:379.41, Y:-23.33, Z:-5.09 [[ 9.99941331e-01 1.06841022e-02 1.78442945e-03 3.79405651e+02] [-1.06839161e-02 9.99942919e-01 -1.13808130e-04 -2.33287272e+01] [-1.78554353e-03 9.47367581e-05 9.99998401e-01 -5.09352087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.230371743 meters 0.0287018523030959 Centerline is valid? [True, True] Translation: X:379.44, Y:-23.32, Z:-5.09 [[ 9.99870954e-01 1.59256700e-02 2.10906369e-03 3.79436365e+02] [-1.59254228e-02 9.99873173e-01 -1.33959832e-04 -2.33229078e+01] [-2.11092960e-03 1.00354814e-04 9.99997767e-01 -5.09377619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.260371743 meters 0.02827553825254533 Centerline is valid? [True, True] Translation: X:379.47, Y:-23.32, Z:-5.09 [[ 9.99790917e-01 2.02398960e-02 2.91013546e-03 3.79465481e+02] [-2.02394426e-02 9.99795144e-01 -1.85166797e-04 -2.33202873e+01] [-2.91328706e-03 1.26228562e-04 9.99995748e-01 -5.09429256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.290371743 meters 0.02764076692038364 Centerline is valid? [True, True] Translation: X:379.49, Y:-23.32, Z:-5.09 [[ 9.99769348e-01 2.11912591e-02 3.49019808e-03 3.79494055e+02] [-2.11906122e-02 9.99775429e-01 -2.22223142e-04 -2.33194633e+01] [-3.49412348e-03 1.48212452e-04 9.99993885e-01 -5.09430652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.320371743 meters 0.02748773856967443 Centerline is valid? [True, True] Translation: X:379.52, Y:-23.32, Z:-5.09 [[ 9.99755599e-01 2.18472850e-02 3.38194586e-03 3.79523264e+02] [-2.18466821e-02 9.99761310e-01 -2.15120528e-04 -2.33195554e+01] [-3.38583843e-03 1.41183656e-04 9.99994258e-01 -5.09494457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.350371743 meters 0.02724592558094862 Centerline is valid? [True, True] Translation: X:379.55, Y:-23.32, Z:-5.10 [[ 9.99792870e-01 2.01353615e-02 2.96373808e-03 3.79551640e+02] [-2.01348906e-02 9.99797255e-01 -1.88644501e-04 -2.33194642e+01] [-2.96693562e-03 1.28930886e-04 9.99995590e-01 -5.09643040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380371743 meters 0.028034701264284482 Centerline is valid? [True, True] Translation: X:379.58, Y:-23.32, Z:-5.10 [[ 9.99821077e-01 1.86856338e-02 2.94311688e-03 3.79579540e+02] [-1.86851639e-02 9.99825400e-01 -1.87067270e-04 -2.33223381e+01] [-2.94609848e-03 1.32041178e-04 9.99995652e-01 -5.09791126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.410371743 meters 0.02957523249176539 Centerline is valid? [True, True] Translation: X:379.61, Y:-23.33, Z:-5.10 [[ 9.99900082e-01 1.38823400e-02 2.66588355e-03 3.79609251e+02] [-1.38819399e-02 9.99903627e-01 -1.68505777e-04 -2.33259067e+01] [-2.66796588e-03 1.31481305e-04 9.99996432e-01 -5.09918395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440371743 meters 0.030521755109778243 Centerline is valid? [True, True] Translation: X:379.64, Y:-23.33, Z:-5.10 [[ 9.99936999e-01 1.07864435e-02 3.10670525e-03 3.79638132e+02] [-1.07858844e-02 9.99941811e-01 -1.96663349e-04 -2.33289827e+01] [-3.10864578e-03 1.63142395e-04 9.99995155e-01 -5.09941911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.470371743 meters 0.03269952193473331 Centerline is valid? [True, True] Translation: X:379.67, Y:-23.33, Z:-5.10 [[ 9.99967163e-01 7.32728138e-03 3.46168097e-03 3.79667367e+02] [-7.32656880e-03 9.99973136e-01 -2.18484238e-04 -2.33345767e+01] [-3.46318887e-03 1.93114820e-04 9.99993984e-01 -5.09981765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500371743 meters 0.03544998590128185 Centerline is valid? [True, True] Translation: X:379.70, Y:-23.34, Z:-5.10 [[ 9.99990912e-01 -3.63279437e-04 4.24771309e-03 3.79697148e+02] [ 3.64420839e-04 9.99999898e-01 -2.67938808e-04 -2.33404719e+01] [-4.24761532e-03 2.69484328e-04 9.99990943e-01 -5.09985948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.530371743 meters 0.03692914403967122 Centerline is valid? [True, True] Translation: X:379.73, Y:-23.34, Z:-5.10 [[ 9.99980794e-01 -4.41225716e-03 4.35242947e-03 3.79727786e+02] [ 4.41349261e-03 9.99990223e-01 -2.74289743e-04 -2.33445770e+01] [-4.35117668e-03 2.93493890e-04 9.99990491e-01 -5.10033205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560371743 meters 0.04119191639166655 Centerline is valid? [True, True] Translation: X:379.76, Y:-23.35, Z:-5.10 [[ 9.99917207e-01 -1.22140656e-02 4.04927681e-03 3.79756552e+02] [ 1.22151993e-02 9.99925359e-01 -2.55366469e-04 -2.33525324e+01] [-4.04585551e-03 3.04808050e-04 9.99991769e-01 -5.10156413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.590371743 meters 0.04391567819167197 Centerline is valid? [True, True] Translation: X:379.79, Y:-23.36, Z:-5.10 [[ 9.99867037e-01 -1.58994359e-02 3.62169638e-03 3.79786632e+02] [ 1.59003661e-02 9.99873555e-01 -2.28198252e-04 -2.33577673e+01] [-3.61761021e-03 2.85754208e-04 9.99993416e-01 -5.10282634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620371743 meters 0.04713847317263954 Centerline is valid? [True, True] Translation: X:379.82, Y:-23.36, Z:-5.10 [[ 9.99753397e-01 -2.19950759e-02 3.05986701e-03 3.79817132e+02] [ 2.19957683e-02 9.99758045e-01 -1.92802532e-04 -2.33629369e+01] [-3.05488595e-03 2.60059112e-04 9.99995300e-01 -5.10401012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.650371743 meters 0.04193292956378929 Centerline is valid? [True, True] Translation: X:379.85, Y:-23.36, Z:-5.10 [[ 9.99696467e-01 -2.44866078e-02 2.71661249e-03 3.79848202e+02] [ 2.44871622e-02 9.99700130e-01 -1.71000093e-04 -2.33555354e+01] [-2.71161065e-03 2.37470320e-04 9.99996295e-01 -5.10336385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680371743 meters 0.045795222108254215 Centerline is valid? [True, True] Translation: X:379.88, Y:-23.36, Z:-5.10 [[ 9.99654914e-01 -2.60808746e-02 3.13716283e-03 3.79877700e+02] [ 2.60816227e-02 9.99659797e-01 -1.97772417e-04 -2.33622877e+01] [-3.13093748e-03 2.79526465e-04 9.99995060e-01 -5.10430914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.710371743 meters 0.04615592696699586 Centerline is valid? [True, True] Translation: X:379.91, Y:-23.36, Z:-5.10 [[ 9.99590542e-01 -2.83718689e-02 3.71299810e-03 3.79908594e+02] [ 2.83729311e-02 9.99597380e-01 -2.33693816e-04 -2.33613344e+01] [-3.70487284e-03 3.38946768e-04 9.99993079e-01 -5.10437324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740371743 meters 0.0561876761814912 Centerline is valid? [True, True] Translation: X:379.94, Y:-23.37, Z:-5.11 [[ 9.99599459e-01 -2.80699579e-02 3.60544163e-03 3.79940393e+02] [ 2.80709489e-02 9.99605908e-01 -2.24536956e-04 -2.33740108e+01] [-3.59771801e-03 3.25655188e-04 9.99993475e-01 -5.10590062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.770371743 meters 0.056165908922855626 Centerline is valid? [True, True] Translation: X:379.97, Y:-23.37, Z:-5.11 [[ 9.99631807e-01 -2.69172978e-02 3.42201028e-03 3.79970684e+02] [ 2.69181958e-02 9.99637616e-01 -2.16623912e-04 -2.33735574e+01] [-3.41493927e-03 3.08658495e-04 9.99994121e-01 -5.10679134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800371743 meters 0.04635664298140147 Centerline is valid? [True, True] Translation: X:380.00, Y:-23.36, Z:-5.11 [[ 9.99665125e-01 -2.56945129e-02 3.07097153e-03 3.80003111e+02] [ 2.56952298e-02 9.99669804e-01 -1.94214907e-04 -2.33585125e+01] [-3.06496725e-03 2.73059189e-04 9.99995266e-01 -5.10615457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.830371743 meters 0.042327476231564014 Centerline is valid? [True, True] Translation: X:380.03, Y:-23.35, Z:-5.11 [[ 9.99786501e-01 -2.04003465e-02 3.28296066e-03 3.80034402e+02] [ 2.04011387e-02 9.99791853e-01 -2.07992725e-04 -2.33491743e+01] [-3.27803420e-03 2.74924454e-04 9.99994589e-01 -5.10692370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86037174300003 meters 0.041230584357036915 Centerline is valid? [True, True] Translation: X:380.07, Y:-23.35, Z:-5.11 [[ 9.99849888e-01 -1.69741113e-02 3.47581559e-03 3.80065092e+02] [ 1.69749795e-02 9.99855890e-01 -2.20431605e-04 -2.33462454e+01] [-3.47157306e-03 2.79400414e-04 9.99993935e-01 -5.10732209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.890371743 meters 0.036932871762805325 Centerline is valid? [True, True] Translation: X:380.10, Y:-23.33, Z:-5.11 [[ 9.99950505e-01 -9.18502144e-03 3.82395262e-03 3.80096229e+02] [ 9.18601578e-03 9.99957778e-01 -2.42545996e-04 -2.33341407e+01] [-3.82156337e-03 2.77660880e-04 9.99992659e-01 -5.10672066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.920371743 meters 0.03775500175423921 Centerline is valid? [True, True] Translation: X:380.13, Y:-23.33, Z:-5.11 [[ 9.99977527e-01 -5.01471521e-03 4.44956231e-03 3.80126281e+02] [ 5.01602044e-03 9.99987380e-01 -2.82226768e-04 -2.33343326e+01] [-4.44809087e-03 3.04539521e-04 9.99990061e-01 -5.10752410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.950371743 meters 0.03554746701934728 Centerline is valid? [True, True] Translation: X:380.16, Y:-23.33, Z:-5.11 [[ 9.99987914e-01 -1.33005107e-03 4.73311082e-03 3.80157231e+02] [ 1.33148635e-03 9.99999069e-01 -3.00102996e-04 -2.33295365e+01] [-4.73270726e-03 3.06401441e-04 9.99988754e-01 -5.10765115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.980371743 meters 0.03280961427052718 Centerline is valid? [True, True] Translation: X:380.19, Y:-23.32, Z:-5.11 [[ 9.99976365e-01 4.40292180e-03 5.28054176e-03 3.80187949e+02] [-4.40121413e-03 9.99990259e-01 -3.34966791e-04 -2.33208873e+01] [-5.28196515e-03 3.11718079e-04 9.99986002e-01 -5.10827479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.010371743 meters 0.03103907690619084 Centerline is valid? [True, True] Translation: X:380.22, Y:-23.32, Z:-5.11 [[ 9.99965508e-01 5.95496629e-03 5.78975351e-03 3.80217408e+02] [-5.95293603e-03 9.99982213e-01 -3.67833369e-04 -2.33175491e+01] [-5.79184097e-03 3.33354649e-04 9.99983172e-01 -5.10836699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.040371743 meters 0.030585403637794644 Centerline is valid? [True, True] Translation: X:380.25, Y:-23.31, Z:-5.11 [[ 9.99951571e-01 7.75776317e-03 6.05587575e-03 3.80247103e+02] [-7.75557718e-03 9.99969851e-01 -3.84369658e-04 -2.33133391e+01] [-6.05867502e-03 3.37384231e-04 9.99981589e-01 -5.10974151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.070371743 meters 0.03244050428282606 Centerline is valid? [True, True] Translation: X:380.27, Y:-23.32, Z:-5.11 [[ 9.99944387e-01 8.10040289e-03 6.75320530e-03 3.80274843e+02] [-8.09769364e-03 9.99967121e-01 -4.28426927e-04 -2.33160798e+01] [-6.75645370e-03 3.73717713e-04 9.99977105e-01 -5.11039110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.100371743 meters 0.031968688278832286 Centerline is valid? [True, True] Translation: X:380.30, Y:-23.31, Z:-5.11 [[ 9.99952932e-01 6.97195679e-03 6.74720718e-03 3.80304031e+02] [-6.96923273e-03 9.99975623e-01 -4.27159460e-04 -2.33148872e+01] [-6.75002084e-03 3.80116497e-04 9.99977146e-01 -5.11057306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.130371743 meters 0.035633663128948216 Centerline is valid? [True, True] Translation: X:380.33, Y:-23.32, Z:-5.11 [[ 9.99963190e-01 4.52241702e-03 7.29150565e-03 3.80333054e+02] [-4.51917725e-03 9.99989682e-01 -4.60735526e-04 -2.33190212e+01] [-7.29351405e-03 4.27766960e-04 9.99973310e-01 -5.11136252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.160371743 meters 0.03487934157415629 Centerline is valid? [True, True] Translation: X:380.36, Y:-23.32, Z:-5.11 [[ 9.99969753e-01 1.03579688e-03 7.70841776e-03 3.80363393e+02] [-1.03207106e-03 9.99999349e-01 -4.87306349e-04 -2.33171544e+01] [-7.70891749e-03 4.79335974e-04 9.99970171e-01 -5.11188576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.190371743 meters 0.0364854066750926 Centerline is valid? [True, True] Translation: X:380.39, Y:-23.32, Z:-5.11 [[ 9.99968729e-01 -1.12089335e-03 7.82846646e-03 3.80394819e+02] [ 1.12479859e-03 9.99999245e-01 -4.94466191e-04 -2.33198367e+01] [-7.82790630e-03 5.03256177e-04 9.99969235e-01 -5.11263113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.220371743 meters 0.03529105810313883 Centerline is valid? [True, True] Translation: X:380.43, Y:-23.32, Z:-5.11 [[ 9.99965391e-01 -2.97801147e-03 7.76844212e-03 3.80426341e+02] [ 2.98191497e-03 9.99995434e-01 -4.90947233e-04 -2.33185751e+01] [-7.76694460e-03 5.14095076e-04 9.99969705e-01 -5.11282580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.250371743 meters 0.0664551169937487 Centerline is valid? [True, True] Translation: X:380.45, Y:-23.36, Z:-5.12 [[ 9.99954142e-01 -3.41500496e-03 8.94721068e-03 3.80454719e+02] [ 3.42020246e-03 9.99993991e-01 -5.65670315e-04 -2.33637991e+01] [-8.94522515e-03 5.96245647e-04 9.99959813e-01 -5.11609770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.280371743 meters 0.03721810844698068 Centerline is valid? [True, True] Translation: X:380.49, Y:-23.32, Z:-5.12 [[ 9.99967926e-01 -4.91843010e-03 6.32106336e-03 3.80489759e+02] [ 4.92105517e-03 9.99987812e-01 -3.99802016e-04 -2.33215103e+01] [-6.31901992e-03 4.30895495e-04 9.99979942e-01 -5.11593030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.310371743 meters 0.03677040915268564 Centerline is valid? [True, True] Translation: X:380.52, Y:-23.32, Z:-5.12 [[ 9.99983123e-01 -1.65092170e-03 5.57021597e-03 3.80519252e+02] [ 1.65291570e-03 9.99998572e-01 -3.53390454e-04 -2.33204022e+01] [-5.56962459e-03 3.62591588e-04 9.99984424e-01 -5.11698167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.340371743 meters 0.03677040915268564 Centerline is valid? [True, True] Translation: X:380.55, Y:-23.32, Z:-5.12 [[ 9.99983243e-01 -1.57680286e-03 5.57027220e-03 3.80550958e+02] [ 1.57879080e-03 9.99998692e-01 -3.52503827e-04 -2.33224828e+01] [-5.56970908e-03 3.61292214e-04 9.99984424e-01 -5.11742808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.370371743 meters 0.03501585436795986 Centerline is valid? [True, True] Translation: X:380.58, Y:-23.32, Z:-5.12 [[ 9.99985543e-01 -6.60447650e-05 5.37678097e-03 3.80583030e+02] [ 6.78782240e-05 9.99999940e-01 -3.40813905e-04 -2.33203916e+01] [-5.37675814e-03 3.41173944e-04 9.99985487e-01 -5.11756127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.400371743 meters 0.03688606060541242 Centerline is valid? [True, True] Translation: X:380.61, Y:-23.32, Z:-5.12 [[ 9.99982386e-01 1.25914326e-03 5.80017249e-03 3.80613351e+02] [-1.25703148e-03 9.99999142e-01 -3.67720078e-04 -2.33237797e+01] [-5.80063052e-03 3.60422601e-04 9.99983111e-01 -5.11851813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.430371743 meters 0.03617511805288578 Centerline is valid? [True, True] Translation: X:380.64, Y:-23.32, Z:-5.12 [[ 9.99974205e-01 3.19160090e-03 6.43457459e-03 3.80644408e+02] [-3.18903383e-03 9.99994831e-01 -4.09169717e-04 -2.33226771e+01] [-6.43584724e-03 3.88639087e-04 9.99979214e-01 -5.11922040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.460371743 meters 0.034309154779375135 Centerline is valid? [True, True] Translation: X:380.68, Y:-23.32, Z:-5.12 [[ 9.99949418e-01 7.66204354e-03 6.51564666e-03 3.80675372e+02] [-7.65950409e-03 9.99970580e-01 -4.14612027e-04 -2.33198409e+01] [-6.51863175e-03 3.64684433e-04 9.99978687e-01 -5.12054928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.490371743 meters 0.03355070974293882 Centerline is valid? [True, True] Translation: X:380.70, Y:-23.32, Z:-5.12 [[ 9.99930550e-01 9.68644280e-03 6.71333692e-03 3.80704337e+02] [-9.68378927e-03 9.99953020e-01 -4.27655789e-04 -2.33193255e+01] [-6.71716399e-03 3.62615548e-04 9.99977374e-01 -5.12032125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.520371743 meters 0.033060923591982205 Centerline is valid? [True, True] Translation: X:380.73, Y:-23.32, Z:-5.12 [[ 9.99911136e-01 1.13425417e-02 7.00475288e-03 3.80732673e+02] [-1.13396971e-02 9.99935604e-01 -4.45677492e-04 -2.33190256e+01] [-7.00935692e-03 3.66206112e-04 9.99975367e-01 -5.12047352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.550371743 meters 0.0342557085437468 Centerline is valid? [True, True] Translation: X:380.76, Y:-23.32, Z:-5.12 [[ 9.99895546e-01 1.27599152e-02 6.78831762e-03 3.80760061e+02] [-1.27572786e-02 9.99918529e-01 -4.31571704e-04 -2.33219023e+01] [-6.79327139e-03 3.44926166e-04 9.99976866e-01 -5.12109487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.580371743 meters 0.031147410700742142 Centerline is valid? [True, True] Translation: X:380.79, Y:-23.32, Z:-5.12 [[ 9.99877355e-01 1.41923369e-02 6.62212598e-03 3.80789382e+02] [-1.41898635e-02 9.99899230e-01 -4.20332854e-04 -2.33179124e+01] [-6.62742418e-03 3.26314238e-04 9.99977985e-01 -5.12138378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61037174300003 meters 0.02927039532176401 Centerline is valid? [True, True] Translation: X:380.82, Y:-23.32, Z:-5.12 [[ 9.99874463e-01 1.44493913e-02 6.50186771e-03 3.80817925e+02] [-1.44470152e-02 9.99895551e-01 -4.12267533e-04 -2.33160905e+01] [-6.50714561e-03 3.18283196e-04 9.99978778e-01 -5.12253814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.640371743 meters 0.03224431411176248 Centerline is valid? [True, True] Translation: X:380.85, Y:-23.32, Z:-5.12 [[ 9.99877957e-01 1.40574929e-02 6.81604960e-03 3.80845247e+02] [-1.40548754e-02 9.99901132e-01 -4.31765961e-04 -2.33227152e+01] [-6.82144526e-03 3.35914539e-04 9.99976677e-01 -5.12335126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.670371743 meters 0.029453328674441642 Centerline is valid? [True, True] Translation: X:380.87, Y:-23.32, Z:-5.12 [[ 9.99880374e-01 1.34594729e-02 7.62106646e-03 3.80873980e+02] [-1.34561906e-02 9.99909345e-01 -4.81807370e-04 -2.33206529e+01] [-7.62686045e-03 3.79199210e-04 9.99970843e-01 -5.12277273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.700371743 meters 0.029154823854213533 Centerline is valid? [True, True] Translation: X:380.90, Y:-23.32, Z:-5.12 [[ 9.99866264e-01 1.44733051e-02 7.61436440e-03 3.80902641e+02] [-1.44700621e-02 9.99895188e-01 -4.80823125e-04 -2.33222164e+01] [-7.62052542e-03 3.70578496e-04 9.99970895e-01 -5.12383956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.730371743 meters 0.028729951586855283 Centerline is valid? [True, True] Translation: X:380.93, Y:-23.32, Z:-5.12 [[ 9.99863628e-01 1.45082314e-02 7.88902554e-03 3.80931347e+02] [-1.45047562e-02 9.99894677e-01 -4.97552075e-04 -2.33240962e+01] [-7.89541325e-03 3.83055831e-04 9.99968757e-01 -5.12407203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.760371743 meters 0.02856380614543385 Centerline is valid? [True, True] Translation: X:380.96, Y:-23.33, Z:-5.13 [[ 9.99854974e-01 1.54306141e-02 7.20604490e-03 3.80959997e+02] [-1.54277417e-02 9.99880882e-01 -4.54035545e-04 -2.33263212e+01] [-7.21219258e-03 3.42796698e-04 9.99973933e-01 -5.12545509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.790371743 meters 0.028570428403368646 Centerline is valid? [True, True] Translation: X:380.99, Y:-23.33, Z:-5.13 [[ 9.99846846e-01 1.62290481e-02 6.54996552e-03 3.80987237e+02] [-1.62266937e-02 9.99868253e-01 -4.12442745e-04 -2.33287148e+01] [-6.55579614e-03 3.06095294e-04 9.99978464e-01 -5.12655795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.820371743 meters 0.026848807754377254 Centerline is valid? [True, True] Translation: X:381.02, Y:-23.33, Z:-5.13 [[ 9.99839862e-01 1.67393898e-02 6.32802699e-03 3.81015856e+02] [-1.67372067e-02 9.99859844e-01 -3.97795760e-04 -2.33281000e+01] [-6.33379894e-03 2.91818562e-04 9.99979899e-01 -5.12703067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.850371743 meters 0.027549111147950882 Centerline is valid? [True, True] Translation: X:381.04, Y:-23.33, Z:-5.13 [[ 9.99841603e-01 1.70514684e-02 5.10056352e-03 3.81043661e+02] [-1.70500543e-02 9.99854586e-01 -3.20615150e-04 -2.33320937e+01] [-5.10528879e-03 2.33599481e-04 9.99986941e-01 -5.12885471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880371743 meters 0.02885021431233246 Centerline is valid? [True, True] Translation: X:381.07, Y:-23.34, Z:-5.13 [[ 9.99850062e-01 1.66632425e-02 4.71068873e-03 3.81071496e+02] [-1.66620320e-02 9.99861135e-01 -2.96102697e-04 -2.33369243e+01] [-4.71496861e-03 2.17568653e-04 9.99988861e-01 -5.13098706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.910371743 meters 0.029141882251839363 Centerline is valid? [True, True] Translation: X:381.10, Y:-23.34, Z:-5.13 [[ 9.99873309e-01 1.51664284e-02 4.83170483e-03 3.81100195e+02] [-1.51651431e-02 9.99884957e-01 -3.02532414e-04 -2.33404222e+01] [-4.83573731e-03 2.29220591e-04 9.99988281e-01 -5.13151188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940371743 meters 0.02895815165793222 Centerline is valid? [True, True] Translation: X:381.13, Y:-23.34, Z:-5.13 [[ 9.99890131e-01 1.39425754e-02 5.03288893e-03 3.81129218e+02] [-1.39411674e-02 9.99902768e-01 -3.14736346e-04 -2.33427715e+01] [-5.03678780e-03 2.44537419e-04 9.99987285e-01 -5.13141349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.970371743 meters 0.030218786735140363 Centerline is valid? [True, True] Translation: X:381.16, Y:-23.35, Z:-5.13 [[ 9.99928653e-01 1.05177184e-02 5.66270983e-03 3.81158713e+02] [-1.05158860e-02 9.99944644e-01 -3.53272918e-04 -2.33479690e+01] [-5.66611199e-03 2.93699302e-04 9.99983904e-01 -5.13121326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000371743 meters 0.03225956922260998 Centerline is valid? [True, True] Translation: X:381.19, Y:-23.35, Z:-5.13 [[ 9.99945280e-01 8.62844533e-03 5.91505560e-03 3.81186965e+02] [-8.62641291e-03 9.99962724e-01 -3.69029691e-04 -2.33536223e+01] [-5.91801926e-03 3.17983786e-04 9.99982438e-01 -5.13180634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.030371743 meters 0.03299782551625266 Centerline is valid? [True, True] Translation: X:381.22, Y:-23.36, Z:-5.13 [[ 9.99958528e-01 7.03540049e-03 5.78321816e-03 3.81215785e+02] [-7.03343380e-03 9.99975200e-01 -3.60335603e-04 -2.33578942e+01] [-5.78560984e-03 3.19644777e-04 9.99983212e-01 -5.13192567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060371743 meters 0.035009436858307964 Centerline is valid? [True, True] Translation: X:381.25, Y:-23.36, Z:-5.13 [[ 9.99969175e-01 3.24083850e-03 7.15165841e-03 3.81245445e+02] [-3.23774002e-03 9.99994660e-01 -4.44788280e-04 -2.33646635e+01] [-7.15306170e-03 4.21619359e-04 9.99974328e-01 -5.13277210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.090371743 meters 0.03656165274662978 Centerline is valid? [True, True] Translation: X:381.27, Y:-23.37, Z:-5.13 [[ 9.99970117e-01 1.46515426e-03 7.59063894e-03 3.81274978e+02] [-1.46161389e-03 9.99998820e-01 -4.71938726e-04 -2.33699016e+01] [-7.59132145e-03 4.60830040e-04 9.99971079e-01 -5.13361750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120371743 meters 0.038667370487813296 Centerline is valid? [True, True] Translation: X:381.30, Y:-23.38, Z:-5.13 [[ 9.99969418e-01 -1.64041488e-03 7.64669448e-03 3.81304388e+02] [ 1.64409626e-03 9.99998536e-01 -4.75172929e-04 -2.33772718e+01] [-7.64590380e-03 4.87730299e-04 9.99970651e-01 -5.13455462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.150371743 meters 0.036310195857722105 Centerline is valid? [True, True] Translation: X:381.34, Y:-23.38, Z:-5.13 [[ 9.99965458e-01 -3.09319036e-03 7.71465833e-03 3.81336857e+02] [ 3.09697695e-03 9.99995090e-01 -4.78932081e-04 -2.33766395e+01] [-7.71313903e-03 5.02807656e-04 9.99970127e-01 -5.13438109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180371743 meters 0.03799686633084822 Centerline is valid? [True, True] Translation: X:381.37, Y:-23.38, Z:-5.14 [[ 9.99964690e-01 -4.28762002e-03 7.22743810e-03 3.81367992e+02] [ 4.29097878e-03 9.99990693e-01 -4.49280725e-04 -2.33817972e+01] [-7.22544448e-03 4.80277644e-04 9.99973781e-01 -5.13540708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.210371743 meters 0.03832100923921585 Centerline is valid? [True, True] Translation: X:381.40, Y:-23.39, Z:-5.14 [[ 9.99959857e-01 -6.17021421e-03 6.49721598e-03 3.81398775e+02] [ 6.17297000e-03 9.99980865e-01 -4.04180887e-04 -2.33857802e+01] [-6.49459778e-03 4.44271781e-04 9.99978811e-01 -5.13658199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240371743 meters 0.04019916869109395 Centerline is valid? [True, True] Translation: X:381.43, Y:-23.39, Z:-5.14 [[ 9.99954499e-01 -7.00147713e-03 6.47907249e-03 3.81429741e+02] [ 7.00423701e-03 9.99975389e-01 -4.03375898e-04 -2.33918079e+01] [-6.47608880e-03 4.48738504e-04 9.99978929e-01 -5.13838718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.270371743 meters 0.03958785071736745 Centerline is valid? [True, True] Translation: X:381.46, Y:-23.39, Z:-5.14 [[ 9.99958209e-01 -6.58699546e-03 6.33974827e-03 3.81462429e+02] [ 6.58962997e-03 9.99978210e-01 -3.94755697e-04 -2.33932392e+01] [-6.33700988e-03 4.36515795e-04 9.99979826e-01 -5.13928785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300371743 meters 0.03831365145293123 Centerline is valid? [True, True] Translation: X:381.49, Y:-23.39, Z:-5.14 [[ 9.99960471e-01 -6.12834503e-03 6.44201307e-03 3.81494433e+02] [ 6.13106052e-03 9.99981124e-01 -4.01863947e-04 -2.33938209e+01] [-6.43942871e-03 4.41344434e-04 9.99979169e-01 -5.13955677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.330371743 meters 0.03609578918865778 Centerline is valid? [True, True] Translation: X:381.53, Y:-23.39, Z:-5.14 [[ 9.99958431e-01 -5.61035693e-03 7.18747105e-03 3.81526910e+02] [ 5.61372849e-03 9.99984142e-01 -4.48999767e-04 -2.33933920e+01] [-7.18483802e-03 4.89329614e-04 9.99974069e-01 -5.13978785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36037174300003 meters 0.040021317305775794 Centerline is valid? [True, True] Translation: X:381.56, Y:-23.40, Z:-5.14 [[ 9.99962362e-01 -5.07150838e-03 7.03953078e-03 3.81557611e+02] [ 5.07473036e-03 9.99987027e-01 -4.39912521e-04 -2.34017378e+01] [-7.03720843e-03 4.75619684e-04 9.99975125e-01 -5.14090763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.390371743 meters 0.03973813942106165 Centerline is valid? [True, True] Translation: X:381.59, Y:-23.40, Z:-5.14 [[ 9.99964613e-01 -4.74317224e-03 6.94804345e-03 3.81589538e+02] [ 4.74631175e-03 9.99988641e-01 -4.35435913e-04 -2.34043796e+01] [-6.94589918e-03 4.68398084e-04 9.99975767e-01 -5.14158508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.420371743 meters 0.038968094593820925 Centerline is valid? [True, True] Translation: X:381.62, Y:-23.41, Z:-5.14 [[ 9.99964543e-01 -4.83562319e-03 6.89415916e-03 3.81621950e+02] [ 4.83871966e-03 9.99988200e-01 -4.32535448e-04 -2.34052872e+01] [-6.89198623e-03 4.65879015e-04 9.99976141e-01 -5.14186394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.450371743 meters 0.0383732227689098 Centerline is valid? [True, True] Translation: X:381.65, Y:-23.41, Z:-5.14 [[ 9.99965318e-01 -4.64316469e-03 6.91398427e-03 3.81654527e+02] [ 4.64627787e-03 9.99989112e-01 -4.34278159e-04 -2.34069325e+01] [-6.91189256e-03 4.66387389e-04 9.99976004e-01 -5.14222606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.480371743 meters 0.036253317435753316 Centerline is valid? [True, True] Translation: X:381.69, Y:-23.41, Z:-5.14 [[ 9.99963323e-01 -4.84768961e-03 7.06064522e-03 3.81686473e+02] [ 4.85094501e-03 9.99988136e-01 -4.44009259e-04 -2.34067668e+01] [-7.05840903e-03 4.78243775e-04 9.99974975e-01 -5.14244926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.510371743 meters 0.03798541497679579 Centerline is valid? [True, True] Translation: X:381.72, Y:-23.41, Z:-5.14 [[ 9.99962573e-01 -5.25469817e-03 6.87318993e-03 3.81717162e+02] [ 5.25779681e-03 9.99986084e-01 -4.32838172e-04 -2.34111466e+01] [-6.87081985e-03 4.68959809e-04 9.99976286e-01 -5.14368054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.540371743 meters 0.03584910444758278 Centerline is valid? [True, True] Translation: X:381.75, Y:-23.41, Z:-5.14 [[ 9.99958975e-01 -4.99311048e-03 7.55763293e-03 3.81749846e+02] [ 4.99685238e-03 9.99987402e-01 -4.76313694e-04 -2.34115041e+01] [-7.55515944e-03 5.14058529e-04 9.99971327e-01 -5.14436219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.570371743 meters 0.03632499190190554 Centerline is valid? [True, True] Translation: X:381.78, Y:-23.41, Z:-5.15 [[ 9.99960799e-01 -5.09891541e-03 7.23889912e-03 3.81780438e+02] [ 5.10235204e-03 9.99986879e-01 -4.56355475e-04 -2.34146850e+01] [-7.23647722e-03 4.93272997e-04 9.99973695e-01 -5.14515381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.600371743 meters 0.03818415364894715 Centerline is valid? [True, True] Translation: X:381.81, Y:-23.42, Z:-5.15 [[ 9.99961787e-01 -5.73101156e-03 6.60148892e-03 3.81810926e+02] [ 5.73389158e-03 9.99983474e-01 -4.17423817e-04 -2.34206265e+01] [-6.59898756e-03 4.55260088e-04 9.99978123e-01 -5.14698978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.630371743 meters 0.04073437916179325 Centerline is valid? [True, True] Translation: X:381.84, Y:-23.43, Z:-5.15 [[ 9.99959140e-01 -6.19952946e-03 6.57907184e-03 3.81841840e+02] [ 6.20240246e-03 9.99980678e-01 -4.16373513e-04 -2.34272194e+01] [-6.57636340e-03 4.57162551e-04 9.99978271e-01 -5.14813650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.660371743 meters 0.03881503456287117 Centerline is valid? [True, True] Translation: X:381.87, Y:-23.43, Z:-5.15 [[ 9.99951075e-01 -6.98724287e-03 7.00189721e-03 3.81874010e+02] [ 6.99051828e-03 9.99975468e-01 -4.43424727e-04 -2.34271247e+01] [-6.99862712e-03 4.92349923e-04 9.99975388e-01 -5.14809153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.690371743 meters 0.040908923607700064 Centerline is valid? [True, True] Translation: X:381.90, Y:-23.43, Z:-5.15 [[ 9.99935863e-01 -8.42433957e-03 7.56975345e-03 3.81904523e+02] [ 8.42821102e-03 9.99964367e-01 -4.79681033e-04 -2.34341198e+01] [-7.56544272e-03 5.43449747e-04 9.99971234e-01 -5.14842245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.720371743 meters 0.05041010442143699 Centerline is valid? [True, True] Translation: X:381.93, Y:-23.45, Z:-5.15 [[ 9.99926193e-01 -8.77188031e-03 8.40605184e-03 3.81934280e+02] [ 8.77668083e-03 9.99961341e-01 -5.34359041e-04 -2.34512481e+01] [-8.40103954e-03 6.08096835e-04 9.99964526e-01 -5.14940423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.750371743 meters 0.039262700232098345 Centerline is valid? [True, True] Translation: X:381.97, Y:-23.44, Z:-5.15 [[ 9.99907569e-01 -9.89743467e-03 9.32173430e-03 3.81966954e+02] [ 9.90339203e-03 9.99950784e-01 -5.93139153e-04 -2.34390415e+01] [-9.31540497e-03 6.85401117e-04 9.99956376e-01 -5.14812066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.780371743 meters 0.06889267768470446 Centerline is valid? [True, True] Translation: X:381.99, Y:-23.49, Z:-5.15 [[ 9.99901165e-01 -7.45477843e-03 1.19199738e-02 3.81993773e+02] [ 7.46435900e-03 9.99971853e-01 -7.59452896e-04 -2.34855626e+01] [-1.19139767e-02 8.48352799e-04 9.99928666e-01 -5.14840071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.810371743 meters 0.03899775318976056 Centerline is valid? [True, True] Translation: X:382.03, Y:-23.44, Z:-5.15 [[ 9.99894954e-01 -1.08557675e-02 9.60377360e-03 3.82027278e+02] [ 1.08621420e-02 9.99940818e-01 -6.11834127e-04 -2.34446325e+01] [-9.59656330e-03 7.16087409e-04 9.99953696e-01 -5.14961175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.840371743 meters 0.04196965931477599 Centerline is valid? [True, True] Translation: X:382.06, Y:-23.45, Z:-5.15 [[ 9.99896939e-01 -1.13183061e-02 8.83220090e-03 3.82057609e+02] [ 1.13237106e-02 9.99935727e-01 -5.62146257e-04 -2.34531705e+01] [-8.82527068e-03 6.62101609e-04 9.99960837e-01 -5.15124027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.870371743 meters 0.04056210553253249 Centerline is valid? [True, True] Translation: X:382.09, Y:-23.45, Z:-5.15 [[ 9.99897414e-01 -1.14813405e-02 8.56384594e-03 3.82089439e+02] [ 1.14864392e-02 9.99933879e-01 -5.46425816e-04 -2.34541358e+01] [-8.55700599e-03 6.44737856e-04 9.99963180e-01 -5.15198809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.900371743 meters 0.04164773712779853 Centerline is valid? [True, True] Translation: X:382.12, Y:-23.46, Z:-5.15 [[ 9.99906159e-01 -1.13342490e-02 7.69466601e-03 3.82121500e+02] [ 1.13383635e-02 9.99935598e-01 -4.91313947e-04 -2.34597781e+01] [-7.68860179e-03 5.78512762e-04 9.99970275e-01 -5.15317213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.930371743 meters 0.038849552436508665 Centerline is valid? [True, True] Translation: X:382.15, Y:-23.46, Z:-5.15 [[ 9.99911860e-01 -1.08778333e-02 7.61213710e-03 3.82153774e+02] [ 1.08818530e-02 9.99940672e-01 -4.86841747e-04 -2.34588570e+01] [-7.60638970e-03 5.69632994e-04 9.99970909e-01 -5.15370113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.960371743 meters 0.03916567334069311 Centerline is valid? [True, True] Translation: X:382.19, Y:-23.46, Z:-5.16 [[ 9.99918515e-01 -1.02439873e-02 7.61740106e-03 3.82185503e+02] [ 1.02479986e-02 9.99947369e-01 -4.87747689e-04 -2.34618375e+01] [-7.61200367e-03 5.65771060e-04 9.99970868e-01 -5.15501291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.990371743 meters 0.03910173686337339 Centerline is valid? [True, True] Translation: X:382.22, Y:-23.47, Z:-5.16 [[ 9.99939119e-01 -8.10222175e-03 7.49079682e-03 3.82215775e+02] [ 8.10604330e-03 9.99967030e-01 -4.79945149e-04 -2.34652873e+01] [-7.48666123e-03 5.40636653e-04 9.99971828e-01 -5.15600163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.020371743 meters 0.03918514476889742 Centerline is valid? [True, True] Translation: X:382.25, Y:-23.47, Z:-5.16 [[ 9.99949539e-01 -6.65782367e-03 7.52285609e-03 3.82247033e+02] [ 6.66164719e-03 9.99977694e-01 -4.83311092e-04 -2.34680782e+01] [-7.51947049e-03 5.33401317e-04 9.99971586e-01 -5.15680936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.050371743 meters 0.038484335579038846 Centerline is valid? [True, True] Translation: X:382.28, Y:-23.47, Z:-5.16 [[ 9.99961407e-01 -3.11375565e-03 8.21513330e-03 3.82276885e+02] [ 3.11820122e-03 9.99994999e-01 -5.28390720e-04 -2.34700778e+01] [-8.21344694e-03 5.53986767e-04 9.99966116e-01 -5.15701833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.080371743 meters 0.03776501950103413 Centerline is valid? [True, True] Translation: X:382.31, Y:-23.47, Z:-5.16 [[ 9.99965292e-01 -1.29693867e-03 8.22997871e-03 3.82308715e+02] [ 1.30133558e-03 9.99999013e-01 -5.28923037e-04 -2.34716042e+01] [-8.22928461e-03 5.39614643e-04 9.99965993e-01 -5.15751026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11037174300003 meters 0.03708078724004865 Centerline is valid? [True, True] Translation: X:382.34, Y:-23.47, Z:-5.16 [[ 9.99963373e-01 4.81182141e-04 8.54523145e-03 3.82339814e+02] [-4.76501559e-04 9.99999735e-01 -5.49769514e-04 -2.34729574e+01] [-8.54549373e-03 5.45677561e-04 9.99963338e-01 -5.15828590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.140371743 meters 0.03640646035251659 Centerline is valid? [True, True] Translation: X:382.37, Y:-23.47, Z:-5.16 [[ 9.99958054e-01 3.65927479e-03 8.39641205e-03 3.82369923e+02] [-3.65486329e-03 9.99993175e-01 -5.40687153e-04 -2.34746201e+01] [-8.39833327e-03 5.09976735e-04 9.99964603e-01 -5.15965648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.170371743 meters 0.033860351382357906 Centerline is valid? [True, True] Translation: X:382.40, Y:-23.47, Z:-5.16 [[ 9.99943549e-01 6.19939508e-03 8.62933610e-03 3.82400544e+02] [-6.19482967e-03 9.99980657e-01 -5.55686302e-04 -2.34742426e+01] [-8.63261411e-03 5.02197666e-04 9.99962612e-01 -5.16089568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.200371743 meters 0.03323510976295062 Centerline is valid? [True, True] Translation: X:382.43, Y:-23.48, Z:-5.16 [[ 9.99939097e-01 6.91179411e-03 8.60403245e-03 3.82430373e+02] [-6.90728008e-03 9.99975991e-01 -5.54247590e-04 -2.34762175e+01] [-8.60765672e-03 4.94783373e-04 9.99962831e-01 -5.16184253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.230371743 meters 0.030790321724626448 Centerline is valid? [True, True] Translation: X:382.46, Y:-23.47, Z:-5.16 [[ 9.99942357e-01 6.88445354e-03 8.23932772e-03 3.82459139e+02] [-6.88031359e-03 9.99976190e-01 -5.30702365e-04 -2.34746719e+01] [-8.24278514e-03 4.73982616e-04 9.99965915e-01 -5.16277259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.260371743 meters 0.030790321724626448 Centerline is valid? [True, True] Translation: X:382.49, Y:-23.48, Z:-5.16 [[ 9.99942851e-01 6.81227619e-03 8.23936637e-03 3.82487424e+02] [-6.80813873e-03 9.99976684e-01 -5.30101507e-04 -2.34764283e+01] [-8.24278545e-03 4.73976463e-04 9.99965915e-01 -5.16317110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.290371743 meters 0.03110127068220078 Centerline is valid? [True, True] Translation: X:382.52, Y:-23.48, Z:-5.16 [[ 9.99950863e-01 6.16733146e-03 7.76122156e-03 3.82516456e+02] [-6.16364660e-03 9.99980880e-01 -4.98608513e-04 -2.34810268e+01] [-7.76414825e-03 4.50746586e-04 9.99969757e-01 -5.16411421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.320371743 meters 0.03288697564080574 Centerline is valid? [True, True] Translation: X:382.54, Y:-23.49, Z:-5.17 [[ 9.99955553e-01 5.14074807e-03 7.90350735e-03 3.82544726e+02] [-5.13689638e-03 9.99986677e-01 -5.07561857e-04 -2.34870470e+01] [-7.90601130e-03 4.66939799e-04 9.99968638e-01 -5.16505943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.350371743 meters 0.03235981758466298 Centerline is valid? [True, True] Translation: X:382.57, Y:-23.49, Z:-5.17 [[ 9.99962315e-01 1.90517152e-03 8.46990775e-03 3.82574692e+02] [-1.90063859e-03 9.99998046e-01 -5.43197631e-04 -2.34911223e+01] [-8.47092609e-03 5.27078927e-04 9.99963982e-01 -5.16524185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380371743 meters 0.03681437678827904 Centerline is valid? [True, True] Translation: X:382.60, Y:-23.50, Z:-5.17 [[ 9.99965552e-01 -2.76653319e-04 8.29572378e-03 3.82604159e+02] [ 2.81075040e-04 9.99999819e-01 -5.31850950e-04 -2.35015914e+01] [-8.29557515e-03 5.34164349e-04 9.99965448e-01 -5.16635487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.410371743 meters 0.03488470897181699 Centerline is valid? [True, True] Translation: X:382.64, Y:-23.50, Z:-5.17 [[ 9.99961210e-01 -2.35302067e-03 8.48778652e-03 3.82635350e+02] [ 2.35772228e-03 9.99997073e-01 -5.43963321e-04 -2.35028369e+01] [-8.48648171e-03 5.63954064e-04 9.99963830e-01 -5.16703724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440371743 meters 0.03673694883171053 Centerline is valid? [True, True] Translation: X:382.67, Y:-23.51, Z:-5.17 [[ 9.99943389e-01 -7.89044068e-03 7.13862254e-03 3.82665995e+02] [ 7.89390841e-03 9.99968738e-01 -4.57724134e-04 -2.35113585e+01] [-7.13478773e-03 5.14049854e-04 9.99974415e-01 -5.16948289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.470371743 meters 0.03824514572396262 Centerline is valid? [True, True] Translation: X:382.70, Y:-23.52, Z:-5.17 [[ 9.99922896e-01 -1.06853352e-02 6.32660722e-03 3.82696442e+02] [ 1.06881160e-02 9.99942798e-01 -4.05885005e-04 -2.35176421e+01] [-6.32190831e-03 4.73473221e-04 9.99979904e-01 -5.17121361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500371743 meters 0.04024148701752347 Centerline is valid? [True, True] Translation: X:382.73, Y:-23.53, Z:-5.17 [[ 9.99859027e-01 -1.60084324e-02 5.06525209e-03 3.82726738e+02] [ 1.60102833e-02 9.99871774e-01 -3.25055823e-04 -2.35266290e+01] [-5.05939896e-03 4.06106120e-04 9.99987119e-01 -5.17291293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.530371743 meters 0.0404793427509568 Centerline is valid? [True, True] Translation: X:382.76, Y:-23.53, Z:-5.17 [[ 9.99825283e-01 -1.81306559e-02 4.54786601e-03 3.82757691e+02] [ 1.81321685e-02 9.99835556e-01 -2.91575371e-04 -2.35307143e+01] [-4.54183169e-03 3.73987101e-04 9.99989616e-01 -5.17385948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560371743 meters 0.043761590358456816 Centerline is valid? [True, True] Translation: X:382.79, Y:-23.54, Z:-5.17 [[ 9.99759265e-01 -2.14032098e-02 4.82861908e-03 3.82786969e+02] [ 2.14049567e-02 9.99770839e-01 -3.10395148e-04 -2.35415376e+01] [-4.82086910e-03 4.13676808e-04 9.99988294e-01 -5.17498676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.590371743 meters 0.04333725526350868 Centerline is valid? [True, True] Translation: X:382.82, Y:-23.54, Z:-5.18 [[ 9.99735848e-01 -2.24693452e-02 4.83349723e-03 3.82819326e+02] [ 2.24711038e-02 9.99747445e-01 -3.09819091e-04 -2.35448085e+01] [-4.82531507e-03 4.18351269e-04 9.99988271e-01 -5.17570396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620371743 meters 0.04539635055275956 Centerline is valid? [True, True] Translation: X:382.85, Y:-23.55, Z:-5.18 [[ 9.99730370e-01 -2.26919511e-02 4.92572832e-03 3.82850558e+02] [ 2.26937828e-02 9.99742413e-01 -3.16286445e-04 -2.35517246e+01] [-4.91728236e-03 4.27984574e-04 9.99987819e-01 -5.17658262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.650371743 meters 0.04414350137879194 Centerline is valid? [True, True] Translation: X:382.88, Y:-23.55, Z:-5.18 [[ 9.99730460e-01 -2.26205034e-02 5.22686144e-03 3.82883808e+02] [ 2.26225642e-02 9.99744021e-01 -3.35465837e-04 -2.35547477e+01] [-5.21793506e-03 4.53620424e-04 9.99986284e-01 -5.17677237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680371743 meters 0.04471782746976952 Centerline is valid? [True, True] Translation: X:382.91, Y:-23.56, Z:-5.18 [[ 9.99744109e-01 -2.19544703e-02 5.45133556e-03 3.82914711e+02] [ 2.19567083e-02 9.99758861e-01 -3.51022830e-04 -2.35585196e+01] [-5.44231451e-03 4.70626392e-04 9.99985080e-01 -5.17719694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.710371743 meters 0.045274357082377405 Centerline is valid? [True, True] Translation: X:382.95, Y:-23.56, Z:-5.18 [[ 9.99772109e-01 -2.05444229e-02 5.80151081e-03 3.82945248e+02] [ 2.05469371e-02 9.99788819e-01 -3.74095557e-04 -2.35637640e+01] [-5.79260007e-03 4.93213582e-04 9.99983101e-01 -5.17802633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740371743 meters 0.041921383677006596 Centerline is valid? [True, True] Translation: X:382.98, Y:-23.56, Z:-5.18 [[ 9.99784145e-01 -1.98769522e-02 6.04734617e-03 3.82977390e+02] [ 1.98796715e-02 9.99802304e-01 -3.89889581e-04 -2.35621202e+01] [-6.03840082e-03 5.10024677e-04 9.99981639e-01 -5.17809004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.770371743 meters 0.041623052346174735 Centerline is valid? [True, True] Translation: X:383.01, Y:-23.56, Z:-5.18 [[ 9.99793565e-01 -1.94611669e-02 5.83863359e-03 3.83009699e+02] [ 1.94636970e-02 9.99810493e-01 -3.76830444e-04 -2.35646626e+01] [-5.83019357e-03 4.90394049e-04 9.99982884e-01 -5.17902076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800371743 meters 0.04132403776672442 Centerline is valid? [True, True] Translation: X:383.04, Y:-23.57, Z:-5.18 [[ 9.99792002e-01 -1.95049782e-02 5.95883926e-03 3.83041309e+02] [ 1.95076171e-02 9.99809634e-01 -3.85058474e-04 -2.35685052e+01] [-5.95019435e-03 5.01221138e-04 9.99982172e-01 -5.18057307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.830371743 meters 0.042681381618812624 Centerline is valid? [True, True] Translation: X:383.07, Y:-23.57, Z:-5.18 [[ 9.99783207e-01 -1.99591033e-02 5.93078443e-03 3.83072120e+02] [ 1.99617289e-02 9.99800671e-01 -3.83830514e-04 -2.35734484e+01] [-5.92194134e-03 5.02136013e-04 9.99982339e-01 -5.18139023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86037174300003 meters 0.04372582046205489 Centerline is valid? [True, True] Translation: X:383.10, Y:-23.58, Z:-5.18 [[ 9.99749215e-01 -2.14609933e-02 6.39791028e-03 3.83102567e+02] [ 2.14640837e-02 9.99769534e-01 -4.14752154e-04 -2.35786689e+01] [-6.38753479e-03 5.51973421e-04 9.99979447e-01 -5.18252547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.890371743 meters 0.0420799656931971 Centerline is valid? [True, True] Translation: X:383.13, Y:-23.58, Z:-5.18 [[ 9.99730420e-01 -2.22726389e-02 6.55876091e-03 3.83134536e+02] [ 2.22759020e-02 9.99751771e-01 -4.24885356e-04 -2.35793605e+01] [-6.54766952e-03 5.70873131e-04 9.99978401e-01 -5.18310499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.920371743 meters 0.044715214862620534 Centerline is valid? [True, True] Translation: X:383.17, Y:-23.59, Z:-5.18 [[ 9.99702118e-01 -2.34133608e-02 6.89126138e-03 3.83165198e+02] [ 2.34169917e-02 9.99725685e-01 -4.46652454e-04 -2.35865508e+01] [-6.87891337e-03 6.07892015e-04 9.99976155e-01 -5.18393030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.950371743 meters 0.048164949255231446 Centerline is valid? [True, True] Translation: X:383.19, Y:-23.60, Z:-5.19 [[ 9.99630101e-01 -2.60613919e-02 7.77590168e-03 3.83194906e+02] [ 2.60661093e-02 9.99660093e-01 -5.05921962e-04 -2.35955989e+01] [-7.76007357e-03 7.08422325e-04 9.99969639e-01 -5.18504631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.980371743 meters 0.04894196383558131 Centerline is valid? [True, True] Translation: X:383.23, Y:-23.60, Z:-5.19 [[ 9.99579079e-01 -2.77297976e-02 8.52783356e-03 3.83226346e+02] [ 2.77355299e-02 9.99615142e-01 -5.54636542e-04 -2.35989013e+01] [-8.50917160e-03 7.90927066e-04 9.99963484e-01 -5.18574772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.010371743 meters 0.05553280851384634 Centerline is valid? [True, True] Translation: X:383.26, Y:-23.61, Z:-5.19 [[ 9.99487844e-01 -3.02388260e-02 1.04720573e-02 3.83255682e+02] [ 3.02476111e-02 9.99542204e-01 -6.81513948e-04 -2.36099902e+01] [-1.04466551e-02 9.97919624e-04 9.99944934e-01 -5.18739432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.040371743 meters 0.05465322872276643 Centerline is valid? [True, True] Translation: X:383.29, Y:-23.61, Z:-5.19 [[ 9.99446784e-01 -3.11459496e-02 1.16642542e-02 3.83287361e+02] [ 3.11569137e-02 9.99514217e-01 -7.59402375e-04 -2.36101178e+01] [-1.16349356e-02 1.12240442e-03 9.99931682e-01 -5.18790527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.070371743 meters 0.05831156401512662 Centerline is valid? [True, True] Translation: X:383.32, Y:-23.62, Z:-5.19 [[ 9.99372614e-01 -3.22494096e-02 1.46408302e-02 3.83318180e+02] [ 3.22668641e-02 9.99478831e-01 -9.57470998e-04 -2.36154566e+01] [-1.46023220e-02 1.42928397e-03 9.99892359e-01 -5.18935625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.100371743 meters 0.05545583510199073 Centerline is valid? [True, True] Translation: X:383.35, Y:-23.61, Z:-5.19 [[ 9.99361937e-01 -3.19190379e-02 1.60279311e-02 3.83351600e+02] [ 3.19399817e-02 9.99489235e-01 -1.05236555e-03 -2.36114303e+01] [-1.59861541e-02 1.56362590e-03 9.99870991e-01 -5.18981111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.130371743 meters 0.05912711698623679 Centerline is valid? [True, True] Translation: X:383.38, Y:-23.62, Z:-5.19 [[ 9.99349948e-01 -3.12929658e-02 1.79005801e-02 3.83382511e+02] [ 3.13190841e-02 9.99508740e-01 -1.18053774e-03 -2.36178002e+01] [-1.78548437e-02 1.74040010e-03 9.99839075e-01 -5.19017985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.160371743 meters 0.0640158775699843 Centerline is valid? [True, True] Translation: X:383.42, Y:-23.62, Z:-5.19 [[ 9.99296127e-01 -3.05985713e-02 2.17020138e-02 3.83415064e+02] [ 3.06368708e-02 9.99529552e-01 -1.43443211e-03 -2.36221932e+01] [-2.16479126e-02 2.09830424e-03 9.99763455e-01 -5.19015594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.190371743 meters 0.06822345543139217 Centerline is valid? [True, True] Translation: X:383.45, Y:-23.63, Z:-5.19 [[ 9.99268137e-01 -3.03454734e-02 2.32882446e-02 3.83446474e+02] [ 3.03895796e-02 9.99536940e-01 -1.54227938e-03 -2.36288210e+01] [-2.32306596e-02 2.24887061e-03 9.99727602e-01 -5.19012443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.220371743 meters 0.06672445244559085 Centerline is valid? [True, True] Translation: X:383.48, Y:-23.62, Z:-5.19 [[ 9.99183068e-01 -3.02552649e-02 2.67920852e-02 3.83479536e+02] [ 3.03137792e-02 9.99538846e-01 -1.78046237e-03 -2.36227434e+01] [-2.67258616e-02 2.59117721e-03 9.99639442e-01 -5.19298631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.250371743 meters 0.06916012321712905 Centerline is valid? [True, True] Translation: X:383.51, Y:-23.63, Z:-5.19 [[ 9.99149612e-01 -3.01222880e-02 2.81549575e-02 3.83512038e+02] [ 3.01870641e-02 9.99542502e-01 -1.87839908e-03 -2.36260247e+01] [-2.80854949e-02 2.72671722e-03 9.99601806e-01 -5.19427914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.280371743 meters 0.07272613569502874 Centerline is valid? [True, True] Translation: X:383.54, Y:-23.63, Z:-5.20 [[ 9.99054095e-01 -3.05584672e-02 3.09369507e-02 3.83544079e+02] [ 3.06370512e-02 9.99528434e-01 -2.06919464e-03 -2.36271943e+01] [-3.08591304e-02 3.01505432e-03 9.99519196e-01 -5.19616285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.310371743 meters 0.077213522915896 Centerline is valid? [True, True] Translation: X:383.58, Y:-23.63, Z:-5.20 [[ 9.99027298e-01 -3.01410829e-02 3.21865213e-02 3.83576246e+02] [ 3.02260746e-02 9.99540760e-01 -2.15719790e-03 -2.36343460e+01] [-3.21067197e-02 3.12797178e-03 9.99479552e-01 -5.19598584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.340371743 meters 0.07704459492670068 Centerline is valid? [True, True] Translation: X:383.61, Y:-23.63, Z:-5.20 [[ 9.98947226e-01 -3.05675723e-02 3.42061785e-02 3.83608862e+02] [ 3.06639639e-02 9.99527111e-01 -2.29679173e-03 -2.36321112e+01] [-3.41197955e-02 3.34327075e-03 9.99412158e-01 -5.19813812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.370371743 meters 0.08460422087813357 Centerline is valid? [True, True] Translation: X:383.64, Y:-23.64, Z:-5.20 [[ 9.98888751e-01 -3.02705610e-02 3.61241848e-02 3.83640011e+02] [ 3.03781102e-02 9.99535520e-01 -2.43193266e-03 -2.36376089e+01] [-3.60337898e-02 3.52661464e-03 9.99344350e-01 -5.20028917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.400371743 meters 0.08659445873190288 Centerline is valid? [True, True] Translation: X:383.67, Y:-23.64, Z:-5.20 [[ 9.98809166e-01 -3.05887581e-02 3.80075947e-02 3.83672084e+02] [ 3.07082513e-02 9.99525102e-01 -2.56399637e-03 -2.36394862e+01] [-3.79111155e-02 3.72808985e-03 9.99274161e-01 -5.20211236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.430371743 meters 0.09254673634861108 Centerline is valid? [True, True] Translation: X:383.70, Y:-23.64, Z:-5.20 [[ 9.98675225e-01 -3.16328074e-02 4.05852212e-02 3.83702636e+02] [ 3.17699905e-02 9.99491452e-01 -2.73946539e-03 -2.36440045e+01] [-4.04779247e-02 4.02522830e-03 9.99172325e-01 -5.20411142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.460371743 meters 0.09639068117667486 Centerline is valid? [True, True] Translation: X:383.73, Y:-23.65, Z:-5.21 [[ 9.98597798e-01 -3.21179440e-02 4.20817624e-02 3.83734494e+02] [ 3.22659648e-02 9.99475275e-01 -2.84280937e-03 -2.36462911e+01] [-4.19683758e-02 4.19663184e-03 9.99110126e-01 -5.20561795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.490371743 meters 0.09993834657671448 Centerline is valid? [True, True] Translation: X:383.76, Y:-23.65, Z:-5.21 [[ 9.98491834e-01 -3.31732331e-02 4.37446494e-02 3.83764110e+02] [ 3.33342446e-02 9.99439888e-01 -2.95621556e-03 -2.36501430e+01] [-4.36220803e-02 4.40995193e-03 9.99038371e-01 -5.20710270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.520371743 meters 0.10816534174426033 Centerline is valid? [True, False] Translation: X:383.76, Y:-23.65, Z:-5.21 [[ 9.98654033e-01 -2.63784590e-02 4.46575813e-02 3.83758434e+02] [ 2.68714592e-02 9.99584009e-01 -1.04753840e-02 -2.36512136e+01] [-4.43626797e-02 1.16612988e-02 9.98947429e-01 -5.20961868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.550371743 meters 0.11397549898287103 Centerline is valid? [False, False] Translation: X:383.76, Y:-23.65, Z:-5.21 [[ 9.98725510e-01 -2.20963966e-02 4.53773518e-02 3.83757957e+02] [ 2.23493620e-02 9.99737341e-01 -5.07489372e-03 -2.36543183e+01] [-4.52532961e-02 6.08258068e-03 9.98957027e-01 -5.21110841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.580371743 meters 0.11488803151351755 Centerline is valid? [False, False] Translation: X:383.76, Y:-23.66, Z:-5.21 [[ 9.99400127e-01 -2.04217857e-02 2.79702948e-02 3.83763254e+02] [ 2.05296900e-02 9.99782848e-01 -3.57607203e-03 -2.36552451e+01] [-2.78911912e-02 4.14814832e-03 9.99602358e-01 -5.20744675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61037174300003 meters 0.12301394937570705 Centerline is valid? [False, False] Translation: X:383.77, Y:-23.66, Z:-5.20 [[ 9.99797199e-01 -1.58592883e-02 1.24114650e-02 3.83765582e+02] [ 1.59093762e-02 9.99865646e-01 -3.94733487e-03 -2.36575446e+01] [-1.23471955e-02 4.14399301e-03 9.99915183e-01 -5.20456857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.640371743 meters 0.1320493882868551 Centerline is valid? [False, False] Translation: X:383.77, Y:-23.66, Z:-5.21 [[ 9.99799066e-01 -1.54923068e-02 1.27207329e-02 3.83765983e+02] [ 1.55350041e-02 9.99873995e-01 -3.26458099e-03 -2.36586366e+01] [-1.26685541e-02 3.46154166e-03 9.99913759e-01 -5.20591635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.670371743 meters 0.13486177946557618 Centerline is valid? [False, False] Translation: X:383.77, Y:-23.66, Z:-5.21 [[ 9.99846128e-01 -1.11360858e-02 1.35539155e-02 3.83765625e+02] [ 1.11122269e-02 9.99936575e-01 1.83433701e-03 -2.36608793e+01] [-1.35734831e-02 -1.68344057e-03 9.99906459e-01 -5.20769754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.700371743 meters 0.14090938713503265 Centerline is valid? [False, False] Translation: X:383.77, Y:-23.66, Z:-5.21 [[ 9.99849403e-01 -1.09284251e-02 1.34811085e-02 3.83766262e+02] [ 1.09009709e-02 9.99938360e-01 2.10829879e-03 -2.36609663e+01] [-1.35033179e-02 -1.96102411e-03 9.99906903e-01 -5.20841676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.730371743 meters 0.14119605235760357 Centerline is valid? [False, False] Translation: X:383.77, Y:-23.66, Z:-5.21 [[ 9.99852136e-01 -1.06950830e-02 1.34655549e-02 3.83766970e+02] [ 1.06634066e-02 9.99940211e-01 2.42200391e-03 -2.36609649e+01] [-1.34906533e-02 -2.27805710e-03 9.99906402e-01 -5.20940265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.760371743 meters 0.15350973616296223 Centerline is valid? [False, False] Translation: X:383.77, Y:-23.66, Z:-5.21 [[ 9.99848630e-01 -1.09520579e-02 1.35192590e-02 3.83767249e+02] [ 1.09260980e-02 9.99938323e-01 1.99259064e-03 -2.36592043e+01] [-1.35402482e-02 -1.84457627e-03 9.99906625e-01 -5.20994669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.790371743 meters 0.15102306288765827 Centerline is valid? [False, False] Translation: X:383.77, Y:-23.66, Z:-5.21 [[ 9.99849819e-01 -1.09295691e-02 1.34492802e-02 3.83767778e+02] [ 1.09043128e-02 9.99938645e-01 1.94979848e-03 -2.36583854e+01] [-1.34697655e-02 -1.80285050e-03 9.99907653e-01 -5.21052924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.820371743 meters 0.15185703476038892 Centerline is valid? [False, False] Translation: X:383.77, Y:-23.66, Z:-5.21 [[ 9.99848655e-01 -1.11563507e-02 1.33493030e-02 3.83768340e+02] [ 1.11381833e-02 9.99936940e-01 1.43449596e-03 -2.36561420e+01] [-1.33644649e-02 -1.28559187e-03 9.99909865e-01 -5.21109005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.850371743 meters 0.15563928600458246 Centerline is valid? [False, False] Translation: X:383.77, Y:-23.66, Z:-5.21 [[ 9.99848480e-01 -1.12106775e-02 1.33168059e-02 3.83768754e+02] [ 1.11940086e-02 9.99936466e-01 1.32560381e-03 -2.36552205e+01] [-1.33308207e-02 -1.17633452e-03 9.99910449e-01 -5.21160689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880371743 meters 0.1548013770583163 Centerline is valid? [False, False] Translation: X:383.77, Y:-23.65, Z:-5.21 [[ 9.99850886e-01 -1.11834854e-02 1.31581092e-02 3.83769601e+02] [ 1.11680555e-02 9.99936860e-01 1.24554799e-03 -2.36541390e+01] [-1.31712079e-02 -1.09841177e-03 9.99912653e-01 -5.21239332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5620.59 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%| | 0/12797 [00:00